Autonomous movement device and working robot

Abstract

Implementations of the present application provide an autonomous movement device and a working robot. The autonomous movement device comprises a frame, a connecting rod assembly, and a linear driving assembly, wherein the connecting rod assembly is movably connected to the frame, and the connecting rod assembly is used for being connected to a snow removal mechanism. The linear driving assembly is transmittingly connected between the frame and the connecting rod assembly, and the linear driving assembly comprises a housing and a movable member. The housing is provided with an accommodating cavity and an opening communicated with the accommodating cavity. The movable member is partially movably accommodated in the housing, the movable member extends out relative to the housing by means of the opening so as to form a telescopic driving structure together with the housing; and two ends of the telescopic driving structure are respectively connected to the frame and the connecting rod assembly so as to drive the connecting rod assembly to drive the snow removal mechanism to move. When the autonomous movement device works on a horizontal operation surface, the opening faces downwards relative to the horizontal plane, and the telescopic driving structure can extend and retract to drive the snow removal mechanism to pitch.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 2023109696366, filed on August 2, 2023, which is incorporated by reference in its entireties. TECHNICAL FIELD

[0002] The present application relates to the technical field of robotics, and in particular to an autonomous movement device and a working robot. BACKGROUND

[0003] The autonomous movement device of a working robot can adjust the height of the executing mechanism of the working robot, so as to ensure that the execution mechanism is at a proper height during operation.

[0004] The autonomous movement device in the related art realizes height adjustment through a linear drive assembly. However, when the movable part of the linear drive assembly expands and contracts continuously in a low-temperature and humid environment, there is a risk that external debris (such as snow water, sand particles, etc.) is brought into the interior of the linear drive assembly, thereby damaging the linear drive assembly. In addition, there is a risk that the snow water entering the interior of the linear drive assembly causes the lubricating oil and gears inside the linear drive assembly to freeze in a low-temperature environment. OBJECT [0004a] It is an object of the present disclosure to substantially overcome or ameliorate one or more of the above disadvantages, or at least provide a useful alternative. 2023459717   27 Jul 2026 SUMMARY

[0005] Embodiments of the present application provide an autonomous movement device and a working robot. [0005a] An aspect of the present application provides an autonomous movement device, comprising: a frame; a connecting rod assembly; and a linear drive assembly, wherein the connecting rod assembly is movably connected to the frame, and the connecting rod assembly is connected to a working mechanism; and the linear drive assembly is drivingly connected between the frame and the connecting rod assembly, the linear drive assembly comprises a housing and a movable part; wherein the housing is provided with an accommodating cavity and an opening communicating with the accommodating cavity; and a part of the movable part is movably accommodated in the housing, and the movable part extends out relative to the housing through the opening, the movable part and the housing form a telescopic drive structure; two ends of the telescopic drive structure are respectively connected to the frame and the connecting rod assembly to drive the connecting rod assembly to drive the working mechanism to move; when the autonomous movement device works on a horizontal platform, the opening is provided downward relative to a horizontal plane, and the telescopic drive structure is configured to expand and contract to drive the working mechanism to pitch; the housing is provided with a transmission end, and the opening is provided at an end of the housing away from the transmission end.

[0006] An embodiment of the present application provides an autonomous movement device. The autonomous movement device includes a frame, a connecting rod assembly, and a linear drive assembly. The connecting rod assembly is movably connected to the frame, and the connecting rod assembly is used for connecting to a working mechanism. The linear drive assembly is drivingly connected between the frame and the connecting rod assembly, and the linear drive assembly includes a housing and a movable part. The housing is provided with an accommodating cavity and an opening communicating with the accommodating cavity. A part of the movable part is movably accommodated in the housing, and the movable part extends out relative to the housing through the opening to form a telescopic drive structure together with the housing. Two ends of the telescopic drive structure are respectively connected to the frame and 2023459717   27 Jul 2026 the connecting rod assembly to drive the connecting rod assembly to drive the working mechanism to move; when the autonomous movement device works on a horizontal platform, the opening is arranged downward relative to the horizontal plane, and the telescopic drive structure can expand and contract to drive the working mechanism to pitch. The housing is provided with a transmission end, and the opening is provided at an end of the housing away from the transmission end.

[0007] Another embodiment of the present application provides a working robot. The working robot includes a working mechanism and the autonomous movement device as described above, and the working mechanism is mounted on the autonomous movement device. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] To more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0009] FIG. 1 is a schematic structural view of the working robot according to an embodiment of the present application.

[0010] FIG. 2 is a partial schematic structural view of the working robot shown in FIG. 1.

[0011] FIG. 3 is a schematic structural view of the autonomous movement device according to an embodiment of the present application.

[0012] FIG. 4 is a planar schematic structural view of the autonomous movement device shown in FIG. 3 from another perspective.

[0013] FIG. 5 is a schematic structural view of the autonomous movement device according to another embodiment shown in FIG. 3.

[0014] FIG. 6 is a planar schematic structural view of the autonomous movement device shown in FIG. 3 from another perspective.

[0015] Explanation of reference numerals: 10, autonomous movement device; 121, support beam; 12, frame; 123, mounting base; 122, connecting rod assembly; 1221, adapter; 1222, first connecting rod; 1223, synchronizing rod; 1224, second connecting rod; 13, linear drive assembly; 131, movable part; 1311, second end; 1312, first end; 1313, transmission end; 133, mounting part; 134, opening; 135, housing; 1352, accommodating cavity; 1354, telescopic drive structure; 132, driving part; 20, machine body; 30, controller; 100, working mechanism; 1000, working robot. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] To enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are merely some rather than all of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments in the present application without creative work shall fall within the protection scope of the present application.

[0017] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may refer to the same component by different terms. The specification and claims do not use differences in names as a way to distinguish components, but use functional differences of components as the criterion for distinction. For example, the term "comprise" mentioned throughout the specification and claims is an open-ended term, and thus should be interpreted as "including but not limited to"; "approximately" means that those skilled in the art can solve technical problems within a certain error range and basically achieve the technical effect.

[0018] 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.

[0019] Referring to FIG. 1, an embodiment of the present application provides a working robot 1000. The working robot 1000 includes a working mechanism 100, an autonomous movement device 10, and a machine body 20. The autonomous movement device 10 may be mounted inside the machine body 20, and the working mechanism 100 is connected to one side of the machine body 20 and drivingly connected to the autonomous movement device 10.

[0020] The machine body 20 may include a control assembly and a traveling assembly; for example, the machine body 20 may further include a machine housing, the traveling assembly may be mounted on the machine housing, the driving assembly may include structures such as driving wheels or driving tracks, the control assembly may be disposed inside the machine housing, the control assembly may include components such as circuit boards and / or control chips, and the control assembly may control the traveling assembly to move, thereby realizing the movement of the working robot 1000 on a horizontal plane. In this way, the working robot 1000 can move the working mechanism 100 to operate in a predetermined area.

[0021] In the present embodiment, the autonomous movement device 10 can drive the working mechanism 100 to move; specifically, the autonomous movement device 10 can drive the working mechanism 100 to perform pitching movement, so as to adjust the height of the working mechanism 100 from the ground, which is conducive to meeting the requirement for height adjustment of the working mechanism 100 and ensuring that the working mechanism 100 operates at a proper position. In a normal use state, the autonomous movement device 10 generally works on a horizontal platform or a plane approximately horizontal. The above-mentioned "height" is understood as the distance between the working mechanism 100 and the horizontal platform when the autonomous movement device 10 works on the horizontal platform.

[0022] This specification does not limit the specific type of the working mechanism 100; for example, the working mechanism 100 may be a snow removal mechanism, a weeding mechanism, a mowing mechanism, a leaf blowing mechanism, a salt spreading mechanism, a rolling brush mechanism, a snow pushing mechanism, or the like. In the present embodiment, the working mechanism 100 includes a snow removal mechanism. The snow removal mechanism is used for removing snow on the ground and throwing the snow to a distance to avoid affecting the road; as an example, the snow removal mechanism may include a machine body and a snow removal component disposed on the machine body. The snow removal component may include structures such as an impeller set, a snow push shovel, or a spiral auger. The snow removal mechanism may further include a snow throwing component disposed on the machine body; for example, the snow throwing component may include structures such as a snow throwing impeller and a blower.

[0023] In the present application, unless otherwise explicitly specified or limited, terms such as "installation", "connection", "linkage", and "fixation" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection, an indirect connection through an intermediate medium, or internal communication between two elements, or may only be surface contact. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0024] Referring to FIG. 2, in some embodiments, the autonomous movement device 10 may include a frame 12, a linear drive assembly 13, and a connecting rod assembly 122. The connecting rod assembly 122 is movably connected to the frame 12, and the connecting rod assembly 122 is connected to the working mechanism 100. The linear drive assembly 13 is drivingly connected between the frame 12 and the connecting rod assembly 122. The linear drive assembly 13 can drive the connecting rod assembly 122 to move relative to the frame 12, thereby driving the working mechanism 100 to move, so as to meet the requirement for height adjustment of the working mechanism 100.

[0025] Referring to FIG. 2 and FIG. 3 simultaneously, in the present embodiment, the linear drive assembly 13 includes a housing 135 and a movable part 131. The housing 135 has an accommodating cavity 1352 and an opening 134 communicating with the accommodating cavity 1352. A part of the movable part 131 is movably accommodated in the housing 135, and the movable part 131 extends out relative to the housing 135 through the opening 134 to form a telescopic drive structure 1354 together with the housing 135. Two ends of the telescopic drive structure 1354 are respectively connected to the frame 12 and the connecting rod assembly 122 to drive the connecting rod assembly 122 to drive the working mechanism 100 to move. When the autonomous movement device 10 works on a horizontal platform, the opening 134 is arranged downward relative to the horizontal plane, and the telescopic drive structure 1354 can expand and contract to drive the working mechanism 100 to pitch.

[0026] In this way, the linear drive assembly 13 can drive the connecting rod assembly 122 to move through the telescopic drive structure 1354, so as to drive the working mechanism 100 to move, which is conducive to meeting the adjustment requirement of the working mechanism 100.

[0027] Wherein, when the autonomous movement device 10 works on a horizontal platform, the opening 134 is arranged downward relative to the horizontal plane. The opening 134 facing obliquely downward can reduce the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13 when the movable part 131 moves, and is conducive to reducing the risk that the snow water entering the housing 135 causes the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low-temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13, improving stability, and at the same time helping to prolong the service life of the linear drive assembly 13.

[0028] In the description of the present application, it should be understood that terms such as "upper", "lower", "front", "rear", "left", "right", and "inner" indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0029] In some embodiments, the frame 12 may include a support beam 121 and a mounting base 123. Both the support beam 121 and the mounting base 123 may be fixedly mounted inside the machine body 20, and the support beam 121 and the mounting base 123 are spaced apart from each other. For example, the distance between the support beam 121 and the horizontal platform where the autonomous movement device 10 is located is greater than the distance between the upper surface of the mounting base 123 and the horizontal platform. Two ends of the telescopic drive structure 1354 are respectively connected to the support beam 121 and the connecting rod assembly 122, and the connecting rod assembly 122 is movably disposed on the mounting base 123.

[0030] Referring to FIG. 3 and FIG. 4 simultaneously, the housing 135 is provided with a transmission end 1313, and the opening 134 is disposed at an end of the housing 135 away from the transmission end 1313. The movable part 131 has a first end 1312 and a second end 1311, the first end 1312 is accommodated in the housing 135, and the second end 1311 and the first end 1312 are respectively located at opposite ends of the movable part 131. This specification does not limit the specific connection relationship between the telescopic drive structure 1354 and the frame 12, and between the telescopic drive structure 1354 and the connecting rod assembly 122.

[0031] As an example, the housing 135 is connected to the connecting rod assembly 122, and the movable part 131 is connected to the frame 12. Specifically, in the present embodiment, the transmission end 1313 is drivingly connected to the connecting rod assembly 122, and the second end 1311 is movably connected to the support beam 121 of the frame 12. When the autonomous movement device 10 works on a horizontal platform, the distance between the transmission end 1313 and the horizontal plane is greater than the distance between the second end 1311 and the horizontal plane, so that the opening 134 is arranged downward relative to the horizontal plane.

[0032] The telescopic drive structure 1354 expands and contracts; since the support beam 121 restricts the movement of the movable part 131, the housing 135 can move relative to the movable part 131, thereby driving the connecting rod assembly 122 to move relative to the mounting base 123 through the transmission end 1313, and further driving the working mechanism 100 to move, which is conducive to meeting the requirement for height adjustment of the working mechanism 100, thereby helping to ensure that the working mechanism 100 can be at a proper height position.

[0033] The distance between the transmission end 1313 and the horizontal plane is greater than the distance between the second end 1311 and the horizontal plane; it can be concluded that the position of the transmission end 1313 is above the position of the opening 134 in the direction of gravity. Wherein, the "direction of gravity" is understood as the vertical direction when the autonomous movement device 10 is placed on a roughly horizontal platform or ground in a use state. The position of the transmission end 1313 and the position of the opening 134 do not need to be linearly arranged along the direction of gravity, but are offset in the direction of gravity, and they are not arranged on the same horizontal plane; the horizontal plane where the transmission end 1313 is located is always higher than the horizontal plane where the opening 134 is located. At this time, the telescopic drive structure 1354 forms a certain angle with the horizontal plane, so that external debris (such as dust, sand particles, snow water, etc.) is not easy to flow backward into the housing 135 along the direction from the second end 1311 to the first end 1312, which is conducive to reducing the risk that the telescopic movement of the movable part 131 drives external debris into the interior of the housing 135 and helps to ensure the normal operation of the linear drive assembly 13.

[0034] In addition, since the height of the transmission end 1313 is higher than the height of the opening 134, even if the telescopic movement of the movable part 131 brings external debris into the interior of the housing 135, the debris can flow out of the interior of the housing 135 along the direction from the first end 1312 to the second end 1311 under the action of gravity. The aforementioned "height" is understood as the distance between the transmission end 1313 and the horizontal platform, and the distance between the position of the opening 134 and the horizontal platform when the autonomous movement device 10 works on the horizontal platform.

[0035] In the present embodiment, the second end 1311 of the movable part 131 is rotatably connected to the support beam 121, and the connecting rod assembly 122 is rotatably connected to the mounting base 123. This specification does not limit the specific rotational connection manner between the second end 1311 and the support beam 121; for example, the support beam 121 may be provided with a rotating shaft, and the second end 1311 may be connected to the rotating shaft, so that the movable part 131 can rotate relative to the support beam 121, which is conducive to improving the flexibility of the linear drive assembly 13 in driving the connecting rod assembly 122 to move.

[0036] The rotational connection between the connecting rod assembly 122 and the mounting base 123 can also be realized through a rotating shaft; specifically, the mounting base 123 may be provided with a rotating shaft, and the connecting rod assembly 122 may be connected to the rotating shaft, so that the connecting rod assembly 122 can rotate relative to the mounting base 123, which is conducive to improving the flexibility of the connecting rod assembly 122 moving relative to the mounting base 123.

[0037] In other embodiments, referring to FIG. 5, the housing 135 is connected to the support beam 121, and the movable part 131 is connected to the connecting rod assembly 122. Specifically, in the present embodiment, the transmission end 1313 is rotatably connected to the support beam 121, and the second end 1311 is drivingly connected to the connecting rod assembly 122. When the autonomous movement device 10 works on a horizontal platform, the distance between the transmission end 1313 and the horizontal plane is greater than the distance between the second end 1311 and the horizontal plane, so that the opening 134 is arranged downward relative to the horizontal plane.

[0038] The telescopic drive structure 1354 expands and contracts; since the support beam 121 restricts the movement of the housing 135, the movable part 131 can move relative to the housing 135, thereby driving the connecting rod assembly 122 to move relative to the mounting base 123 through the second end 1311, and further driving the working mechanism 100 to move, which is conducive to meeting the requirement for height adjustment of the working mechanism 100, thereby helping to ensure that the working mechanism 100 can be at a proper height position.

[0039] Referring to FIG. 4 and FIG. 5 simultaneously, regardless of which end of the telescopic drive structure 1354 is connected to the frame 12 and the connecting rod assembly 122, the opening 134 of the housing 135 is always facing downward. In this way, it is conducive to reducing the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13, and is conducive to reducing the risk that the snow water entering the housing 135 causes the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low-temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13 and prolonging the service life of the linear drive assembly 13.

[0040] In the present embodiment, the telescopic direction of the telescopic drive structure 1354 intersects with the horizontal plane, so that the opening 134 is arranged downward relative to the horizontal plane. In the present embodiment, the linear drive assembly 13 further includes a driving part 132, and the driving part 132 is disposed in the housing 135 and drivingly connected to the movable part 131. The driving part 132 is used for driving the telescopic drive structure 1354 to expand and contract; specifically, the driving part 132 is used for driving the movable part 131 to slide relative to the housing 135. Then, the telescopic direction of the telescopic drive structure 1354 is the sliding direction of the movable part 131 relative to the housing 135. The movable part 131 slides relative to the housing 135 through the opening 134; in the present embodiment, the axis A of the opening 134 extends along the telescopic direction of the telescopic drive structure 1354. The included angle a between the axis A and the horizontal plane (the horizontal platform on which the autonomous movement device 10 is placed in the use state) may be greater than or equal to 25 degrees and less than or equal to 35 degrees, which is conducive to ensuring that the movable part 131 has a proper angle adjustment range and helping to ensure that the working mechanism 100 can be within a proper height adjustment range. For example, the included angle a between the movable part 131 and the horizontal plane may be 25 degrees, 27 degrees, 29 degrees, 30.5 degrees, 31 degrees, 33 degrees, 34 degrees, 35 degrees, or any value between two adjacent values mentioned above, which can be specifically set according to actual conditions.

[0041] When the included angle a between the movable part 131 and the horizontal plane is greater than or equal to 25 degrees and less than or equal to 35 degrees, it is conducive to reducing the risk that the distance between the working mechanism 100 and the ground is too large to work normally due to the excessively large included angle a between the movable part 131 and the horizontal plane.

[0042] In other embodiments, the position of the transmission end 1313 and the position of the opening 134 are always at the same height in the direction of gravity; at this time, the movable part 131 is roughly parallel to the horizontal plane (the horizontal platform on which the autonomous movement device 10 is placed in the use state), that is, the included angle between the movable part 131 and the horizontal plane is approximately 0 degrees. The position of the first end 1312 is roughly flush with the position of the opening 134, so that external debris (such as dust, sand particles, snow water, etc.) is not easy to enter the first end 1312 along the direction from the second end 1311 to the first end 1312, which reduces the risk that the telescopic movement of the movable part 131 drives external debris into the linear drive assembly 13 and helps to ensure the normal operation of the linear drive assembly 13.

[0043] Referring to FIG. 3 and FIG. 4 simultaneously, in the present embodiment, the connecting rod assembly 122 may include an adapter 1221, a first connecting rod 1222, a synchronizing rod 1223, and a second connecting rod 1224. The adapter 1221 is rotatably connected to the mounting base 123, the synchronizing rod 1223 is drivingly connected to the transmission end 1313 and spaced apart from the mounting base 123, the first connecting rod 1222 is rotatably connected between the adapter 1221 and the synchronizing rod 1223, and the second connecting rod 1224 is rotatably connected between the synchronizing rod 1223 and the mounting base 123. The adapter 1221, the first connecting rod 1222, the synchronizing rod 1223, and the second connecting rod 1224 roughly form a parallelogram linkage mechanism. When the linear drive assembly 13 drives the second connecting rod 1224 to swing relative to the mounting base 123, it can drive the adapter 1221 to swing (rotate) relative to the mounting base 123; since the adapter 1221 is used for connecting to the working mechanism 100, the adapter 1221 drives the working mechanism 100 to swing or rotate when swinging or rotating, which is manifested as the pitching movement of the working mechanism 100 relative to the horizontal plane.

[0044] Specifically, in the present embodiment, referring to FIG. 6, the synchronizing rod 1223 serves as a medium for rotational connection between the first connecting rod 1222 and the second connecting rod 1224, and it may be a pivot structure. The extending direction of the synchronizing rod 1223 roughly intersects (e.g., is perpendicular to) the axis A of the movable part 131 relative to the housing 135. One end of the first connecting rod 1222 is rotatably connected to the side of the adapter 1221 away from the mounting base 123, and the other end of the first connecting rod 1222 is rotatably connected to the synchronizing rod 1223 and spaced apart from the transmission end 1313. One end of the second connecting rod 1224 is rotatably connected to the synchronizing rod 1223 and spaced apart from the first connecting rod 1222 and the transmission end 1313, and the other end of the second connecting rod 1224 is connected to the side of the mounting base 123 away from the adapter 1221. The first connecting rod 1222 and the second connecting rod 1224 are respectively located on two sides of the synchronizing rod 1223. In this way, the linear drive assembly 13 drives the telescopic drive structure 1354 to expand and contract, thereby driving the synchronizing rod 1223 to move, and the synchronizing rod 1223 drives the adapter 1221 to rotate relative to the mounting base 123 through the first connecting rod 1222, so as to realize the pitching movement of the working mechanism 100. The connecting rod assembly 122 is conducive to improving the movement stability of the working mechanism 100 during height adjustment.

[0045] In this way, the linear drive assembly 13 does not need to be directly drivingly connected to the working mechanism 100; the flexibility of the first connecting rod 1222, the synchronizing rod 1223, and the second connecting rod 1224 is utilized, which is conducive to reducing the design complexity of the driving structure for the movement of the adapter 1221. In this way, the linear movement of the linear drive assembly 13 is converted into the circular movement of the adapter 1221, so that the autonomous movement device 10 can only be designed for the linear drive assembly 13, which is conducive to simplifying the structure of the autonomous movement device 10 and facilitating manufacturing.

[0046] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited.

[0047] In some embodiments, the number of the first connecting rods 1222 may be two, and the number of the second connecting rods 1224 may also be two. The two first connecting rods 1222 are both connected between the synchronizing rod 1223 and the adapter 1221, and the two second connecting rods 1224 are both connected between the synchronizing rod 1223 and the mounting base 123. When the linear drive assembly 13 drives the connecting rod assembly 122 to move, the two first connecting rods 1222 and the two second connecting rods 1224 further improve the movement stability of the adapter 1221, thereby improving the working stability of the connected working mechanism 100.

[0048] This specification does not limit the specific type of the linear drive assembly 13; for example, the linear drive assembly 13 may be one of a push rod, an air cylinder, a hydraulic cylinder, or a lead screw machine. As an example, when the linear drive assembly 13 is an air cylinder, the cylinder body of the air cylinder is the housing 135, the piston rod is the movable part 131, and compressed air is used as the driving part 132. The first end 1312 may be the side of the piston rod close to the driving part 132, and the compressed air can drive the piston rod to move. In this way, it is conducive to reducing the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13 when the piston rod moves.

[0049] For another example, when the linear drive assembly 13 is a push rod, the outer shell of the push rod is the housing 135, the screw rod is the movable part 131, and a motor is used as the driving part 132. At this time, the linear drive assembly 13 may further include a gear assembly, the drive of the motor is drivingly connected to the gear assembly, and the first end 1312 is connected to the gear assembly. At this time, the drive of the motor can drive the gear assembly to move, so that the first end 1312 can drive the screw rod to move relative to the outer shell of the push rod.

[0050] By arranging the opening 134 downward relative to the horizontal plane, it is conducive to reducing the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13 when the screw rod moves, and is conducive to reducing the risk that the snow water entering the housing 135 causes the gear assembly of the push rod to freeze in a low-temperature environment.

[0051] For another example, when the linear drive assembly 13 is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is the housing 135, the piston rod is the movable part 131, and fluid is used as the driving part 132. The first end 1312 may be the side of the piston rod close to the driving part 132, and the fluid can drive the piston rod to move. In this way, it is conducive to reducing the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13 when the piston rod moves.

[0052] For another example, when the linear drive assembly 13 is a lead screw machine, the outer shell is the housing 135, the lead screw is the movable part 131, and a motor is used as the driving part 132. The linear drive assembly 13 may further include a nut, the drive of the motor is drivingly connected to the lead screw, and the first end 1312 may be the side of the lead screw close to the motor. At this time, the drive of the motor can drive the lead screw to rotate, and then drive the nut to move, so that the lead screw can move relative to the outer shell of the lead screw. In this way, it is conducive to reducing the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13 when the lead screw moves.

[0053] In some embodiments, the autonomous movement device 10 may further include a mounting part 133. The mounting part 133 is connected to the side of the adapter 1221 away from the linear drive assembly 13, and the working mechanism 100 is mounted on the mounting part 133. In this way, the autonomous movement device 10 can meet the height adjustment of the working mechanism 100, thereby helping to ensure that the working mechanism 100 operates at a proper position and improving the working efficiency of the working robot 1000.

[0054] In some embodiments, the working mechanism 100 is detachably mounted on the mounting part 133. For example, the working mechanism 100 can be detachably connected to the mounting part 133 through clamping, magnetic attraction, or fastener connection, which is conducive to facilitating the installation and replacement of the working mechanism 100. In this way, the corresponding working mechanism 100 can be replaced according to actual conditions for operation, which is conducive to improving the adaptability of the working robot 1000.

[0055] The specific structure of the working robot 1000 refers to the above embodiments; since the working robot 1000 adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0056] Referring to FIG. 1, in some embodiments, the working robot 1000 may further include a controller 30. The controller 30 is electrically connected to the autonomous movement device 10 to control the autonomous movement device 10 to adjust the height of the working mechanism 100 within a certain range; alternatively, the controller 30 may also be electrically connected to the traveling assembly of the machine body 20 to control the machine body 20 to move along a predetermined route or within a predetermined area. As an example, the controller 30 can control the machine body 20 to move along a predetermined route or within a predetermined area, and control the autonomous movement device 10 to adjust the height of the working mechanism 100, so that the working mechanism 100 removes snow within a proper height range, which is conducive to improving the intelligence of snow removal by the working robot 1000 and the snow removal efficiency of the working robot 1000.

[0057] In some embodiments, the working robot 1000 may further include an ultrasonic distance measuring sensor. The working robot 1000 has a path planning function (i.e., obstacle handling capability); for small obstacles, the working robot 1000 can automatically cross them; for medium and large obstacles, the working robot 1000 can avoid them in time and clean the snow around the obstacles to the greatest extent. The transmitter of the ultrasonic distance measuring sensor of the working robot 1000 emits ultrasonic waves, which encounter the obstacle and are reflected back; the receiver of the ultrasonic distance measuring sensor can measure the distance between the obstacle and the working robot 1000 according to the time difference of receiving the ultrasonic waves, so that the working robot 1000 can plan to avoid the obstacle in advance, avoid collision with the obstacle, and effectively improve the safety performance of the working robot 1000. Of course, in other embodiments, the working robot 1000 may also use an infrared distance measuring sensor or a laser distance measuring sensor for obstacle avoidance.

[0058] In summary, the autonomous movement device 10 and the working robot 1000 provided by the embodiments of the present application, a linear drive assembly 13 includes a housing 135 and a movable part 131. The housing 135 has an accommodating cavity 1352 and an opening 134 communicating with the accommodating cavity 1352. A part of the movable part 131 is movably accommodated in the housing 135, and the movable part 131 extends out relative to the housing 135 through the opening 134 to form a telescopic drive structure 1354 together with the housing 135. Two ends of the telescopic drive structure 1354 are respectively connected to the frame 12 and the connecting rod assembly 122 to drive the connecting rod assembly 122 to drive the working mechanism 100 to move. When the autonomous movement device 10 works on a horizontal platform, the opening 134 is arranged downward relative to the horizontal plane, and the telescopic drive structure 1354 can expand and contract to drive the working mechanism 100 to pitch. When the autonomous movement device 10 works on a horizontal platform, the opening 134 is arranged downward relative to the horizontal plane. The opening 134 facing obliquely downward can reduce the risk that external debris (such as dust, sand particles, snow water, etc.) enters the housing 135 and damages the linear drive assembly 13 when the movable part 131 moves, and is conducive to reducing the risk that the snow water entering the housing 135 causes the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low-temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13, improving stability, and at the same time helping to prolong the service life of the linear drive assembly 13.

[0059] In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc., mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and integrate the different embodiments or examples and the features of the different embodiments or examples described in this specification without conflicting with each other.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features therein; and such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An autonomous movement device, comprising:a frame;a connecting rod assembly; anda linear drive assembly,wherein the connecting rod assembly is movably connected to the frame, and the connecting rod assembly is connected to a working mechanism; andthe linear drive assembly is drivingly connected between the frame and the connecting rod assembly, the linear drive assembly comprises a housing and a movable part;wherein the housing is provided with an accommodating cavity and an opening communicating with the accommodating cavity; anda part of the movable part is movably accommodated in the housing, and the movable part extends out relative to the housing through the opening, the movable part and the housing form a telescopic drive structure; two ends of the telescopic drive structure are respectively connected to the frame and the connecting rod assembly to drive the connecting rod assembly to drive the working mechanism to move; when the autonomous movement device works on a horizontal platform, the opening is provided downward relative to a horizontal plane, and the telescopic drive structure is configured to expand and contract to drive the working mechanism to pitch; the housing is provided with a transmission end, and the opening is provided at an end of the housing away from the transmission end.

2. The autonomous movement device according to claim 1, wherein the movable part is provided with a first end and a second end, the first end is opposite to the second end, and the first end is accommodated in the housing; the linear drive assembly further comprises a driving part, the driving part is provided in the housing and the driving part is drivingly connected to the movable part.

3. The autonomous movement device according to claim 2, wherein the transmission end is drivingly connected to the connecting rod assembly, and the second end is movably connected to2023459717   27 Jul 2026the frame; when the autonomous movement device works on a horizontal platform, a distance between the transmission end and the horizontal plane is greater than a distance between the second end and the horizontal plane, and the opening is provided downward relative to the horizontal plane.

4. The autonomous movement device according to claim 2, wherein the transmission end is movably connected to the frame, and the second end is drivingly connected to the connecting rod assembly; when the autonomous movement device works on a horizontal platform, a distance between the transmission end and the horizontal plane is greater than a distance between the second end and the horizontal plane, and the opening is provided downward relative to the horizontal plane.

5. The autonomous movement device according to any one of claims 2 to 4, wherein the linear drive assembly is one of a push rod, an air cylinder, a hydraulic cylinder or a lead screw machine;when the linear drive assembly is a push rod, an outer shell of the push rod is the housing, the screw rod is the movable part, and the motor is the driving part;when the linear drive assembly is an air cylinder, a cylinder body of the air cylinder is the housing, the piston rod is the movable part, and compressed air is the driving part;when the linear drive assembly is a hydraulic cylinder, a cylinder body of the hydraulic cylinder is the housing, the piston rod is the movable part, and fluid is the driving part;when the linear drive assembly is a lead screw machine, an outer shell of the lead screw machine is the housing, the lead screw is the movable part, and the motor is the driving part.

6. The autonomous movement device according to any one of claims 1 to 5, wherein a telescopic direction of the telescopic drive structure intersects with the horizontal plane, and the opening is provided downward relative to the horizontal plane.

7. The autonomous movement device according to claim 6, wherein an angle between the axis of the opening and the horizontal plane is not greater than 35 degrees and not less than 252023459717   27 Jul 2026degrees.

8. The autonomous movement device according to any one of claims 1 to 7, wherein the frame comprises a support beam and a mounting base, two ends of the telescopic drive structure are respectively connected to the support beam and the connecting rod assembly, and the connecting rod assembly is movably provided at the mounting base.

9. The autonomous movement device according to claim 8, wherein the connecting rod assembly comprises an adapter, a first connecting rod and a second connecting rod; the adapter is rotatably connected to the mounting base; the first connecting rod is drivingly connected between the adapter and the telescopic drive structure; and the second connecting rod is rotatably connected between the telescopic drive structure and the mounting base.

10. The autonomous movement device according to claim 9, wherein the connecting rod assembly further comprises a synchronizing rod, the synchronizing rod is connected to the telescopic drive structure, and both the first connecting rod and the second connecting rod are rotatably connected to the synchronizing rod.

11. The autonomous movement device according to claim 10, wherein an extending direction of the synchronizing rod intersects with the telescopic direction of the telescopic drive structure, and the first connecting rod, the telescopic drive structure and the second connecting rod are provided at intervals along the extending direction of the synchronizing rod.

12. The autonomous movement device according to claim 10 or 11, wherein there are two first connecting rods, both of the two first connecting rods are connected between the synchronizing rod and the adapter, and the two first connecting rods are respectively provided at two sides of the linear drive assembly.

13. The autonomous movement device according to claim 10 or 11, wherein there are two second connecting rods, both of the two second connecting rods are connected between the2023459717   27 Jul 2026synchronizing rod and the mounting base, and the two second connecting rods are respectively provided at two sides of the linear drive assembly.

14. The autonomous movement device according to any one of claims 1 to 13, wherein the autonomous movement device further comprises a mounting part, the mounting part is connected to the connecting rod assembly, and the mounting part is detachably connected to the working mechanism.

15. A working robot, comprising:a working mechanism; andthe autonomous movement device according to any one of claims 1 to 14, wherein the working mechanism is provided at the autonomous movement device.

16. The working robot according to claim 15, wherein the working robot further comprises a machine body, the autonomous movement device is provided in the machine body, and the working mechanism is connected to one side of the machine body and the working mechanism is connected to the connecting rod assembly.

17. The working robot according to claim 15 or 16, wherein the working robot further comprises a controller, and the controller is electrically connected to the autonomous movement device to control the autonomous movement device to adjust the height of the working mechanism.

18. The working robot according to any one of claims 15 to 17, wherein the working mechanism comprises a snow removal mechanism.

19. The working robot according to any one of claims 15 to 17, wherein the working mechanism comprises at least one of the following structures: a weeding mechanism, a mowing mechanism, a leaf blowing mechanism, a salt spreading mechanism, a rolling brush mechanism, and a snow pushing mechanism.

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