Work execution mechanism and intelligent walking device

Abstract

The application provides a work execution mechanism and an intelligent walking device, the work execution mechanism comprising a working mechanism, a connecting mechanism and a power mechanism; one end of the connecting mechanism is pivotally connected with a machine body, and the other end is connected with the working mechanism; the connecting mechanism can drive the working mechanism to reciprocate between a retracted position and a released position; the power mechanism is connected with the connecting mechanism, and is used for driving the connecting mechanism to pivotally move relative to the machine body; when the working mechanism is located at the retracted position, the working mechanism is spaced apart from a center line of the machine body by a first distance; when the working mechanism is located at the released position, the working mechanism is spaced apart from the center line of the machine body by a second distance; and the first distance is smaller than the second distance. In this way, when an obstacle is encountered, the obstacle can push the working mechanism towards the machine body, or the power mechanism can drive the working mechanism to move towards the machine body, so that an avoidance effect can be achieved.

Description

Technical Field

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

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

[0003] However, in actual production and daily life, in order to ensure safety, when setting the planned path, the working mechanism of the intelligent walking device is usually made to maintain a safe distance from the boundary of the planned area. This safe distance means that the working mechanism cannot perform corresponding actions on targets near the boundary. In other words, targets near the boundary become blind spots, and manual action is often required to perform corresponding actions on targets in the blind spots, which does not help to reduce the workload of humans.

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

[0005] To address the aforementioned problems, embodiments of this application provide a work execution mechanism and an intelligent walking device, which at least partially solve the problems mentioned above.

[0006] One or more embodiments of this application provide a work execution mechanism for connection to the body of an intelligent walking device, including a working mechanism, a connecting mechanism, and a power mechanism; the connecting mechanism includes two opposing ends, one end of which is pivotally connected to the body, and the other end of which is connected to the working mechanism, the connecting mechanism being able to drive the working mechanism to reciprocate between a retracted position and a released position; the power mechanism is connected to the connecting mechanism, the power mechanism being used to drive the connecting mechanism to pivot relative to the body; when the working mechanism is in the retracted position, the working mechanism and the center line of the body are separated by a first distance, and when the working mechanism is in the released position, the working mechanism and the center line of the body are separated by a second distance, the first distance being less than the second distance.

[0007] Optionally, during the reciprocating motion of the working mechanism between the retracted position and the released position driven by the connecting mechanism, the working direction of the working mechanism remains parallel to the forward direction of the machine body.

[0008] Optionally, the connecting mechanism includes a first link and a second link. The first link includes a first end and a second end opposite to each other. The first end is pivotally connected to the machine body about a first axis, and the second end is pivotally connected to the working mechanism about a second axis. The second link includes a third end and a fourth end opposite to each other. The third end is pivotally connected to the machine body about a third axis, and the fourth end is pivotally connected to the working mechanism about a fourth axis. The first axis, the second axis, and the third axis are all parallel to the fourth axis. The distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis. The distance between the first axis and the third axis is equal to the distance between the second axis and the fourth axis.

[0009] Optionally, the power mechanism includes an elastic element connected between the connecting mechanism and the body, and / or the elastic element connected between the connecting mechanism and the working mechanism; the elastic element applies an elastic force to the connecting mechanism that enables the connecting mechanism to pivot the working mechanism from the retracted position toward the released position.

[0010] Optionally, the elastic element is connected between the working mechanism and the first link, and / or the elastic element is connected between the working mechanism and the second link.

[0011] Optionally, the elastic element is connected between the body and the first link, and / or the elastic element is connected between the body and the second link.

[0012] Optionally, the elastic element is a torsion spring, which includes two pins, one of which is connected to the machine body and the other pin is connected to the first link or the second link.

[0013] Optionally, one of the first connecting rod and the body is provided with a first receiving hole, and the other is provided with a first rotating shaft. The first rotating shaft can be pivotally inserted into the first receiving hole so that the first connecting rod can pivot relative to the body about the first axis. The torsion spring is sleeved on the first rotating shaft, and the other pin of the torsion spring is located outside the first receiving hole and connected to the first connecting rod.

[0014] Optionally, the power mechanism includes a rotary motor, the output shaft of which is connected to a connecting mechanism, driving the connecting mechanism to rotate the working mechanism.

[0015] Optionally, the working mechanism further includes a limiting mechanism that applies a limiting force to the connecting mechanism to restrict the working mechanism to the retracted position via the connecting mechanism.

[0016] Optionally, the limiting mechanism includes a limiting member that reciprocates between a clearance position and a stop position. When the limiting member is in the clearance position, the connecting mechanism is allowed to drive the working mechanism to reciprocate between the release position and the retracted position. When the limiting member is in the stop position, the connecting mechanism is prevented from driving the working mechanism to pivot from the retracted position toward the release position.

[0017] Optionally, the limiting mechanism further includes a driving unit that drives the limiting member to rotate around a preset axis. The limiting member and the preset axis are spaced apart. The pivot axis of the connecting mechanism and the body is parallel to the preset axis. The limiting member is located on the side of the connecting mechanism facing the release position.

[0018] Optionally, the limiting mechanism is an electromagnetic latch lock, the limiting element is a latch, and the latch reciprocates between a clearance position and a stop position along its own axis; when the latch is in the clearance position, it is away from the pivoting path of the connecting mechanism, so as to allow the connecting mechanism to drive the working mechanism to pivot toward the release position; when the latch is in the stop position, it prevents the connecting mechanism from driving the working mechanism to pivot from the retracted position toward the release position.

[0019] Optionally, the limiting mechanism includes an electromagnet and an electronic control unit, and a magnet is provided on the connecting mechanism; the electronic control unit controls the electromagnet to be energized or de-energized, the electromagnet is magnetic when energized and can attract the magnet to limit the working mechanism to the retracted position, and the electromagnet is non-magnetic when de-energized.

[0020] Optionally, the machine body is provided with a first limiting part. When the connecting mechanism drives the working mechanism to move to the release position, the force of the power mechanism causes the connecting mechanism to abut against the first limiting part.

[0021] Secondly, this application also provides an intelligent walking device, including a body and the aforementioned work execution mechanism, wherein the work execution mechanism is mounted on the body.

[0022] Based on the above-mentioned work execution mechanism provided in this application, under the action of the power mechanism, the working mechanism can be positioned outside the projection area of ​​the fuselage facing the ground to perform corresponding actions on the target object. When the working mechanism encounters an obstacle, under the pushing action of the obstacle or driven by the power mechanism, the working mechanism and the connecting mechanism pivot together toward the fuselage, thereby achieving the effect of avoiding the obstacle. Attached Figure Description

[0023] The accompanying drawings are intended only to illustrate and explain this application and do not limit the scope of this application.

[0024] Figure 1 This is a perspective view of a work execution mechanism provided in an exemplary embodiment of this application, wherein the working mechanism is in the retracted position;

[0025] Figure 2 This is a perspective view of an exemplary embodiment of the present application, showing a work execution mechanism in the release position.

[0026] Figure 3 This is a partial three-dimensional schematic diagram of an intelligent walking device provided in an exemplary embodiment of this application;

[0027] Figure 4 This is a schematic diagram of an intelligent walking device provided in an exemplary embodiment of this application, wherein the working mechanism is in the retracted position;

[0028] Figure 5 This is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of this application, wherein the working mechanism is located in the release position.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10-Fuselage, 11-First limiting part, 20-Working mechanism,

[0031] 30 - Connecting mechanism, 31 - First link, 32 - Second link

[0032] 40-Power mechanism, 41-Elastic element, 411-Pin, 401-First receiving hole, 402-First rotating shaft.

[0033] 50 - Limiting mechanism; 521 - Limiting component; 522 - Drive unit;

[0034] L1 - First axis, L2 - Second axis, L3 - Third axis, L4 - Fourth axis, L5 - Preset axis. Detailed Implementation

[0035] 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.

[0036] 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.

[0037] 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.

[0038] In response to the problems raised in the background art, in the first aspect, this application provides a work execution mechanism for connecting with the body 10 of an intelligent walking device. When encountering an obstacle, the work execution mechanism can move toward the body 10 to avoid the obstacle. Therefore, there is no need to reserve a safety distance between the working mechanism of the work execution mechanism and the boundary of the planned area. The work execution mechanism can perform corresponding actions on the target objects at the edge of the planned area, that is, there will be no blind spots, and there is no need for manual intervention to perform corresponding actions on the target objects in the blind spots, which can reduce the burden of manual labor.

[0039] Secondly, this application also provides an intelligent walking device, which includes a body and the aforementioned operating mechanism, the operating mechanism being mounted on the body. The operating mechanism includes a working mechanism 20 and a connecting mechanism 30. The connecting mechanism 30 has two opposing ends, one end of which is pivotally connected to the body 10, and the other end is connected to the working mechanism 20. The connecting mechanism 30 includes a retracted position and a released position on its pivoting path relative to the body 10. This intelligent walking device possesses the advantages of the aforementioned working mechanism.

[0040] To better illustrate the structure and advantages of the working mechanism, the following description is based on the scenario where the working mechanism is installed on an intelligent walking device.

[0041] refer to Figures 1 to 5The operation execution mechanism includes a working mechanism 20, a connecting mechanism 30, and a power mechanism 40. The connecting mechanism 30 has two opposing ends, one end of which is pivotally connected to the body 10, and the other end is connected to the working mechanism 20. The connecting mechanism 30 can drive the working mechanism 20 to reciprocate between a retracted position and a released position. The power mechanism 40 is connected to the connecting mechanism 30 and is used to drive the connecting mechanism 30 to pivot relative to the body 10. When the working mechanism 20 is in the retracted position, the center line of the working mechanism 20 and the body 10 is separated by a first distance P1. When the working mechanism 20 is in the released position, the center line of the working mechanism 20 and the body 10 is separated by a second distance P2. The first distance P1 is smaller than the second distance P2.

[0042] The power mechanism 40 can drive the connecting mechanism 30 to pivot, so that the connecting mechanism 30 drives the working mechanism to move toward the release position; and / or, the power mechanism 40 can also drive the connecting mechanism to pivot, so that the connecting mechanism 30 drives the working mechanism 20 to move toward the retraction position. The centerline of the body 10 can refer to the centerline of the body in the width or length direction of the intelligent walking device.

[0043] The relative positional relationship between the working mechanism 20 and the fuselage 10 can be:

[0044] When the working mechanism 20 is in the retracted position, at least a portion of the projection of the working mechanism 20 toward the ground is within the projection of the body 10 toward the ground. That is, it can be understood that at least a portion of the projection of the working mechanism 20 toward the ground overlaps with the projection of the body 10 toward the ground. Thus, when the working mechanism 20 is in the retracted position, at least a portion of the working mechanism 20 is hidden in the space between the body 10 and the ground, or at least a portion of the working mechanism 20 is hidden inside the body 10. In the extreme case, the working mechanism 20 is completely hidden in the space between the body 10 and the ground or hidden inside the body 10. This reduces the overall size of the intelligent walking device, making it easier to store, and also reduces the risk of the working mechanism 20 being bumped or knocked over. Figure 4 In one scenario shown, when the working mechanism 20 is in the retracted position, the entire projection of the working mechanism 20 toward the ground lies within the projection area of ​​the fuselage toward the ground, and the distance between the working mechanism 20 and the centerline of the fuselage 10 is P1.

[0045] When the working mechanism 20 is in the released position, its projection toward the ground may still be within the projection of the body 10 toward the ground, or at least a portion of the working mechanism 20's projection toward the ground may be outside the projection area of ​​the body 10 toward the ground. Regarding the fact that at least a portion of the working mechanism 20's projection toward the ground is outside the projection of the body 10 toward the ground, it can be understood that at least a portion of the working mechanism 20's projection toward the ground and the body 10's projection toward the ground do not overlap. Thus, when the working mechanism 20 is in the released position, at least a portion of the working mechanism 20 extends outside the body 10 in the width or length direction of the intelligent walking device. In the extreme case, the entire projection of the working mechanism 20 toward the ground is outside the projection of the body 10 toward the ground, that is, the working mechanism 20 and the body 10 are spaced apart in the width or length direction of the intelligent walking device. Figure 5 In one scenario shown, the projection of the working mechanism 20 toward the ground is entirely outside the projection area of ​​the fuselage toward the ground, and the distance between the working mechanism 20 and the centerline of the fuselage 10 is P2.

[0046] The projection of the working mechanism 20 toward the ground refers to the projection of the working mechanism 20 toward the ground along the height direction of the intelligent walking device. Similarly, the projection of the body 10 toward the ground refers to the projection of the body 10 toward the ground along the height direction of the intelligent walking device. The height direction of the intelligent walking device can be understood as follows: if the ground is parallel to the horizontal plane, then the height direction of the intelligent walking device is parallel to the direction of gravity; if the ground is an inclined plane, that is, it has a preset angle β with the horizontal plane, then the height direction of the intelligent walking device has an angle with the direction of gravity, and this angle is equal to the preset angle β.

[0047] Through the above technical solution, firstly, under the action of the power mechanism 40, the working mechanism 20 can move to the release position to perform corresponding actions on the target object. Then, when the working mechanism 20 encounters an obstacle, under the pushing action of the obstacle, or under the driving action of the power mechanism 40, the working mechanism 20 and the connecting mechanism 30 pivot together toward the fuselage 10, thereby achieving the effect of avoiding the obstacle. In extreme cases, under the pushing action of the obstacle, the connecting mechanism 30 can drive the working mechanism 20 to pivot to the retracted position. Therefore, there is no need to reserve a safety distance between the working mechanism 20 and the boundary of the planned area. The working mechanism 20 can perform corresponding actions on the target object at the edge of the planned area, that is, there will be no blind spots, and there is no need for manual intervention to perform corresponding actions on the target object in the blind spot, which can reduce the workload of manpower.

[0048] refer to Figure 4 and Figure 5In one possible embodiment, during the reciprocating motion of the working mechanism 20 driven by the connecting mechanism 30 between the retracted position and the released position, the working direction X of the working mechanism 20 remains parallel to the forward direction Y of the machine body 10. This ensures that the working direction of the working mechanism 20 is always oriented towards the forward direction of the machine body; that is, the working direction of the working mechanism 20 remains unchanged relative to the machine body. This facilitates the user in controlling the working direction of the working mechanism 20 by controlling the forward direction of the machine body 10, reducing operational difficulty.

[0049] In one possible implementation, refer to Figures 2 to 4 The connecting mechanism 30 includes a first link 31 and a second link 32. The first link 31 includes a first end and a second end, the first end of which is pivotally connected to the body 10 about a first axis L1, and the second end of which is pivotally connected to the working mechanism 20 about a second axis L2. The second link 32 includes a third end and a fourth end, the third end of which is pivotally connected to the body 10 about a third axis L3, and the fourth end of which is pivotally connected to the working mechanism 20 about a fourth axis L4. The first axis L1, the second axis L2, and the third axis L3 are all parallel to the fourth axis L4. The distance A1 between the first axis L1 and the second axis L2 is equal to the distance A2 between the third axis L3 and the fourth axis L4. The distance B1 between the first axis L1 and the third axis L3 is equal to the distance B2 between the second axis L2 and the fourth axis L4.

[0050] In other words, the connection relationship between the connecting mechanism 30, the body 10, and the working mechanism 20 can be understood as a parallel four-bar linkage. This connection relationship ensures that the clamp between the orientation of the working mechanism 20 and the centerline of the body 10 remains fixed. For example, if the working mechanism 20 is a mowing mechanism with a grass inlet at its front, and the orientation of the grass inlet is parallel to the centerline of the body 10, then when the first link 31 and the second link 32 pivot synchronously, although the working mechanism 20 pivots relative to the first link 31, the orientation of the grass inlet of the working mechanism 20 remains unchanged. Here, the head and tail of the intelligent walking device can be defined as being distributed along the front-to-back direction, with the head at the front and the tail at the rear. When using the mowing mechanism to mow, the intelligent walking device moves from back to front. The centerline of the body extends along the front-to-back direction.

[0051] In another possible implementation, the power mechanism 40 is connected between the working mechanism 20 and the first link 31, and / or, the power mechanism 40 is connected between the working mechanism 20 and the second link 32. When the working mechanism 20 and the first link 31 pivot relative to each other under the drive of the power mechanism 40, the angle between the working mechanism 20 and the first link 31 changes. Based on the motion principle of the parallel four-bar linkage, it is known that the working mechanism 20 and the second link 32 must pivot relative to each other, the first link 31 and the fuselage 10 must pivot relative to each other, and the second link 32 and the fuselage 10 must pivot relative to each other. This allows the connecting mechanism 30 to pivot relative to the fuselage 10.

[0052] In one possible embodiment, the power mechanism 40 includes an elastic element 41 connected between the connecting mechanism 30 and the body 10, and / or, the elastic element 41 connected between the connecting mechanism 30 and the working mechanism 20; the elastic element 41 applies an elastic force to the connecting mechanism 30, enabling the connecting mechanism 30 to pivot the working mechanism 20 from the retracted position toward the released position. Thus, when encountering an obstacle, the obstacle can push the working mechanism 20 toward the body 10 to achieve an obstacle avoidance effect. Therefore, no safety distance needs to be reserved between the working mechanism 20 and the boundary of the planned area. The working mechanism 20 can perform corresponding actions on target objects at the edge of the planned area, that is, no blind spots are left, and manual intervention is no longer required for target objects in blind spots, reducing the workload of human labor.

[0053] In one specific implementation, the elastic element 41 is connected between the body 10 and the first connecting rod 31. Alternatively, the elastic element 41 may also be connected between the body 10 and the second connecting rod 32.

[0054] Alternatively, in another specific implementation, the elastic element 41 is connected between the body 10 and the first connecting rod 31, and / or, the elastic element 41 is connected between the body 10 and the second connecting rod 32.

[0055] In one possible embodiment, the elastic element 41 is a torsion spring, which includes two pins 411. One pin 411 is connected to the body 10, and the other pin 411 is connected to the first link 31 or the second link 32. Here, one pin 411 can be fixed to or abut against the body 10, and the other pin 411 can be fixed to or abut against the first link 31; or, the other pin 411 can be fixed to or abut against the second link 32.

[0056] In one example, a first receiving hole 401 is provided on one of the first connecting rod 31 and the body 10, and a first rotating shaft 402 is provided on the other. The first rotating shaft 402 is pivotally inserted into the first receiving hole 401, so that the first connecting rod 31 pivots relative to the body 10 about the first axis L1. The torsion spring is sleeved on the first rotating shaft 402, and another pin 411 of the torsion spring is located outside the first receiving hole 401 and connected to the first connecting rod 31. Thus, using the first rotating shaft 402 to install the torsion spring simplifies the structure and facilitates assembly.

[0057] In another possible embodiment, the connecting mechanism 30 can be a single-bar structure, with one end pivotally connected to the body 10 and the other end connected to the working mechanism 20. The relative position between the working mechanism 20 and the single-bar structure is fixed. The elastic element 41 can be a torsion spring or a helical spring and is connected between the body 10 and the single-bar structure.

[0058] In one example, a second receiving hole is provided on one of the first connecting rod 31 and the working mechanism 20, and a second rotating shaft is provided on the other. The second rotating shaft is pivotally inserted into the second receiving hole, so that the first connecting rod 31 pivots relative to the working mechanism 20 about the second axis L2. The torsion spring is sleeved on the second rotating shaft, and another pin 411 of the torsion spring is located outside the second receiving hole and connected to the first connecting rod 31. Thus, using the second rotating shaft to install the torsion spring simplifies the structure and facilitates assembly.

[0059] In one possible implementation, the power mechanism 40 includes a rotary motor, the output shaft of which is connected to the connecting mechanism 30 and can drive the connecting mechanism 30 to move. That is, the output shaft of the rotary motor can rotate about its own axis, and by connecting the output shaft and the connecting mechanism through a transmission component, the rotation of the output shaft can be converted into the pivoting of the connecting mechanism relative to the machine body. The transmission component may include a gear and a rack, with the gear mounted on the output shaft and the rack mounted on the connecting mechanism 30. This is readily apparent to those skilled in the art and will not be elaborated further here.

[0060] refer to Figure 1 and Figure 2 In another possible implementation, the work execution mechanism further includes a limiting mechanism 50, which applies a limiting force to the connecting mechanism 30 to restrict the working mechanism 20 to the retracted position. Thus, when the working mechanism 20 is not needed, it can be restricted to the retracted position by the limiting mechanism 50, thereby concealing it. This not only reduces the overall size of the intelligent walking device, making it easier to store, but also reduces the probability of bumping or knocking the working mechanism 20, improving safety.

[0061] In one possible embodiment, reference Figures 1 to 3 The limiting mechanism 50 includes a limiting member 521 that reciprocates between a clearance position and a stop position of the working mechanism 20. When the limiting member 521 is in the clearance position, the connecting mechanism 30 allows the working mechanism 20 to reciprocate between a release position and a retracted position. When the limiting member 521 is in the stop position, it prevents the connecting mechanism 30 from pivoting the working mechanism 20 from the retracted position toward the release position. That is, when the limiting member 521 is in the stop position, it is located on the pivoting path of the connecting mechanism 30, thus preventing the connecting mechanism 30 from pivoting; when the limiting member 521 is in the release position, it is not located on the pivoting path of the connecting mechanism 30, and the reciprocating movement of the connecting mechanism 30 between the release position and the retracted position is not blocked by the limiting member 521.

[0062] refer to Figure 1 and Figure 2 In one example, the limiting mechanism 50 further includes a driving unit 522, which drives the limiting member 521 to rotate around a preset axis L5. The limiting member 521 and the preset axis L5 are spaced apart. The pivot axes of the connecting mechanism 30 and the body 10 are parallel to the preset axis L5. The limiting member 521 is located on the side of the connecting mechanism 30 facing the release position. Thus, the pivot paths of the limiting member 521 and the connecting mechanism 30 are both arc-shaped, and the pivot path of the limiting member 521 overlaps with the pivot path of the connecting mechanism 30. When the limiting member 521 is stopped at the stop position, it can prevent the connecting mechanism 30 from driving the working mechanism 20 to move towards the release position. During the pivoting process of the limiting member 521 from the stop position to the avoidance position, the connecting mechanism 30 moves towards the release position under the force of the power mechanism 40.

[0063] In one example, after the connecting mechanism 30 moves the working mechanism 20 to the release position, the limiting member 521 continues to rotate a certain distance before reaching the avoidance position. Thus, during the use of the intelligent walking device including this working mechanism, collisions with the limiting member 521 can be avoided when the connecting mechanism 30 moves towards resetting the working mechanism 20 to the release position.

[0064] refer to Figure 5In one example, the limiting mechanism 50 is an electromagnetic latch lock, and the limiting member 521 is a latch. The latch reciprocates along its own axis between a clearance position and a stop position. When the latch is in the clearance position, it is away from the pivoting path of the connecting mechanism 30, so as to allow the connecting mechanism 30 to drive the working mechanism 20 to pivot toward the release position. When the latch is in the stop position, it prevents the connecting mechanism 30 from driving the working mechanism 20 to pivot from the retracted position toward the release position.

[0065] The axial direction of the pin can be perpendicular to the plane of the pivot path of the connecting mechanism 30, or the axial direction of the pin can be parallel to the pivot axis of the connecting mechanism 30. Alternatively, the axial direction of the pin can be consistent with the distribution direction of the release position and the retracted position.

[0066] In one possible embodiment, the limiting mechanism 50 includes an electromagnet and an electronic control unit, and the connecting mechanism 30 is provided with a magnet. The electronic control unit controls the electromagnet to be energized or de-energized. When energized, the electromagnet is magnetic and can attract the magnet to limit the connecting mechanism 30 to the retracted position. When de-energized, the electromagnet is non-magnetic. That is, when it is necessary to limit the working mechanism 20 to the retracted position, the electromagnet can be energized to attract the connecting mechanism 30; when it is necessary to release the connecting mechanism 30, the electromagnet can be de-energized, and then the power mechanism 40 can drive the connecting mechanism 30 to pivot toward the release position.

[0067] The electrical control unit may be equipped with buttons or keypads, which can be pressed to control the electromagnet to be energized or de-energized. When the working mechanism 20 is not in use, the connecting mechanism 30 can be manually pushed towards the retracted position while the electromagnet is energized, until the electromagnet and the connecting mechanism 30 are attracted together.

[0068] In one possible implementation, refer to Figure 2 and Figure 4 The body 10 is provided with a first limiting part 11. When the connecting mechanism 30 moves to the release position, the force of the power mechanism 40 causes the connecting mechanism 30 to abut against the first limiting part 11. In this way, the first limiting part 11 and the power mechanism 40 work together on the connecting mechanism 30, which can make the connecting mechanism 30 drive the working mechanism 20 to be stably maintained in the release position.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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 work execution mechanism for connecting to the body (10) of an intelligent walking device, characterized in that, It includes a working mechanism (20), a connecting mechanism (30), and a power mechanism (40); The connecting mechanism (30) includes two opposing ends, one end of which is pivotally connected to the body (10), and the other end is connected to the working mechanism (20); the connecting mechanism (30) can drive the working mechanism (20) to reciprocate between the retracted position and the released position; The power mechanism (40) is connected to the connecting mechanism (30), and the power mechanism (40) is used to drive the connecting mechanism (30) to pivot relative to the fuselage (10); When the working mechanism (20) is in the retracted position, the center line of the working mechanism (20) and the fuselage (10) is separated by a first distance; when the working mechanism (20) is in the released position, the center line of the working mechanism (20) and the fuselage is separated by a second distance, and the first distance is less than the second distance. The body (10) is provided with a first limiting part (11). When the connecting mechanism (30) drives the working mechanism (20) to move to the release position, the force of the power mechanism (40) causes the connecting mechanism (30) to abut against the first limiting part (11). The power mechanism (40) includes an elastic element (41) connected between the connecting mechanism (30) and the body (10), and / or, the elastic element (41) connected between the connecting mechanism (30) and the working mechanism (20); the elastic element (41) applies an elastic force to the connecting mechanism (30) that enables the connecting mechanism (30) to drive the working mechanism (20) to pivot from the retracted position toward the released position; The operation execution mechanism further includes a limiting mechanism (50), which applies a limiting force to the connecting mechanism (30) to restrict the working mechanism (20) to the retracted position via the connecting mechanism (30); The limiting mechanism (50) includes a limiting member (521) and a driving part (522). Under the driving action of the driving part (522), the limiting member (521) reciprocates between a clearance position and a stop position. When the limiting member (521) is in the clearance position, the connecting mechanism (30) is allowed to drive the working mechanism (20) to reciprocate between the release position and the retraction position. When the limiting member (521) is in the stop position, the connecting mechanism (30) is prevented from driving the working mechanism (20) to pivot from the retraction position toward the release position.

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

3. The work execution mechanism according to claim 2, characterized in that, The connecting mechanism (30) includes a first link (31) and a second link (32). The first link (31) includes a first end and a second end opposite to each other. The first end is pivotally connected to the body (10) about a first axis (L1), and the second end is pivotally connected to the working mechanism (20) about a second axis (L2). The second link (32) includes a third end and a fourth end opposite to each other. The third end is pivotally connected to the body (10) about a third axis (L3), and the fourth end is pivotally connected to the working mechanism (20) about a fourth axis (L4). The first axis (L1), the second axis (L2), and the third axis (L3) are all parallel to the fourth axis (L4); The distance A1 between the first axis (L1) and the second axis (L2) is equal to the distance A2 between the third axis (L3) and the fourth axis (L4); The distance B1 between the first axis (L1) and the third axis (L3) is equal to the distance B2 between the second axis (L2) and the fourth axis (L4).

4. The work execution mechanism according to claim 3, characterized in that, The elastic element (41) is connected between the working mechanism (20) and the first link (31), and / or the elastic element (41) is connected between the working mechanism (20) and the second link (32).

5. The work execution mechanism according to claim 3, characterized in that, The elastic element (41) is connected between the body (10) and the first link (31), and / or the elastic element (41) is connected between the body (10) and the second link (32).

6. The work execution mechanism according to claim 5, characterized in that, The elastic element (41) is a torsion spring, which includes two pins (411), one of which is connected to the body (10), and the other of which is connected to the first link (31) or the second link (32).

7. The work execution mechanism according to claim 6, characterized in that, One of the first connecting rod (31) and the body (10) is provided with a first receiving hole (401), and the other is provided with a first rotating shaft (402). The first rotating shaft (402) can be pivotally inserted into the first receiving hole (401) so that the first connecting rod (31) can pivot relative to the body (10) about the first axis (L1). The torsion spring is sleeved on the first rotating shaft (402), and the other pin (411) of the torsion spring is located outside the first receiving hole (401) and connected to the first connecting rod (31).

8. The work execution mechanism according to claim 1, characterized in that, The power mechanism (40) includes a rotary motor, the output shaft of which is connected to the connecting mechanism (30), driving the connecting mechanism to rotate the working mechanism.

9. The work execution mechanism according to claim 1, characterized in that, The driving unit (522) drives the limiting member (521) to rotate around the preset axis (L5). The limiting member (521) and the preset axis (L5) are spaced apart. The pivot axis of the connecting mechanism (30) and the body (10) is parallel to the preset axis (L5). The limiting member (521) is located on the side of the connecting mechanism (30) facing the release position.

10. The work execution mechanism according to claim 1, characterized in that, The limiting mechanism (50) is an electromagnetic pin lock, and the limiting member (521) is a pin. The pin reciprocates between the avoidance position and the stop position along its own axis. When the pin is in the avoidance position, it is away from the pivoting path of the connecting mechanism (30) to allow the connecting mechanism (30) to drive the working mechanism (20) to pivot toward the release position; when the pin is in the stop position, it prevents the connecting mechanism (30) from driving the working mechanism (20) to pivot from the retracted position toward the release position.

11. The work execution mechanism according to claim 1, characterized in that, The limiting mechanism (50) includes an electromagnet and an electronic control unit, and the connecting mechanism (30) is provided with a magnet; The electrical control unit controls the electromagnet to be energized or de-energized. When energized, the electromagnet is magnetic and can attract the magnet to restrict the working mechanism (20) to the retracted position. When de-energized, the electromagnet is non-magnetic.

12. An intelligent walking device, characterized in that, It includes a fuselage (10) and a work execution mechanism as described in any one of claims 1-11, wherein the work execution mechanism is mounted on the fuselage (10).

Images