Intelligent walking device

Abstract

The application provides a kind of intelligent walking equipment, including fuselage, working mechanism, connecting mechanism, limiting piece and position detection mechanism;One end of connecting mechanism and fuselage are pivotally connected, the other end and working mechanism are connected, the connecting mechanism can drive the reciprocating motion of the working mechanism between retracted position and release position;Limiting piece is in abutment with connecting mechanism, and can drive connecting mechanism to drive working mechanism to move towards retracted position;Position detection mechanism can detect whether working mechanism reaches retracted position, when working mechanism reaches retracted position, position detection mechanism generates first arrival signal, and limiting piece stops driving connecting mechanism according to first arrival signal.Such, working mechanism can move towards fuselage to avoid obstacles, and limiting piece and position detection mechanism can accurately and safely drive connecting mechanism to retracted position.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment technology, and in particular to an intelligent walking device. Background Technology

[0002] An intelligent walking device is a device capable of moving along a planned path. It comprises a main body, a walking mechanism, and a working mechanism. Both the walking mechanism and the working mechanism are mounted on the main body. The walking mechanism propels the main body forward, and while moving, the working mechanism performs corresponding actions on target objects within the planned area. For example, it can perform actions such as mowing, watering, or sweeping.

[0003] However, in actual production and daily life, to ensure safety, the working mechanism of intelligent walking equipment is usually set to maintain a safe distance from the boundary of the planned area when setting the planned path. This safe distance means that the working mechanism cannot perform corresponding actions on targets near the boundary; that is, targets near the boundary become blind spots, often requiring manual intervention to perform corresponding actions on targets in the blind spots. This does not help reduce the workload of humans.

[0004] For example, when a smart walking device is a lawnmower, the working mechanism of the lawnmower is a cutting mechanism. There is a safe distance between the cutting mechanism and the boundary of the planned area. Therefore, the grass within the safe distance cannot be cut by the cutting mechanism, and it still needs to be removed manually. Summary of the Invention

[0005] To address the aforementioned problems, embodiments of this application provide an intelligent walking device that at least partially solves these problems.

[0006] One or more embodiments of this application provide an intelligent walking device, including a body, a working mechanism, a connecting mechanism, a limiting member, and a position detection mechanism; one end of the connecting mechanism is pivotally connected to the body, and the other end of the connecting mechanism is connected to the working mechanism, the connecting mechanism being able to drive the working mechanism to reciprocate between a retracted position and a released position; when the working mechanism is in the retracted position, the working mechanism and the center line of the body are separated by a first distance; when the working mechanism is in the released position, the working mechanism and the center line of the body are separated by a second distance, the first distance being less than the second distance; the limiting member abuts against the connecting mechanism and is able to reciprocate between a clearance position and a stop position, when the limiting member is in the clearance position, the connecting mechanism is allowed to drive the working mechanism. During the reciprocating motion between the release position and the retracted position, as the limiting member moves from the avoidance position towards the stop position, the limiting member can drive the connecting mechanism to move the working mechanism from the release position to the retracted position. The position detection mechanism can detect whether the working mechanism has reached the retracted position. When the working mechanism reaches the retracted position, the position detection mechanism generates a first arrival signal. The limiting member stops driving the connecting mechanism according to the first arrival signal and stops at the stop position. Alternatively, the position detection mechanism can detect whether the working mechanism has reached the release position. When the working mechanism reaches the release position, the position detection mechanism generates a second arrival signal. The limiting member stops at the avoidance position according to the second arrival signal.

[0007] Optionally, the position detection mechanism includes a first position sensor and / or a second position sensor. The first position sensor is used to detect whether the working mechanism has reached the retracted position and generate a first arrival signal. The second position sensor is used to detect whether the working mechanism has reached the release position and generate a second arrival signal. According to the second arrival signal, the limiting member stays at the release position.

[0008] Optionally, both the first position sensor and the second position sensor are disposed on the connecting mechanism, and the orientation of the first position sensor is opposite to that of the second position sensor; or, both the first position sensor and the second position sensor are disposed on the body and are respectively located on opposite sides of the connecting mechanism; or, one of the first position sensor and the second position sensor is disposed on the connecting mechanism and the other is disposed on the body.

[0009] Optionally, the first position sensor includes a proximity switch or a micro switch, and the second position sensor includes a proximity switch or a micro switch.

[0010] Optionally, the connecting mechanism includes a first protrusion extending toward the body. Both the first position sensor and the second position sensor are disposed on the body. When the working mechanism moves to the retracted position, the first position sensor is triggered by the first protrusion to generate the first arrival signal. When the working mechanism moves to the release position, the second position sensor is triggered by the first protrusion to generate the second arrival signal.

[0011] Optionally, when the working mechanism reaches the release position, the first protrusion abuts against the machine body.

[0012] Optionally, the body includes a main body and a fixed base, the connecting mechanism and the main body are distributed on opposite sides of the fixed base, the fixed base is connected to the main body, the connecting mechanism is pivotally connected to the fixed base, the first position sensor and the second position sensor are both located on the side of the fixed base facing the main body, and the first protrusion extends through the fixed base toward the main body.

[0013] Optionally, the fixed base includes a first clearance hole, and the intelligent walking device further includes a drive unit. The drive unit is installed on the side of the fixed base facing the main body. One end of the limiting member is connected to the drive unit, and the other end is used to pass through the first clearance hole to limit the connecting mechanism. The limiting member reciprocates between the clearance position and the release position under the driving action of the drive unit, and the drive unit stops driving the limiting member according to the second arrival signal so that the limiting member stays at the release position.

[0014] Optionally, the intelligent walking device further includes a power mechanism connected to the connecting mechanism, which applies a force to the connecting mechanism to drive the working mechanism, enabling the connecting mechanism to pivot from the retracted position toward the released position.

[0015] Optionally, the power mechanism includes an elastic element connected between the connecting mechanism and the body, and / or the elastic element connected between the connecting mechanism and the working mechanism; the elastic element applies an elastic force to the connecting mechanism that enables the connecting mechanism to pivot the working mechanism from the retracted position toward the released position.

[0016] Optionally, during the reciprocating motion of the working mechanism between the retracted position and the released position driven by the connecting mechanism, the working direction of the working mechanism remains parallel to the forward direction of the machine body.

[0017] Optionally, the connecting mechanism includes a first link and a second link. The first link includes a first end and a second end opposite to each other. The first end is pivotally connected to the fuselage about a first axis, and the second end is pivotally connected to the working mechanism about a second axis. The second link includes a third end and a fourth end opposite to each other. The third end is pivotally connected to the fuselage about a third axis, and the fourth end is pivotally connected to the working mechanism about a fourth axis. The first axis, the second axis, and the third axis are all parallel to the fourth axis. The distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis. The distance between the first axis and the third axis is equal to the distance between the second axis and the fourth axis.

[0018] Based on the working mechanism provided in this application, a limiting member can restrict the working mechanism to the retracted position, thereby concealing the working mechanism. The position detection mechanism can detect the position, allowing it to stop driving in time based on a first arrival signal when the working mechanism is driven to the retracted position by the limiting member, preventing damage to the limiting member or connecting mechanism caused by the limiting member continuing to apply force in the original driving direction. Similarly, when the working mechanism reaches the release position, the limiting member can also stop moving in time based on a second arrival signal, reducing power waste and preventing damage caused by the limiting member continuing to move in the original direction. Attached Figure Description

[0019] The accompanying drawings are intended only to illustrate and explain this application and do not limit the scope of this application.

[0020] Figure 1 This is a partial perspective view of an intelligent walking device provided in an exemplary embodiment of this application, wherein the working mechanism is located in the retracted position;

[0021] Figure 2 This is a schematic diagram of an intelligent walking device provided in an exemplary embodiment of this application, wherein the working mechanism is in the release position;

[0022] Figure 3 This is a perspective view of an intelligent walking device provided in an exemplary embodiment of this application, wherein the working mechanism is located in the release position;

[0023] Figure 4 This is a perspective view of an intelligent walking device provided in an exemplary embodiment of this application, wherein the working mechanism is located in the release position;

[0024] Figure 5 This is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of this application, wherein the working mechanism is located in the retracted position.

[0025] Explanation of reference numerals in the attached figures:

[0026] 10-Fuselage, 11-First limiting part, 12-Main body, 13-Fixed base, 20-Working mechanism,

[0027] 30 - Connecting mechanism, 31 - First link, 32 - Second link, 33 - First protrusion;

[0028] 40-Power mechanism, 41-Elastic element, 411-Pin, 401-First receiving hole, 402-First rotating shaft.

[0029] 521 - Limiting component; 522 - Drive unit;

[0030] 80 - Position detection mechanism, 81 - First position sensor, 82 - Second position sensor;

[0031] L1 - First axis, L2 - Second axis, L3 - Third axis, L4 - Fourth axis. Detailed Implementation

[0032] To provide a clearer understanding of the technical features, objectives, and effects of the embodiments of this application, the specific implementation methods of the embodiments of this application will now be described with reference to the accompanying drawings.

[0033] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0034] To keep the drawings concise, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product. Furthermore, to make the drawings concise and easy to understand, in some drawings, components with the same structure or function are only schematically shown as one or more, or only one or more are labeled.

[0035] In response to the problems raised in the background section, refer to Figures 1 to 5 This application provides an intelligent walking device, including a body 10, a working mechanism 20, a connecting mechanism 30, a limiting member 521, and a position detection mechanism 80; one end of the connecting mechanism 30 is pivotally connected to the body 10, and the other end is connected to the working mechanism 20, and the connecting mechanism 30 can drive the working mechanism 20 to reciprocate between a retracted position and a released position; when the working mechanism 20 is in the retracted position, the center line of the working mechanism 20 and the body 10 is separated by a first distance P1; when the connecting mechanism 30 is in the released position, the center line of the working mechanism 20 and the body 10 is separated by a second distance P2, and the first distance P1 is smaller than the second distance P2;

[0036] The limiting member 521 abuts against the connecting mechanism 30 and is capable of reciprocating between a clearance position and a stop position. When the limiting member 521 is in the clearance position, the connecting mechanism 30 allows the working mechanism 20 to reciprocate between the release position and the retracted position. During the movement of the limiting member 521 from the clearance position towards the stop position, the limiting member 521 can drive the connecting mechanism 30 to move, thereby moving the working mechanism 20 from the release position to the retracted position. The position detection mechanism 80 can detect the working mechanism 20. Whether the working mechanism 20 has reached the retracted position, when the working mechanism 20 reaches the retracted position, the position detection mechanism 80 generates a first arrival signal, the limiting member 521 stops driving the connecting mechanism according to the first arrival signal and stops at the stop position, and / or, the position detection mechanism 80 can detect whether the working mechanism 20 has reached the release position, when the working mechanism 20 reaches the release position, the position detection mechanism 80 generates a second arrival signal, the limiting member 521 stops at the avoidance position according to the second arrival signal.

[0037] Among them, the center line of the fuselage 10 can refer to the center line of the fuselage in the width or length direction of the intelligent walking device.

[0038] The projection of the working mechanism 20 toward the ground refers to the projection of the working mechanism 20 toward the ground along the height direction of the intelligent walking device. Similarly, the projection of the body 10 toward the ground refers to the projection of the body 10 toward the ground along the height direction of the intelligent walking device. The height direction of the intelligent walking device can be understood as follows: if the ground is parallel to the horizontal plane, then the height direction of the intelligent walking device is parallel to the direction of gravity; if the ground is an inclined plane, that is, it has a preset angle β with the horizontal plane, then the height direction of the intelligent walking device has an angle with the direction of gravity, and this angle is equal to the preset angle β.

[0039] The relative positional relationship between the working mechanism 20 and the fuselage 10 can be:

[0040] When the working mechanism 20 is in the retracted position, at least a portion of the projection of the working mechanism 20 toward the ground is within the projection of the body 10 toward the ground. That is, it can be understood that at least a portion of the projection of the working mechanism 20 toward the ground overlaps with the projection of the body 10 toward the ground. Thus, when the working mechanism 20 is in the retracted position, at least a portion of the working mechanism 20 is hidden in the space between the body 10 and the ground, or at least a portion of the working mechanism 20 is hidden inside the body 10. In the extreme case, the working mechanism 20 is completely hidden in the space between the body 10 and the ground or hidden inside the body 10. This reduces the overall size of the intelligent walking device, making it easier to store, and also reduces the risk of the working mechanism 20 being bumped or knocked over. Figure 5 In one scenario shown, when the working mechanism 20 is in the retracted position, the entire projection of the working mechanism 20 toward the ground lies within the projection area of ​​the fuselage toward the ground, and the distance between the working mechanism 20 and the centerline of the fuselage 10 is P1.

[0041] When the working mechanism 20 is in the released position, its projection toward the ground may still be within the projection of the body 10 toward the ground, or at least a portion of its projection may be outside the projection of the body 10 toward the ground. The fact that at least a portion of the working mechanism 20's projection toward the ground is outside the projection of the body 10 toward the ground can be understood as: at least a portion of the working mechanism 20's projection toward the ground and the body 10's projection toward the ground do not overlap. Thus, when the working mechanism 20 is moved to the released position, at least a portion of the working mechanism 20 extends beyond the body 10 in the width or length direction of the intelligent walking device. In the extreme case, the entire projection of the working mechanism 20 toward the ground is outside the projection of the body 10 toward the ground, meaning the working mechanism 20 and the body 10 are spaced apart in the width or length direction of the intelligent walking device. Figure 2 In one scenario shown, when the working mechanism 20 is in the released position, the entire projection of the working mechanism 20 toward the ground is outside the projection area of ​​the fuselage toward the ground, and the distance between the working mechanism 20 and the centerline of the fuselage 10 is P2.

[0042] Through the above technical solution, firstly, under the action of the power mechanism 40, the working mechanism 20 can be moved to the release position to perform a corresponding action on the target object. Then, when the working mechanism 20 encounters an obstacle, under the pushing action of the obstacle, the working mechanism 20 and the connecting mechanism 30 pivot together toward the fuselage 10, thereby achieving the effect of avoiding the obstacle. On the other hand, the working mechanism 20 can be restricted to the retracted position by the limiting member 521 and the connecting mechanism 30, thereby hiding the working mechanism 20. The position detection mechanism 80 can play a position detection role, so that when the working mechanism 20 is driven to the retracted position by the limiting member 521, it can stop driving in time according to the first arrival signal, avoiding the situation where the limiting member 521 continues to apply force to the connecting mechanism 30 in the original driving direction, which would cause damage to the limiting member 521 or the connecting mechanism 30; when the working mechanism 20 reaches the release position, the limiting member 521 can also stop moving in time according to the second arrival signal, which not only reduces power waste, but also avoids the situation where the limiting member 521 continues to move in the original direction and is damaged.

[0043] In one example, after the working mechanism 20 moves to the release position, the limiting member 521 continues to rotate a certain distance before reaching the avoidance position. Thus, during the use of the intelligent walking device including this working mechanism, collisions with the limiting member 521 can be avoided when the connecting mechanism 30 moves toward the release position to reset.

[0044] In one possible implementation, the position detection mechanism 80 may include a first position sensor 81 and / or a second position sensor 82. The first position sensor 81 detects whether the connecting mechanism has reached the retracted position and generates a first arrival signal; the second position sensor 82 detects whether the connecting mechanism has reached the release position and generates a second arrival signal. Based on the second arrival signal, the limiting member 521 stops at the release position. Thus, when the working mechanism 20 reaches the release position, the drive unit 522 can stop driving promptly based on the second arrival signal, reducing power waste and preventing damage to the limiting member 521 caused by continued movement in its original direction.

[0045] The positions of the first position sensor 81 and the second position sensor 82 can be varied:

[0046] In one possible example, both the first position sensor 81 and the second position sensor 82 are disposed on the connecting mechanism 30, and the orientation of the first position sensor 81 is opposite to that of the second position sensor 82. That is, the sensing part of the first position sensor 81 can face the retracted position, and when the working mechanism 20 moves to the retracted position, the first position sensor 81 can generate a sensing and send a first arrival signal; the sensing part of the second position sensor 82 can face the released position, and when the working mechanism 20 moves to the released position, the second position sensor 82 can generate a sensing and send a second arrival signal.

[0047] In another possible example, both the first position sensor 81 and the second position sensor 82 are disposed on the body 10 and located on opposite sides of the connecting mechanism 30. That is, the first position sensor 81 is mounted on the body 10 and is close to the connecting mechanism 30 when the working mechanism 20 is in the retracted position. When the working mechanism 20 reaches the retracted position, the first position sensor 81 can sense the connecting mechanism 30, thereby generating a first arrival signal. The second position sensor 82 is mounted on the body and is close to the connecting mechanism 30 when the working mechanism 20 is in the released position. When the working mechanism 20 reaches the released position, the second position sensor 82 can sense the connecting mechanism 30, thereby generating a second arrival signal.

[0048] In another possible example, one of the first position sensor 81 and the second position sensor 82 is disposed on the connecting mechanism 30, and the other is disposed on the body 10. For example, the first position sensor 81 is disposed on the body 10, and when the working mechanism 20 reaches the retracted position, the first position sensor 81 is triggered to emit a first arrival signal; the second position sensor 82 is disposed on the connecting mechanism 30, and when the working mechanism 20 reaches the release position, the second position sensor 82 approaches or touches the body 10, and the second position sensor 82 is triggered to emit a second arrival signal.

[0049] In one possible implementation, the first position sensor 81 includes a proximity switch or a micro switch, and the second position sensor 82 includes a proximity switch or a micro switch. The position of the connecting mechanism 30 can be accurately detected using a proximity switch, a micro switch, or a Hall effect sensor.

[0050] In one specific embodiment, the connecting mechanism 30 includes a first protrusion 33 extending toward the body 10. Both the first position sensor 81 and the second position sensor 82 are disposed on the body 10. When the working mechanism 20 moves to the retracted position, the first position sensor 81 is triggered by the first protrusion 33 to generate the first arrival signal. When the working mechanism 20 moves to the released position, the second position sensor 82 is triggered by the first protrusion 33 to generate the second arrival signal. Thus, by providing the first protrusion 33, which is located between the first position sensor 81 and the second position sensor 82, it can contact or approach the first position sensor 81 and the second position sensor 82, thereby enabling accurate detection of the position of the working mechanism 20.

[0051] In one possible embodiment, when the working mechanism 20 reaches the release position, the first protrusion 33 abuts against the body 10. Thus, under the stopping action of the body 10, the connecting mechanism 30 helps to stably keep the working mechanism 20 in the release position.

[0052] In one example, refer to Figure 3 and Figure 4 The machine body includes a main body 12 and a fixed base 13. The connecting mechanism 30 and the main body 12 are distributed on opposite sides of the fixed base 13. The fixed base 13 is connected to the main body 12, and the connecting mechanism 30 is pivotally connected to the fixed base 13. The first position sensor 81 and the second position sensor 82 are both located on the side of the fixed base 13 facing the main body 12. The first protrusion 33 extends through the fixed base 13 toward the main body 12. With this technical solution, in actual use, the first position sensor 81 and the second position sensor 82 are both located on the side of the fixed base 13 away from the ground, which can reduce the adverse effects of flying debris and other impurities generated between the working mechanism 20 and the ground on the first position sensor 81 and the second position sensor 82.

[0053] In one example, the fixed base 13 includes a first clearance hole 71, and the intelligent walking device further includes a drive unit 522. The drive unit 522 is installed on the side of the fixed base 13 facing the main body 12. One end of the limiting member 521 is connected to the drive unit 522, and the other end is used to pass through the first clearance hole 71 to limit the connecting mechanism 30. Under the driving action of the drive unit 522, the limiting member 521 reciprocates between the clearance position and the release position, and the drive unit 522 stops driving the limiting member 521 according to the second arrival signal, so that the limiting member 521 stays in the release position. With this technical solution, on the one hand, when the working mechanism 20 reaches the release position, the drive unit 522 can stop driving in time according to the second arrival signal, which not only reduces power waste, but also avoids the limiting member 521 from continuing to move in the original direction and causing damage. On the other hand, in actual use, the drive unit 522 is located on the side of the fixed base 13 away from the ground, which can reduce the adverse effects of debris such as flying dust generated between the working mechanism 20 and the ground on the drive unit 522.

[0054] The drive unit 522 can be electrically connected to the position detection mechanism 80 and can receive the first arrival signal and the second arrival signal. Thus, when the working mechanism 20 reaches the release position, the drive limit member 521 is stopped in time, so that the limit member 521 stays in the avoidance position. When the working mechanism 20 reaches the retraction position, the drive limit member 521 is stopped in time, so that the limit member 521 stays in the stop position.

[0055] refer to Figure 3 In one possible implementation, the intelligent walking device further includes a power mechanism 40, which is connected to the connecting mechanism 30 and applies a force to the connecting mechanism 30 that enables the connecting mechanism 30 to drive the working mechanism 20 to pivot from the retracted position toward the release position.

[0056] For example, refer to Figure 4The fuselage 10 is provided with a first limiting part 11. When the working mechanism 20 moves to the release position, the force of the power mechanism 40 causes the connecting mechanism 30 to abut against the first limiting part 11. Thus, the first limiting part 11 and the power mechanism 40 work together on the connecting mechanism 30, ensuring that the working mechanism 20 is stably held in the release position. Therefore, under the action of the power mechanism 40, when the working mechanism 20 encounters an obstacle, the obstacle's pushing action causes the working mechanism 20 to drive the connecting mechanism 30 to overcome the force of the power mechanism 40 and pivot towards the fuselage 10, thereby achieving obstacle avoidance; or, under the driving action of the power mechanism 40, the working mechanism 20 moves towards the fuselage to achieve obstacle avoidance. In extreme cases, under the pushing action of an obstacle, the connecting mechanism 30 can drive the working mechanism 20 to pivot to the retracted position. The first limiting part 11 and the power mechanism 40 work together on the connecting mechanism 30, ensuring that the working mechanism 20 is stably held in the release position.

[0057] refer to Figure 3 In one possible embodiment, the power mechanism 40 includes an elastic element 41 connected between the connecting mechanism 30 and the body 10, and / or, the elastic element 41 connected between the connecting mechanism 30 and the working mechanism 20. The elastic element 41 applies an elastic force to the connecting mechanism 30, enabling the connecting mechanism 30 to pivot the working mechanism 20 from the retracted position toward the released position. Thus, when encountering an obstacle, the working mechanism 20 can overcome the elastic force of the elastic element 41 and move toward the body 10 under the pushing action of the obstacle, achieving an obstacle avoidance effect. Therefore, no safety distance needs to be reserved between the working mechanism 20 and the boundary of the planned area. The working mechanism 20 can perform corresponding actions on target objects at the edge of the planned area, meaning there will be no blind spots, and manual intervention is no longer required for target objects in blind spots, reducing manual workload. When it is necessary to hide the working mechanism 20, the limiting element 521 and the position detection mechanism 80 can be used to safely and accurately drive the working mechanism 20 to the retracted position.

[0058] refer to Figure 1 and Figure 2 In one possible embodiment, during the reciprocating motion of the working mechanism 20 driven by the connecting mechanism 30 between the retracted position and the released position, the working direction X of the working mechanism 20 remains parallel to the forward direction Y of the machine body 10. This ensures that the working direction of the working mechanism 20 is always oriented towards the forward direction of the machine body, thereby facilitating user control of the working direction of the working mechanism 20 by controlling the forward direction of the machine body 10, reducing operational difficulty.

[0059] In one possible implementation, refer to Figures 2 to 4 The connecting mechanism 30 includes a first link 31 and a second link 32. The first link 31 includes a first end and a second end, the first end of which is pivotally connected to the body 10 about a first axis L1, and the second end of which is pivotally connected to the working mechanism 20 about a second axis L2. The second link 32 includes a third end and a fourth end, the third end of which is pivotally connected to the body 10 about a third axis L3, and the fourth end of which is pivotally connected to the working mechanism 20 about a fourth axis L3. The first axis L1, the second axis L2, and the third axis L3 are all parallel to the fourth axis L3. The distance A1 between the first axis L1 and the second axis L2 is equal to the distance A2 between the third axis L3 and the fourth axis L3. The distance B1 between the first axis L1 and the third axis L3 is equal to the distance B2 between the second axis L2 and the fourth axis L3.

[0060] In other words, the connection relationship between the connecting mechanism 30, the body 10, and the working mechanism 20 can be understood as a parallel four-bar linkage. This connection relationship ensures that the angle between the orientation of the working mechanism 20 and the centerline of the body 10 remains constant. For example, if the working mechanism 20 is a mowing mechanism with a grass inlet at its front, and the orientation of the grass inlet is parallel to the centerline of the body 10, then when the first link 31 and the second link 32 pivot synchronously, although the working mechanism 20 pivots relative to the first link 31, the orientation of the grass inlet of the working mechanism 20 remains unchanged. Here, the head and tail of the intelligent walking device can be defined as being distributed along the front-to-back direction, with the head at the front and the tail at the rear. When using the mowing mechanism to mow, the intelligent walking device moves from back to front. The centerline of the body extends along the front-to-back direction.

[0061] The elastic element 40 is connected between the body 10 and the first connecting rod 31. Alternatively, the elastic element 40 may also be connected between the body 10 and the second connecting rod 32. Alternatively, an elastic element 40 may be connected between the body 10 and the first connecting rod 31, and another elastic element 40 may be connected between the body 10 and the second connecting rod 32.

[0062] refer to Figure 3 In one possible embodiment, the elastic element 40 is a torsion spring 41, which includes two pins 411. One pin 411 is connected to the body 10, and the other pin 411 is connected to the first link 31 or the second link 32. Here, one pin 411 can be fixed to or abut against the body 10, and the other pin 411 can be fixed to or abut against the first link 31; or, the other pin 411 can be fixed to or abut against the second link 32.

[0063] In one example, a first receiving hole 401 is provided on one of the first connecting rod 31 and the body 10, and a first rotating shaft 402 is provided on the other. The first rotating shaft 402 is pivotally inserted into the first receiving hole 401, so that the first connecting rod 31 pivots relative to the body 10 about the first axis L1. The torsion spring 41 is sleeved on the first rotating shaft 402, and another pin 411 of the torsion spring 41 is located outside the first receiving hole 401 and connected to the first connecting rod 31. Thus, using the first rotating shaft 402 to install the torsion spring 41 simplifies the structure and facilitates assembly.

[0064] In another possible embodiment, the connecting mechanism 30 can be a single-bar structure, with one end pivotally connected to the body 10 and the other end connected to the working mechanism 20. The relative position between the working mechanism 20 and the single-bar structure is fixed. The elastic element 40 can be a torsion spring 41 or a helical spring, and is connected between the body 10 and the single-bar structure.

[0065] In another possible implementation, the elastic element 40 is connected between the working mechanism 20 and the first link 31, and / or, the elastic element 40 is connected between the working mechanism 20 and the second link 32. When the working mechanism 20 and the first link 31 pivot relative to each other under the drive of the elastic element 40, the angle between the working mechanism 20 and the first link 31 changes. Based on the motion principle of the parallel four-bar linkage, it is known that the working mechanism 20 and the second link 32 must pivot relative to each other, the first link 31 and the fuselage 10 must pivot relative to each other, and the second link 32 and the fuselage 10 must pivot relative to each other. This allows the connecting mechanism 30 to pivot relative to the fuselage 10.

[0066] In one example, the elastic element 40 is a torsion spring 41, which includes two pins 411. One pin 411 is connected to the working mechanism 20, and the other pin 411 is connected to the first link 31 or the second link 32. Here, one pin 411 can be fixed to or abut against the working mechanism 20, and the other pin 411 can be fixed to or abut against the first link 31; or, the other pin 411 can be fixed to or abut against the second link 32.

[0067] In one example, a second receiving hole is provided on one of the first connecting rod 31 and the working mechanism 20, and a second rotating shaft is provided on the other. The second rotating shaft is pivotally inserted into the second receiving hole, so that the first connecting rod 31 pivots relative to the working mechanism 20 about the third axis L3. The torsion spring 41 is sleeved on the second rotating shaft, and another pin 411 of the torsion spring 41 is located outside the second receiving hole and connected to the first connecting rod 31. Thus, using the second rotating shaft to install the torsion spring 41 simplifies the structure and facilitates assembly.

[0068] It should be noted that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0069] It should be noted that although specific embodiments of this application have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this application. Various modifications and variations that can be made by those skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this application.

[0070] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0071] The examples of the embodiments in this application are intended to concisely illustrate the technical features of the embodiments in this application, so that those skilled in the art can intuitively understand the technical features of the embodiments in this application, and are not intended to be improper limitations on the embodiments in this application.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 this application.

Claims

1. An intelligent walking device, characterized in that, include: fuselage (10), Work unit (20), A connecting mechanism (30) is provided, one end of which is pivotally connected to the body (10), and the other end of which is connected to the working mechanism (20). The connecting mechanism (30) is capable of driving the working mechanism (20) to reciprocate between the retracted position and the released position. When the working mechanism (20) is in the retracted position, the center lines of the working mechanism (20) and the fuselage (10) are spaced apart by a first distance; when the connecting mechanism (30) is in the released position, the center lines of the working mechanism (20) and the fuselage (10) are spaced apart by a second distance, the first distance being less than the second distance; A limiting member (521) abuts against the connecting mechanism (30) and is capable of reciprocating between a clearance position and a stop position. When the limiting member (521) is in the clearance position, the connecting mechanism (30) is allowed to drive the working mechanism (20) to reciprocate between the release position and the retraction position. During the process of the limiting member (521) moving from the clearance position to the stop position, the limiting member (521) can drive the connecting mechanism (30) to move so as to drive the working mechanism (20) from the release position to the retraction position. A power mechanism (40) includes an elastic element (41) connected between the connecting mechanism (30) and the body (10), and / or, the elastic element connected between the connecting mechanism (30) and the working mechanism (20); the elastic element applies an elastic force to the connecting mechanism (30) that enables the connecting mechanism (30) to pivot the working mechanism (20) from the retracted position toward the released position; A position detection mechanism (80) is provided, which is capable of detecting whether the working mechanism (20) has reached the retracted position. When the working mechanism (20) reaches the retracted position, the position detection mechanism (80) generates a first arrival signal. The limiting member (521) stops driving the connecting mechanism (30) according to the first arrival signal and stops at the stop position, and / or, The position detection mechanism (80) can detect whether the working mechanism (20) has reached the release position. When the working mechanism (20) reaches the release position, the position detection mechanism (80) generates a second arrival signal, and the limiting member (521) stops at the avoidance position according to the second arrival signal.

2. The intelligent walking device according to claim 1, characterized in that, The position detection mechanism (80) includes a first position sensor (81) and / or a second position sensor (82). The first position sensor (81) is used to detect whether the working mechanism (20) has reached the retraction position and generate the first arrival signal; The second position sensor (82) is used to detect whether the working mechanism (20) has reached the release position and generate a second arrival signal. According to the second arrival signal, the limiting member (521) stays at the release position.

3. The intelligent walking device according to claim 2, characterized in that, Both the first position sensor (81) and the second position sensor (82) are disposed on the connecting mechanism (30), and the orientation of the first position sensor (81) is opposite to that of the second position sensor (82); or, The first position sensor (81) and the second position sensor (82) are both mounted on the body (10) and located on opposite sides of the connecting mechanism (30); or, One of the first position sensor (81) and the second position sensor (82) is disposed on the connecting mechanism (30), and the other is disposed on the body (10).

4. The intelligent walking device according to claim 2, characterized in that, The first position sensor (81) includes a proximity switch or a micro switch, and the second position sensor (82) includes a proximity switch or a micro switch.

5. The intelligent walking device according to claim 4, characterized in that, The connecting mechanism (30) includes a first protrusion (33) extending toward the body (10), and both the first position sensor (81) and the second position sensor (82) are disposed on the body (10). When the working mechanism (20) moves to the retracted position, the first position sensor (81) is triggered by the first protrusion (33) to generate the first arrival signal. When the working mechanism (20) moves to the release position, the second position sensor (82) is triggered by the first protrusion (33) to generate the second arrival signal.

6. The intelligent walking device according to claim 5, characterized in that, When the working mechanism (20) reaches the release position, the first protrusion (33) abuts against the body (10).

7. The intelligent walking device according to claim 5, characterized in that, The fuselage (10) includes a main body (12) and a fixed base (13). The connecting mechanism (30) and the main body (12) are distributed on opposite sides of the fixed base (13). The fixed base (13) is connected to the main body (12), and the connecting mechanism (30) is pivotally connected to the fixed base (13). The first position sensor (81) and the second position sensor (82) are both located on the side of the fixing base (13) facing the body (12), and the first protrusion (33) extends through the fixing base (13) toward the body (12).

8. The intelligent walking device according to claim 7, characterized in that, The fixed base (13) includes a first clearance hole (71), and the intelligent walking device also includes a drive unit (522). The drive unit (522) is installed on the side of the fixed base (13) facing the main body (12). One end of the limiting member (521) is connected to the drive unit (522) for transmission, and the other end is used to pass through the first clearance hole (71) to limit the connecting mechanism (30). The limiting member (521) reciprocates between the clearance position and the release position under the driving action of the drive unit (522), and the drive unit (522) stops driving the limiting member (521) according to the second arrival signal so that the limiting member (521) stays in the release position.

9. The intelligent walking device according to claim 1, characterized in that, During the process of the connecting mechanism (30) driving the working mechanism (20) to reciprocate between the retracted position and the released position, the working direction X of the working mechanism (20) and the forward direction Y of the fuselage (10) remain parallel.

10. The intelligent walking device according to claim 9, characterized in that, The connecting mechanism (30) includes a first link (31) and a second link (32). The first link (31) includes a first end and a second end opposite to each other. The first end is pivotally connected to the body (10) about a first axis (L1), and the second end is pivotally connected to the working mechanism (20) about a second axis (L2). The second link (32) includes a third end and a fourth end opposite to each other. The third end is pivotally connected to the body (10) about a third axis (L3), and the fourth end is pivotally connected to the working mechanism (20) about a fourth axis (L3). The first axis (L1), the second axis (L2), and the third axis (L3) are all parallel to the fourth axis (L3); The distance A1 between the first axis (L1) and the second axis (L2) is equal to the distance A2 between the third axis (L3) and the fourth axis (L3); The distance B1 between the first axis (L1) and the third axis (L3) is equal to the distance B2 between the second axis (L2) and the fourth axis (L3).

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