CN218680093U

CN218680093U - Collision device and mower

Info

Publication number: CN218680093U
Application number: CN202222873262.1U
Authority: CN
Inventors: 魏基栋; 徐远俊; 钟吉平; 华锦峰
Original assignee: Agilex Robotics Shenzhen Lt
Current assignee: Shenzhen Kuma Technology Co ltd
Priority date: 2022-10-29
Filing date: 2022-10-29
Publication date: 2023-03-24
Anticipated expiration: 2032-10-29

Abstract

The application provides a collision device and lawn mower, collision device is used for installing on the robot. Collision device includes plug, work subassembly and elastic component, and plug fixed connection robot body, work subassembly locate one side that the plug deviates from robot body, and elastic component elastic connection takes place deformation when work subassembly receives the striking between plug and the work subassembly, elastic component. In the collision device that this application provided, plug fixed connection is on the robot, and elastic component elastic connection is between plug and work subassembly, and elastic component can be used to take place deformation when work subassembly receives the striking. The collision device of this application has elastic component, and elastic component can take place elastic deformation when the work subassembly receives the striking, and then makes the work subassembly take place to deflect for the plug, can unload the power with the impact that the work subassembly received, reduces the probability that collision device takes place to damage when contacting the barrier.

Description

Collision device and mower

Technical Field

The application relates to the technical field of robots, in particular to a collision device and a mower.

Background

With the development of science and technology, the types and functions of robots are more and more. For agricultural tasks, robots are increasingly used instead of manual work, for example mowing with a mower. The prior art mower is usually required to be provided with a collision device for detecting an obstacle and preventing a machine body of the mower from being damaged due to collision when performing work, but the prior art mower is also easily damaged due to collision, and therefore the collision device needs to be replaced, and how to reduce the probability of damage when the collision device contacts the obstacle becomes a technical problem to be solved.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a collision device and a mower, and aims to solve the technical problem of how to reduce the probability of damage of the collision device when the collision device contacts an obstacle.

In a first aspect, the present application provides a collision device for mounting on a robot body, the collision device comprising:

the plug is fixedly connected with the robot body;

the working assembly is arranged on one side, away from the robot body, of the plug; and

the elastic component is elastically connected between the plug and the working component and is used for deforming when the working component is impacted.

In the collision device that this application provided, plug fixed connection is on the robot, and elastic component elastic connection is between plug and work subassembly, and elastic component can be used to take place deformation when work subassembly receives the striking. Compare in prior art's collision device and carry out fixed connection's mode with plug and work subassembly, the collision device of this application has elastic component, and elastic component can take place elastic deformation when work subassembly receives the striking, and then makes work subassembly take place to deflect for the plug, can unload the impact that work subassembly received and do all can, reduces the probability that collision device takes place to damage when contacting the barrier.

Wherein the working assembly comprises a first substrate;

the first substrate comprises a first support arm, a plug mounting part and a second support arm which are arranged in sequence;

the elastic component comprises at least one first elastic piece, the elastic abutting of the first elastic piece is connected between the plug installation part and the plug, the setting direction of the first elastic piece is perpendicular to or intersected with the first substrate, and the first substrate deflects when the first support arm or the second support arm is impacted.

The first substrate is provided with at least one first through hole;

the plug comprises a plug body and a first fixing piece, the first fixing piece penetrates through the first through hole, one end of the first fixing piece is fixedly connected to the plug body, and the other end of the first fixing piece is provided with a first blocking part;

the first elastic piece is sleeved on the first fixing piece; one end of the first elastic piece is abutted against the first blocking part, and the other end of the first elastic piece is abutted against the first substrate.

The first through holes are strip-shaped holes, and the extending direction of the first through holes is the same as that of the first substrate.

The plug comprises a second substrate, at least one second through hole is formed in the second substrate, the working assembly further comprises a second fixing piece, the second fixing piece is fixed to the first substrate through the second through hole, a second blocking portion is arranged at one end, deviating from the second substrate, of the second fixing piece, the first elastic piece is sleeved on the second fixing piece, one end of the first elastic piece is abutted to the second blocking portion, and the other end of the first elastic piece is abutted to the second substrate.

The collision device further comprises a rotating assembly, the rotating assembly is arranged between the working assembly and the plug, the rotating assembly comprises a first matching portion and a second matching portion, the first matching portion is arranged on the working assembly, the second matching portion is arranged on the plug, and the first matching portion is used for enabling the working assembly to be opposite to the plug and enabling the second matching portion to rotate when the plug deflects.

The first matching part is a spherical hinge support, and the second matching part is a spherical hinge; or the first matching part is a pivot support, and the second matching part rotates; or, the first matching part is a torsion spring support, and the second matching part is a rotating part.

The working assembly further comprises an inner shell, an outer shell and at least one collision sensor, the inner shell is fixedly connected with the first base plate, the outer shell is movably connected with the inner shell, the collision sensor is arranged on the inner shell, and the collision sensor is used for enabling the outer shell to move towards the inner shell and abut against the inner shell and sending out an induction electric signal when the collision sensor is used.

The working assembly further comprises a third elastic piece, the third elastic piece is arranged between the inner shell and the outer shell, one end of the third elastic piece is abutted to the inner shell, and the other end of the third elastic piece is abutted to the outer shell.

In a second aspect, the present application provides a lawn mower comprising a robot body and the collision device, wherein the collision device is used for preventing the robot body from being collided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural view of a mower provided in one embodiment of the present application;

FIG. 2 is an exploded view of a crash device according to one embodiment of the present disclosure;

FIG. 3 is a schematic cross-sectional view of a crash device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a first substrate according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of a collision device according to a second embodiment of the present application;

fig. 6 is a schematic structural diagram of a collision device according to a third embodiment of the present application;

fig. 7 is a schematic structural view of a collision device according to a fourth embodiment of the present application;

fig. 8 is a schematic structural diagram of a collision device according to a fifth embodiment of the present application;

fig. 9 is a partial structural schematic view of a collision device according to a fifth embodiment of the present application.

Description of reference numerals:

the robot comprises a mower-1000, a collision device-1, a robot body-2, a plug-10, a plug body-11, a first fixing piece-12, a first blocking part-13, a working component-20, a first base plate-21, a first supporting arm-211, a second supporting arm-212, a plug mounting part-213, a first through hole-214, an inner shell-22, an outer shell-23, a collision sensor-24, a third elastic piece-25, an elastic component-30, a first elastic piece-31, a rotating component-40, a first matching part-41 and a second matching part-42.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present disclosure.

Reference herein to "an embodiment" or "an implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment or implementation can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In this specification, for convenience, words such as "middle", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating orientations or positional relationships are used to explain positional relationships of constituent elements with reference to the drawings, only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present disclosure. The positional relationship of the constituent elements is appropriately changed according to the described directions of the constituent elements. Therefore, the words described in the specification are not limited to the words described in the specification, and may be replaced as appropriate.

In this specification, the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise specifically indicated and limited. For example, it may be a fixed connection, or a removable connection, or an integral connection; can be a mechanical connection, or an electrical connection; either directly or indirectly through intervening components, or both may be interconnected. The meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a lawn mower according to an embodiment of the present disclosure. The application provides a lawn mower 1000, including robot 2 and collision device 1, collision device 1 is used for preventing robot 2 from receiving the collision.

Referring to fig. 1 and 2, fig. 2 is an exploded schematic view of a collision device according to an embodiment of the present disclosure. The application provides a collision device 1 for being mounted on a robot body 2, wherein the collision device 1 comprises a plug 10, a working assembly 20 and an elastic assembly 30. The plug 10 is fixedly connected to the robot body 2. The working assembly 20 is provided on the side of the plug 10 facing away from the robot body 2. The elastic member 30 is elastically connected between the plug 10 and the working member 20, and the elastic member 30 is configured to be deformed when the working member 20 is impacted.

The collision device 1 is intended to be mounted on a robot body 2. Alternatively, in the present embodiment, the robot body 2 is the robot body 2 of the lawn mower 1000, but in other embodiments, the robot body 2 may be other types of robots, such as a pesticide spraying robot, a crop harvesting robot, and the like, which all belong to the embodiments of the present application and should not be construed as limiting the present application.

Work subassembly 20 locates one side that plug 10 deviates from robot 2, and robot 2, plug 10 and work subassembly 20 set gradually along robot 2's direction of advance, and when having the barrier in robot 2's the direction of travel, work subassembly 20 at first runs into the barrier to avoid robot 2 to run into the barrier and make it take place to damage. And the working assembly 20 firstly touches the obstacle, so that the obstacle can be identified when the robot body 2 performs path planning, and other structural members are instructed to take corresponding obstacle avoidance measures.

Collision device 1 still includes plug 10, and plug 10 fixed connection is on robot body 2, and plug 10 and robot body 2 demountable installation. In the present embodiment, the plug 10 is mounted to the robot body 2 by a snap-fit connection, but in other embodiments, the plug 10 may be fixedly connected to the robot body 2 by another fixing connection, such as an adhesive, a screw connection, or another connection. Because of collision subassembly is demountable installation in robot body 2, when collision subassembly striking barrier, if work subassembly 20 takes place to damage, can dismantle collision subassembly and get off to restore or change, need not restore robot body 2.

The elastic member 30 is elastically connected between the plug 10 and the working member 20, and the elastic member 30 is configured to be deformed when the working member 20 is impacted. The elastic member 30 deforms and simultaneously enables the working member 20 to deflect relative to the plug 10.

In collision device 1 that this application provided, plug 10 fixed connection is on robot body 2, and elastic component 30 elastic connection is between plug 10 and work subassembly 20, and elastic component 30 can be used to take place to deform when work subassembly 20 receives the striking. Compared with the mode that the collision device 1 of the related art fixedly connects the plug 10 with the working assembly 20, the collision device 1 of the present application has the elastic assembly 30, and the elastic assembly 30 can elastically deform when the working assembly 20 is impacted, so that the working assembly 20 deflects relative to the plug 10, the impact force applied to the working assembly 20 can be removed, and the probability of damage when the collision device 1 contacts an obstacle is reduced.

Referring to fig. 1 and 4, fig. 3 is a schematic cross-sectional structure view of a collision device according to an embodiment of the present disclosure, and fig. 4 is a schematic structural view of a first substrate according to an embodiment of the present disclosure. The working assembly 20 includes a first substrate 21. The first board 21 includes a first arm 211, a plug mounting portion 213, and a second arm 212, which are arranged in this order.

The elastic assembly 30 includes at least one first elastic member 31, the first elastic member 31 elastically abuts between the plug mounting portion 213 and the plug 10, the direction of the first elastic member 31 is perpendicular to or intersects with the first substrate 21, and the first substrate 21 deflects when the first arm 211 or the second arm 212 is impacted.

Optionally, in this embodiment, the first elastic element 31 is disposed on a side of the first substrate 21 away from the plug 10, and in another embodiment, please refer to fig. 1 and 5, and fig. 5 is a schematic structural diagram of a collision device provided in the second embodiment of the present application. The first elastic element 31 can also be disposed between the first substrate 21 and the plug 10, and only the first elastic element 31 can elastically deform and deflect the working element 20 relative to the plug 10, which should not be construed as a limitation to the present application.

Specifically, if the first arm 211 is a left arm in the figure and the second arm 212 is a right arm in the figure, when the area of the working component 20 corresponding to the first arm 211 encounters an obstacle, the first arm 211 is impacted and moves toward the direction close to the robot body 2, the second arm 212 moves toward the direction away from the robot body 2, and the first substrate 21 as a whole deflects in the counterclockwise direction. When the area of the working component 20 corresponding to the second arm 212 hits an obstacle, the second arm 212 is hit and moves in a direction close to the robot body 2, the first arm 211 moves in a direction away from the robot body 2, and the first base plate 21 as a whole deflects in the instantaneous needle direction. When an obstacle, which the working unit 20 collides against, is spaced apart from the working unit 20, the deflected working unit 20 is restored by the deformation restoration of the first elastic member 31.

It should be noted that the number of the first elastic members 31 may be 1, 2, or 3, or 4, or a number greater than 4, and the application is only illustrated with the number of the first elastic members 31 being 2, and should not be construed as limiting the application.

Referring to fig. 1 and 4, in one embodiment, the first elastic member 31 is disposed in the working assembly 20. The first substrate 21 is provided with at least one first through hole 214.

The plug 10 includes a plug body 11 and a first fixing member 12, the first fixing member 12 penetrates through the first through hole 214, one end of the first fixing member 12 is fixedly connected to the plug body 11, and the other end is provided with a first blocking portion 13.

The first elastic element 31 is sleeved on the first fixing element 12. One end of the first elastic member 31 abuts against the first stopper 13, and the other end abuts against the first substrate 21.

The first fixing member 12 can be used for fixing the first elastic member 31, the first fixing member 12 is sleeved with the first elastic member 31, and when the first elastic member 31 is elastically deformed, the first fixing member 12 can be used for guiding the extending direction of the elastic deformation of the first elastic member 31, so as to avoid the unfavorable bending phenomenon of the first elastic member 31.

The first fixing element 12 is fixed on the plug body 11, in this embodiment, the first fixing element 12 is a bolt, a threaded hole is provided on the plug 10, the first fixing element 12 and the plug 10 are fixed in a threaded connection manner, in other embodiments, the first fixing element 12 may also be fixed on the plug body 11 in other manners, which is not limited in this application.

In the present embodiment, the first blocking portion 13 is a blocking piece, and when one end of the first elastic member 31 abuts against the first blocking portion 13, the first blocking portion 13 abuts against one end of the first fixing member 12. In another embodiment, when the first fixing element 12 is a bolt, the first blocking portion 13 may be a nut of the bolt, and it is only necessary that one end of the first elastic element 31 can abut against the nut.

The first through holes 214 are strip-shaped holes, and the extending direction of the first through holes 214 is the same as the extending direction of the first substrate 21.

In other words, when the working member 20 is deflected relative to the plug 10, the working member 20 is also displaced in a horizontal direction. First through-hole 214 is the bar hole, can be for work subassembly 20 provides the removal space when the displacement takes place for the horizontal direction, and then be convenient for work subassembly 20 to take place to deflect for plug 10.

In another embodiment, the first resilient member 31 is provided within the plug 10. Similar to the structure in the above embodiment, the present application does not provide drawings here. The plug 10 includes a second substrate, at least one second through hole is disposed on the second substrate, the working assembly 20 further includes a second fixing member, the second fixing member is fixed to the first substrate 21 through the second through hole, a second blocking portion is disposed at an end of the second fixing member away from the second substrate, the first elastic member 31 is sleeved on the second fixing member, one end of the first elastic member 31 abuts against the second blocking portion, and the other end of the first elastic member abuts against the second substrate.

Similarly, the second fixing member can be used to fix the first elastic member 31, the first elastic member 31 is sleeved on the second fixing member, and when the first elastic member 31 is elastically deformed, the second fixing member can be used to guide the extending direction of the elastic deformation of the first elastic member 31, so as to avoid the unfavorable bending phenomenon of the first elastic member 31.

The second fixing member is fixed to the working assembly 20, in this embodiment, the second fixing member is a bolt, a threaded hole is formed in the working assembly 20, the second fixing member and the working assembly 20 are fixed in a threaded connection mode, in other embodiments, the second fixing member may also be fixed to the working assembly 20 in other modes, and this application does not limit this.

In the present embodiment, the second blocking portion is a blocking piece, and when one end of the first elastic member 31 abuts against the second blocking portion, the second blocking portion abuts against one end of the second fixing member. In other embodiments, when the second fixing member is a bolt, the second blocking portion may be a nut of the bolt, and it is only necessary that one end of the first elastic member 31 can abut against the nut.

The second through holes are strip-shaped holes, and the extending direction of the second through holes is the same as that of the second substrate.

In the present embodiment, the working assembly 20 is deflected relative to the plug 10, i.e. there is necessarily a deflection axis. However, the deflection axes of the left and right sides of the working assembly 20 are different when being impacted, and the working assembly 20 can rub the plug 10 during deflection, which increases the wear of the plug 10 and the working assembly 20 and reduces the service life of the plug.

Referring to fig. 3, fig. 6 and fig. 7, fig. 6 is a schematic structural diagram of a collision device according to a third embodiment of the present application. In one embodiment, fig. 7 is a schematic structural diagram of a collision device according to a fourth embodiment of the present disclosure. The collision device 1 further comprises a rotating assembly 40, the rotating assembly 40 is arranged between the working assembly 20 and the plug 10, the rotating assembly 40 comprises a first matching portion 41 and a second matching portion 42, the first matching portion 41 is arranged on the working assembly 20, the second matching portion 42 is arranged on the plug 10, and the first matching portion 41 is used for rotating relative to the second matching portion 42 when the working assembly 20 deflects relative to the plug 10.

The rotating assembly 40 is additionally arranged between the working assembly 20 and the plug 10, when the working assembly 20 meets an obstacle and deflects relative to the plug 10, the rotating assembly 40 can facilitate the rotation of the working assembly 20, and the deflection axis is overlapped with the rotating assembly 40. The working member 20 is not in contact with the plug 10 when it is deflected relative to the plug 10, and the first and second mating portions 41, 42 may be provided as structural members adapted to rotate, so as to improve the service life of the collision device 1.

Referring to fig. 6, in one embodiment, the first mating portion 41 is a ball-joint support, and the second mating portion 42 is a ball joint. Referring to fig. 7, in another embodiment, the first engaging portion 41 may be a pivot support and the second engaging portion 42 may be a rotating member. The present application is not limited to the rotating structure of the rotating assembly 40, as long as it is rotated when the working assembly 20 is deflected.

Referring to fig. 8 and 9, fig. 8 is a schematic structural diagram of a collision device provided in the fifth embodiment of the present application, and fig. 9 is a schematic partial structural diagram of a collision device provided in the fifth embodiment of the present application. In another embodiment, the first engaging portion 41 is a torsion spring holder, and the second engaging portion 42 is a rotating member. Specifically, the first matching portion 41 includes a torsion spring 411 and a pin 412, the torsion spring 411 is disposed through the pin, one end of the torsion spring 411 abuts against the first substrate 21, and the other end of the torsion spring is used for abutting against the second matching portion 42. In the present embodiment, further, the number of the torsion springs 411 is 2, and the arrangement directions of the torsion springs 411 are opposite.

Referring to fig. 1 to 3 again, the working assembly 20 further includes an inner housing 22, an outer housing 23, and at least one impact sensor 24, the inner housing 22 is fixedly connected to the first base plate 21, the outer housing 23 is movably connected to the inner housing 22, the impact sensor 24 is disposed on the inner housing 22, and the impact sensor 24 is configured to generate an induced electrical signal when the outer housing 23 moves toward the inner housing 22 and abuts against the impact sensor 24.

In the present embodiment, the plug 10 is electrically connected to the robot main body 2 and the collision sensor 24, and when the collision sensor 24 generates an induced electric signal, the collision sensor 24 transmits a signal that there is an obstacle in front of the collision sensor 24 to the robot main body 2 through the plug 10, so that the lawnmower 1000 avoids the obstacle.

Alternatively, in the present embodiment, the number of the collision sensors 24 is two, and in other embodiments, the number of the collision sensors 24 may be one, or three, or four or more, which is not limited in the present application.

Referring to fig. 1 to fig. 3 again, the working assembly 20 further includes a third elastic member 25, the third elastic member 25 is disposed between the inner shell 22 and the outer shell 23, and one end of the third elastic member 25 abuts against the inner shell 22 and the other end abuts against the outer shell 23.

The third elastic element 25 is disposed between the inner casing 22 and the outer casing 23 to buffer the moving speed of the outer casing 23 toward the inner casing 22 when the working assembly 20 is impacted, so as to prevent the outer casing 23 and the inner casing 22 from being damaged.

Further, in one embodiment, the elastic coefficient of the first elastic member 31 is smaller than that of the third elastic member 25, when the working assembly 20 collides with an obstacle, the working assembly 20 deflects when the collision force exceeds a preset value, and the deflection of the first elastic member 31 and the working assembly 20 is buffered to reduce the rigid force of the collision device 1 during collision.

In another embodiment, the elastic coefficient of the third elastic member 25 is smaller than that of the third elastic member 25, when the working component 20 collides with an obstacle, the working component 20 is deflected when the collision force exceeds a preset value, and the deflection of the working component 20 and the third elastic member 25 is buffered to reduce the rigid force of the collision device 1 during collision.

The foregoing is a partial description of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations are also regarded as the protection scope of the present application.

Claims

1. A collision device for mounting on a robot body, the collision device comprising:

the plug is fixedly connected with the robot body;

2. The impact device of claim 1, wherein the working assembly comprises a first base plate;

the elastic component comprises at least one first elastic piece, the first elastic piece is elastically abutted against the plug mounting part and the plug, the setting direction of the first elastic piece is perpendicular to or intersected with the first substrate, and the first substrate deflects when the first support arm or the second support arm is impacted.

3. The crash device as recited in claim 2 wherein said first substrate defines at least one first through-hole;

4. The impact device according to claim 3, wherein the first through hole is a strip-shaped hole, and an extending direction of the first through hole is the same as an extending direction of the first substrate.

5. The collision device according to claim 2, wherein the plug includes a second base plate, the second base plate is provided with at least one second through hole, the working assembly further includes a second fixing member, the second fixing member is fixed to the first base plate through the second through hole, one end of the second fixing member, which is away from the second base plate, is provided with a second blocking portion, the first elastic member is sleeved on the second fixing member, and one end of the first elastic member abuts against the second blocking portion, and the other end abuts against the second base plate.

6. The bump apparatus of claim 1, further comprising a rotating assembly disposed between the working assembly and the plug, the rotating assembly including a first engaging portion disposed on the working assembly and a second engaging portion disposed on the plug, the first engaging portion being configured to rotate relative to the second engaging portion when the working assembly is deflected relative to the plug.

7. The impact device of claim 6, wherein the first mating portion is a ball-hinge mount and the second mating portion is a ball-hinge; or, the first matching part is a pivot support, and the second matching part is a rotating part; or, the first matching part is a torsion spring support, and the second matching part is a rotating part.

8. The crash device as recited in claim 2 wherein said operating assembly further comprises an inner housing fixedly attached to said first base plate, an outer housing movably attached to said inner housing, and at least one crash sensor disposed on said inner housing for generating an electrical signal when said outer housing moves toward said inner housing and abuts said crash sensor.

9. The impact device of claim 8, wherein the working assembly further comprises a third resilient member disposed between the inner shell and the outer shell, the third resilient member having one end abutting the inner shell and another end abutting the outer shell.

10. A lawnmower comprising a robot body and a collision device according to any one of claims 1 to 9, the collision device being arranged to prevent the robot body from colliding.