US-12617234-B1 - Axle structure and lawn mowing robot

Abstract

An axle structure is applied to a lawn mowing robot, which includes a device body and a wheel body. The axle structure includes a support beam, a first axle housing, a connecting beam, and a second axle housing. The support beam is provided within the first axle housing and is configured to connect to the device body. The connecting beam is provided within the second axle housing and is rotatably connected to the support beam about a vertical direction. A lower end of the connecting beam is configured to connect to the wheel body.

Inventors

• Haifeng Zhang
• Pengjian LI
• Huayang Xu

Assignees

• Shenzhen GOKO Innovation Technology Co., Ltd.

Dates

Publication Date

20260505

Application Date

20251210

Priority Date

20250808

Claims (18)

1. 1 . An axle structure, applied to a lawn mowing robot comprising a device body and a wheel body, the axle structure comprising: a support beam; a first axle housing; a connecting beam; and a second axle housing, wherein the support beam is provided within the first axle housing and is configured to connect to the device body; and the connecting beam is provided within the second axle housing, and is rotatably connected to the support beam about a vertical direction, and a lower end of the connecting beam is configured to be connected to the wheel body.
2. 2 . The axle structure according to claim 1 , wherein the support beam and the connecting beam are provided with reinforcing flanges extending along an edge of the support beam or an edge of the connecting beam in a length direction.
3. 3 . The axle structure according to claim 1 , wherein the first axle housing is provided with a plurality of reinforcing ribs.
4. 4 . The axle structure according to claim 1 , wherein the connecting beam comprises a plurality of connecting segments, and two adjacent connecting segments are connected at an angle; a connecting segment adjacent to the support beam is vertically opposed to the support beam, a connecting segment adjacent to the wheel body is horizontally opposed to the wheel body, and a connection portion between two adjacent connecting segments is provided with a reinforcing protrusion.
5. 5 . The axle structure according to claim 1 , further comprising: a steering assembly provided at the support beam, located within the first axle housing and configured to drive the connecting beam to rotate.
6. 6 . The axle structure according to claim 5 , wherein: an end of the connecting beam is provided with a steering shaft; a lower side of the first axle housing is provided with a first avoidance opening, an upper side of the second axle housing is provided with a second avoidance opening, and the first avoidance opening is opposed to the second avoidance opening; and the steering shaft passes through the second avoidance opening and the first avoidance opening and is rotatably connected to the support beam, and the steering assembly is drivingly connected to the steering shaft.
7. 7 . The axle structure according to claim 6 , wherein the wheel body is provided with a movement driving member connected to the connecting beam, and a controller is provided within the first axle housing; and the steering shaft is provided with a wire channel extending through the steering shaft along an axis center of the steering shaft, and a wire of the controller sequentially passes through the first axle housing, the wire channel, and the second axle housing to connect to the movement driving member.
8. 8 . The axle structure according to claim 1 , wherein the support beam is provided with connecting lugs bent and formed at opposite sides of the support beam in a width direction, and the connecting lugs are rotatably connected to the device body.
9. 9 . The axle structure according to claim 1 , wherein the support beam and the connecting beam are formed by stamping sheet metal parts.
10. 10 . The axle structure according to claim 1 , wherein the support beam is connected to the first axle housing by screw fastening.
11. 11 . The axle structure according to claim 1 , wherein the connecting beam is connected to the second axle housing by screw fastening.
12. 12 . The axle structure according to claim 1 , wherein the second axle housing is provided with a plurality of reinforcing ribs.
13. 13 . The axle structure according to claim 1 , wherein the first axle housing is configured as two half-housings connected on opposite sides of the support beam by screw fastening.
14. 14 . The axle structure according to claim 1 , wherein the second axle housing is configured as two half-housings connected on opposite sides of the connecting beam by screw fastening.
15. 15 . The axle structure according to claim 1 , wherein the first axle housing is provided with avoidance grooves recessed at opposite sides of the first axle housing in a width direction, the support beam is rotatably connected with a swing pivot shaft, and an end of the swing pivot shaft passes through the first axle housing and is connected to the device body within the avoidance groove.
16. 16 . The axle structure according to claim 1 , wherein the support beam and the connecting beam are provided with weight reduction holes.
17. 17 . The axle structure according to claim 1 , wherein the first axle housing and the second axle housing are made of plastic material.
18. 18 . A lawn mowing robot, comprising the axle structure according to claim 1 .

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims priority to Chinese Patent Application No. 202521685757.9, filed on Aug. 8, 2025, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD The present application relates to the technical field of robots, and in particular to an axle structure and a lawn mowing robot. BACKGROUND With the development of smart agriculture and garden automation, lawn mowing robots, as efficient, energy-saving, and intelligent horticultural equipment, have been widely used in home gardens, parks, and large-scale lawn management. In lawn mowing robots, the axle structure, as a crucial transmission and load-bearing structure connecting the device body to the wheel body, directly affects the robot's operational stability, terrain adaptability, and manufacturing cost. In the related art, the axle structure of lawnmowers is usually made of integrally cast components or welded heavy steel plates, resulting in a large overall weight. This not only limits the mobility and endurance of the lawn mowing robot, but also leads to high manufacturing costs. SUMMARY The main purpose of the present application is to provide an axle structure and a lawn mowing robot, which aims to ensure the strength of the axle structure and reduce its weight, thereby reducing the cost of the lawn mowing robot. To achieve the above objectives, the axle structure provided in the present application is applied to a lawn mowing robot, which includes a device body and a wheel body. The axle structure includes a support beam, a first axle housing, a connecting beam and a second axle housing. The support beam is provided within the first axle housing and is configured to connect to the device body; and the connecting beam is provided within the second axle housing, and is rotatably connected to the support beam about a vertical direction, and a lower end of the connecting beam is configured to connect to the wheel body. In an embodiment, the support beam and the connecting beam are provided with reinforcing flanges extending along an edge of the support beam or an edge of the connecting beam in a length direction. In an embodiment, the support beam is connected to the first axle housing by screw fastening; and/or the connecting beam is connected to the second axle housing by screw fastening. In an embodiment, the first axle housing and/or the second axle housing are provided with a plurality of reinforcing ribs. In an embodiment, the first axle housing is configured as two half-housings connected on opposite sides of the support beam by screw fastening. In an embodiment, the second axle housing is configured as two half-housings connected on opposite sides of the connecting beam by screw fastening. In an embodiment, the connecting beam includes a plurality of connecting segments, and two adjacent connecting segments are connected at an angle; and a connecting segment adjacent to the support beam is vertically opposed to the support beam, a connecting segment adjacent to the wheel body is horizontally opposed to the wheel body, and a connection portion between two adjacent connecting segments is provided with a reinforcing protrusion. In an embodiment, the axle structure further includes a steering assembly provided at the support beam, located within the first axle housing and configured to drive the connecting beam to rotate. In an embodiment, an end of the connecting beam is provided with a steering shaft; a lower side of the first axle housing is provided with a first avoidance opening, an upper side of the second axle housing is provided with a second avoidance opening, and the first avoidance opening is opposed to the second avoidance opening; and the steering shaft passes through the second avoidance opening and the first avoidance opening and is rotatably connected to the support beam, and the steering assembly is drivingly connected to the steering shaft. In an embodiment, the wheel body is provided with a movement driving member connected to the connecting beam, and a controller is provided within the first axle housing; and the steering shaft is provided with a wire channel extending through the steering shaft along an axis center of the steering shaft, and a wire of the controller sequentially passes through the first axle housing, the wire channel, and the second axle housing to connect to the movement driving member. In an embodiment, the support beam is provided with connecting lugs bent and formed at opposite sides of the support beam in a width direction, and the connecting lugs are rotatably connected to the device body. In an embodiment, the first axle housing is provided with avoidance grooves recessed at opposite sides of the first axle housing in a width direction, the support beam is rotatably connected with a swing pivot shaft, and an end of the swing pivot shaft passes through the first axle housing and is connected to the device body within the av