CN114503835B

CN114503835B - Power system structure for self-walking equipment

Info

Publication number: CN114503835B
Application number: CN202111616334.8A
Authority: CN
Inventors: 薛玉雷; 刘楷
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2024-04-02
Anticipated expiration: 2041-12-27
Also published as: CN114503835A

Abstract

The invention provides a power system structure for self-walking equipment, which comprises: a body; an auxiliary wheel assembly connected to the body; the power assembly comprises an assembly shell and is detachably arranged on the machine body; the driving piece is arranged in the assembly shell; and the driving wheel body is connected with the driving piece so as to be driven by the driving piece to rotate. The power system structure for the self-walking equipment is convenient to replace and maintain.

Description

Power system structure for self-walking equipment

Technical Field

The present application relates to power systems, and more particularly to a power system architecture for a self-propelled device.

Background

Mowing robots are becoming more and more popular as intelligent garden tools, and unlike other intelligent self-walking devices, mowing robots are used outdoors, work pavement is mostly grasslands and has more pits, so that the mowing robots have more small obstacles to turn over and span the scenes of small pits in the operation process, and therefore, the mowing robots are higher than other intelligent self-walking devices in the requirements of obstacle crossing and pit crossing.

The existing mowing robot is characterized in that the power piece output end of the machine is connected with the wheel body, the machine is driven to walk, a transmission part is connected between the power piece and the wheel body in order to ensure that the machine has certain obstacle crossing capability, the transmission part has a certain moving space, the wheel body has a certain moving degree, the obstacle crossing capability is improved, but the structure is complex, the moving transmission part improves the failure rate, and meanwhile, when the machine is lifted, the single wheel body has smaller ground grabbing force, and the obstacle crossing capability is not obviously improved.

Traditional robot mows, its power unit is located inside the machine entirely, and when power unit broke down, need open whole machine casing, lead to the inside ash that advances of machine easily, and the machine overhauls complicated simultaneously easily because tear open and lead to the trouble.

Disclosure of Invention

In view of the foregoing, there is a need for a power system architecture for self-propelled devices that facilitates maintenance of the machine.

Embodiments of the present application provide a power system structure for a self-walking device, comprising:

a body;

an auxiliary wheel assembly connected to the body; and

A power assembly comprising

A module housing detachably mounted to the body;

the driving piece is arranged in the assembly shell; and

The driving wheel body is connected with the driving piece to be driven by the driving piece to rotate.

Further, the power assembly and the auxiliary wheel assembly are respectively connected with the machine body through elastic elements, and the elastic elements enable the power assembly and the auxiliary wheel assembly to have a certain degree of activity relative to the machine body.

Further, the machine body is provided with a guide protrusion and a line connection port; the assembly shell is provided with a mounting groove body, a guide post and a circuit tube; the guide bulge can be extended into the mounting groove body in a sliding manner, and the guide column can be extended into the guide bulge in a sliding manner; the circuit tube can slidably extend into the circuit connection port, and the circuit interface of the electronic component in the assembly shell is led in or led out through the circuit tube.

Further, the auxiliary wheel assembly comprises a wheel frame, an auxiliary wheel, a guide rod and a mounting seat, wherein the mounting seat is arranged on the machine body, the guide rod slidably penetrates through the mounting seat, the wheel frame is rotatably connected with the guide rod, and the auxiliary wheel is rollably connected with the wheel frame.

Further, the guide rod is fixed with a limiting piece, the guide rod is sleeved with a second spring, and two ends of the second spring respectively elastically abut against the limiting piece and the machine body so as to push the limiting piece to be far away from the machine body.

Further, an elastic sealing element is further arranged between the mounting seat and the guide rod, one end of the elastic sealing element is connected with the mounting seat, the other end of the elastic sealing element is connected with the guide rod, and the elastic sealing element enables the guide rod to keep sealing in moving.

Further, the machine body is provided with a guide protrusion, the assembly shell is provided with a guide post and a mounting groove body, the guide protrusion slidably stretches into the mounting groove body, the guide post slidably stretches into the guide protrusion, the guide post is sleeved with a first spring, and two ends of the first spring respectively abut against the mounting groove body and the guide protrusion so as to push the assembly shell away from the machine body direction.

Further, a gasket is fixed at the end part of the guide post and limited by the guide protrusion stop.

Further, the number of the guide protrusions, the guide columns, the installation groove bodies and the first springs which are matched with each other is multiple, and the guide protrusions, the installation groove bodies and the first springs are uniformly distributed in a rectangular shape.

Furthermore, a plurality of grass comb rib plates are arranged at the lower part of the assembly shell, and the grass comb rib plates are arranged in parallel.

The beneficial effects are that: due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:

(1) The power component is independently arranged, the component shell is detachably arranged on the machine body, so that the power component is convenient to disassemble and maintain, the power component can be integrally replaced, a user can directly purchase a brand new power component for replacement or select power components with different power parameters for replacement for the long-time use power system structure for the self-walking equipment, and the service life of the machine is prolonged. The method comprises the steps of carrying out a first treatment on the surface of the

(2) The power assembly and the auxiliary wheel assembly are elastically connected with the machine body through elastic elements, so that the power assembly and the auxiliary wheel assembly have a certain degree of activity relative to the machine body, and when encountering an obstacle, the power assembly and the auxiliary wheel assembly can stretch to cross the obstacle;

(3) The grass comb rib plate is arranged at the bottom of the component shell, on one hand, the grass comb rib plate can be always guaranteed to be located at the lowest point of the bottom of the machine, when the machine body is lifted, the power component descends, the grass comb rib plate also descends, the protection and grass combing functions are better, meanwhile, when the grass comb is damaged, the grass comb can be maintained through replacing the component shell of the power component, and the cost and the maintenance steps are greatly reduced and simplified.

Drawings

FIG. 1 is an exploded schematic view of a power system architecture for a self-propelled device in accordance with an embodiment of the present invention;

FIG. 2 is an exploded view of the power system architecture for the self-propelled device shown in FIG. 1 at another angle;

FIG. 3 is a schematic perspective view of an auxiliary wheel assembly of the powertrain architecture for the self-propelled device shown in FIG. 1;

FIG. 4 is a cross-sectional view of the auxiliary wheel assembly shown in FIG. 3;

FIG. 5 is an enlarged partial cross-sectional view of the auxiliary wheel assembly of FIG. 4;

FIG. 6 is a schematic perspective view of a power assembly of the power system architecture for the self-propelled device shown in FIG. 1;

FIG. 7 is a cross-sectional view of the power assembly shown in FIG. 6;

FIG. 8 is a schematic perspective view of the power system architecture for the self-propelled device shown in FIG. 1;

FIG. 9 is a cross-sectional view of the power assembly after attachment to the fuselage;

FIG. 10 is an enlarged partial cross-sectional view of FIG. 9 at A;

FIG. 11 is a cross-sectional view of the power assembly in an installed condition with the fuselage;

FIG. 12 is a schematic view of a scenario in which a powertrain architecture for a self-propelled device encounters an obstacle;

FIG. 13 is a partial cross-sectional view of the power assembly;

fig. 14 is a cross-sectional view showing a state in which the auxiliary wheel is lowered.

In the figure: 100. a machine; 1. a body; 101. a power component mounting portion; 102. an auxiliary wheel assembly mounting portion; 103. a guide protrusion; 104. a guide groove; 105. a line connection port; 106. a seal ring; 2. a housing; 3. a power assembly; 301. a component housing; 302. installing a groove body; 303. a guide post; 304. a driving member; 305. a driving wheel body; 306. grass comb rib plates; 307. a line pipe; 308. a line interface; 4. an auxiliary wheel assembly; 401. a wheel carrier; 402. an auxiliary wheel; 403. a guide rod; 404. a mounting base; 405. an elastic seal; 4051. one end of the elastic sealing piece; 4052. the other end is elastically sealed; 406. a limiting piece; 407. a filler; 5. a first spring; 6. a gasket; 7. a fixing screw; 8. a second spring; 10. an obstacle.

Detailed Description

Embodiments of the present application will now be described with reference to the accompanying drawings, in which it is apparent that the embodiments described are merely some, but not all embodiments of the present application.

It is noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed" on another element, it can be directly on the other element or intervening elements may also be present. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "rear," and the like are used herein for illustrative purposes only.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Embodiments of the present invention provide a machine 100 of the present invention including a power system architecture for a self-propelled device, as shown in FIG. 1. The power system structure for the self-walking equipment comprises a machine body 1, a shell 2 arranged outside the machine body 1, a power assembly 3 and an auxiliary wheel assembly 4, wherein the power assembly 3 and the auxiliary wheel assembly 4 are connected below the machine body 1. The power assembly 3 and the auxiliary wheel assembly 4 are movably connected with the machine body 1 through elastic elements, and the existence of the elastic elements enables the power assembly 3 and the auxiliary wheel assembly 4 to have a certain degree of activity in the vertical and horizontal directions of the machine.

The elastic element for connecting the power assembly 3 comprises a first spring 5. Washer 6 and set screw 7 are used for fixing; the elastic element for connecting the auxiliary wheel assembly 4 comprises a second spring 8.

In the present embodiment, the machine 100 is a mower, but not limited thereto, and in other embodiments, the machine 100 may be a robot, a transporter, or other devices.

In the illustrated embodiment, the fuselage 1 is a semi-open structure, and the fuselage 1 and the shell 2 form a complete closed structure when combined. It will be appreciated that in other embodiments, the fuselage 1 may be of a fully enclosed construction, and the shell 2 may be omitted or covered on the exterior of the fuselage 1 as a decorative reinforcement member.

Referring to fig. 2, a power assembly mounting portion 101 and an auxiliary wheel assembly mounting portion 102 are provided at the bottom of the body 1. The power module mounting portion 101 is used for mounting the power module 3. The auxiliary wheel assembly mounting portion 102 is for mounting the auxiliary wheel assembly 4.

The power assembly mounting portion 101 is a groove that contours to a portion of the outer surface of the power assembly 3. The auxiliary wheel assembly mounting portion 102 is a recess that contours to a portion of the outer surface of the auxiliary wheel assembly 4.

The power assembly mounting portion 101 is provided with a plurality of guide bosses 103 and a line connection port 105. The guide protrusion 103 is hollow and penetrates the body 1, and the line connection port 105 communicates the inside and outside of the body 1. The auxiliary wheel assembly mounting portion 102 is provided with a guide groove 104.

Referring to fig. 3 and 4, fig. 3 and 4 are sectional views of the auxiliary wheel assembly 4 and the auxiliary wheel assembly 4 in an installed state, respectively. The auxiliary wheel assembly 4 includes a wheel frame 401, an auxiliary wheel 402, a guide bar 403, and a mount 404.

The auxiliary wheel 402 is rollably connected to the wheel frame 401. The wheel frame 401 is rotatably connected to a guide bar 403. The wheel carriage 401 is rotatable about the axis of the guide bar 403. The guide rod 403 is sleeved with the mounting seat 404. The mount 404 is mounted to the auxiliary wheel assembly mounting portion 102 by fasteners such as bolts.

In the illustrated embodiment, a corresponding packing 407 is provided between the mounting block 404 and the guide bar 403 to provide sealing and/or lubrication. The packing 407 may be a seal ring, bearing, bushing, or the like.

It will be appreciated that in other embodiments, the filler 407 may also be omitted.

When the mount 404 is mounted to the auxiliary wheel assembly mounting portion 102, the end of the guide bar 403 is positioned within the guide slot 104. A limiting piece 406 is fixed on the guide bar 403. The guide bar 403 is sleeved with a second spring 8. The two ends of the second spring 8 respectively abut against the limiting piece 406 and the bottom of the guide groove 104. When the machine 100 is suspended, the auxiliary wheel 401 moves away from the machine body 1 under the combined action of gravity and the second spring 8.

Referring to fig. 5, an elastic sealing member 405 is further disposed between the mounting seat 404 and the guide bar 403. The elastic sealing member 405 is made of elastic material, and has a conical or truncated cone-shaped hollow structure. The elastic seal 405 is rigid at both ends. One end 4051 of the elastic sealing element 405 is clamped on the mounting seat 404, and the other end 4052 is clamped on the guide rod 403. The elastic sealing element 405 wraps the part of the guide rod 403 located outside the machine body, and the elastic sealing element 405 has certain elasticity, so that the elastic sealing element can always maintain a sealing state in the moving process of the guide rod 403, and plays a role in protection.

Referring to fig. 6 and 7, fig. 6 and 7 show a specific structure of the power assembly 3. The power assembly 3 comprises an assembly housing 301, a driving member 304 and a driving wheel body 305. The assembly housing 301 may be an assembled form of housing, such as a top-to-bottom splice, a side-to-side splice, or the like. A driving member 304 is installed in the module case 301. In the illustrated embodiment, the driver 304 is a motor. The output end of the driving piece 304 is connected with the driving wheel body 305. The top of the assembly housing 301 is provided with a mounting groove 302 and a guide post 303 corresponding to the guide protrusion 103. A wiring pipe 307 is provided corresponding to the wiring connection port 105. The wiring interfaces 308 of the electronic components within the assembly housing 301 are led in or out through wiring pipes 307.

In the embodiment shown in fig. 6, the line interface 308 of the electronic component is led out through a line pipe 307.

In the embodiment shown in fig. 7, the electronics circuit interface 308 is located within the assembly housing 301 and requires external connectors to be introduced into the assembly housing 301 for connection. The embodiment shown in fig. 7 is more convenient and has better sealing properties.

Referring to fig. 8, a plurality of grass comb rib plates 306 are disposed at the lower portion of the assembly housing 301. The grass comb rib plates 306 are arranged in parallel, so that grass combing and protecting effects (preventing objects from entering the bottom of the machine from the rear) are achieved.

Referring to fig. 9 and 10, fig. 9 and 10 are schematic views showing the assembled state of the line pipe 307 and the body line connection port 105 after the power unit 3 is connected to the body 1. It can be seen that the line pipe 307 is sleeved in the line connection port 105, and during the movement of the power assembly 3 relative to the fuselage 1, the line pipe 307 slides relative to the line connection port 105, so that the lines remain connected during the movement of the power assembly 3. In order to ensure the sealing property between the line pipe 307 and the line connection port 105, a sealing member such as a seal ring 106 may be provided between the two lines.

Referring to fig. 11, fig. 11 is a cross-sectional view of the power assembly 3 in an installed state with the body 1. When installed, the guide post 303 extends into the guide boss 103 on the power assembly mount 101, and the bottom of the guide boss 103 has a through hole penetrating into the body 1. The end of the guide post 303 is fixedly connected with a gasket 6 (see fig. 1) through fixing members such as a fixing screw 7, and the gasket 6 plays a limiting role to prevent the guide post 303 from falling out of the guide protrusion 103. The guide protrusion 103 is sleeved in the installation groove body 302, the guide post 303 is sleeved with the first spring 5, and two ends of the first spring 5 respectively abut against the bottom of the installation groove body 302 and the bottom of the guide protrusion 103. When the machine is suspended, the power assembly 3 moves away from the machine under the combined action of gravity and the first spring 5.

In order to ensure that the power assembly 3 is stably connected with the machine body 1 and stably moves, a plurality of connecting assemblies (the whole consisting of the guide post 303, the mounting groove 302, the guide protrusion 103 and the first spring 5) can be arranged, and four connecting assemblies are arranged in the embodiment and are uniformly distributed in a rectangular shape.

Referring to fig. 12 and 13, when the machine 100 walks and encounters the bottom obstacle 10, a part of the machine body may be jammed when the machine 100 walks over the bottom obstacle 10, resulting in suspension of the front wheels or the rear wheels of the machine, which is illustrated as a suspension of the driving wheels of the machine 100, in which case other machines may lose power and cannot move. The driving wheel 305 of the machine 100 of the present embodiment moves downward, increasing the possibility of touching the ground, thereby avoiding loss of power. The power assembly 3 comprises a driving piece 304, a driving wheel body 305 and the like, so that the power assembly has a large weight, the power assembly 3 moves downwards under the combined action of gravity and the first spring 5 under the condition that the rear of the machine 100 is lifted, and after the driving wheel 305 contacts the ground, larger pressure can be applied to the ground, larger driving force is provided for the machine, and the capability of the machine 100 to surmount obstacles or climb out of pits is improved.

Fig. 14 shows the state where the auxiliary wheel 402 is lowered after the front of the machine 100 is lifted, and fig. 13 mainly shows the state where the seal elastic member 405 is stretched while the auxiliary wheel 402 is lowered, but the seal elastic member 405 is still wrapped around the end of the guide bar 403 to perform a sealing function.

Because the power assembly 3 is integrally arranged independent of the machine body 1, the assembly shell 301 can be independently opened to carry out maintenance, repair and the like on the driving piece 304, the circuit and the like in the assembly shell in the use process, and the machine body 1 and the shell 2 do not need to be disassembled in the process, so that the possibility of damage or dirt invasion of other elements in the machine body 1 is reduced.

The grass comb of the existing machine is taken as a part for carding grass and playing a protective role, and is usually directly arranged on a machine bottom plate, and because the grass comb is usually the lowest point of a machine chassis, the grass comb has higher possibility of rubbing against obstacles, so that the grass comb has higher damage rate, the traditional machine grass comb cannot be repaired, and can only be maintained by replacing the machine chassis, the cost of the mode is high, and the machine is required to be completely disassembled and reassembled, so that the machine is quite troublesome. In this embodiment, the grass comb rib plate 306 is disposed on the component housing 301 of the power component 3, on one hand, it can always be guaranteed that the grass comb rib plate 306 is located at the lowest point of the bottom of the machine (when the machine body 1 is lifted, the power component 3 descends, and the grass comb rib plate 306 descends as well), so that the grass comb protection and combing functions are better, meanwhile, when the grass comb is damaged, the grass comb can be maintained by replacing the component housing 301 of the power component 3, and the cost and maintenance steps are greatly reduced and simplified.

In addition, the power components (drive 304 and its associated drive links, bearings, etc.) are the longest running and most damaging components within machine 100 (including drive sheave 305, which is also highly damaging due to long-term ground contact), and have a shorter life than other parts of machine 100. In this embodiment, all the power components are independently arranged, and can be replaced integrally, so that for the machine 100 used for a long time, a user can directly purchase and replace a brand new power component, or select power components with different power parameters for replacement, thereby prolonging the service life of the machine.

In addition, those of ordinary skill in the art will recognize that the above embodiments are presented for purposes of illustration only and are not intended to be limiting, and that any suitable modifications or variations of the above embodiments are within the scope of the disclosure of the present application.

Claims

1. A power system architecture for a self-propelled device, comprising:

a body;

an auxiliary wheel assembly connected to the body; and

A power assembly comprising

A module housing detachably mounted to the body;

the driving piece is arranged in the assembly shell; and

The driving wheel body is connected with the driving piece to be driven by the driving piece to rotate;

the machine body is provided with a guide bulge, the assembly shell is provided with a guide column and a mounting groove body, the guide bulge can slidably extend into the mounting groove body, the guide column can slidably extend into the guide bulge, the guide column is sleeved with a first spring, and two ends of the first spring respectively abut against the mounting groove body and the guide bulge to push the assembly shell to be far away from the machine body; when the machine is suspended, the power assembly moves away from the machine under the combined action of gravity and the first spring.

2. The power system structure for a self-walking apparatus as defined in claim 1, wherein said auxiliary wheel assembly is connected to said body by a resilient member, said resilient member providing a degree of mobility to said auxiliary wheel assembly relative to said body.

3. The power system structure for self-walking equipment as described in claim 2, wherein said body is further provided with a line connection port; the assembly shell is also provided with a circuit tube; the circuit tube can slidably extend into the circuit connection port, and the circuit interface of the electronic component in the assembly shell is led in or led out through the circuit tube.

4. The power system structure for a self-walking apparatus as defined in claim 1, wherein said auxiliary wheel assembly comprises a wheel frame, an auxiliary wheel, a guide bar and a mounting base, said mounting base being mounted to said body, said guide bar slidably passing through said mounting base, said wheel frame rotatably connected to said guide bar, said auxiliary wheel rollably connected to said wheel frame.

5. The power system structure for self-walking equipment as defined in claim 4, wherein the guide rod is fixed with a limit plate, the guide rod is sleeved with a second spring, and two ends of the second spring elastically abut against the limit plate and the machine body respectively to push the limit plate away from the machine body.

6. The power system structure for a self-walking device as defined in claim 5, wherein an elastic sealing member is further provided between said mounting base and said guide bar, one end of said elastic sealing member is connected to said mounting base, the other end is connected to said guide bar, and said elastic sealing member keeps said guide bar sealed during movement.

7. The power system structure for a self-walking device as defined in claim 1, wherein a washer is fixed to an end of said guide post, said washer being limited by said guide projection stop.

8. The power system structure for self-walking equipment of claim 7, wherein the number of the guide protrusions, the guide columns, the mounting groove bodies and the first springs which are matched with each other is multiple, and the guide protrusions, the mounting groove bodies and the first springs are uniformly distributed in a rectangular shape.

9. The power system structure for self-walking equipment as defined in claim 7, wherein a plurality of grass comb rib plates are arranged at the lower part of the assembly shell, and the grass comb rib plates are arranged in parallel.