Telescopic working mechanism and intelligent walking device

Abstract

This invention provides a telescopic working mechanism and an intelligent walking device. The telescopic working mechanism includes a working mechanism, a connecting mechanism, and a telescopic mechanism. The telescopic mechanism includes a telescopic fixing part and a telescopic part. The telescopic fixing part is used to connect to the body of the intelligent walking device, and the telescopic part is connected to the connecting mechanism. The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used for rotatable or slidable connection with the body, and the second connecting position is connected to the working mechanism. When the telescopic part moves through telescopic motion, it drives the connecting mechanism to rotate or slide, which in turn drives the working mechanism to rotate or slide relative to the body. This allows the working mechanism to extend fully or partially beyond the body or to move closer to the edge of the body. Therefore, when the telescopic working mechanism is applied to an intelligent walking device, the edge of the working area can be processed by the working mechanism without manual intervention, reducing labor costs.

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 working mechanism, a connecting mechanism, and a telescopic mechanism; the telescopic mechanism includes a telescopic fixing part and a telescopic part, the telescopic fixing part is used to connect to the body of the intelligent walking device, and the telescopic part is connected to the connecting mechanism; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position is used to rotatably or slidably connect with the body, and the second connecting position is connected to the working mechanism, the telescopic part drives the connecting mechanism to rotate or slide through telescopic movement, and the connecting mechanism drives the working mechanism to rotate or slide relative to the body.

[0005] In one alternative implementation, the telescopic fixing part of the telescopic mechanism is connected to the third connection position of the machine body and is located on the first side of the connection mechanism. The first side is the side away from the center line of the machine body. When the telescopic part retracts, the working mechanism moves away from the center line of the machine body. When the telescopic part extends, the working mechanism moves closer to the center line of the machine body.

[0006] In one alternative implementation, the telescopic fixing part of the telescopic mechanism is connected to the fourth connection position of the machine body and is located on the second side of the connection mechanism. The second side is the side closer to the center line of the machine body. When the telescopic part extends, the working mechanism moves away from the center line of the machine body. When the telescopic part retracts, the working mechanism moves closer to the center line of the machine body.

[0007] In one alternative implementation, the telescopic fixing part includes a telescopic power device, which is fixedly connected to the body; one end of the telescopic part is connected to the telescopic power device, and the other end is connected to the connecting mechanism.

[0008] In one alternative implementation, one end of the telescopic part is connected to a rolling element, the core of the rolling element is connected to the telescopic part, and the rolling element is connected to the connecting mechanism.

[0009] In one alternative implementation, the extension and retraction of the telescopic part are both linear movements.

[0010] In one alternative implementation, the telescopic working mechanism further includes a fixed base for fixed connection with the machine body, wherein the first connection position of the connecting mechanism and the telescopic fixing part of the telescopic mechanism are connected to the fixed base.

[0011] In one alternative implementation, the connecting mechanism includes an elastic element and a linkage mechanism. One end of the linkage mechanism is hinged to the machine body, and the other end is connected to the working mechanism. The elastic element is located at the hinge between the linkage mechanism and the machine body, and the telescopic part is connected to the linkage mechanism.

[0012] In one alternative implementation, the linkage mechanism includes a first link and a second link. One end of the first link is hinged to the machine body at a first hinge point, and the other end is hinged to the working mechanism at a third hinge point. One end of the second link is hinged to the machine body at a second hinge point, and the other end is hinged to the 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.

[0013] The embodiments of this application also provide an intelligent walking device, including a body and a telescopic working mechanism of any of the above embodiments. The telescopic mechanism is fixedly connected to the body, and the first connection position of the connecting mechanism is rotatably or slidably connected to the body.

[0014] According to an embodiment of this application, a telescopic working mechanism and an intelligent walking device are provided. The telescopic working mechanism, applied to the intelligent walking device, includes a working mechanism, a connecting mechanism, and a telescopic mechanism. The telescopic mechanism includes a telescopic fixing part and a telescopic part. The telescopic fixing part is used to connect to the body of the intelligent walking device, and the telescopic part is connected to the connecting mechanism. The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used for rotatable or slidable connection with the body, and the second connecting position is connected to the working mechanism. When the telescopic part moves through telescopic motion, it drives the connecting mechanism to rotate or slide, which in turn drives the working mechanism to rotate or slide relative to the body. This allows the working mechanism to extend fully or partially beyond the body or to move closer to the edge of the body. Therefore, when the telescopic working mechanism is applied to the intelligent walking device, edge areas can be processed by extending fully or partially beyond the body or moving closer to the edge of the body, eliminating the need for manual processing and reducing labor costs. Attached Figure Description

[0015] The accompanying drawings are intended only to illustrate and explain this application and do not limit the scope of this application.

[0016] Figure 1 This is a schematic diagram of the telescopic working mechanism in the released position according to an exemplary embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the telescopic working mechanism in the retracted position according to an exemplary embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the structure of the telescopic working mechanism of an exemplary embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the telescopic mechanism located at the fourth connection position in the telescopic working mechanism of the exemplary embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the linkage mechanism in the telescopic working mechanism of an exemplary embodiment of this application;

[0021] Explanation of reference numerals in the attached figures:

[0022] 10. Fuselage; 13. Mounting base;

[0023] 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;

[0024] 53. Telescopic mechanism; 531. Telescopic part; 5311. Rolling element; 532. Telescopic fixing part. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0031] Reference Figures 1 to 5 As shown, the telescopic working mechanism of this embodiment includes a working mechanism 20, a connecting mechanism, and a telescopic mechanism 53.

[0032] The telescopic mechanism 53 includes a telescopic fixing part 532 and a telescopic part 531. The telescopic fixing part 532 is used to connect to the body 10 of the intelligent walking device, and the telescopic part 531 is connected to the connecting mechanism.

[0033] For example, the telescopic fixing part 532 is detachably connected to the body 10 of the intelligent walking device, for example, it can be connected to the bottom of the body 10. One end of the telescopic part 531 is connected to the telescopic fixing part 532, and the other end is telescopic relative to the telescopic fixing part 532 and is connected to the connecting mechanism. The way in which the telescopic part 531 is connected to the connecting mechanism can include abutting or connecting. Specifically, it can be flexibly set by those skilled in the art according to the relative position of the telescopic part 531 and the connecting mechanism. This embodiment does not limit this.

[0034] The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used to rotate or slide with the body 10, and the second connecting position is connected with the working mechanism 20. The telescopic part 531 drives the connecting mechanism to rotate or slide through telescopic movement, and the connecting mechanism drives the working mechanism 20 to rotate or slide relative to the body 10.

[0035] For example, the connecting mechanism includes a first connecting position and a second connecting position. The first connecting position and the second connecting position can be a first end and a second end opposite to each other on the connecting mechanism. The first connecting position is rotatably or slidably connected to the body 10. The connection method can be a rotatable connection, such as a hinge, or a slidable connection. The slidable connection can be a slide rail provided on the body 10, with the connecting mechanism or the first connecting position of the connecting mechanism located within the slide rail. This embodiment does not limit this. The second connecting position can be connected to the working mechanism 20. The connection method can be a rotatable connection, such as a hinge, or a fixed connection. This embodiment does not limit this. The telescopic movement of the telescopic part 531 causes the first connecting position of the connecting mechanism to rotate or slide relative to the body 10, which in turn causes the entire connecting mechanism to rotate or slide relative to the body 10, thereby causing the working mechanism 20 connected to the second connecting position to rotate or slide relative to the body 10. During the rotation or sliding of the working mechanism 20 relative to the fuselage 10, the extreme positions that can be reached are the release position and the retracted position. The release position includes a position where the working mechanism 20 is at least partially outside the projection area of ​​the fuselage 10, or a position where the working mechanism 20 does not extend and is closer to the edge of the fuselage 10; this embodiment does not limit this. The retracted position refers to a position where the working mechanism 20 is at least partially within the projection area of ​​the fuselage 10, or a position where the working mechanism 20 is closer to the centerline of the fuselage 10; this embodiment does not limit this. The projection area of ​​the fuselage 10 refers to the area where the fuselage 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.

[0036] It should be noted that the movement of the connecting mechanism in this embodiment can be connected to the connecting mechanism through the telescopic mechanism 53, and the telescopic movement of the telescopic mechanism 53 can be used to drive the connecting mechanism to rotate or slide; alternatively, an elastic element 41 can be provided at the first connection position, and the movement of the connecting mechanism can be achieved by the cooperation of the elastic element 41 and the telescopic mechanism 53 (the specific movement process is described in the following embodiments). This embodiment does not limit this.

[0037] In one alternative implementation, the telescopic fixing part 532 of the telescopic mechanism 53 is connected to the third connection position of the body 10 and is located on the first side of the connection mechanism. The first side is the side away from the center line of the body 10. When the telescopic part 531 retracts, the working mechanism 20 moves away from the center line of the body 10. When the telescopic part 531 extends, the working mechanism 20 moves towards the center line of the body 10.

[0038] For example, refer to Figure 1 and Figure 2The telescopic fixing part 532 of the telescopic mechanism 53 is connected to the third connection position of the fuselage 10. The third connection position is located on the first side of the connecting mechanism. The first side refers to the side of the connecting mechanism away from the center line of the fuselage 10. The telescopic part 531 can abut or connect with the side of the connecting mechanism. When the telescopic part 531 retracts, the restriction on the connecting mechanism is released in the direction of the first side of the connecting mechanism, and the connecting mechanism can move away from the center line of the fuselage 10, thereby driving the working mechanism 20 to move away from the center line of the fuselage 10, thus reaching the release position. When the telescopic part 531 extends, the connecting mechanism moves towards the center line of the fuselage 10, thereby driving the working mechanism 20 towards the center line of the fuselage 10, reaching the retracted position. In the retracted position, the telescopic part 531 can limit the connecting mechanism in the direction of the first side of the connecting mechanism. In this implementation, the telescopic fixing part 532 of the telescopic mechanism 53 is connected to the third connection position of the body 10 and is located on the first side of the connection mechanism. The first side is the side away from the center line of the body 10. When the telescopic part 531 retracts, the working mechanism 20 moves away from the center line of the body 10. When the telescopic part 531 extends, the working mechanism 20 moves closer to the center line of the body 10. That is, the movement of the working mechanism 20 relative to the body 10 can be achieved through the telescopic movement of the telescopic part 531. Furthermore, the telescopic part 531 and the connection mechanism do not need to be connected; the above movement process can be achieved by contact, making the overall structure simple and easy to install and disassemble.

[0039] In one alternative implementation, the telescopic fixing part 532 of the telescopic mechanism 53 is connected to the fourth connection position of the body 10 and is located on the second side of the connection mechanism. The second side is the side close to the center line of the body 10. When the telescopic part 531 extends, the working mechanism 20 moves away from the center line of the body 10. When the telescopic part 531 retracts, the working mechanism 20 moves towards the center line of the body 10.

[0040] For example, refer to Figure 4The centerline of the fuselage 10 is shown as a dashed line in the figure. The telescopic fixing part 532 of the telescopic mechanism 53 is connected to the fourth connection position of the fuselage 10. The fourth connection position can be located on the second side of the connecting mechanism, opposite to the first side. The second side refers to the side of the connecting mechanism closer to the centerline of the fuselage 10. The telescopic part 531 can abut or connect with the side of the connecting rod in the linkage mechanism 30. When the telescopic part 531 extends, the connecting mechanism can move away from the centerline of the fuselage 10, thereby driving the working mechanism 20 to move away from the centerline of the fuselage 10 to the release position. When the telescopic part 531 retracts, the connecting mechanism moves towards the centerline of the fuselage 10, thereby driving the working mechanism 20 towards the centerline of the fuselage 10 to the retracted position. In the retracted position, the telescopic part 531 can limit the connecting mechanism in the direction of the second side of the connecting mechanism.

[0041] In this implementation, the telescopic fixing part 532 of the telescopic mechanism 53 is connected to the fourth connection position of the body 10 and is located on the second side of the connection mechanism. The second side is the side close to the center line of the body 10. The movement of the working mechanism 20 relative to the body 10 can be achieved by the telescopic movement of the telescopic part 531. Furthermore, the fourth connection position is located outside the movement area of ​​the connection mechanism, and the installation space of the telescopic mechanism 53 is relatively large. This can avoid the interference of the installation position of the telescopic mechanism 53 with the movement of the connection mechanism due to the compact overall structure of the telescopic working mechanism and the small overall installation space.

[0042] The telescopic working mechanism of this embodiment includes a working mechanism 20, a connecting mechanism, and a telescopic mechanism 53. The telescopic mechanism 53 includes a telescopic fixing part 532 and a telescopic part 531. The telescopic fixing part 532 is used to connect to the body 10 of the intelligent walking device, and the telescopic part 531 is connected to the connecting mechanism. The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used for rotatable or slidable connection with the body 10 and is connected to the working mechanism 20. When the telescopic part moves through extension and retraction, it drives the connecting mechanism to rotate or slide, which in turn drives the working mechanism to rotate or slide relative to the body. This allows the working mechanism to extend or retract to one side of the body. Applying the telescopic working mechanism of this application to an intelligent walking device allows the intelligent walking device to rotate or slide relative to the body through the telescopic movement of the telescopic mechanism 53. This allows the working mechanism 20 to extend fully or partially beyond the body 10 or to be closer to the edge of the body 10. Therefore, the working mechanism 20 can be used to process the edge of the working area, eliminating the need for manual edge processing and reducing labor costs.

[0043] In one alternative implementation, the connecting mechanism includes an elastic element 41 and a linkage mechanism 30. One end of the linkage mechanism 30 is hinged to the machine body 10, and the other end is connected to the working mechanism 20. The elastic element 41 is disposed at the hinge between the linkage mechanism 30 and the machine body 10, and the telescopic part 531 is connected to the linkage mechanism 30.

[0044] For example, refer to Figure 3 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, 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, an elastic element 41 can be provided at the hinge between the first link 31 or the second link 32 and the body 10. Alternatively, elastic elements 41 can be provided at the hinge between the first link 31, the second link 32 and the body 10. This embodiment does not limit this. The telescopic part 531 is connected to the linkage mechanism 30. The connection method between the telescopic part 531 and the linkage mechanism 30 is determined according to the relative position of the telescopic part 531 and the connecting mechanism. It can include abutting or connecting. For example, the telescopic part 531 is located on the first side of the linkage mechanism 30 (i.e., the first side of the connecting mechanism). In this case, the first side is the side of the direction in which the linkage mechanism 30 moves under the action of elastic force, and the telescopic part 531 can abut against the side of the connecting rod in the linkage mechanism 30. The telescopic part 531 can also be located on the second side of the linkage mechanism 30 (i.e., the second side of the connecting mechanism). In this case, the second side is the side in the opposite direction of the direction in which the linkage mechanism 30 moves under the action of elastic force, and the telescopic part 531 can connect to the side of the connecting rod in the linkage mechanism 30. Similarly, the telescopic part 531 can also be connected to the working mechanism 20. This embodiment does not limit this.

[0045] The movement process of the connecting mechanism using the elastic element 41 and the telescopic mechanism 53 is as follows: Taking the telescopic fixing part 532 of the telescopic mechanism 53 connected to the third connecting position of the machine body 10 as an example, when the working mechanism 10 is in the retracted position, the telescopic part 532 extends to limit the connecting mechanism, and the elastic element 41 is in a compressed state; when the telescopic mechanism 53 retracts, it can release the limit on the connecting mechanism, that is, release the elastic force of the elastic element 41, 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 the working mechanism 20 to the release position. During this process, the telescopic mechanism 53 does not exert force on the connecting mechanism, but only releases the limit on the connecting mechanism, so the telescopic mechanism 53 does no work on the connecting mechanism. When the working mechanism 10 reaches the release position, the telescopic part 532 retracts, 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. When the telescopic mechanism 53 extends, the telescopic part 531 can push the connecting mechanism from the body 10 to the retracted position. During this process, the connecting mechanism moves under the force of the telescopic mechanism 53, so the telescopic mechanism 53 does work on the connecting mechanism. In summary, by using the elastic element 41 and the telescopic mechanism 53 to achieve the movement of the connecting mechanism, the telescopic mechanism 53 only does work during the retraction of the working mechanism 20, thus reducing the energy consumption of the telescopic mechanism 53.

[0046] It should be understood that when the telescopic fixing part 532 of the telescopic mechanism 53 is connected to the fourth connection position of the body 10, the movement process of the connecting mechanism is achieved by the cooperation of the elastic member 41 and the telescopic mechanism 53 in the opposite manner to the above process. This embodiment will not elaborate on this further.

[0047] In this implementation, by hinged one end of the linkage mechanism 30 to the body 10 and the other end to the working mechanism 20, the linkage mechanism 30 can drive the working mechanism 20 to move relative to the body 10. The linkage mechanism 30 can be retracted by the force of the telescopic part 531 and released by the elastic element 41 set at the hinge of the linkage mechanism 30 and the body 10. In addition, when the connecting mechanism is in operation, that is, the connecting mechanism (or the working mechanism 20) can reciprocate between the release position and the retracted position, the working mechanism 20 may encounter obstacles (such as fences, bushes, bamboo forests, etc. at the edge of a lawn). Under the force of the obstacle, the working mechanism 20 can drive the linkage mechanism 30 to move towards the center line of the body 10. When passing through the obstacle area, the linkage mechanism 30, under the action of the elastic element 41, drives the working mechanism 20 back to the release position to continue working, thereby realizing the obstacle avoidance function.

[0048] In one alternative implementation, refer to Figure 5The linkage mechanism 30 includes a first link 31 and a second link 32. One end of the first link 31 is hinged to the body 10 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 body 10 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, 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.

[0049] In this implementation, one end of the first connecting rod 31 is hinged to the machine body 10 at the first hinge point 311, and the other end is hinged to the working mechanism 20 at the third hinge point 312; one end of the second connecting rod 32 is hinged to the machine body 10 at the second hinge point 321, and the other end is hinged 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, thus controlling the connecting rods. Taking a lawnmower robot as an example, the working mechanism 20 connected to the mechanism 30 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 body 10 of the lawnmower robot, the third hinge point 312 and the fourth hinge point 322 are connected parallel to the grass inlet of the working mechanism 20. When 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 is consistent with the forward direction of the body 10, thereby achieving a better lawnmower effect.

[0050] In one optional implementation, the telescopic fixing part 532 includes a telescopic power device, which is fixedly connected to the body 10; one end of the telescopic part 531 is connected to the telescopic power device, and the other end is connected to the connecting mechanism. For example, see... Figure 4The telescopic fixing part 532 may include a telescopic power device, such as a motor, which is fixedly connected to the body 10, and the connection method may be bolt connection, etc. One end of the telescopic part 531 is connected to the telescopic power device, and the other end is connected to the connecting mechanism. The telescopic part 531 switches between a first state and a second state under the drive of the telescopic power device. In this implementation, the telescopic part 531 is extended or retracted by the telescopic power device to release the elastic force of the connecting mechanism, thereby driving the working mechanism 20 to the release position, or driving the connecting mechanism to retract, thereby driving the working mechanism 20 to the retracted position. The structure is simple, and the telescopic power device only does work during the retraction of the connecting mechanism, which can reduce the energy consumption of the telescopic power device.

[0051] In one alternative implementation, one end of the telescopic portion 531 is connected to a rolling element 5311, the shaft of the rolling element 5311 is connected to the telescopic portion 531, and the rolling element 5311 is connected to the connecting mechanism. For example, refer to... Figure 4 The rolling element 5311 is located at the end of the telescopic part 531 near the connecting mechanism. The connection method can be detachable, and the rolling element 5311 can be a roller. In this implementation, when the telescopic fixing part 532 of the telescopic mechanism 53 is connected to the first connection position of the body 10, the telescopic part 531 pushes the connecting mechanism during its extension, overcoming the elastic force of the connecting mechanism until it reaches the retracted position. During this process, relative sliding will occur between the telescopic part 531 and the connecting mechanism (or connecting rod mechanism 30) in the length direction of the connecting mechanism (or connecting rod mechanism 30), resulting in greater friction between them. By connecting the rolling element 5311 to the telescopic part 531, and having the rolling element 5311 abut against the connecting mechanism (or connecting rod mechanism 30), the sliding friction can be converted into rolling friction, thereby reducing friction and improving the service life of the component.

[0052] In one alternative implementation, the extension and retraction of the telescopic part 531 are both linear movements. For example, the telescopic part 531 can be a telescopic rod, which performs linear telescopic movements relative to the telescopic fixing part 532. This allows for the release and retraction of the connecting mechanism, and the overall structure of the telescopic mechanism 53 is simple, requiring less space for the linear movement of the telescopic part 531, thus facilitating installation.

[0053] 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 end of the connecting mechanism and the telescopic fixing part 532 of the telescopic mechanism 53 are both fixedly connected to the fixed base 13. For example, refer to Figure 3The fixed base 13 can be fixedly connected to the body 10, and the connection method can be bolt connection, etc. In this implementation, the fixed base 13 can replace the fixing function of the body 10. The fixed base 13 can be used as an independent fixing device. The connection relationship between the connecting mechanism and / or the telescopic mechanism 53 and the body 10 can be replaced with 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.

[0054] 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 telescopic mechanism 53 in the telescopic working mechanism is fixedly connected to the body 10, and the first connection position of the connection mechanism is rotatably or slidably connected to the body 10.

[0055] 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 bottom surface of the body 10. It can be fixedly connected to the body 10 through the telescopic mechanism 53 in the telescopic working mechanism, and the first connection position of the connection mechanism is rotatably or slidably 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.

[0056] 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 telescopic mechanism 53 in the telescopic working mechanism is fixedly connected to the body 10, and the first connection position of the connecting mechanism is rotatably or slidably connected to the body 10. During operation, the intelligent walking device can cause the connecting mechanism to rotate or slide through the telescopic movement of the telescopic mechanism 53, which in turn causes the working mechanism to rotate or slide relative to the body. This allows the working mechanism 20 to extend fully or partially beyond the body 10 or to be closer to the edge of the body 10. Therefore, the edge of the working area can be processed through the working mechanism 20, eliminating the need for manual edge processing and reducing labor costs.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 devices, the intelligent walking devices include a body (10), and the telescopic working mechanism includes a working mechanism (20), a connecting mechanism and a telescopic mechanism (53); The connecting mechanism includes an elastic element (41) and a linkage mechanism (30). One end of the linkage mechanism (30) is hinged to the body (10), and the other end is connected to the working mechanism (20). The elastic element (41) is disposed at the hinge between the linkage mechanism (30) and the body (10). The telescopic mechanism (53) includes a telescopic fixing part (532) and a telescopic part (531). The telescopic fixing part (532) is used to connect the body (10) of the intelligent walking device, and the telescopic part (531) abuts against the linkage mechanism (30). When the telescopic mechanism (53) extends, it can overcome the elastic force of the elastic element and push the linkage mechanism toward the side closer to the center line of the body (10), and the elastic element is in a compressed state; When the telescopic mechanism (53) retracts, it releases the limit on the linkage mechanism, and the linkage mechanism moves toward the side away from the center line of the fuselage (10) under the elastic force of the elastic element. The connecting mechanism drives the working mechanism (20) to rotate relative to the body (10).

2. The telescopic working mechanism according to claim 1, characterized in that, The telescopic fixing part (532) of the telescopic mechanism (53) is connected to the third connection position of the body (10) and is located on the first side of the connection mechanism. The first side is the side away from the center line of the body (10). When the telescopic part (531) retracts, the working mechanism (20) moves away from the center line of the body (10). When the telescopic part (531) extends, the working mechanism (20) moves closer to the center line of the body (10).

3. The telescopic working mechanism according to any one of claims 1-2, characterized in that, The telescopic fixing part (532) includes a telescopic power device, which is fixedly connected to the body (10); one end of the telescopic part (531) is connected to the telescopic power device, and the other end is connected to the connecting mechanism.

4. The telescopic working mechanism according to claim 2, characterized in that, One end of the telescopic part (531) is connected to the rolling element (5311), the shaft of the rolling element (5311) is connected to the telescopic part (531), and the rolling element (5311) is connected to the connecting mechanism.

5. The telescopic working mechanism according to claim 1, characterized in that, The extension and retraction of the telescopic part (531) are both linear movements.

6. 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). One end of the linkage mechanism and the telescopic fixing part (532) of the telescopic mechanism (53) are connected to the fixed seat (13).

7. The telescopic working mechanism according to claim 6, 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 body (10) 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 body (10) 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).

8. An intelligent walking device, characterized in that, Includes a body (10) and a telescopic working mechanism as described in any one of claims 1-7, wherein the telescopic mechanism (53) in the telescopic working mechanism is fixedly connected to the body (10), and the first connection position of the connecting mechanism is rotatably or slidably connected to the body (10).

Images