Telescopic working mechanism and intelligent walking device

Abstract

The application provides a telescopic working mechanism and an intelligent walking device, the telescopic working mechanism comprising a connecting mechanism, a working mechanism and a position detection device; the connecting mechanism comprising a first connecting position and a second connecting position, the first connecting position being used for being rotationally connected with a machine body, the second connecting position being connected with the working mechanism, the working mechanism being driven to move relative to the machine body by the connecting mechanism rotating relative to the machine body; the position detection device comprising a position detection part and a moving part, the position detection part being connected with the machine body of the intelligent walking device, the moving part being arranged on the connecting mechanism or the working mechanism, a position electric signal being sent if the position detection part detects that the moving part moves to a predetermined position, the position electric signal being used for controlling the movement of the connecting mechanism or the working mechanism. The telescopic working mechanism is applied to the intelligent walking device, the working mechanism can move relative to the machine body, so that the edge of the working area is processed by the edge of the machine body being extended or being closer to the edge of the machine body, and the labor cost is reduced.

Description

Technical Field

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

[0002] Intelligent mobile devices, such as lawnmowers, cleaning robots, sweeping robots, and snow removal robots, need to operate within a pre-defined work boundary. However, due to positioning accuracy issues, a certain distance exists between the work boundary and the actual boundary to prevent the device from exceeding it. This causes the device to sometimes miss the edges of the work area, requiring manual intervention and increasing labor costs. Summary of the Invention

[0003] To address the aforementioned problems, embodiments of this application provide a telescopic working mechanism and an intelligent walking device, which at least partially solve the problems mentioned above.

[0004] One or more embodiments of this application provide a telescopic working mechanism applied to an intelligent walking device, including a connecting mechanism, a working mechanism, and a position detection device; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position being rotatably connected to the body of the intelligent walking device, and the second connecting position being connected to the working mechanism, the working mechanism being driven to move relative to the body by rotating the connecting mechanism relative to the body; the position detection device includes a position detection part and a moving part, the position detection part being connected to the body of the intelligent walking device, and the moving part being disposed on the connecting mechanism or the working mechanism, the position detection part being used to detect that the moving part has reached a predetermined position and generate a position electrical signal, the position electrical signal being used to control the movement of the connecting mechanism or the working mechanism.

[0005] In one optional implementation, the position detection unit includes a limiting structure, which includes a first limiting part and a second limiting part. The predetermined position includes a first predetermined position and a second predetermined position. When the working mechanism reaches the release position, the movement of the moving part is restricted by the first limiting part at the first predetermined position, so that the position detection unit generates a position electrical signal. When the working mechanism reaches the retraction position, the movement of the moving part is restricted by the second limiting part at the second predetermined position, so that the position detection unit generates a position electrical signal. The release position indicates the position of the working mechanism away from the centerline of the fuselage, and the retraction position indicates the position of the working mechanism close to the centerline of the fuselage.

[0006] In one alternative implementation, the first limiting part is a limiting groove, the second limiting part is a stop plate, and the moving part is a limiting post, which is fixedly installed on the working mechanism or connecting mechanism on the side close to the machine body.

[0007] In one alternative implementation, the position detection unit includes a sensor and the moving unit includes a magnet; or, the position detection unit includes a magnet and the moving unit includes a sensor, and when the connecting mechanism reaches the release position or the retraction position, the sensor senses the magnet and outputs a position electrical signal.

[0008] In one alternative implementation, the telescopic working mechanism further includes a power unit, and the position detection unit further includes a current detection device connected to the power unit. The fixed end of the power unit is connected to the machine body, and the output end of the power unit is connected to the connecting mechanism so as to drive the connecting mechanism to move through the power unit. When the first limiting part restricts the movement of the moving part at a first predetermined position, or when the second limiting part restricts the movement of the moving part at a second predetermined position, the current detection device detects an increase in the current of the power unit and sends a position electrical signal to the power unit. The position electrical signal is used to control the power unit to stop driving the connecting mechanism or the working mechanism.

[0009] In one alternative implementation, the telescopic working mechanism further includes a rotating power device and a rotating part. The rotating power device is connected to the machine body, and the rotating part connected to the rotating power device abuts against the connecting mechanism. When the rotating power device drives the rotating part to rotate from the first position to the second position, the connecting mechanism drives the working mechanism to move from the retracted position to the released position. When the rotating power device drives the rotating part to rotate from the second position to the first position, the rotating part drives the working mechanism to move from the released position to the retracted position.

[0010] In one alternative implementation, the limiting structure further includes a third limiting part, and the position detection part further includes a current detection device connected to the rotating power device. The third limiting part is installed on the machine body. When the rotating part reaches the second position, the rotation of the rotating part is restricted by the third limiting part. When the current detection device detects an increase in the current of the rotating power device, it sends a position electrical signal to the rotating power device. The position electrical signal is used to control the rotating power device to stop driving.

[0011] In one alternative implementation, the telescopic working mechanism further includes a fixed base for fixed connection with the machine body, the first connection position of the connecting mechanism is rotatably connected to the fixed base, and the position detection unit is fixedly mounted on the fixed base.

[0012] In one alternative implementation, the connecting mechanism includes an elastic element and a linkage mechanism. One end of the linkage mechanism is hinged to a fixed seat, and the other end is hinged to a working mechanism. The elastic element is disposed at the hinge point between the linkage mechanism and the fixed seat, and the rotating part abuts against the linkage mechanism.

[0013] In one optional implementation, the linkage mechanism includes a first link and a second link. One end of the first link is hinged to a fixed seat at a first hinge point, and the other end is hinged to a working mechanism at a third hinge point. One end of the second link is hinged to a fixed seat at a second hinge point, and the other end is hinged to a working mechanism at a fourth hinge point. The line connecting the first hinge point and the third hinge point is parallel to the line connecting the second hinge point and the fourth hinge point, and the line connecting the first hinge point and the second hinge point is parallel to the line connecting the third hinge point and the fourth hinge point.

[0014] This application also provides an intelligent walking device, including a body and a telescopic working mechanism as described in any of the above embodiments. The first connection position of the connecting mechanism in the telescopic working mechanism is rotatably connected to the body, and the position detection part of the position detection device is fixedly connected to the body.

[0015] According to an embodiment of this application, a telescopic working mechanism and an intelligent walking device are provided. The telescopic working mechanism includes a connecting mechanism, a working mechanism, and a position detection device. The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is rotatably connected to the body of the intelligent walking device, and the second connecting position is connected to the working mechanism. The rotation of the connecting mechanism relative to the body drives the working mechanism to move relative to the body. The position detection device includes a position detection part and a moving part. The position detection part is connected to the body of the intelligent walking device, and the moving part is disposed on the connecting mechanism or the working mechanism. If the position detection part detects that the moving part has moved to a predetermined position, it sends a position electrical signal, which is used to control the movement of the connecting mechanism or the working mechanism. Applying the telescopic working mechanism of this application to an intelligent walking device allows the working mechanism to move relative to the body, enabling it to extend from one side of the body or move closer to the edge of the body. This allows the working mechanism to be closer to the edge of the working area, thus eliminating the need for manual edge processing and reducing labor costs. Attached Figure Description

[0016] The accompanying drawings are intended only to illustrate and explain this application and do not limit the scope of this application.

[0017] Figure 1 This is a schematic diagram of the telescopic working mechanism in the released position according to an exemplary embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the telescopic working mechanism in the retracted position according to an exemplary embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the structure of the telescopic working mechanism of an exemplary embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the position detection device in the telescopic working mechanism of an exemplary embodiment of this application;

[0021] Figure 5 This is a schematic diagram of a position detection device in a telescopic working mechanism according to another exemplary embodiment of this application;

[0022] Figure 6 This is a schematic diagram of the linkage mechanism in the telescopic working mechanism of an exemplary embodiment of this application;

[0023] Explanation of reference numerals in the attached figures:

[0024] 10. Body; 13. Mounting base; 11. First limiting part; 1111. Limiting groove; 112. Second limiting part; 1121. Stop plate; 114. Sensor; 115. Third limiting part; 121. Limiting post; 122. Magnet;

[0025] 20. Working mechanism; 41. Elastic element; 30. Linkage mechanism; 31. First link; 311. First hinge point; 312. Third hinge point; 32. Second link; 321. Second hinge point; 322. Fourth hinge point;

[0026] 50. Rotating mechanism; 521. Rotating part; 5221. Rotating power unit;

[0027] 71. First clearance hole. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Before describing the telescopic working mechanism and intelligent walking device of the embodiments of this application, the application scenarios of the telescopic working mechanism and intelligent walking device will be briefly described to facilitate understanding.

[0032] A telescopic working mechanism can be applied to intelligent walking devices for auxiliary work. Intelligent walking devices can include lawnmower robots, cleaning robots, sweeping robots, snow removal robots, etc. This application uses a lawnmower robot as an example. A lawnmower robot is an intelligent walking device that facilitates lawn and vegetation trimming. When mowing, the robot needs to work within a pre-defined boundary. However, due to positioning accuracy issues, whether the boundary is physical or virtual, there is always a distance between the boundary and the actual lawn boundary to prevent the robot from crossing it. This causes the robot to miss edge areas, requiring manual mowing to address these areas, increasing labor costs. Therefore, this application proposes a telescopic working mechanism and an intelligent walking device to solve the various problems existing in the prior art.

[0033] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0034] Reference Figures 1 to 6 As shown, the telescopic working mechanism of this embodiment includes a connecting mechanism, a working mechanism 20, and a position detection device.

[0035] The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used to rotate and connect with the body 10 of the intelligent walking device, and the second connecting position is connected with the working mechanism 20. The connecting mechanism rotates relative to the body 10, thereby driving the working mechanism 20 to move relative to the body 10.

[0036] For example, the first connection position is rotatably connected to the machine body 10, and the connection method can be hinged. The second connection position is connected to the working mechanism 20, and the connection method can also be hinged. By rotating the connection mechanism relative to the machine body 10, the working mechanism 20 can be driven to move relative to the machine body 10.

[0037] The position detection device includes a position detection unit and a moving unit. The position detection unit is connected to the body 10 of the intelligent walking device, and the moving unit is mounted on the connecting mechanism or working mechanism 20. The position detection unit is used to detect when the moving unit reaches a predetermined position and generate a position electrical signal. The position electrical signal is used to control the movement of the connecting mechanism or working mechanism.

[0038] For example, the position detection unit is fixedly connected to the body 10 of the intelligent walking device, and the moving part is fixedly connected to the connecting mechanism or the working mechanism 20. The connection method can be welding, bolting, etc., and this embodiment does not limit this. During the movement of the working mechanism 20 relative to the body 10, the predetermined positions that can be reached are the release position and the retraction position. The release position indicates the position where the working mechanism 20 is away from the center line of the body 10. The release position can include the working mechanism 20 being at least partially outside the projection area of ​​the body 10, or the working mechanism 20 not extending and closer to the edge of the body 10. This embodiment does not limit this. The retraction position indicates the position where the working mechanism 20 is close to the center line of the body 10. The retraction position can include the working mechanism 20 being at least partially within the projection area of ​​the body 10, or the working mechanism 20 being closer to the center line of the body 10. This embodiment does not limit this. The projection area of ​​the body 10 refers to the area where the body 10 is projected onto the ground plane directly below it. Figure 1 and Figure 2 The centerline of the fuselage 10 is the dashed line shown in the figure. The centerline of the fuselage 10 can refer to the axis parallel to the forward direction of the fuselage 10. When the connecting mechanism or working mechanism 20 moves to a predetermined position, the moving part on the connecting mechanism or working mechanism 20 is detected by the position detection unit provided on the fuselage 10. It can be determined that the moving part has reached the predetermined position, that is, the working mechanism 20 has reached the predetermined position. At this time, the position detection unit generates a position electrical signal, which is used to control the movement of the connecting mechanism or working mechanism 20. For example, the position electrical signal can be used to control the connecting mechanism or working mechanism 20 to stop moving when it reaches the predetermined position.

[0039] It should be noted that the telescopic working mechanism may also include a power mechanism, which is connected to the connecting mechanism and provides power to the movement of the connecting mechanism. The power mechanism can be a power unit, such as a motor, connected to the first connection position of the connecting mechanism to drive the connecting mechanism to move. The power mechanism may also include a rotating power unit 5221 and a rotating part 521. The rotating part 521 connected to the rotating power unit 5221 abuts against the connecting mechanism, and an elastic element 41 is provided at the first connection position. The movement of the connecting mechanism is achieved through the cooperation of the elastic element 41, the rotating power unit 5221, and the rotating part 521 (the specific movement process is described in the following embodiments). This embodiment does not limit this. When the moving part is detected to have reached a predetermined position, the position detection unit generates a position electrical signal and sends the signal to the power mechanism. After receiving the position electrical signal, the power mechanism stops driving the connecting mechanism, thereby controlling the connecting mechanism or working mechanism 20 to stop moving when it reaches the predetermined position via the position electrical signal.

[0040] The telescopic working mechanism of this application embodiment includes a connecting mechanism, a working mechanism 20, and a position detection device. The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used to rotatably connect with the body 10 of the intelligent walking device, and the second connecting position is connected to the working mechanism 20. The working mechanism 20 moves relative to the body 10 by rotating the connecting mechanism relative to the body 10. The position detection device includes a position detection part and a moving part. The position detection part is connected to the body 10 of the intelligent walking device, and the moving part is disposed on the connecting mechanism or the working mechanism 20. The position detection part is used to detect when the moving part reaches a predetermined position and generate a position electrical signal. The position electrical signal is used to control the movement of the connecting mechanism or the working mechanism. By applying the telescopic working mechanism of this application to an intelligent walking device, when the position detection unit detects that the moving part on the connecting mechanism has reached the release position, it generates a position electrical signal to control the connecting mechanism or the working mechanism 20 to stop moving. At this time, the working mechanism 20 extends entirely or partially from one side of the body 10 of the intelligent walking device or is closer to the edge of the body 10, which can realize the processing of the edge area. When the position detection unit detects that the moving part on the connecting mechanism has reached the retraction position, it generates a position electrical signal to control the connecting mechanism or the working mechanism 20 to stop moving, which realizes the retraction of the working mechanism 20 from one side of the body 10 or closer to the center line of the body 10. There is no need to manually process the edge area, which reduces labor costs.

[0041] In one alternative implementation, the telescopic working mechanism further includes a fixed base 13, which is used for fixed connection with the machine body 10. The first connection position of the connecting mechanism is rotatably connected to the fixed base 13, and the position detection unit is fixedly mounted on the fixed base 13. For example, see... Figure 1 The fixed base 13 can be fixedly connected to the body 10. The first connection position of the connecting mechanism can be rotatably connected to the fixed base 13, such as by hinge. The position detection unit can be connected to the fixed base 13, and the connection method can be bolt connection, etc. In this implementation, the fixed base 13 replaces the fixing function of the body 10. The fixed base 13 is used as an independent fixing device. The connection relationship between the first connection position of the connecting mechanism and the position detection unit of the position detection device and the body 10 can be replaced by the connection relationship with the fixed base 13. This makes the overall structure of the telescopic working mechanism more compact. The entire telescopic working mechanism can be disassembled and installed by removing and installing the fixed base 13, which is convenient for operation.

[0042] In one optional implementation, the position detection unit includes a limiting structure, which includes a first limiting part 11 and a second limiting part 112. The predetermined positions include a first predetermined position and a second predetermined position. When the working mechanism 20 reaches the release position, the movement of the moving part is restricted by the first limiting part 11 at the first predetermined position, so that the position detection unit generates a position electrical signal. When the working mechanism 20 reaches the retraction position, the movement of the moving part is restricted by the second limiting part 112 at the second predetermined position, so that the position detection unit generates a position electrical signal. The release position indicates the position of the working mechanism 20 away from the centerline of the fuselage 10, and the retraction position indicates the position of the working mechanism 20 close to the centerline of the fuselage 10.

[0043] Here, "away from" and "closer to" are relative terms. The release position is the position where the working mechanism 20 is away from the center line of the fuselage 10 relative to the retract position; the retract position is the position where the working mechanism 20 is close to the center line of the fuselage 10 relative to the release position.

[0044] For example, refer to Figure 4 The limiting structure can be installed on the fixed base 13 or the body 10; this embodiment does not impose any restrictions on this. The limiting structure may include a first limiting part 11 and a second limiting part 112. The predetermined positions include a first predetermined position and a second predetermined position. The first limiting part 11 and the second limiting part 112 may be a limiting groove 1111, a baffle, etc.; this embodiment does not impose any restrictions on this. The first limiting part 11 is positioned at the first predetermined position, and the second limiting part 112 is positioned at the second predetermined position. The first predetermined position corresponds to the release position of the working mechanism 20, and the second predetermined position corresponds to the retraction position of the working mechanism 20. By limiting the movement of the moving part at the first predetermined position through the first limiting part 11, the position detection part generates a position electrical signal, controlling the working mechanism 20 to stop moving after reaching the release position. By limiting the movement of the moving part at the second predetermined position through the second limiting part 112, the position detection part generates a position electrical signal, controlling the working mechanism 20 to stop moving after reaching the retraction position.

[0045] In this implementation, a first limiting part 11 and a second limiting part 112 are respectively provided to limit the movement of the working mechanism 20 to the release position or the retracted position, thereby causing the position detection unit to generate a position electrical signal and control the working mechanism 20 to stop moving after reaching the release position or the retracted position. The structure is simple and can simultaneously perform the functions of limiting and determining the position.

[0046] In one alternative implementation, the first limiting part 11 is a limiting groove 1111, the second limiting part 112 is a stop plate 1121, and the moving part is a limiting post 121. The limiting post 121 is fixedly disposed on the side of the working mechanism 20 or the connecting mechanism near the machine body 10.

[0047] For example, refer to Figure 1 and Figure 4 The connecting mechanism and the working mechanism 20 are connected to the bottom of the machine body 10, or to the fixed base 13 connected to the bottom of the machine body 10. The limiting groove 1111 and the stop plate 1121 can also be set on the bottom of the machine body 10, or to the fixed base 13 connected to the bottom of the machine body 10. The limiting post 121 is fixedly connected to the connecting mechanism, and the connection method can be welding, etc. The stop plate 1121 can be connected to the machine body 10 or the fixed base 13 by welding or other connection methods, or it can be set on the fixed base 13 by integral molding. The limiting post 121 is set on the side of the connecting mechanism or the working mechanism 20 near the machine body 10 (or the fixed base 13). When the connecting mechanism or the working mechanism 20 moves to the release position, the limiting post 121 enters the limiting groove 1111, and the movement of the limiting post 121 is restricted by the limiting groove 1111, thereby stopping the movement of the connecting mechanism or the working mechanism 20. When the connecting mechanism or working mechanism 20 moves to the retracted position, the limit post 121 is restricted from moving by the stop plate 1121, thereby stopping the connecting mechanism or working mechanism 20 from moving.

[0048] In this implementation, the limiting groove 1111 can be directly opened on the body 10 or the fixed base 13, which is simple in structure, easy to manufacture, and low in cost. By using the limiting post 121 to cooperate with the limiting groove 1111 and the stop plate 1121 respectively, the working mechanism 20 stops moving in the release position or the retracted position, which is simple in structure and easy to manufacture.

[0049] In one alternative implementation, the telescopic working mechanism further includes a power unit, and the position detection unit further includes a current detection device connected to the power unit. The fixed end of the power unit is connected to the body 10, and the output end of the power unit is connected to the connecting mechanism so as to drive the connecting mechanism to move through the power unit. When the first limiting part 11 restricts the movement of the moving part at a first predetermined position, or when the second limiting part 112 restricts the movement of the moving part at a second predetermined position, the current detection device detects an increase in the current of the power unit and sends a position electrical signal to the power unit. The position electrical signal is used to control the power unit to stop driving the connecting mechanism or the working mechanism 20.

[0050] For example, the power device can be a motor, which includes a fixed end and an output end. The fixed end is fixedly connected to the body 10 or the fixed base 13, and the output end is connected to the first connection position of the connecting mechanism. The output end of the power device drives the connecting mechanism to move. The position detection unit also includes a current detection device electrically connected to the power device. This current detection device can be set up separately for detecting the current of the power device, or it can be set on the control circuit board of the intelligent walking device in the body 10. This embodiment does not limit this. When the first limiting part 11 restricts the movement of the moving part at the first predetermined position, or when the second limiting part 112 restricts the movement of the moving part at the second predetermined position, the current in the power device will suddenly increase. When the current detection device detects the increase in the current of the power device, it generates a position electrical signal and sends it to the power device. After receiving the position electrical signal, the power device stops driving the connecting mechanism or the working mechanism 20, thereby realizing that the connecting mechanism or the working mechanism 20 stops moving when it reaches the retracted position or the release position.

[0051] In this implementation, a power unit is provided to drive the connecting mechanism or working mechanism 20 to move between a release position and a retracted position. By providing a current detection device connected to the power unit, when the first limiting part 11 restricts the movement of the moving part at a first predetermined position, or when the second limiting part 112 restricts the movement of the moving part at a second predetermined position, the current detection device detects an increase in the current of the power unit, generates a position electrical signal, and sends it to the power unit. Upon receiving the position electrical signal, the power unit stops driving the connecting mechanism or working mechanism 20, thereby preventing the limiting structure from restricting the movement of the moving part while the power unit continues to drive the connecting mechanism, which could lead to component damage.

[0052] In one alternative implementation, the telescopic working mechanism further includes a rotational power device 5221 and a rotating part 521. The rotational power device 5221 is connected to the body 10, and the rotating part 521 connected to the rotational power device 5221 is connected to the connecting mechanism. When the rotational power device 5221 drives the rotating part 521 to rotate from the first position to the second position, the connecting mechanism drives the working mechanism 20 to move from the retracted position to the released position. When the rotational power device 5221 drives the rotating part 521 to rotate from the second position to the first position, the rotating part 521 drives the working mechanism to move from the released position to the retracted position.

[0053] For example, refer to Figure 3The rotating mechanism 50 includes a rotating power device 5221 and a rotating part 521. The rotating power device 5221 can be a motor. One end of the rotating part 521 is connected to the rotating power device 5221, and the other end is connected to the connecting mechanism. For example, the other end can be connected to or abut against the connecting mechanism; this embodiment does not limit this. The rotating part 521 rotates under the drive of the rotating power device 5221. When the rotating part 521 is in the first position, the working mechanism 20 is in the retracted position; when the rotating part 521 is in the second position, the working mechanism 20 is in the released position. When the rotating power device 5221 drives the rotating part 521 to rotate from the first position to the second position, the connecting mechanism drives the working mechanism 20 to move from the retracted position to the released position; when the rotating power device 5221 drives the rotating part 521 to rotate from the second position to the first position, the rotating part 521 pushes the connecting mechanism to move, causing the connecting mechanism to drive the working mechanism to move from the released position to the retracted position.

[0054] It should be noted that when the rotating power device 5221 drives the rotating part 521 to rotate from the first position to the second position, the rotating part 521 can drive the connecting mechanism to move, thereby causing the connecting mechanism to drive the working mechanism 20 to move from the retracted position to the released position. Alternatively, an elastic element 41 can be provided at the first connection position of the connecting mechanism. When the rotating part 521 is in the first position, the elastic element 41 is in a compressed state. When the rotating part 521 rotates to the second position, the elastic force of the elastic element 41 can be used to move the connecting mechanism, thereby driving the working mechanism 20 to move from the retracted position to the released position. This embodiment does not limit this.

[0055] In this implementation, a rotational power device 5221 and a rotating part 521 are provided to drive the connecting mechanism, thereby moving the working mechanism 20 to the retracted or released position. Furthermore, the rotating part 521 can be used to limit the connecting mechanism at the first or second position. This simultaneously achieves the functions of limiting and driving the connecting mechanism.

[0056] In one optional implementation, the limiting structure includes a third limiting part 115, and the position detection part further includes a current detection device connected to the rotation power device 5221. The third limiting part 115 is disposed on the body 10. When the rotating part 521 reaches the second position, the rotation of the rotating part 521 is restricted by the third limiting part 115. When the current detection device detects an increase in the current of the rotation power device 5221, it sends a position electrical signal to the rotation power device 5221. The position electrical signal is used to control the rotation power device 5221 to stop driving.

[0057] For example, refer to Figure 3The fuselage 10 or the fixed base 13 is provided with a third limiting part 115 corresponding to the second position of the rotating part 521, for example... Figure 3 The first clearance hole 71 and the third limiting part 115 shown are used to limit the rotation of the rotating part 521. During the rotation of the rotating part 521 from the first position to the second position, there may be a situation where the rotating part 521 does not exert force on the connecting mechanism or the working mechanism 20. For example, by setting an elastic member 41 at the first connection position of the connecting mechanism to enable the working mechanism 20 to move from the retracted position to the released position, the movement of the rotating part 521 and the movement of the connecting mechanism are independent of each other. Therefore, when the working mechanism 20 moves to the released position, the first limiting part 11 is used to limit the connecting mechanism or the working mechanism 20, so that the connecting mechanism stops moving, but it cannot limit the rotation of the rotating part 521. Therefore, a third limiting part 115 is set. When the rotating part 521 rotates to the second position, the rotation of the rotating part 521 is limited by the third limiting part 115. The current detection device detects an increase in the current of the rotating power device 5221, generates a position electrical signal and sends it to the rotating power device 5221. After receiving the position electrical signal, the rotating power device 5221 stops driving, and the rotating part 521 stops rotating. The rotating part 521 can also provide auxiliary restraint to the connecting mechanism or working mechanism 20 in the second position, causing the connecting mechanism or working mechanism 20 to stop moving. In addition, the first clearance hole 71 can also restrain the rotating part 521 when it rotates to the first position.

[0058] In this implementation, by setting a third limiting part 115, the rotation part 521 can be restricted from continuing to rotate when it reaches the second position, thereby enabling the rotation power device 5221 to stop driving when the connecting mechanism reaches the release position.

[0059] In one alternative implementation, the position detection unit includes a sensor 114, and the moving part includes a magnet 122; or, the position detection unit includes a magnet 122, and the moving part includes a sensor 114. When the connecting mechanism reaches the release position or the retraction position, the sensor 114 senses the magnet 122 and outputs a stop signal.

[0060] For example, sensor 114 may be a Hall sensor or a sensor for angle detection, and this embodiment is not limited thereto. When sensor 114 is a Hall sensor, if the position detection unit includes a Hall sensor, Hall sensors can be installed on the body 10 or the fixed base 13 at the release position and retraction position of the working mechanism 20, respectively. Correspondingly, the moving part provided on the connecting mechanism can be a magnet 122. If the moving part includes a Hall sensor 114, a Hall sensor is installed on the connecting mechanism, for example, on the limit post 121. Correspondingly, magnets 122 can be installed on the body 10 or the fixed base 13 at the release position and retraction position of the working mechanism 20, for example, in the limit groove 1111 or on the stop plate 1121. Thus, when the connecting mechanism or the working mechanism 20 reaches the release position and the retraction position, the Hall sensor 114 can sense the magnet 122 and output a position electrical signal. The position electrical signal can be sent to the power device or rotation power device 5221 of the connecting mechanism, so that the power device or rotation power device 5221 stops driving and the connecting mechanism or the working mechanism 20 stops moving.

[0061] Reference Figure 5 Sensor 114 is a sensor for angle detection. For example, the sensor for angle detection can be a magnetic encoder. If the position detection unit includes a sensor for angle detection, the sensor for angle detection can be set on the body 10 or the fixed base 13 at the release position or retraction position of the working mechanism 20, respectively. Correspondingly, the moving part set on the connecting mechanism or the working mechanism 20 can be a magnet 122. The magnet 122 can be set at the rotatable connection between the connecting mechanism and the body 10 or the fixed base 13, such as on the pivot of the hinge point. If the moving part includes a sensor for angle detection, the sensor for angle detection can be set on the connecting mechanism, which can also be set on the pivot of the hinge point. Correspondingly, the magnet 122 can be set on the body 10 or the fixed base 13 at the release position or retraction position of the working mechanism 20, respectively. It should be noted that in this embodiment, the sensor for angle detection is positioned opposite and spaced apart from the magnet 122. The sensor detects the rotation angle of the magnet 122, and the rotation angle determines whether the working mechanism 20 has reached the release or retraction position. Furthermore, the sensor can also detect the angle of the connecting mechanism or working mechanism 20 during movement, thereby determining the specific position of the connecting mechanism or working mechanism 20 during its movement.

[0062] It should be noted that, in this embodiment, in addition to using a combination of magnetic encoder and magnet for rotation angle detection, photoelectric rotary encoder or angle sensor can also be used, and this embodiment does not impose any restrictions on this. The angle sensor can be positioned above the hinge shaft, with a section of the hinge shaft extending into the angle sensor. When the connecting mechanism rotates, causing the shaft to rotate, the shaft drives the internal structure of the angle sensor to rotate, thereby detecting the rotation angle of the shaft to determine whether the working mechanism 20 has reached the release or retraction position.

[0063] In this implementation, magnets 122 and sensors 114 are installed at corresponding positions on the body 10, the fixed base 13, the connecting mechanism, or the working mechanism 20. When the working mechanism 20 reaches the release position or the retraction position, the sensor 114 senses the magnet 122 and outputs a position electrical signal, so as to stop the working mechanism 20 from moving. The detection structure is simple.

[0064] In one alternative implementation, the connecting mechanism includes an elastic element 41, a linkage mechanism 30, and a working mechanism 20. One end of the linkage mechanism 30 is hinged to the fixed seat 13, and the other end is hinged to the working mechanism 20. The elastic element 41 is disposed at the hinge between the linkage mechanism 30 and the fixed seat 13, and the rotating part 521 abuts against the linkage mechanism 30.

[0065] For example, refer to Figure 3The connecting mechanism includes an elastic element 41 and a linkage mechanism 30. The linkage mechanism 30 may include a single link or multiple links. One end of the linkage mechanism 30 (i.e., the first connection position of the connecting mechanism) is hinged to the machine body 10, and the other end is connected to the working mechanism 20 (i.e., the second connection position of the connecting mechanism). The connection method can be a rotational connection, such as a hinge or a pivot connection, etc., which is not limited in this embodiment. The elastic element 41 may include a torsion spring. The elastic element 41 is disposed at the hinge between the linkage mechanism 30 and the machine body 10. For example, the torsion spring can be sleeved on the pivot at the hinge between the linkage mechanism 30 and the machine body 10. The first pin of the torsion spring can be fixedly connected to the machine body 10 or the fixed seat 13, and the second pin of the torsion spring can be fixedly connected to the linkage mechanism 30. One or more elastic elements 41 can be provided. For example, if the linkage mechanism 30 includes a first link 31 and a second link 32, the elastic element 41 can be provided at the hinge point between the first link 31 or the second link 32 and the body 10, or the elastic element 41 can be provided at the hinge points between the first link 31, the second link 32 and the body 10. This embodiment does not limit this. The rotating part 521 abuts against the linkage mechanism 30. For example, the rotating part 521 can abut against the side of the link in the linkage mechanism 30, and can restrict the movement of the linkage mechanism 30 in the first position or the second position, thereby restricting the movement of the working mechanism 20 in the release position and the retracted position. The rotating part 521 can also abut against the working mechanism 20. This embodiment does not limit this.

[0066] The movement process of the connecting mechanism achieved by the cooperation of the elastic element 41, the rotational power device 5221, and the rotating part 521 is as follows: When the working mechanism 10 is in the retracted position, the rotating part 521 is in the first position and limits the connecting mechanism, at which time the elastic element 41 is in a compressed state; during the process of the rotating part 521 rotating from the first position to the second position, the limit on the connecting mechanism can be released, that is, the elastic force of the elastic element 41 can be released, so that the connecting mechanism moves under the action of the elastic force of the elastic element 41, thereby causing the connecting mechanism to drive all or part of the working mechanism 20 to extend from the projection area of ​​the body 10, or the working mechanism 20 not to extend and to a position closer to the edge of the body 10. This embodiment does not limit this. This allows the working mechanism 20 to reach the release position. During this release process, the rotating part 521 does not exert force on the connecting mechanism, but only releases the limit on the connecting mechanism. Therefore, the rotational power device 5221 and the rotating part 521 do no work on the connecting mechanism. When the working mechanism 10 reaches the release position, the rotating part 521 is in the second position, and the elastic element 41 is in the released state. At this time, the connecting mechanism (or the working mechanism 20) can reciprocate between the release position and the retracted position. During the process of the rotating part 521 rotating from the second position to the first position, the rotating power device 5221 drives the rotating part 521 to rotate. The rotating part 521 pushes the connecting mechanism to retract from outside the projection area of ​​the fuselage 10, or to a position closer to the center line of the fuselage 10. This embodiment does not limit this. This allows the working mechanism 20 to reach the retracted position. During this retraction process, the connecting mechanism moves under the force of the rotating part 521. Therefore, the rotating power device 5221 and the rotating part 521 do work on the connecting mechanism. In summary, by using the elastic element 41 and the rotating power device 5221 and the rotating part 521 to achieve the movement of the connecting mechanism, the rotating power device 5221 and the rotating part 521 only do work during the retraction process of the working mechanism 20, thereby reducing the energy consumption of the rotating power device 5221 and the rotating part 521.

[0067] In this implementation, when the working mechanism 20 is in operation, i.e., when the rotating part 521 is in the second position, the connecting mechanism (or working mechanism 20) can reciprocate between the release position and the retracted position. When the working mechanism 20 encounters an obstacle (such as a fence, bushes, bamboo forest, etc. at the edge of a lawn), the working mechanism 20 can drive the linkage mechanism 30 to move closer to the body 10 under the force of the obstacle. When passing through the obstacle area, the linkage mechanism 30, under the action of the elastic element 41, drives the working mechanism 20 to the release position to continue working, thereby realizing the obstacle avoidance function.

[0068] In one optional implementation, the linkage mechanism 30 includes a first link 31 and a second link 32. One end of the first link 31 is hinged to the fixed base 13 at a first hinge point 311, and the other end is hinged to the working mechanism 20 at a third hinge point 312. One end of the second link 32 is hinged to the fixed base 13 at a second hinge point 321, and the other end is hinged to the working mechanism 20 at a fourth hinge point 322. The line connecting the first hinge point 311 and the third hinge point 312 is parallel to the line connecting the second hinge point 321 and the fourth hinge point 322, and the line connecting the first hinge point 311 and the second hinge point 321 is parallel to the line connecting the third hinge point 312 and the fourth hinge point 322. For example, refer to... Figure 6 The line connecting the first hinge point 311 and the third hinge point 312 is equal to the line connecting the second hinge point 321 and the fourth hinge point 322, and the line connecting the first hinge point 311 and the second hinge point 321 is equal to the line connecting the third hinge point 312 and the fourth hinge point 322. The lines connecting the first hinge point 311, the second hinge point 321, the third hinge point 312 and the fourth hinge point 322 form a parallelogram.

[0069] In this implementation, by setting one end of the first connecting rod 31 to the body 10 at the first hinge point 311, and the other end to the working mechanism 20 at the third hinge point 312; one end of the second connecting rod 32 to the body 10 at the second hinge point 321, and the other end to the working mechanism 20 at the fourth hinge point 322; the line connecting the first hinge point 311 and the third hinge point 312 is parallel to the line connecting the second hinge point 321 and the fourth hinge point 322, and the line connecting the first hinge point 311 and the second hinge point 321 is parallel to the line connecting the third hinge point 312 and the fourth hinge point 322, the connecting rod mechanism 3 can be controlled. Taking a lawnmower robot as an example, the working mechanism 20 connected to the robot body 10 has a grass inlet. When the line connecting the first hinge point 311 and the second hinge point 321 is perpendicular to the forward direction of the lawnmower robot body 10, the third hinge point 312 and the fourth hinge point 322 are connected parallel to the grass inlet of the working mechanism 20. When all or part of the working mechanism 20 extends from one side of the body 10 to work along the forward direction of the body 10, the direction of the grass inlet of the working mechanism 20 can be kept consistent with the forward direction of the body 10, thereby achieving a better lawnmower effect.

[0070] This application also provides an intelligent walking device, including a body 10 and a telescopic working mechanism as described in any of the above embodiments. The first connection position of the connecting mechanism in the telescopic working mechanism is rotatably connected to the body 10, and the position detection part of the position detection device is fixedly connected to the body 10.

[0071] For example, the intelligent walking device can be a lawnmower robot, a cleaning robot, a sweeping robot, a snow removal robot, etc., and this embodiment does not limit it. The telescopic working mechanism can be fixedly connected to the lower surface of the body 10. It can be fixedly connected to the body 10 through the position detection part of the position detection device in the telescopic working mechanism, and the first connection position of the connection mechanism is rotatably connected to the body 10. Alternatively, it can be fixedly connected to the body 10 through the fixed seat 13 in the telescopic working mechanism, thereby realizing the connection between the telescopic working mechanism and the body 10.

[0072] The intelligent walking device in this embodiment includes a body 10 and a telescopic working mechanism as described in any of the above embodiments. The first connection position of the connecting mechanism in the telescopic working mechanism is rotatably connected to the body 10, and the position detection part of the position detection device is fixedly connected to the body 10. If the intelligent walking device is used for mowing, it can detect whether the moving part on the connecting mechanism has reached a predetermined position by the position detection part set on the body 10 or the fixed base 13 during mowing. This allows the working mechanism 20 to stop moving when it reaches the release position, enabling the working mechanism 20 to extend entirely or partially from one side of the body of the intelligent walking device or closer to the edge of the body, so that the working mechanism can be closer to the edge of the working area and thus process the edge area of ​​the working area. Alternatively, the working mechanism 20 can stop moving when it reaches the retracted position, thus eliminating the need for manual processing of the edge area and reducing labor costs.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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. A telescopic working mechanism, characterized in that, Applied to intelligent walking equipment, including a connecting mechanism, a working mechanism (20), a power unit, and a position detection device; The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used to rotatably connect with the body (10) of the intelligent walking device, and the second connecting position is connected with the working mechanism (20). The working mechanism (20) moves relative to the body (10) by rotating relative to the body (10). The fixed end of the power device is connected to the body (10), and the output end of the power device is connected to the connecting mechanism so as to drive the connecting mechanism to move through the power device; The position detection device includes a position detection unit and a moving unit. The position detection unit is connected to the body (10) of the intelligent walking device. The moving unit is disposed on the connecting mechanism or the working mechanism (20). The position detection unit is used to detect the moving unit. When the moving unit is detected to have reached a predetermined position, the position detection unit generates a position electrical signal and sends the position electrical signal to the power device. After receiving the position electrical signal, the power device stops driving the connecting mechanism. The telescopic working mechanism further includes a rotating power device (5221) and a rotating part (521). The rotating power device (5221) is connected to the body (10). The rotating part (521) rotates under the drive of the rotating power device (5221). The rotating part (521) is connected to the connecting mechanism. When the rotating power device (5221) drives the rotating part (521) to rotate from the first position to the second position, the connecting mechanism drives the working mechanism (20) to move from the retracted position to the released position; When the rotating power device (5221) drives the rotating part (521) to rotate from the second position to the first position, the rotating part (521) drives the working mechanism to move from the release position to the retracted position; An elastic element (41) is provided at the first connection position of the connecting mechanism. When the rotating part (521) is in the first position, the elastic element (41) is in a compressed state. When the rotating part (521) rotates toward the second position, the elastic force of the elastic element (41) can drive the connecting mechanism to rotate, so as to drive the working mechanism (20) to move from the retracted position to the released position.

2. The telescopic working mechanism according to claim 1, characterized in that, The position detection unit includes a limiting structure, which includes a first limiting part (11) and a second limiting part (112). The predetermined position includes a first predetermined position and a second predetermined position. When the working mechanism (20) reaches the release position, the movement of the moving part is restricted at the first predetermined position by the first limiting part (11) so that the position detection unit generates the position electrical signal. When the working mechanism (20) reaches the retracted position, the movement of the moving part is restricted at the second predetermined position by the second limiting part (112) so that the position detection part generates the position electrical signal, wherein the release position indicates the position of the working mechanism (20) away from the center line of the fuselage (10), and the retracted position indicates the position of the working mechanism (20) close to the center line of the fuselage (10).

3. The telescopic working mechanism according to claim 2, characterized in that, The first limiting part (11) is a limiting groove (1111), the second limiting part (112) is a stop plate (1121), the moving part is a limiting post (121), and the limiting post (121) is fixedly installed on the working mechanism (20) or the connecting mechanism on the side close to the machine body (10).

4. The telescopic working mechanism according to claim 1, characterized in that, The position detection unit includes a sensor (114), and the moving part includes a magnet (122). Alternatively, the position detection unit includes a magnet (122), and the moving part includes a sensor (114). When the connecting mechanism reaches the release position or the retraction position, the sensor (114) senses the magnet (122) and outputs the position electrical signal.

5. The telescopic working mechanism according to claim 2 or 3, characterized in that, The position detection unit further includes a current detection device connected to the power device; when the first limiting part (11) restricts the movement of the moving part at the first predetermined position, or when the second limiting part (112) restricts the movement of the moving part at the second predetermined position, the current detection device detects an increase in the current of the power device and sends the position electrical signal to the power device, the position electrical signal being used to control the power device to stop driving the connecting mechanism or the working mechanism (20).

6. The telescopic working mechanism according to claim 2, characterized in that, The limiting structure further includes a third limiting part (115), and the position detection part further includes a current detection device connected to the rotating power device (5221). The third limiting part (115) is disposed on the body (10). When the rotating part (521) reaches the second position, the rotation of the rotating part (521) is restricted by the third limiting part (115). When the current detection device detects an increase in the current of the rotating power device (5221), it sends the position electrical signal to the rotating power device (5221). The position electrical signal is used to control the rotating power device (5221) to stop driving.

7. The telescopic working mechanism according to claim 1, characterized in that, The telescopic working mechanism also includes a fixed seat (13), which is used to be fixedly connected to the body (10). The first connection position of the connecting mechanism is rotatably connected to the fixed seat (13), and the position detection part is fixedly installed on the fixed seat (13).

8. The telescopic working mechanism according to claim 7, characterized in that, The connecting mechanism includes a linkage mechanism (30), one end of which is hinged to the fixed seat (13) and the other end is hinged to the working mechanism (20). The elastic element (41) is disposed at the hinge between the linkage mechanism (30) and the fixed seat (13), and the rotating part (521) abuts against the linkage mechanism (30).

9. The telescopic working mechanism according to claim 8, characterized in that, The linkage mechanism (30) includes a first link (31) and a second link (32). One end of the first link (31) is hinged to the fixed seat (13) at a first hinge point (311), and the other end is hinged to the working mechanism (20) at a third hinge point (312). One end of the second link (32) is hinged to the fixed seat (13) at a second hinge point (321), and the other end is hinged to the working mechanism (20) at a fourth hinge point (322). The line connecting the first hinge point (311) and the third hinge point (312) is parallel to the line connecting the second hinge point (321) and the fourth hinge point (322), and the line connecting the first hinge point (311) and the second hinge point (321) is parallel to the line connecting the third hinge point (312) and the fourth hinge point (322).

10. An intelligent walking device, characterized in that, Includes a body (10) and a telescopic working mechanism as described in any one of claims 1-9, wherein the first connection position of the connecting mechanism in the telescopic working mechanism is rotatably connected to the body (10), and the position detection part of the position detection device is fixedly connected to the body (10).

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