Telescopic working mechanism and intelligent walking device

Abstract

The application provides a telescopic working mechanism and an intelligent walking device. The telescopic working mechanism comprises a working mechanism, a connecting mechanism, an elastic member and a rotating mechanism. The rotating mechanism comprises a rotating part. The connecting mechanism comprises a first connecting position and a second connecting position. The first connecting position is used for rotating connection with a body. The second connecting position is connected with the working mechanism. The rotating mechanism is arranged on the body and abuts against the connecting mechanism. One end of the elastic member is connected with the body, and the other end is connected with the connecting mechanism. The rotating mechanism is used for pushing the connecting mechanism to drive the working mechanism to approach the center line of the body, so that the elastic member is compressed. The elastic member is used for pushing the connecting mechanism to drive the working mechanism to move away from the center line of the body. The telescopic working mechanism is applied to the intelligent walking device. The working mechanism is driven by the elastic member to move away from the center line of the body to process the edge area of the working area, without manual processing, so that 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 working mechanism, a connecting mechanism, an elastic member, and a rotating mechanism; 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 rotating mechanism is disposed on the body and abuts against the connecting mechanism; one end of the elastic member is connected to the body, and the other end is connected to the connecting mechanism, the rotating mechanism being used to push the connecting mechanism to drive the working mechanism closer to the center line of the body, and the elastic member being compressed; the elastic member is used to push the connecting mechanism to drive the working mechanism away from the center line of the body.

[0005] In one alternative implementation, the rotating mechanism includes a rotating power device, a transmission shaft, and a rotating part. The rotating power device is fixedly connected to the machine body. One end of the transmission shaft is connected to the rotating power device, and the other end is connected to the rotating part. The rotating part abuts against the connecting mechanism. The rotating power device drives the transmission shaft to rotate, thereby causing the rotating part to rotate between a first position and a second position.

[0006] In one alternative implementation, the rotating part includes a connecting part and a pushing part. One end of the connecting part is fixedly connected to the drive shaft, and the other end is fixedly connected to the pushing part. The pushing part abuts against a first side of the connecting mechanism, which is the side away from the center line of the machine body, and the pushing part rotates around the axis of the drive shaft.

[0007] In one alternative implementation, the connecting part is perpendicular to the drive shaft, and the pushing part is parallel to the drive shaft.

[0008] In one alternative implementation, the first connection position of the connecting mechanism is rotatably connected to the machine body via a rotating shaft, and the axis of the transmission shaft coincides with that of the rotating shaft.

[0009] In one alternative implementation, a rolling element is connected to the rotating part, the core of the rolling element is connected to the rotating part, and the outer peripheral surface of the rolling element abuts against the connecting mechanism.

[0010] In one alternative implementation, the telescopic working mechanism further includes a fixed base for fixed connection with the machine body, and both the elastic swing working mechanism and the rotational power device are mounted on the fixed base.

[0011] In one alternative implementation, a first clearance hole is provided on the fixed base, and the pushing part passes through the first clearance hole and abuts against the elastic swing working mechanism. The pushing part rotates between a first position and a second position through the first clearance hole.

[0012] In one alternative implementation, the telescopic working mechanism further includes a current detection device connected to the rotating power device. When the rotating part reaches the first position or the second position, the rotation of the rotating part is restricted through the first clearance hole. If 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.

[0013] In one alternative implementation, a first limiting part is provided on the body or fixed base. When the rotating part is in the second position, the first limiting part limits the movement of the connecting mechanism or the working mechanism in the first direction in the release position. The working mechanism can reciprocate between the retracted position and the release position. The retracted position refers to the position of the working mechanism when the rotating part is in the first position, and the release position refers to the position of the working mechanism when the rotating part is in the second position. The first direction refers to the direction of movement from the retracted position to the release position.

[0014] In one alternative implementation, the rotating part abuts against the connecting mechanism in a first position, and the rotating part does not contact the connecting mechanism in a second position.

[0015] In one alternative implementation, the connecting mechanism includes a linkage mechanism, one end of which is hinged to the machine body and the other end is connected to the working mechanism. An elastic element is disposed at the hinge point between the linkage mechanism and the machine body, and a rotating part abuts against the linkage mechanism.

[0016] In one optional 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 and third hinge points is parallel to the line connecting the second and fourth hinge points, and the line connecting the first and second hinge points is parallel to the line connecting the third and fourth hinge points. The rotating part abuts against a first side of the first or second link, which is the side away from the centerline of the machine body.

[0017] 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 rotating mechanism in the telescopic working mechanism is fixedly connected to the body, and the first connection position of the connecting mechanism is rotatably connected to the body.

[0018] According to an embodiment of this application, a telescopic working mechanism and an intelligent walking device are provided. The telescopic working mechanism is applied to the intelligent walking device and includes a working mechanism, a connecting mechanism, an elastic member, and a rotating mechanism. 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 of the intelligent walking device, and the second connecting position is connected to the working mechanism. The rotating mechanism is disposed on the body and abuts against the connecting mechanism. One end of the elastic member is connected to the body, and the other end is connected to the connecting mechanism. The rotating mechanism is used to push the connecting mechanism to drive the working mechanism closer to the center line of the body, and the elastic member is compressed. The elastic member is also used to push the connecting mechanism to drive the working mechanism away from the center line of the body. By applying the telescopic working mechanism of this application embodiment to an intelligent walking device, the intelligent walking device can, during operation, use the elastic member to push the connecting mechanism to drive the working mechanism away from the center line of the body. This allows the working mechanism to extend entirely or partially from one side of the body of the intelligent walking device or to be 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. Therefore, manual processing of the edge area is not required, reducing labor costs. Attached Figure Description

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

[0020] Figure 1 This is a schematic diagram of the telescopic working mechanism in the released position according to an exemplary embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the telescopic working mechanism in the retracted position according to an exemplary embodiment of this application;

[0022] Figure 3This is a schematic diagram of the structure of the telescopic working mechanism of an exemplary embodiment of this application;

[0023] Figure 4 This is an exploded view of the telescopic working mechanism of an exemplary embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the telescopic working mechanism in an exemplary embodiment of this application, showing the rotating part in the first position;

[0025] Figure 6 This is a schematic diagram showing the rotating part in the second position of the telescopic working mechanism in an exemplary embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the linkage mechanism in a telescopic working mechanism of another exemplary embodiment of this application;

[0027] Explanation of reference numerals in the attached figures:

[0028] 10. Fuselage; 13. Mounting base; 11. First limiting part;

[0029] 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;

[0030] 50. Rotating mechanism; 521. Rotating part; 5211. Connecting part; 5212. Pushing part; 5221. Rotating power device; 5222. Drive shaft; 5311. Rolling element;

[0031] 71. First clearance hole. Detailed Implementation

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

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

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

[0035] 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.

[0036] 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.

[0037] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0038] Reference Figures 1 to 7 As shown, the telescopic working mechanism of this embodiment can be applied to intelligent walking devices, including a working mechanism 20, a connecting mechanism, an elastic element 41, and a rotating mechanism 50.

[0039] The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is rotatably connected to the body 10 of the intelligent walking device, and the second connecting position is connected to the working mechanism 20. For example, the first and second connecting positions can be opposite first and second ends on the connecting mechanism. The first connecting position is rotatably connected to the body 10, and the connection method can be hinged. The second connecting position can be connected to the working mechanism 20, and the connection method can be a rotatable connection, such as a hinged connection.

[0040] The rotating mechanism 50 is mounted on the body 10 of the intelligent walking device, and the rotating mechanism 50 abuts against the connecting mechanism.

[0041] For example, the rotating mechanism 50 can be connected to the bottom of the machine body 10. One end of the rotating mechanism 50 is rotatably connected to the machine body 10, and the other end abuts against the connecting mechanism. Alternatively, the rotating mechanism 50 can also abut against the working mechanism 20; this embodiment does not limit this. The rotating mechanism 50 can abut against the side of the connecting mechanism, thereby enabling the rotation of the rotating mechanism 50 to drive or restrict the movement of the connecting mechanism.

[0042] One end of the elastic element 41 is connected to the machine body, and the other end is connected to the connecting mechanism. The rotating mechanism 50 is used to push the connecting mechanism to drive the working mechanism 20 closer to the center line of the machine body 10, and the elastic element 41 is compressed. The elastic element 41 is used to push the connecting mechanism to drive the working mechanism 20 away from the center line of the machine body 10.

[0043] For example, the elastic element 41 may include a torsion spring. The elastic element 41 is disposed at the rotatable connection between the connecting mechanism and the machine body 10. One end of the elastic element 41 is connected to the machine body, and the other end is connected to the connecting mechanism. Here, the connection can be either a connection or an abutment. For example, the torsion spring can be sleeved on the rotating shaft connecting the connecting mechanism and the machine body 10. The first pin of the torsion spring can be fixedly connected to or abutted against the machine body 10, and the second pin of the torsion spring can be fixedly connected to or abutted against the connecting mechanism. The centerline of the machine body 10 is... Figure 1 The dotted line shown in the diagram, the center line of the fuselage 10, can refer to the axis of the fuselage 10 that is parallel to the forward direction of the fuselage 10.

[0044] During the retraction process, the rotating mechanism 50 can drive the connecting mechanism to move, thereby bringing the working mechanism 20 closer to the centerline of the fuselage 10. During this process, the elastic element 41 is compressed. During the release process, the elastic force of the elastic element 41 is released, driving the connecting mechanism to move, thereby moving the working mechanism 20 away from the centerline of the fuselage 10.

[0045] It should be understood that during the release process, the connecting mechanism moves under the elastic force of the elastic element 41, driving the working mechanism 20 away from the centerline of the fuselage 10 to the release position. The release position can refer to the working mechanism 20 being at least partially outside the projection area of ​​the fuselage 10, or the working mechanism 20 not extending and closer to the edge of the fuselage 10; this embodiment does not impose any limitations on this. During this release process, the rotating mechanism 50 does not exert any force on the connecting mechanism; it merely releases the limiting effect on the connecting mechanism. The connecting mechanism moves under the elastic force of the elastic element 41, therefore the rotating mechanism 50 does not perform work on the connecting mechanism. During the retraction process, the rotating mechanism 50 abuts against the connecting mechanism, and the connecting mechanism moves under the push of the rotating mechanism 50, driving the working mechanism 20 closer to the centerline of the fuselage 10 to the retraction position. The retraction position refers to the working mechanism 20 being at least partially within the projection area of ​​the fuselage 10, or closer to the centerline of the fuselage 10; this embodiment does not impose any limitations on this. During this retraction process, the connecting mechanism moves under the force of the rotating mechanism 50, thus the rotating mechanism 50 performs work on the connecting mechanism. In summary, the rotating mechanism 50 only performs work during the retraction of the working mechanism 20, and does not perform work during the release process, reducing the energy consumption of the rotating mechanism 50. The projected area of ​​the fuselage 10 refers to the area where the fuselage 10 is projected onto the ground plane directly below.

[0046] The telescopic working mechanism of this embodiment can be applied to an intelligent walking device, including a working mechanism 20, a connecting mechanism, an elastic member 41, and a rotating mechanism 50. 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 rotating mechanism 50 is disposed on the body 10 of the intelligent walking device and abuts against the connecting mechanism. One end of the elastic member 41 is connected to the body, and the other end is connected to the connecting mechanism. The rotating mechanism 50 is used to push the connecting mechanism to drive the working mechanism 20 closer to the center line of the body 10, and the elastic member 41 is compressed. The elastic member 41 is used to push the connecting mechanism to drive the working mechanism 20 away from the center line of the body 10. By applying the telescopic working mechanism of this embodiment to an intelligent walking device, the intelligent walking device can push the connecting mechanism through the elastic element 41 during operation, thereby moving the working mechanism 20 away from the center line of the body. This allows the working mechanism 20 to extend entirely or partially from one side of the body 10 of the intelligent walking device or to be closer to the edge of the body 10. This allows the working mechanism 20 to be closer to the edge of the working area 1, thereby processing the edge area of ​​the working area. Therefore, there is no need to process the edge area manually, reducing labor costs.

[0047] In one optional implementation, the rotating mechanism 50 includes a rotating power device 5221, a transmission shaft 5222, and a rotating part 521. The rotating power device 5221 is fixedly connected to the machine body 10. One end of the transmission shaft 5222 is connected to the rotating power device 5221, and the other end is connected to the rotating part 521. The rotating part 521 abuts against the connecting mechanism. The rotating power device 5221 drives the transmission shaft 5222 to rotate, thereby causing the rotating part 521 to rotate between a first position and a second position.

[0048] For example, refer to Figures 4 to 6 The rotating power device 5221 can be a motor or the like, and is fixedly connected to the machine body 10, such as by bolts. One end of the drive shaft 5222 is connected to the rotating power device 5221, and the other end is connected to the rotating part 521. The rotating part 521 abuts against the connecting mechanism. The rotating power device 5221 drives the drive shaft 5222 to rotate, and the drive shaft 5222 drives the rotating part 521 to rotate between a first position and a second position.

[0049] The kinematic relationship between the rotating part 521 and the working mechanism 20 is as follows: During the rotation of the rotating part 521 from the second position to the first position, the rotating part 521 exerts a force on the connecting mechanism and overcomes the elastic force of the elastic element 41, causing the connecting mechanism to follow the rotation of the rotating part 521. Simultaneously, the connecting mechanism drives the working mechanism 20 to move until the rotating part 521 stops rotating at the first position, causing the working mechanism 20 to reach the retracted position, which corresponds to the first position. At this time, the working mechanism 20 is partially or entirely located within the projection area of ​​the fuselage 10, or closer to the center of the fuselage 10. The position of the center line is not limited in this embodiment; or, during the rotation of the rotating part 521 from the first position to the second position, the elastic force of the elastic member 41 can be released, and the connecting mechanism can move under the action of the elastic force. At the same time, the connecting mechanism drives the working mechanism 20 to move until the rotating part 521 stops rotating in the second position, so that the working mechanism 20 reaches the release position, which corresponds to the second position. At this time, the working mechanism 20 is partially or entirely located outside the projection area of ​​the body 10, or closer to the edge of the body 10. This embodiment does not limit this.

[0050] It should be noted that while the rotating part 521 can limit the connecting mechanism in the first and second positions, in the release position of the working mechanism 20, the rotating part 521 can limit the connecting mechanism, or other limiting structures can be provided to limit the connecting mechanism or the working mechanism 20. This embodiment does not impose any restrictions on this. Furthermore, the limiting of the connecting mechanism or the working mechanism 20 in the release position only limits the direction of movement of the connecting mechanism or the working mechanism 20 from the retracted position to the release position.

[0051] In this implementation, the drive shaft 5222 is driven to rotate by the rotational power device 5221. The drive shaft 5222 drives the rotating part 521 to rotate between the first and second positions, thereby releasing the working mechanism 20 to the release position or driving the working mechanism 20 back to the retracted position. During the release process, the rotating part 521 does not exert any force on the connecting mechanism; it only releases the limiting effect on the connecting mechanism. Therefore, the rotational power device 5221 does no work on the connecting mechanism. During the retraction process, the connecting mechanism moves under the force of the rotating part 521. Therefore, the rotational power device 5221 does work on the connecting mechanism, and the structure is simple.

[0052] In one alternative implementation, the rotating part 521 includes a connecting part 5211 and a pushing part 5212. One end of the connecting part 5211 is fixedly connected to the drive shaft 5222, and the other end is fixedly connected to the pushing part 5212. The pushing part 5212 abuts against a first side of the connecting mechanism. The first side is the side away from the center line of the body 10, and the pushing part 5212 rotates around the axis of the drive shaft 5222.

[0053] For example, refer to Figure 1 and 4 The centerline of fuselage 10 is Figure 1 The dotted line shown represents the centerline of the fuselage 10, which can refer to the axis parallel to the forward direction of the fuselage 10. One end of the connecting part 5211 is fixedly connected to the drive shaft 5222, and the other end is fixedly connected to the pushing part 5212. The connection method can be welding, etc. Alternatively, the connecting part 5211 and the pushing part 5212 can also be integrally formed; this embodiment does not impose any limitations on this. One end of the pushing part 5212 is fixedly connected to the connecting part 5211, and the other end abuts against the first side of the connecting mechanism. The first side refers to the side of the connecting mechanism away from the centerline of the fuselage 10. The pushing part 5212 rotates around the axis of the transmission shaft 5222 with a preset radius. The preset radius is the distance between the axis of the pushing part 5212 and the axis of the transmission shaft 5222. The preset radius can be related to the size of the connecting part 5211 and the angle between the connecting part 5211 and the transmission shaft 5222 and the pushing part 5212 respectively. For example, the preset radius can be 10-80mm. The specific setting can be flexibly set by those skilled in the art according to actual needs. This embodiment does not limit this.

[0054] In this implementation, one end of the connecting part 5211 is fixedly connected to the transmission shaft 5222, and the other end is fixedly connected to the pushing part 5212 to form a rotating part 521. The pushing part 5212 and the transmission shaft 5222 are connected by the connecting part 5211, which avoids the pushing part 5212 and the transmission shaft 5222 being coaxial, so that the pushing part 5212 rotates around the axis of the transmission shaft 5222. Thus, the rotation of the transmission shaft 5222 can drive the connecting part 5211 to rotate, and then drive the pushing part 5212 to rotate. In this way, the pushing part 5212 can drive the working mechanism 20 to retract to the retracted position. The structure is simple and saves costs.

[0055] In one alternative implementation, the connecting portion 5211 is perpendicular to the drive shaft 5222, and the pushing portion 5212 is parallel to the drive shaft 5222. For example, refer to... Figure 4The connecting part 5211 can be a connecting plate. The connecting part 5211 is perpendicular to the axis of the transmission shaft 5222 and perpendicular to the pushing part 5212, meaning the pushing part 5212 is parallel to the transmission shaft 5222. The pushing part 5212 and the transmission shaft 5222 are located at opposite ends of the connecting part 5211 and are connected to two opposite surfaces of the connecting part 5211. When the pushing part 5212 rotates around the axis of the transmission shaft 5222 with a preset radius (the length of the connecting plate, i.e., the distance between the pushing part 5212 and the transmission shaft 5222), the pushing part 5212 rotates around the axis of the transmission shaft 5222, thereby driving the working mechanism 20 to retract from the machine body 10. This implementation is simple in structure.

[0056] In one alternative implementation, refer to Figure 5 and Figure 6 The first connection position of the connecting mechanism is rotatably connected to the body 10 via a rotating shaft, and the axis of the transmission shaft 5222 coincides with the axis of the rotating shaft. That is, the transmission shaft 5222 and the rotating shaft are coaxial but not connected. If there are multiple rotating shafts connected to the body 10 at the first connection position of the connecting mechanism, for example, if the connecting mechanism is a two-linkage mechanism and the link is connected to the body 10 via two rotating shafts, then the transmission shaft 5222 can be coaxial with any one of the rotating shafts. In this implementation, by setting the rotating shaft at the first connection position of the connecting mechanism to be rotatably connected to the body 10 to coincide with the axis of the transmission shaft 5222 in the rotating power device 5221, the transmission shaft 5222 drives the rotating part 521 to rotate. When the rotating part 521 drives the connecting mechanism to rotate, there is no relative movement between the rotating part 521 and the connecting mechanism in the length direction of the connecting mechanism, so the friction between them is small, which can extend the service life of the components.

[0057] In another alternative implementation, a rolling element 5311 is connected to the rotating part 521. The shaft of the rolling element 5311 is connected to the rotating part 521, and the outer peripheral surface of the rolling element 5311 abuts against the connecting mechanism. Exemplarily, the rolling element 5311 is disposed on the rotating part 521 near the connecting mechanism. The connection method can be a detachable connection. The rolling element 5311 rotates relative to the rotating part 521, and the axis of relative rotation can coincide with the axis of the transmission shaft 5222. For example, the rolling element 5311 can be a roller or a ball.

[0058] In this implementation, the rotating mechanism 50 can be located at any position between the first and second connection positions of the connecting mechanism. That is, the rotating shaft that rotatably connects the connecting mechanism to the body 10 does not coincide with the axis of the transmission shaft 5222 in the rotating power device 5221. Without restricting the setting position of the rotating mechanism 50, it can be flexibly set according to the installation space. However, when the transmission shaft 5222 drives the rotating part 521 to rotate, and then drives the connecting mechanism to rotate, relative sliding will occur between the rotating part 521 and the connecting mechanism in the length direction of the connecting mechanism, resulting in greater friction between them. Therefore, by connecting a rolling element 5311 to the rotating part 521, and having the outer circumferential surface of the rolling element 5311 abut against the connecting mechanism, the sliding friction can be converted into rolling friction, thereby reducing friction and improving the service life of the components.

[0059] In one alternative implementation, the telescopic working mechanism further includes a fixed base 13 for fixed connection with the machine body 10. Both the connecting mechanism and the rotational power device 5221 are disposed on the fixed base 13. For example, see... Figure 3 The fixed base 13 can be fixedly connected to the body 10, and the connection method can be bolted or similar. The connecting mechanism is rotatably connected to the fixed base 13, for example, by hinge. The rotating power device 5221 is fixedly connected to the fixed base 13, for example, by bolted or welded. In this implementation, the fixed base 13 replaces the fixing function of the body 10, and the fixed base 13 is used as an independent fixing device. The connection relationship between the connecting mechanism and the rotating power device 5221 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 facilitates operation.

[0060] In one alternative implementation, the fixed base 13 is provided with a first clearance hole 71, and the pushing part 5212 passes through the first clearance hole 71 and abuts against the connecting mechanism. The pushing part 5212 rotates between a first position and a second position through the first clearance hole 71. For example, refer to... Figure 3 and Figure 4The fixed base 13 is fixedly connected to the body 10. The rotating mechanism 50 is located between the fixed base 13 and the body 10, that is, above the fixed base 13, and the connecting mechanism is located below the fixed base 13. Therefore, by providing a first clearance hole 71 on the fixed base 13, the pushing part 5212 of the rotating part 521 can pass through the first clearance hole 71 and abut against the connecting mechanism. The pushing part 5212 rotates between the first position and the second position by rotating in the first clearance hole 71. At the same time, the size of the first clearance hole 71 can limit the rotation space of the rotating part 521. The size of the first clearance hole 71 can be determined according to the first position and the second position, so that the rotating part 521 can be limited by the first clearance hole 71 in the first position and the second position.

[0061] In one alternative implementation, the telescopic working mechanism further includes a current detection device connected to the rotating power device 5221. When the rotating part 521 reaches the first position or the second position, the rotation of the rotating part 521 is restricted through the first clearance hole 71. If the current detection device detects an increase in the current of the rotating power device 5221, it sends a 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.

[0062] For example, the current detection device may be provided solely for detecting the current of the rotating power device 5221, or it may be installed on the control circuit board of the intelligent walking device in the body 10. This embodiment does not limit this. When the rotating part 521 reaches the first position or the second position, the first clearance hole 71 can restrict the movement of the rotating part 521, which will cause a sudden increase in the current in the rotating power device 5221. When the current detection device detects the increase in the current of the rotating power device 5221, it 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, thereby enabling the connecting mechanism or working mechanism 20 to stop moving when it reaches the retracted position and the release position.

[0063] In this implementation, the rotation of the rotating part 521 is restricted by the first clearance hole 71. When the current detection device detects an increase in the current of the rotating power device 5221, it sends a position electrical signal to the rotating power device 5221 to control the rotating power device 5221 to stop driving. This avoids the problem that the rotating power device 5221 continues to drive after the movement of the rotating part 521 is restricted by the first clearance hole 71, which would cause damage to the component; or that the rotating power device 5221 continues to drive after the working mechanism 20 has reached the retracted position or the release position, which would waste electrical energy.

[0064] In one alternative implementation, a first limiting part 11 is provided on the body 10 or the fixed base (13). When the rotating part 521 is in the second position, the first limiting part 11 limits the movement of the connecting mechanism or the working mechanism 20 in the first direction in the release position. The working mechanism 20 can reciprocate between the retracted position and the release position. The retracted position refers to the position of the working mechanism 20 when the rotating part 521 is in the first position, and the release position refers to the position of the working mechanism 20 when the rotating part 521 is in the second position. The first direction refers to the direction of movement from the retracted position to the release position.

[0065] Reference Figure 1 It should be understood that when the rotating part 521 is in the second position, the working mechanism 20 is in operation. At this time, the connecting mechanism or working mechanism 20 can be limited in the release position by the first limiting part 11. The first limiting part 11 only limits the direction of movement of the connecting mechanism or working mechanism 20 from the retracted position to the release position. Therefore, the working mechanism 20 can reciprocate between the retracted position and the release position using external force and the action of the elastic member 41. For example, when the working mechanism 20 encounters an obstacle, such as a fence, bushes, or bamboo forest at the edge of a lawn, the working mechanism 20 can move towards the fuselage 10 under the force of the obstacle. After passing through the obstacle area, the working mechanism 20 returns to the release position under the elastic force of the elastic member 41, thereby realizing the obstacle avoidance function.

[0066] In one alternative implementation, the rotating part 521 abuts against the connecting mechanism in a first position, and does not contact the connecting mechanism in a second position. Specifically, when the rotating part 521 abuts against the connecting mechanism in the first position, it can limit the connecting mechanism when the working mechanism 20 is in the retracted position. When the working mechanism 20 moves from the retracted position to the released position under the elastic force of the elastic member 20, or moves to the released position after obstacle avoidance, the rotating part 521 does not contact the connecting mechanism in the second position. Instead, it can limit the connecting mechanism or the working mechanism 20 through the first limiting part 11, thus preventing the connecting mechanism from colliding with the rotating part 521 in the released position and avoiding damage to components caused by the connecting mechanism impacting the rotating part 521.

[0067] In one alternative implementation, the connecting mechanism includes a linkage mechanism 30, one end of which is hinged to the body 10 and the other end is connected to the working mechanism 20. An elastic element 41 is disposed at the hinge between the linkage mechanism 30 and the body 10, and a rotating part 521 abuts against the linkage mechanism 30.

[0068] For example, refer to Figure 3The 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 (i.e., the second connection position of the connecting mechanism) is connected to the working mechanism 20. The connection method can be a rotational connection, such as a hinge or pivot connection, etc., which is not limited in this embodiment. The elastic element 41 can be provided at the hinge between the linkage mechanism 30 and the machine body 10. For example, a 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, 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, in the first position and the second position, the rotating part 521 can abut against the side of the link in the linkage mechanism 30, thereby restricting the movement of the linkage mechanism 30 in the first position and the second position, thereby restricting the release position and the retraction position of the working mechanism 20. The rotating part 521 can also abut against the working mechanism 20. This embodiment does not limit this.

[0069] 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 or moved closer to the center line of the body by the force of the rotating part 521. The release is achieved by setting an elastic element 41 at the hinge of the linkage mechanism 30 and the body 10. Thus, the working mechanism 20 can extend from one side of the body of the intelligent walking device or move closer to the edge of the body, and retract or move closer to the center line of the body.

[0070] In one alternative implementation, refer to Figure 7 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. The rotating part 521 abuts against the first side of the first link 31 or the second link 32, which is the side away from the center line of the body 10.

[0071] 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. The rotating part 521 can abut against the first side of the first connecting rod 31, for example, the rotating mechanism 50 is provided at the first hinge point 311; or, the rotating part 521 can abut against the first side of the second connecting rod 32, for example, the rotating mechanism 50 is provided at the second hinge point 321; this embodiment does not limit this, wherein the first side is the side away from the center line of the fuselage 10.

[0072] In this implementation, by setting one end of the first connecting rod 31 to the machine 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 machine 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, it is possible to control... Taking a lawnmower robot as an example, the working mechanism 20 connected to the linkage mechanism 30 can be provided with a grass inlet. 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 and are parallel to the grass inlet of the working mechanism 20. When the working mechanism 20 extends from one side of the body 10 or works closer to the edge of the body, it can ensure that 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 grass mowing effect.

[0073] 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 rotating mechanism 50 in the telescopic working mechanism is fixedly connected to the body 10, and the first connecting position of the connecting mechanism is rotatably connected to the body 10.

[0074] 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 connected to the lower surface of the body 10. The rotating mechanism 50 in the telescopic working mechanism is fixedly connected to the body 10, and the first connection position of the connecting mechanism is rotatably connected to the body 10. Alternatively, the telescopic working mechanism 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.

[0075] The intelligent walking device in this embodiment includes a body 10 and a telescopic working mechanism as described in the above embodiment. The rotating mechanism 50 in the telescopic working mechanism is fixedly connected to the body 10, and the first connection position of the connecting mechanism is rotatably connected to the body 10. During operation, the intelligent walking device pushes the connecting mechanism via the elastic element 41, causing the working mechanism 20 to move away from the centerline of the body. This allows the working mechanism 20 to extend entirely or partially from one side of the body 10 or to move closer to the edge of the body 10. This allows the working mechanism 20 to be closer to the edge of the working area, thus eliminating the need for manual edge processing and reducing labor costs.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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, including a working mechanism (20), a connecting mechanism, an elastic element (41), and a rotating mechanism (50); 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 rotating mechanism (50) is disposed on the body (10) of the intelligent walking device. The rotating mechanism (50) includes a rotating part (521), which can rotate between a first position and a second position. The rotating part (521) abuts against the connecting mechanism. One end of the elastic element (41) is connected to the machine body, and the other end is connected to the connecting mechanism; During the rotation of the rotating part (521) from the second position to the first position, the rotating part (521) overcomes the elastic force of the elastic element (41) and pushes the connecting mechanism to move, so as to drive the working mechanism (20) closer to the center line of the body (10), and the elastic element (41) is compressed. During the rotation of the rotating part (521) from the first position to the second position, the elastic element (41) is used to push the connecting mechanism to drive the working mechanism (20) away from the center line of the body (10).

2. The telescopic working mechanism according to claim 1, characterized in that, The rotating mechanism (50) includes a rotating power device (5221) and a transmission shaft (5222). The rotating power device (5221) is fixedly connected to the body (10). One end of the transmission shaft (5222) is connected to the rotating power device (5221), and the other end is connected to the rotating part (521). The rotating power device (5221) drives the transmission shaft (5222) to rotate, thereby driving the rotating part (521) to rotate between a first position and a second position.

3. The telescopic working mechanism according to claim 2, characterized in that, The rotating part (521) includes a connecting part (5211) and a pushing part (5212). One end of the connecting part (5211) is fixedly connected to the transmission shaft (5222), and the other end is fixedly connected to the pushing part (5212). The pushing part (5212) abuts against the first side of the connecting mechanism. The first side is the side away from the center line of the body (10), and the pushing part (5212) rotates around the axis of the transmission shaft (5222).

4. The telescopic working mechanism according to claim 3, characterized in that, The connecting part (5211) is perpendicular to the drive shaft (5222), and the pushing part (5212) is parallel to the drive shaft (5222).

5. The telescopic working mechanism according to claim 2, characterized in that, The first connection position of the connecting mechanism is rotatably connected to the body (10) via a rotating shaft, and the axis of the transmission shaft (5222) coincides with that of the rotating shaft.

6. The telescopic working mechanism according to claim 2, characterized in that, The rotating part (521) is connected to a rolling element (5311), the shaft of the rolling element (5311) is connected to the rotating part (521), and the outer peripheral surface of the rolling element (5311) abuts against the connecting mechanism.

7. The telescopic working mechanism according to claim 3, 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 connecting mechanism and the rotating power device (5221) are both located on the fixed seat (13).

8. The telescopic working mechanism according to claim 7, characterized in that, The fixed base (13) is provided with a first clearance hole (71). The pushing part (5212) passes through the first clearance hole (71) and abuts against the connecting mechanism. The pushing part (5212) rotates between the first position and the second position through the first clearance hole (71).

9. The telescopic working mechanism according to claim 8, characterized in that, The telescopic working mechanism also includes a current detection device connected to the rotating power device (5221). When the rotating part (521) reaches the first position or the second position, the rotation of the rotating part (521) is restricted through the first clearance hole (71). When the current detection device detects an increase in the current of the rotating power device (5221), it sends a 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.

10. The telescopic working mechanism according to claim 1 or 9, characterized in that, A first limiting part (11) is provided on the body (10) or the fixed base (13). When the rotating part (521) is in the second position, the first limiting part (11) limits the movement of the connecting mechanism or the working mechanism (20) in the first direction in the release position. The working mechanism (20) can reciprocate between the retracted position and the release position. The retracted position refers to the position of the working mechanism (20) when the rotating part (521) is in the first position. The release position refers to the position of the working mechanism (20) when the rotating part (521) is in the second position. The first direction refers to the direction of movement from the retracted position to the release position.

11. The telescopic working mechanism according to claim 10, characterized in that, The rotating part (521) abuts against the connecting mechanism in the first position, and the rotating part (521) does not contact the connecting mechanism in the second position.

12. The telescopic working mechanism according to claim 1, characterized in that, The connecting mechanism includes a linkage mechanism (30), one end of which 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), and the rotating part (521) abuts against the linkage mechanism (30).

13. The telescopic working mechanism according to claim 12, 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 first hinge point (311) The line connecting 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 rotating part (521) abuts against the first side of the first connecting rod (31) or the second connecting rod (32), and the first side is the side away from the center line of the fuselage (10).

14. An intelligent walking device, characterized in that, Includes a body (10) and a telescopic working mechanism as described in any one of claims 1-13, wherein the rotating mechanism (50) in the telescopic working mechanism is fixedly connected to the body (10), and the first connection position of the connecting mechanism is rotatably connected to the body (10).

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