CN215576287U - Self-moving equipment - Google Patents

Abstract

The utility model relates to a self-moving device, belonging to garden tools, the self-moving device of the application is provided with a working module and a power supply capacity expansion module which can be interchangeably connected with the self-moving module, and the bottom of a frame of the self-moving module is provided with a storage bin, a mowing unit is stored in the storage bin through a lifting device, so that the self-moving device can be used as a mower and can also be changed into other working modes, and the mowing unit can not be damaged when the working mode is changed, thereby the self-moving device can meet diversified requirements of users; moreover, when the power expansion module is used as a mower, the power expansion module can be connected with the power supply expansion module, so that the power supply capacity of the mower is expanded, the mower can meet the mowing requirement of a large area, and the power expansion module is suitable for household use, commercial use or agricultural use.

Description

Self-moving equipment

Technical Field

The utility model relates to a self-moving device, and belongs to garden tools.

Background

Landscaping is now closely related to life, and the use of mobile devices is increasingly being used to maintain lawns and sports fields. The intelligence among the prior art is from mobile device by the battery package power supply usually, and it can realize walking by oneself and accomplish the function of mowing in a certain extent, but along with the progress of times, user's demand is also more and more various, can realize from mobile device singleness that the function of mowing has can't satisfy user's diversified demand.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a self-moving device which can be suitable for different scenes.

In order to achieve the purpose, the utility model provides the following technical scheme: a self-moving device comprises a self-moving module, a plurality of working modules which can be interchangeably connected to the self-moving module and are used for executing specific types of work, and a power supply capacity expansion module which can be interchangeably connected to the self-moving module with the working modules;

the self-moving module comprises a frame, a mowing unit arranged on the frame, a moving unit driving the frame to move and a power supply unit supplying power to the mowing unit and the moving unit; a storage bin for containing the mowing unit is arranged at the bottom of the frame, and a lifting device for driving the mowing unit to enter or move out of the storage bin is arranged between the mowing unit and the frame;

after the power supply capacity expansion module is connected with the self-moving module, the power supply capacity expansion module supplies power to the self-moving module.

Further, the moving unit includes a walking motor and a first walking part controlled by the walking motor to rotate clockwise or counterclockwise.

Further, the power supply capacity expansion module comprises an energy unit and a second walking component which is arranged below the energy unit so that the energy unit can move.

Further, the working module comprises a sweeping module, a picking module and a sand covering module.

Furthermore, a first interface unit is arranged on the frame, the working module comprises a working unit for executing specific types of work and a second interface unit which can be correspondingly connected with the first interface unit in a matching manner so as to connect the working module to the self-moving module, and the power supply expansion module further comprises a third interface which can be correspondingly connected with the first interface unit in a matching manner so as to realize mechanical connection and electrical connection with the working module.

Further, the first interface unit comprises a first mechanical interface, the second interface unit comprises a second mechanical interface capable of corresponding to the first mechanical interface in mechanical coupling, and the third interface unit comprises a third mechanical interface capable of corresponding to the first mechanical interface in mechanical coupling.

Further, the first interface unit further comprises a first energy interface, the third interface comprises a third energy interface capable of being electrically connected with the first energy interface, and after the first energy interface is matched and connected with the third energy interface, the power supply expansion module supplies power to the mowing unit and the mobile unit.

Further, the second interface comprises a second energy interface electrically connected with the first energy interface, and after the first energy interface is matched and connected with the second energy interface, the power supply unit supplies power to the working module.

Furthermore, the self-moving equipment further comprises a control unit and a detection unit, wherein the detection unit detects the working module or the power supply capacity expansion module and sends a detection result to the control unit, and the control unit controls the moving unit to operate and controls the lifting device according to the detection result.

Furthermore, a first module identifier corresponding to the working module is arranged at the parking position of the working module or the working module, a second module identifier corresponding to the power supply capacity expansion module is arranged at the parking position of the power supply capacity expansion module or the power supply capacity expansion module, the detection unit detects the first module identifier and the second module identifier to give a detection result, the first module identifier and the second module identifier are image identifiers, and the detection module is an image acquisition device.

The utility model has the beneficial effects that: according to the self-moving equipment, the working module and the power supply expansion module which are interchangeably connected with the self-moving module are arranged, the storage bin is arranged at the bottom of the frame of the self-moving module, and the mowing unit is stored in the storage bin through the lifting device, so that the self-moving equipment can be used as a mower and can also be changed into other working modes, and the mowing unit cannot be damaged when the working mode is changed, so that the self-moving equipment can meet diversified requirements of users; moreover, when the power expansion module is used as a mower, the power expansion module can be connected with the power supply expansion module, so that the power supply capacity of the mower is expanded, the mower can meet the mowing requirement of a large area, and the power expansion module is suitable for household use, commercial use or agricultural use.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of a self-moving device in a first operating mode according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of the self-moving device shown in FIG. 1 in a second operating mode;

FIG. 3 is a schematic structural diagram of the self-moving device shown in FIG. 1 in a third operating module;

fig. 4 is a schematic structural diagram of a self-moving device in a first operating module according to another embodiment of the present application.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, a self-moving apparatus 100 according to an embodiment of the present application includes a self-moving module 10, a plurality of working modules (see reference numeral 40 in fig. 2 and reference numeral 60 in fig. 3) interchangeably connected to the self-moving module 10 for performing a specific type of work, and a power expansion module 20 interchangeably connected to the self-moving module 10 with the working modules. In the present application, the self-moving module 10 is an intelligent lawn mower, and in fig. 1, the directions indicated by arrows a1-a2 are defined as the front-back direction of the lawn mower, wherein the direction a1 is defined as the forward direction of the self-moving module 10 during mowing, and the directions indicated by arrows b1-b2 are defined as the up-down direction of the self-moving module 10. The intelligent mower can adopt the existing structure, which will be described later, and of course, in other embodiments, the self-moving module 10 can also be a mobile device with a mowing assembly.

The self-moving module 10 includes a frame 11, a mowing unit disposed on the frame 11, a moving unit for moving the frame 11, a power supply unit 14 for supplying power to the mowing unit and the moving unit, a control unit (not shown), and a path planning unit 17. The mowing unit comprises a cutter head assembly 13, a cutter head cover 15 and a mowing motor (not shown) for driving the cutter head assembly 13 to rotate, and the cutter head assembly 13 is located in the cutter head cover 15 so as to improve mowing effect and achieve security and protection. The moving unit includes a walking motor (not shown) and a first walking member 12 whose clockwise rotation or counterclockwise rotation is controlled by the walking motor. The power supply unit 14 is a detachable battery pack, and the mowing unit, the moving unit, the power supply unit 14 and the path planning unit 17 are in the prior art and will not be described in detail herein. The control unit controls the mowing motor and the walking motor to operate. Of course, in other embodiments, the control unit may also be a controller separately disposed outside the self-moving module 10, and the self-moving module 10 and the controller implement signal interaction by providing a signal transmission unit to control the operation of the mowing motor and the walking motor.

The bottom of the frame 11 is provided with a storage chamber 18 for accommodating the mowing unit, and a lifting device 16 for driving the mowing unit to enter the storage chamber 18 or move out of the storage chamber 18 is arranged between the mowing unit and the frame 11. The lifting device 16 can adopt the prior art, the lifting device 16 can be an automatic lifting device 16 or a manual lifting device 16, when the lifting device is the automatic lifting device 16, the automatic lifting device 16 controls the operation thereof through a control unit, when the lifting device is the manual lifting device 16, an operator drives the lifting device 16 to operate by judging the mowing requirement, and the position state of the cutterhead assembly 13 is changed through the operation of the lifting device 16. For the purpose of intelligence, the lifting device 16 is usually selected as an automatic lifting device 16, for example, the lifting device 16 includes an electric cylinder (not shown) mounted on the frame 11 and a moving platform (not shown) driven by the electric cylinder to move in the up-down direction from the moving module 10, and the mowing unit is mounted on the moving platform. The electric cylinder may be controlled by a control unit.

After the power supply capacity expansion module 20 is connected to the self-moving module 10, the power supply capacity expansion module 20 supplies power to the self-moving module 10. It should be noted that the power capacity storable by the power expansion module 20 is larger than the power storable by the power supply unit 14, wherein the power storable by the power supply unit 14 can realize mowing of the self-moving device 100 in a small range, such as mowing of a household range, and the power storable by the power expansion module 20 can easily realize mowing of the self-moving device 100 in a large range, such as mowing of a commercial range and a farm range. In this embodiment, the power supply unit 14 and the power supply expansion module 20 are controlled by the control unit to realize whether to supply power to the mowing motor and the walking motor. After the power supply capacity expansion module 20 is connected to the self-moving module 10, the power supply capacity expansion module 20 supplies power to the mowing motor and the walking motor, and meanwhile, the power supply capacity expansion module 20 can also charge the power supply unit 14. The control method of the control unit, the power supply expansion module 20 and the power supply unit 14 adopts the conventional power supply separation technology in the prior art, and is suitable for a maintenance-type automatic charging scene or a small-area lawn due to the fact that the self-moving module 10 body is provided with a battery pack with smaller capacity according to the power supply separation technology; when large-area mowing or efficient mowing (namely commercial mowing or agricultural mowing) is needed, the power supply expansion module 20 is connected in a butt joint mode, the power supply unit 14 supplies power firstly and then the power supply expansion module 20 expands the capacity, or the power supply expansion module 20 supplies power firstly and then the power supply unit 14 expands the capacity, or the power supply unit 14 and the power supply expansion module 20 are connected in parallel for use.

In order to facilitate dragging the power supply capacity expansion module 20, the power supply capacity expansion module 20 includes an energy unit 21 and a second walking member 22 disposed below the energy unit 21 so that the energy unit 21 is movable, and the second walking member 22 is a universal wheel.

Referring to fig. 2 and 3, the working module includes a cleaning module (not shown), a picking module 40 (shown in fig. 2) and a sand-covering module 60 (shown in fig. 3), all of which are working heads, and if the cleaning module is a roller, the picking module 0 includes a housing 42 and a picking cylinder 41 disposed in the housing 42, and the sand-covering module 60 includes a sand-covering hood 61 and a brush 62 disposed under the sand-covering hood 61. Note that, in a normal case, since the roller of the cleaning module and the picking cylinder 41 of the picking module 40 need to roll in the direction c in fig. 2, when the cleaning module and the picking module 40 are fitted to the self-moving module 10, the moving direction of the self-moving apparatus 100 is the direction a 2; when the sand-covering module 60 is used, it is usually necessary that the sand-covering module 60 is located at the front side of the walking path, so when the sand-covering module 60 is fitted to the self-moving module 10, the moving direction of the self-moving apparatus 100 is also the direction a 2.

Referring to fig. 1 to 3, in general, when the moving module is used alone, the self-moving device 100 moves in the direction a1, when the sweeping module or the picking module 40 or the sand-covering module 60 is adapted, the self-moving device 100 moves in the direction a2, and the walking direction of the self-moving device is realized by the control unit controlling the walking motor to rotate forward or backward. In order to facilitate intelligent control of forward rotation or reverse rotation of the walking motor, in the present application, the self-moving device 100 further includes a detection unit (not shown in the figure), the detection unit detects the working modules 40 and 60 or the power supply expansion module 20 and sends a detection result to the control unit, and the control unit controls forward rotation or reverse rotation of the walking motor according to the detection result. When the traveling motor is set to rotate forward, the mobile device 100 moves in the direction a1, and when the traveling motor is set to rotate backward, the mobile device 100 moves in the direction a 2; when the detection unit detects that the cleaning module or the picking module 40 or the sand-covering module 60 is adapted, the control unit controls the motor to rotate reversely; when the detection unit detects no result (i.e. the self-moving module 10 is not matched with the working modules 40 and 60 and the power supply expansion module 20) or the detection unit detects the power supply expansion module 20, the control unit controls the walking motor to rotate forward. In this embodiment, a first module identifier corresponding to the working module 40 or 60 is disposed at the parking position of the working module 40 or 60 or the parking position of the working module 40 or 60, a second module identifier corresponding to the power supply capacity expansion module 20 is disposed at the parking position of the power supply capacity expansion module 20 or the power supply capacity expansion module 20, the detection unit detects the first module identifier and the second module identifier to provide a detection result, the first module identifier and the second module identifier are image identifiers, and the detection module is an image acquisition device. Of course, in other embodiments, the detection module may not be provided, and the external signal may be input to the control unit through an external signal (e.g., an input signal is manually set, and an input signal of an external control device (e.g., an input command is set through the mobile phone APP)), so that the control unit controls the walking motor to rotate forward or backward according to the input different types of signals.

In the application, the self-moving module 10 can be adapted to different working modules 40 and 60, and the bottom of the frame 11 is provided with the storage bin 18, so that the control unit controls the lifting device 16 to enable the mowing unit to have two working states of storage and mowing; when the cutter head assembly 13 is stored in the storage bin 18, the self-moving module 10 drives the adapted working modules 40 and 60 to work; when the cutterhead assembly 13 is in a mowing state, the working modules 40 and 60 are not matched or work out, and three working modes are provided. And the lifting device 16 may be controlled by the control unit according to the detection result. It should be noted that when the cutterhead assembly 13 enters the storage compartment 18, the cutterhead assembly 13 is operating by default.

As described above, the self-moving module 10, the working modules 40 and 60, and the power supply capacity expansion module 20 are adapted as follows: the frame 11 is provided with a first interface unit, the working modules 40 and 60 include a working unit for performing a specific type of work and a second interface unit capable of being correspondingly coupled to the first interface unit to connect the working modules 40 and 60 to the self-moving module 10, and the power supply expansion module 20 further includes a third interface capable of being correspondingly coupled to the first interface unit to be mechanically and electrically connected to the working modules 40 and 60.

Specifically, the first interface unit includes a first mechanical interface 19, the second interface unit includes a second mechanical interface 43, 63 that is mechanically coupled to the first mechanical interface 19, and the third interface unit includes a third mechanical interface 23 that is mechanically coupled to the first mechanical interface 19, wherein the first mechanical interface 19 is a universal interface 30. The first interface unit further includes a first energy interface (not shown), the third interface includes a third energy interface (not shown) electrically connectable to the first energy interface, and after the first energy interface is connected to the third energy interface in a matching manner, the power supply expansion module 20 supplies power to the mowing unit and the mobile unit. The second interface includes a second energy interface (not shown) electrically connected to the first energy interface, and the power supply unit 14 supplies power to the working modules 40 and 60 after the first energy interface is coupled to the second energy interface. The first energy interface is coupled with the second energy interface and the third energy interface to achieve electrical connection, and in a normal case, the cleaning module and the picking module 40 only need to be pushed to move from the moving module 10 to achieve specific work, so when the working module 40, 60 is the cleaning module and the picking module 40, the working module 40, 60 may not be provided with the second energy interface. The first, second, and third energy interfaces may be built in the first, second, and third mechanical interfaces 19, 43, 63, and 23, for example, the first mechanical interface 19 is a socket, the first energy interface is a first signal terminal disposed in a socket, the second mechanical interface 43, 63, and the third mechanical interface 23 are a socket, and the second and third energy interfaces are a second signal terminal and a third signal terminal disposed on the second and third mechanical interfaces 43, 63, and 23, when the first mechanical interface 19 is plugged in the second mechanical interface 43, 63, or the third mechanical interface 23, the first signal terminal is in signal connection with the second signal terminal or the third signal terminal, and the structure thereof may refer to the structure of the electrical connector in the prior art The third energy interface can also adopt non-contact transmission such as Bluetooth and the like.

As described above, the self-moving module 10, the working modules 40 and 60, and the power supply expansion module 20 are connected to the second mechanical interfaces 43 and 63, and the third mechanical interface 23 through the first mechanical interface 19, and the first mechanical interface 19 is connected to the second mechanical interfaces 43 and 63, and the third mechanical interface 23 in an inserting manner, so if there is an obstacle (such as a small stone) on the ground 200, torsion will be generated between the first mechanical interface 19 and the second mechanical interfaces 43 and 63, and between the first mechanical interface 19 and the third mechanical interface 23, and a rigid impact will be generated between the mechanical interface 30 and the second mechanical interfaces 43 and 63, and between the first mechanical interface and the third mechanical interface 23, which may affect the moving stability.

Referring to fig. 4, the self-moving device 100 in the second embodiment has substantially the same structure as the self-moving device 100, and the difference is that: the self-moving module 10 is different from the working modules 40 and 60 and the power supply capacity expansion module 20 in adaptive structure. Taking the adaptive power supply expansion module 20 on the self-moving module 10 as an example for explanation, the self-moving module 10 has a first mechanical interface 19, the power supply expansion module 70 has a third mechanical interface 73, and the energy unit 21 is connected to the third mechanical interface 73 through a joint structure 74. The first mechanical interface 19 and the third mechanical interface 73 are plug-in structures (which may be the same as the previous embodiment). The articulation structure 74 allows the third mechanical interface 73 to rotate in at least one direction relative to the energy unit 21 using known techniques. With such a structure, after the power supply expansion module 70 is connected to the self-moving module 10, when the self-moving module 10 drags the power supply expansion module 70 to move, if there is an obstacle on the ground, the power supply expansion module 70 and the self-moving module 10 can be moved in a staggered manner in the height direction. In the second embodiment, a second traveling member 72 is also provided below the energy unit 21.

When the first mechanical interface 19 and the third mechanical interface 73 on the frame 11 are in butt joint, the first energy interface is electrically connected with the third energy interface, the power supply expansion module 70 supplies power to the mowing unit, meanwhile, whether the cutting assembly 13 of the cutting assembly is positioned in the storage bin 18 is detected, if yes, the control unit drives the cutting assembly 13 to descend through the lifting device 16, and the cutting assembly is moved out of the storage bin 18; then the control unit controls the walking motor and the cutting motor to start, and the control unit can select the power supply expansion module 70 and/or the power supply unit 14 to supply power to the walking motor and the cutting motor.

The second mechanical interfaces 43, 63 of the work modules 40, 60 may also be configured as the third mechanical interface 73. Which will not be described in detail herein.

In summary, the self-moving device 100 of the present application is provided with the working modules 40 and 60 and the power supply expansion module 70 which are interchangeably connected to the self-moving module 10, and the storage compartment 18 is provided at the bottom of the frame 11 of the self-moving module 10, and the mowing unit is stored in the storage compartment 18 through the lifting device 16, so that the self-moving device 100 can be used as a mower and can also be changed into other working modes, and the mowing unit is not damaged when the working mode is changed, so that the self-moving device 100 can meet diversified requirements of users; moreover, when the power expansion module is used as a mower, the power expansion module can be connected with the power supply expansion module 70, so that the power supply capacity of the mower is expanded, the mower can meet the mowing requirement of a large area, and the power expansion module is suitable for household use, commercial use or agricultural use.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A self-moving device is characterized by comprising a self-moving module, a plurality of working modules which can be interchangeably connected with the self-moving module and are used for executing specific types of work, and a power supply expansion module which can be interchangeably connected with the working modules and is arranged on the self-moving module;

the self-moving module comprises a frame, a mowing unit arranged on the frame, a moving unit driving the frame to move and a power supply unit supplying power to the mowing unit and the moving unit; a storage bin for containing the mowing unit is arranged at the bottom of the frame, and a lifting device for driving the mowing unit to enter or move out of the storage bin is arranged between the mowing unit and the frame;

after the power supply capacity expansion module is connected with the self-moving module, the power supply capacity expansion module supplies power to the self-moving module.

2. The self-moving apparatus as claimed in claim 1, wherein the moving unit includes a walking motor and a first walking member whose clockwise rotation or counterclockwise rotation is controlled by the walking motor.

3. The self-moving apparatus as claimed in claim 1 or 2, wherein the power supply capacity expansion module includes an energy unit and a second walking member disposed below the energy unit to make the energy unit movable.

4. The self-moving apparatus as claimed in claim 1 or 2, wherein the working modules include a sweeping module, a picking module and a sanding module.

5. The self-moving equipment as claimed in claim 1 or 2, wherein a first interface unit is disposed on the frame, the working module includes a working unit for performing a specific type of work and a second interface unit capable of being correspondingly coupled to the first interface unit to connect the working module to the self-moving module, and the power supply expansion module further includes a third interface capable of being correspondingly coupled to the first interface unit to be mechanically and electrically connected to the working module.

6. The self-moving device of claim 5, wherein the first interface unit comprises a first mechanical interface, the second interface unit comprises a second mechanical interface that is correspondingly mechanically coupleable to the first mechanical interface, and the third interface comprises a third mechanical interface that is correspondingly mechanically coupleable to the first mechanical interface.

7. The self-moving device as claimed in claim 6, wherein the first interface unit further comprises a first energy interface, the third interface comprises a third energy interface capable of being electrically connected with the first energy interface, and the power expansion module supplies power to the mowing unit and the moving unit after the first energy interface is matched with the third energy interface.

8. The self-moving device as claimed in claim 7, wherein the second interface comprises a second energy interface electrically connectable to the first energy interface, and the power supply unit supplies power to the operating module when the first energy interface is mated with the second energy interface.

9. The self-moving device as claimed in claim 5, further comprising a control unit and a detection unit, wherein the detection unit detects the working module or the power supply expansion module and sends the detection result to the control unit, and the control unit controls the movement unit to operate and controls the lifting device according to the detection result.

10. The self-moving device as claimed in claim 9, wherein a first module identifier corresponding to the working module is disposed at a parking position of the working module or the working module, a second module identifier corresponding to the power supply capacity expansion module is disposed at a parking position of the power supply capacity expansion module or the power supply capacity expansion module, the detection unit detects the first module identifier and the second module identifier to give a detection result, the first module identifier and the second module identifier are image identifiers, and the detection unit is an image acquisition device.

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