An autonomous work device

Abstract

The application provides an autonomous working device, which is applied to the technical field of working devices and comprises a support body, a height adjusting component and a working mechanism. The height adjusting component is supported on the support body in a manner capable of rotating around a first axis which is perpendicular to the height direction of the autonomous working device. The working mechanism is adapted to abut against the height adjusting component along the height direction of the autonomous working device, and the working mechanism and the height adjusting component constitute a motion pair at the abutting position. The height adjusting component is operable to convert the rotation of the height adjusting component into the displacement of the working mechanism in the height direction of the autonomous working device through the motion pair. The working mechanism is upwardly and floatingly abutted against the height adjusting component along the height direction of the autonomous working device. The height adjusting component is supported on the support body through a first rotating shaft which extends along the first axis. The height adjusting component is configured to be operable to rotate around the first rotating shaft as a fulcrum. The autonomous working device has smaller adjusting resistance when the working height of the working mechanism is adjusted.

Description

[0001] This application claims priority to Chinese Patent Application No. 202510016192.3, filed on January 6, 2025, entitled "Autonomous Operating Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of operating equipment technology, specifically to an autonomous operating device. Background Technology

[0003] Intelligent lawnmowers are common autonomous operating devices used for trimming lawns. Structurally, they generally include a body, a moving mechanism, a cutting mechanism, and sensor components. In some cases, they also include a height adjustment mechanism that allows the user to adjust the working height of the cutting mechanism within a certain range. Specifically, in some cases, the height adjustment mechanism includes a height adjustment knob rotatably mounted on the body. The cutting mechanism is floatingly mounted below the height adjustment knob, and its own weight keeps the knob pressed against the body. The height adjustment knob rotates around an axis parallel to the height direction of the device, driving the cutting mechanism to move in the height direction through a helical structure.

[0004] In this type of height adjustment mechanism, almost the entire weight of the cutting mechanism is loaded onto the height adjustment knob, resulting in significant pressure on the machine body and substantial friction between the knob and the machine. Much of this friction is converted into adjustment resistance, making the user's operation time-consuming and laborious. Therefore, reducing the adjustment resistance of the height adjustment mechanism has become an urgent technical problem to be solved. Utility Model Content

[0005] In view of the above, the embodiments of this specification provide the following technical solutions:

[0006] An autonomous operating device includes: a support body; a height adjustment member supported on the support body in a manner rotatable about a first axis orthogonal to the height direction of the autonomous operating device; and a working mechanism adapted to abut against the height adjustment member along the height direction of the autonomous operating device, wherein at the abutment location the working mechanism and the height adjustment member form a kinematic pair; the height adjustment member operably converts its own rotation into displacement of the working mechanism in the height direction of the autonomous operating device through the kinematic pair.

[0007] To optimize the above solution, the following technical measures were also adopted:

[0008] In one embodiment, the working mechanism can float upwards along the height direction of the autonomous operating equipment and rest against the height adjustment member.

[0009] In one embodiment, the height adjustment member is supported on the support body by a first pivot extending along the first axis, and the height adjustment member is configured to be operably rotated about the first pivot.

[0010] In one embodiment, when the height adjustment member is in a forward rotation state, the working mechanism is displaced upward; when it is in a reverse rotation state, the working mechanism is displaced downward; and when it is in a stopped state, the working mechanism is at least prevented from displacing downward by the height adjustment member.

[0011] In one embodiment, the height adjustment member has an operating part for the user to apply an operating torque to drive the height adjustment member to rotate.

[0012] In one embodiment, the first rotating shaft is rotatably mounted on the support body, and the autonomous operating device further includes a rotary power source connected to the first rotating shaft, the rotary power source being adapted to provide at least part of the power for the rotation of the height adjustment component.

[0013] In one embodiment, the height adjustment member has a support portion offset relative to the first rotating shaft, the working mechanism is adapted to abut against the support portion, and the distance from the support portion to the first axis is less than the distance from the operating portion to the first axis.

[0014] In one embodiment, the working mechanism has a backing portion, and the backing portion and the bearing portion constitute the kinematic pair; wherein one of the backing portion and the bearing portion includes a first protrusion extending toward the other, and the other of the backing portion and the bearing portion includes a groove-shaped portion that opens toward the first protrusion and receives the first protrusion from the opening.

[0015] In one embodiment, the first protrusion is rotatably received within the corresponding groove.

[0016] In one embodiment, the first protrusion is rotatably connected to the height adjustment member via a second pivot, the second pivot defining a second axis, the second axis being arranged parallel to the first axis.

[0017] As one embodiment, it further includes a pivot seat mounted on the support body, wherein the first pivot is mounted on the pivot seat.

[0018] In one embodiment, a plurality of second positioning parts are arranged at intervals along the height direction of the autonomous operating device on the support body, and the rotating shaft seat can be selectively mounted on any of the second positioning parts.

[0019] In one embodiment, a plurality of first positioning parts are arranged at intervals along the height direction of the autonomous operating device on the rotating shaft seat, and the first rotating shaft can be selectively mounted on any of the first positioning parts.

[0020] As one embodiment, a locking mechanism disposed on the support body is further included, which is used to releasably lock the rotation angle of the height adjustment member.

[0021] In one embodiment, the locking mechanism includes: an elastic arm disposed on the support; and a latching portion disposed on the elastic arm and driven by the elastic force of the elastic arm to latch the height adjustment member to lock its rotation angle; wherein the elastic arm is configured to, in response to the rotation of the height adjustment member itself, be able to elastically deform the latching portion to release the latching of the height adjustment member.

[0022] In one embodiment, the height adjustment member is constructed as a disc-shaped structure and its cross-sectional shape along its thickness direction is circular, semi-circular, or fan-shaped. The height adjustment member has a plurality of locking grooves, which are evenly distributed in the circumferential direction around the first axis. The locking part locks the rotation angle of the height adjustment member by locking the locking grooves.

[0023] In one embodiment, the support and / or the elastic arm are provided with at least one anti-rotation portion, which is configured to block the height adjustment member along its rotation path, thereby restricting the height adjustment member to rotate only between a first angular position and a second angular position; wherein, when the height adjustment member is in the first angular position, the working mechanism is in the highest position along the height direction of the autonomous working device, and when the height adjustment member is in the second angular position, the working mechanism is in the lowest position along the height direction of the autonomous working device.

[0024] In one embodiment, the height adjustment member has at least one second protrusion protruding from the surface of the member along the first axis direction, and the at least one anti-rotation portion is configured to limit the rotation angle range of the height adjustment member by blocking the corresponding second protrusion.

[0025] In one embodiment, the working mechanism is movably connected to the support body, and the movable connection is configured to allow the working mechanism to move only along the height direction of the autonomous operating device.

[0026] As one embodiment, it further includes an assist spring disposed between the working mechanism and the support body, the assist spring being configured to cause the working mechanism to have an upward displacement tendency.

[0027] In one embodiment, the support body includes a lower chassis shell, the pivot seat is fixed on the lower chassis shell, and the height adjustment component is a dial component that can be rotated.

[0028] In one embodiment, the autonomous operating device is a self-propelled operating device capable of autonomously walking in a straight line, and the axial direction of the first axis is parallel to the forward direction of the autonomous operating device when it walks in a straight line. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of an autonomous operating device according to a specific embodiment of the present invention;

[0031] Figure 2 This is an exploded view of an autonomous operating device according to a specific embodiment of this utility model;

[0032] Figure 3 This is an installation diagram of the height adjustment component according to a specific embodiment of the present invention, with the bottom surface facing upwards.

[0033] Figure 4 This is a schematic diagram of the working mechanism of a specific embodiment of the present invention when it is at the first height;

[0034] Figure 5 This is a schematic diagram of the working mechanism of a specific embodiment of the present invention when it is at the first height;

[0035] Figure 6 This is a schematic diagram of the working mechanism of a specific embodiment of this utility model;

[0036] Figure 7 This is an exploded view of the working mechanism of a specific embodiment of this utility model;

[0037] Figure 8 This is an exploded view of the working modules of a specific embodiment of this utility model;

[0038] Figure 9 This is a top view of the movable part in the first position according to a specific embodiment of the present invention;

[0039] Figure 10 This is a top view of a specific embodiment of the present invention, showing the movable part in the second position;

[0040] Figure 11 This is a cross-sectional schematic diagram of the autonomous operating equipment along the second direction according to a specific embodiment of the present invention;

[0041] Figure 12 yes Figure 11 A magnified view of part B in the middle section;

[0042] Figure 13 yes Figure 1 A magnified view of part A in the middle;

[0043] Figure 14 This is a schematic diagram of an autonomous operating device according to a specific embodiment of the present invention, which hides the upper shell of the chassis and shows the mating structure between the dial component and the lower shell of the chassis.

[0044] Figure 15 yes Figure 14 A magnified view of part C in the middle;

[0045] Figure 16 This is a front view of an autonomous operating device according to a specific embodiment of the present invention, showing the position of the dial component, wherein the part of the dial component that is covered by the chassis upper shell is shown by dashed lines.

[0046] Figure 17 This is a cross-sectional schematic diagram of the autonomous operating equipment along the first direction according to a specific embodiment of the present invention.

[0047] Figure 18 yes Figure 17 A magnified view of a portion of section D in the middle;

[0048] Figure 19 This is a partially exploded view of the autonomous operation of a specific embodiment of the present invention, with the perspective from the ground upwards;

[0049] Figure 20 yes Figure 19 A magnified view of a portion of section E;

[0050] Figure 21 yes Figure 19 A magnified view of a portion of section F in the middle;

[0051] Figure 22 This is a schematic diagram of the bottom surface of an autonomous operating device according to a specific embodiment of this utility model;

[0052] Figure 23 yes Figure 22 A magnified view of a portion of the central G section;

[0053] Figure 24 This is an internal structural diagram of the working mechanism of a specific embodiment of the present utility model, wherein (a) shows the movable part in the first position and (b) shows the movable part in the second position;

[0054] Figure 25 This is a schematic diagram of the connection of the movable component in a specific embodiment of this utility model. Detailed Implementation

[0055] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0056] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0058] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0059] refer to Figures 1 to 24This specification describes an autonomous operating device 100, which is particularly a robot capable of autonomously moving within a preset area and performing specific tasks. Examples include intelligent sweepers or vacuum cleaners for cleaning, and intelligent lawnmowers for mowing. The specific tasks specifically refer to tasks that treat a work surface and change its state. This invention uses an intelligent lawnmower as an example for detailed description. The autonomous operating device 100 can autonomously move on the surface of the work area, and as an intelligent lawnmower, it can autonomously perform mowing operations on the ground.

[0060] like Figures 1 to 5 As shown, the autonomous operating device 100 includes a support body 1, a height adjustment component 2, and a working mechanism 5. The height adjustment component 2 is supported on the support body 1 in a manner that allows it to rotate about a first axis orthogonal to the height direction of the autonomous operating device. In one case, the autonomous operating device 100 is horizontally supported on the ground, in which case the first axis is a horizontal axis. In other cases, the autonomous operating device 100 is inclinedly supported on a slope, in which case the first axis is an inclined axis orthogonal to the height direction of the autonomous operating device 100. The working mechanism 5 is adapted to abut against the height adjustment component 2 along the height direction of the autonomous operating device 100, and at the abutment location, the working mechanism 5 and the height adjustment component 2 form a kinematic pair 3. The height adjustment component 2 can operably convert its own rotation into displacement of the working mechanism 5 in the height direction of the autonomous operating device 100 through the kinematic pair 3.

[0061] In this embodiment, during the rotation of the height adjustment member 2 around the first axis, the working mechanism 5 abuts against the height adjustment member 2 along the height direction of the autonomous operating device 100. Since the first axis is orthogonal to the height direction of the autonomous operating device 100, the abutting force of the working mechanism 5 against the height adjustment member 2 will not form a component in the axial direction of the first axis. This causes the height adjustment member 2 to press against the support body 1 and generate or increase the frictional force that hinders the rotation of the height adjustment member 2, i.e., the adjustment resistance. In other words, compared with the height adjustment mechanism in the prior art, the height adjustment member 2 in this example has a smaller adjustment resistance during operation. In one case, the height adjustment member 2 has a side 211 perpendicular to the first axis. In this case, the abutting force of the working mechanism 5 will not cause the side 211 of the height adjustment member 2 to press against the support body 1 and generate or increase the frictional force that hinders the rotation of the height adjustment member 2, i.e., the adjustment resistance.

[0062] On the other hand, at the abutment point, the working mechanism 5 and the height adjustment component 2 form a kinematic pair 3. Through this kinematic pair 3, rather than a connecting piece, the rotation of the height adjustment component 2 can be operably converted into displacement of the working mechanism 5 in the height direction of the autonomous operating equipment 100, thereby achieving the purpose of height adjustment. The elimination of the connecting piece not only simplifies the overall structure of the height adjustment mechanism and reduces the design and manufacturing costs of the operating equipment, but also simplifies the installation process. Specifically, after the height adjustment component 2 is installed in place, the working mechanism 5 naturally abuts against the height adjustment component 2 from top to bottom along the height direction of the autonomous operating equipment 100. The working mechanism 5 and the height adjustment component 2 are then aligned and installed. At this point, both the working mechanism 5 and the height adjustment component 2 are in a ready state, requiring no further adjustment, thus resulting in high installation efficiency.

[0063] The aforementioned connector can be, for example, a flexible connector. Specifically, another existing height adjustment mechanism involves driving the flexible connector via a drive motor to tug the working mechanism 5 along the height direction of the autonomous working device 100, causing it to move along the same direction. In such height adjustment mechanisms, on the one hand, the flexible connector itself needs to have sufficient length and strength; on the other hand, an attachment structure is required to attach the flexible connector to the drive motor and / or the working mechanism 5, thus undesirably increasing the total weight of the autonomous working device 100. In this embodiment, however, a kinematic pair 3 is used to connect the working mechanism 5 and the height adjustment member 2, achieving the technical objective of adjusting the working height of the working mechanism 5 without the need for a flexible connector and its attachment structure, thereby reducing the weight of the equipment.

[0064] Optionally, the support body 1 is provided with a rotating groove centered on the first axis, and the height adjustment member 2 is rotatably supported in the rotating groove. Specifically, the height adjustment member 2 achieves its rotation by sliding along the circumferential direction.

[0065] Optionally, the height adjustment member 2 is supported on the support body 1 by a first rotating shaft 20 extending along the first axis. The height adjustment member 2 is configured to be operably rotated around the first rotating shaft 20 as a fulcrum. In this way, the height adjustment member 2 itself is supported on the first rotating shaft 20, while the working mechanism 5 abuts against the height adjustment member 2. Most of the weight of the working mechanism 5 is ultimately borne by the first rotating shaft 20. The frictional resistance generated between the first rotating shaft 20 and the support body 1 due to this weight acting on the first rotating shaft 20 is much smaller than the frictional resistance generated between the height adjustment member 2 and the support body 1 due to the weight acting on the height adjustment member 2. Therefore, this height adjustment member 2 has lower adjustment resistance during operation.

[0066] Optionally, the first rotating shaft 20 can be configured in the following ways: as being integrally fixed to the height adjustment member 2, or integrally fixed to the support body 1, or detachably mounted on the support body 1 as a separate component, in which case the height adjustment member 2 is detachably supported on the first rotating shaft 20. In a specific structural form, the height adjustment member 2 has a central shaft hole, and when assembling the height adjustment member 2 and the first rotating shaft 20, the central shaft hole passes through the first rotating shaft 20, and the height adjustment member 2 and the first rotating shaft 20 are connected by a key and maintain circumferential positioning.

[0067] Optionally, the height adjustment member 2 is configured as a lever member that can be operably rotated about the first pivot 20. By applying force to the height adjustment member 2 to make it rotate about the first pivot 20 as a fulcrum, the working mechanism 5 is driven to move along the height direction of the autonomous working device 100 through the kinematic pair 3.

[0068] For example, the height adjustment member 2 has an operating part 21 for the user to apply an operating torque to drive the height adjustment member 2 to rotate. Further, the height adjustment member 2 has a bearing part 31 offset relative to the first rotating shaft 20. The working mechanism 5 is adapted to abut against the bearing part 31. Radially, the operating part 21 is located outside the bearing part 31. In other words, the radial distance of the bearing part 31 from the central axis of the first rotating shaft 20 (i.e., the first axis) is less than the radial distance from the operating part 21 to the central axis of the first rotating shaft 20 (i.e., the first axis). According to the lever principle, the former can be considered as the resistance arm when the height adjustment member 2 rotates, and the latter can be considered as the power arm when the height adjustment member 2 rotates. The resistance arm is smaller than the power arm; therefore, the required input power, i.e., the operating force to drive the height adjustment member 2 to rotate, is less than the adjustment resistance generated by the working mechanism 5, thus making the height adjustment process more effortless. In one case, such as... Figure 5 As shown, the height adjustment member 2 includes a side surface 211 and an outer peripheral surface 212 surrounding the side surface 211. The operating part 21 is disposed on the outer peripheral surface 212, and optionally, as described below, is a toggle surface 214.

[0069] Optionally, the first rotating shaft 20 is rotatably mounted on the support body 1. The autonomous operating device 100 further includes a rotary power source (not shown) connected to the first rotating shaft 20. The rotary power source is adapted to provide at least part of the power for the rotation of the height adjustment member 2. In this case, it is conceivable that the rotary power source can provide partial auxiliary adjustment power. This partial auxiliary adjustment power and the operating power acting on the operating part 21 together provide the torque for rotating the height adjustment member 2. In some cases, it can also be provided entirely by the rotary power source, such as a servo motor.

[0070] In this embodiment, when the height adjustment member 2 is in a forward rotation state, the working mechanism 5 moves upward; when it is in a reverse rotation state, the working mechanism 5 moves downward; and when it is in a stopped state, the working mechanism 5 is at least prevented from moving downward by the height adjustment member 2. Exemplarily, the height adjustment member 2 is configured to selectively rotate forward, reverse, or stop rotating about a first axis. Optionally, the height adjustment member 2 can be operated by a user to rotate forward or reverse, and a locking mechanism can operably control the height adjustment member 2 to stop rotating. The specific form of the locking mechanism will be detailed below and will not be repeated here. The height adjustment component 2 converts its own forward rotation into the upward displacement of the working mechanism 5 through the kinematic pair 3, or converts its own reverse rotation into the downward displacement of the working mechanism 5. Specifically, the working mechanism 5 is subjected to gravity and moves downward, or at least prevents the working mechanism 5 from moving downward when it stops rotating. Specifically, after the height adjustment component 2 stops rotating, it limits the working mechanism 5 in the height direction of the autonomous operating equipment 100. In one case, it prevents the working mechanism 5 from moving upward and downward. In another case, it only prevents the working mechanism 5 from moving downward but allows the working mechanism 5 to move upward. And above the position where the two are abutting, there is a floating space above which the working mechanism 5 can move upward, that is, float upward.

[0071] Following this inspiration, the working mechanism 5 can float upwards and rest against the height adjustment member 2 along the height direction of the autonomous working equipment 100. Specifically, the working mechanism 5 uses its own weight to rest against the height adjustment member 2, and when subjected to an upward force from, for example, an obstacle on the ground, it can float upwards to avoid the obstacle, thereby preventing the working mechanism 5 from rigidly colliding with the obstacle and causing damage to it, and enhancing the passability of the autonomous working equipment 100 when moving. The obstacle is, for example, dense grass or small mounds of soil on the working ground. Furthermore, the specific form in which the working mechanism 5 can float upwards and rest against the height adjustment member 2 will be detailed below.

[0072] like Figures 4 to 5 As shown, the support portion 31 is disposed on the side 211 of the height adjustment member 2, and the working mechanism 5 has an abutment portion 32. The abutment portion 32 and the support portion 31 constitute a kinematic pair 3. One of the abutment portion 32 and the support portion 31 includes a first protrusion 311 extending toward the other of the two. The other of the abutment portion 32 and the support portion 31 includes a groove-shaped portion 321 that opens toward the first protrusion 311 and receives the first protrusion 311 from the opening.

[0073] In this embodiment, the first protrusion 311 is disposed on the bearing portion 31, and the groove portion 321 is formed on the working mechanism 5. In one case, the first protrusion 311 is configured to extend along a first axial direction, and the groove portion 321 is configured to extend along a second direction, wherein the second direction is orthogonal to the height direction of the autonomous working device 100 and the first axial direction. In another case, the bearing portion 31 is configured to move relative to the working mechanism 5 in the second direction within the groove portion 321 while rotating with the height adjustment member 2. Optionally, the groove portion 321 has a smooth inner surface for contact and engagement with the first protrusion 311. In one scenario, the trough-shaped portion 321 includes a first opening and a second opening, wherein the first opening is arranged facing the first protrusion 311, the first protrusion 311 extends into the trough-shaped portion 321 from the first opening and is received within the trough-shaped portion 321, and the opening direction of the second opening is parallel to the height direction of the autonomous operating device 100. When the working mechanism 5 is mounted on the height adjustment member 2, the first protrusion 311 abuts against the trough-shaped portion 321 from top to bottom through the second opening, and at the same time, the configuration of the second opening provides floating space for the working mechanism 5 to float upward.

[0074] It should be understood that in another case, the first protrusion 311 is disposed on the working mechanism 5 and the groove 321 is formed on the supporting part 31. The cooperation relationship between the first protrusion 311 and the groove 321 is similar in nature to the case where the first protrusion 311 is disposed on the supporting part 31 and the groove 321 is formed on the working mechanism 5, so it will not be described again.

[0075] For example, the groove portion 321 is constructed in a U-shape. In this embodiment, the U-shaped groove portion 321 includes a first opening, a second opening, and a third opening. The opening directions of the first and third openings are parallel to the extending direction of the first protrusion 311. The first protrusion 311 extends into the groove portion 321 from the first opening and is received within the groove portion 321. The working mechanism 5 has a mounting protrusion extending toward the first protrusion 311. The mounting protrusion extends into the groove portion 321 from the third opening and is received within the groove portion 321. The groove portion 321 is detachably or non-detachably fixed to the mounting protrusion. Further, the first and third openings are configured to extend through the first protrusion 311 in its extending direction. The second opening is arranged downward along the height direction of the autonomous operating device 100.

[0076] In another scenario, the first protrusion 311 is integrally formed on the support portion 31, and the groove portion 321 is integrally formed on the working mechanism 5. This minimizes the number of parts in the height adjustment mechanism or the autonomous operating device 100, and simplifies the installation structure to the greatest extent. In other scenarios, the first protrusion 311 may be detachably mounted on the support portion 31, and / or the groove portion 321 may be detachably mounted on the working mechanism 5.

[0077] In one configuration, the first protrusion 311 is constructed as a pin, and is rotatably received within a corresponding groove 321. Thus, when the kinematic pair 3 is in operation, i.e., when the working height of the working mechanism 5 is adjusted by the height adjustment member 2, the first protrusion 311 displaces relative to the groove 321 while simultaneously engaging in rolling contact with the groove 321, thereby reducing frictional resistance between them. Specifically, the first protrusion 311 is rotatably connected to the height adjustment member 2 via a second rotating shaft 310, which defines a second axis parallel to the first axis. Further, an eccentric shaft hole is formed on the bearing portion 31, and the second rotating shaft 310 is fitted within this eccentric shaft hole.

[0078] For example, the autonomous operating device 100 further includes a pivot seat 13 mounted on the support body 1, and the first pivot 20 is mounted on the pivot seat 13. In some cases, it is necessary to adjust the initial installation height of the working mechanism 5, that is, to adjust the adjustable range of the working height of the working mechanism 5, hereinafter referred to as adjusting the working height adjustment range. For example, since North American users and European users have different requirements for lawn mowing height, North American users usually want a higher lawn, while European users want a lower lawn. In this case, it is necessary to adjust the initial installation height of the working mechanism 5 in the autonomous operating device 100, that is, to adjust the working height adjustment range, to adapt to the needs of different users.

[0079] As mentioned earlier, in the initial state, the working mechanism 5 naturally rests against the height adjustment component 2 from top to bottom. It is natural to think that the installation height of the working mechanism 5 can be adjusted by adjusting the installation height of the height adjustment component 2. More precisely, the installation height of the working mechanism 5 can be adjusted by adjusting the installation height of the first rotating shaft 20. Different installation heights correspond to different working height adjustment ranges.

[0080] In one approach, a plurality of second positioning parts (not shown in the figure) are arranged at intervals along the height direction of the autonomous operating device 100 on the support body 1, and the pivot seat 13 can be selectively mounted on any of the second positioning parts. Optionally, the pivot seat 13 is positioned on the corresponding second positioning part by means of a threaded component, or by means of a snap-fit ​​component. By positioning the pivot seat 13 on the second positioning parts at different heights, the installation height of the first pivot 20 can be adjusted.

[0081] As another way, such as Figures 3 to 5As shown, a plurality of first positioning parts 131 are arranged at intervals along the height direction of the autonomous operating device 100 on the pivot seat 13, and the first rotating shaft 20 can be selectively mounted on any of the first positioning parts 131. Optionally, the first positioning part includes a positioning shaft hole extending along the first axis direction, and the first rotating shaft 20 can be selectively mounted in any of the positioning shaft holes. This also allows for adjustment of the installation height of the first rotating shaft 20, thereby adjusting the working height adjustment range of the working mechanism 5. Specifically, the plurality of first positioning parts 131 are evenly and uniformly arranged at equal intervals along the height direction of the autonomous operating device 100.

[0082] In this embodiment, the rotating shaft seat 13 has a first positioning shaft hole and a second positioning shaft hole, which are arranged along the height direction, with the first positioning shaft hole being higher than the second positioning shaft hole. When the first rotating shaft 20 is connected to the rotating shaft seat 13 through the first positioning shaft hole, the working mechanism 5 has a higher first working height adjustment range; when the first rotating shaft 20 is connected to the rotating shaft seat 13 through the second positioning shaft hole, the working mechanism 5 has a lower second working height adjustment range. With this structure, the working height adjustment range of the working mechanism 5 can be adjusted by cooperating the first rotating shaft 20 with different positioning shaft holes, without requiring changes to other structural components, thus saving costs.

[0083] As mentioned above, Figures 14 to 15 As shown, the autonomous operating device 100 further includes a locking mechanism 4 mounted on the support body 1. This locking mechanism 4 is used to releasably lock the rotation angle of the height adjustment component 2, preventing unexpected changes in the height of the working mechanism 5 due to bumps or other reasons when the autonomous operating device 100 moves on grass. The locking mechanism 4 can take any conventional form; for example, as mentioned above, it includes a servo motor with phase self-locking that is driven by the first rotating shaft 20, meaning the rotation angle of the height adjustment component 2 can be releasably locked via the phase self-locking servo motor.

[0084] For example, a simplified structural form can be provided, which does not rely on the aforementioned servo motor or any other electrically controlled locking device. Specifically, the locking mechanism 4 includes an elastic locking arm 41 disposed on the support body 1. The elastic locking arm 41 can be elastically engaged with the height adjustment member 2 to release the rotation angle of the height adjustment member 2. Here, "elastically" specifically means that the elastic locking arm 41 can be released from the engagement with the height adjustment member 2 through elastic deformation, thereby releasing the lock on the height adjustment member 2.

[0085] Specifically, the elastic locking arm 41 includes an elastic arm 411 and a locking portion 412 disposed on the elastic arm 411. Optionally, the elastic arm 411 and the locking portion 412 are integrally formed. Further, the elastic arm 411 is disposed on the support body 1, and the locking portion 412 is driven by the elastic force of the elastic arm 411 to lock the height adjustment member 2 to lock its rotation angle. The elastic arm 411 is configured to respond to the rotation of the height adjustment member 2 by elastic deformation, which causes the locking portion 412 to release from the height adjustment member 2. Optionally, the elastic arm 411 is integrally fixed to the support body 1, which minimizes the number of connecting parts used and simplifies the assembly of the autonomous operating device 100.

[0086] Specifically, the height adjustment member 2 is constructed as a disc-shaped structure with a circular, semi-circular, or fan-shaped cross-section along its thickness direction. Multiple locking grooves 213 are formed on the height adjustment member 2, and these grooves 213 are evenly distributed circumferentially around the first axis. The locking portion 412 locks the rotation angle of the height adjustment member 2 by engaging the locking grooves 213. In one embodiment, the multiple locking grooves 213 are formed on the outer peripheral surface 212 of the height adjustment member 2.

[0087] like Figure 13 , Figure 14 as well as Figure 15 As shown above, the height adjustment member 2 includes a side surface 211 and an outer peripheral surface 212 surrounding the side surface 211. An operating part 21 is disposed on the outer peripheral surface 212. Optionally, the operating part 21 includes a toggle surface 214 formed on the outer peripheral surface 212. The user is adapted to apply an operating torque on the toggle surface 214 to rotate the height adjustment member 2. Furthermore, the plurality of snap-fit ​​grooves 213 are disposed on the toggle surface 214.

[0088] Specifically, the elastic locking arm 41 is constructed in an L-shape and surrounds the outer peripheral surface 212 of the height adjustment member 2. In this embodiment, the elastic locking arm 41 engages with the corresponding locking groove 213 under the drive of elastic force. At this time, the rotation angle of the height adjustment member 2 is locked. When the user applies an operating torque to the height adjustment member 2 to rotate the height adjustment member 2, the elastic locking arm 41 can drive the corresponding locking part 412 to disengage from the corresponding locking groove 213 and enter the corresponding adjacent actuating surface 214 through its own elastic deformation. At this time, the elastic locking arm 41 releases the lock on the rotation angle of the height adjustment member 2.

[0089] In this embodiment, the autonomous operating device 100 includes a first elastic locking arm and a second elastic locking arm symmetrically arranged about the height adjustment component 2. The first elastic locking arm and the second elastic locking arm are configured to be elastically engaged in the corresponding locking groove 213 simultaneously and elastically disengaged from the corresponding locking groove 213 simultaneously. This increases the locking force on the height adjustment component 2, and the height adjustment component 2 is subjected to balanced force when it is in the locked state, which can prevent the elastic locking arms from undesirably slipping out of the locking groove 213 of the height adjustment component 2 when the operating device is subjected to bumps.

[0090] Furthermore, the snap-fit ​​groove 213 is arranged to penetrate the height adjustment member 2 along the first axis direction.

[0091] Furthermore, the snap-fit ​​groove 213 has arc-shaped transition portions on both sides along the circumference. The arc-shaped transition portions extend from the bottom of the snap-fit ​​groove 213 to the actuating surface 214 of the height adjustment member 2, and are tangent to the bottom surface of the snap-fit ​​groove 213 and the side surface of the corresponding snap-fit ​​groove 213. The snap-fit ​​portion 412 has an arc-shaped chamfer that matches the arc-shaped transition portion, so that the snap-fit ​​portion 412 can be disengaged from the corresponding snap-fit ​​groove 213 under the action of the corresponding elastic arm 411.

[0092] Furthermore, the elastic arm 411 has a first end and a second end. The first end of the elastic arm 411 is fixed to the support body 1. The snap-fit ​​part 412 is formed by bending the second end of the elastic arm 411 toward the corresponding snap-fit ​​groove 213. The snap-fit ​​part 412 may optionally have a claw-shaped structure.

[0093] In one scenario, at least one anti-rotation part 413 is provided on the support 1 and / or the elastic arm 411. This anti-rotation part 413 is configured to stop the height adjustment member 2 along its rotation path, thereby restricting the height adjustment member 2 to rotate only between a first angular position and a second angular position. When the height adjustment member 2 is in the first angular position, the working mechanism 5 is at a first height along the height direction of the autonomous working device 100. The first height can be, for example, the highest position within the adjustment range. Figure 4 As shown, when the height adjustment component 2 is in the second angle position, the working mechanism 5 is at the second height along the height direction of the autonomous operating equipment 100, such as the lowest position within the adjustment range. Figure 5 As shown.

[0094] In this embodiment, as Figure 15As shown, optionally, the anti-rotation portion 413 is formed by bending the second end of the corresponding elastic arm 411, i.e., the end away from the support body 1. Optionally, it can be formed by a right-angle bend. The anti-rotation portion 413 and the locking portion 412 on the same elastic arm 411 are separated by a notch in a direction parallel to the first axis to avoid mutual interference. In this way, the elastic arm, the anti-rotation portion 413, and the locking portion 412 are integrally formed, simplifying the manufacturing process. The height adjustment member 2 has at least one second protrusion 22 protruding from the surface of the member along the first axis. At least one anti-rotation portion 413 is configured to limit the rotation angle range of the height adjustment member 2 by blocking the corresponding second protrusion 22.

[0095] In this embodiment, on both sides of the rotation center of the height adjustment member 2, optionally, a first elastic locking arm and a second elastic locking arm are each provided with an anti-rotation part 413, and correspondingly, two second protrusions 22 are provided on the height adjustment member 2. In other embodiments, two anti-rotation parts 413 are provided on one side of the rotation center of the height adjustment member 2, and correspondingly, one second protrusion 22 is provided on the height adjustment member 2. In other embodiments, one anti-rotation part 413 is provided on one side of the rotation center of the height adjustment member 2, and correspondingly, two second protrusions 22 are provided on the height adjustment member 2. Specifically, the anti-rotation part 413 has a stopping surface for blocking the corresponding second protrusion 22, and the second protrusion 22 has a mating surface corresponding to the stopping surface.

[0096] In one scenario, when the anti-rotation part 413 stops the corresponding second protrusion 22, the locking part 412 of the same elastic arm locks into the corresponding locking groove 213. Optionally, the locking grooves 213 located at both ends of the arrangement of multiple locking grooves 213 can be selected, thereby increasing the anti-rotation force and making the rotation limit of the height adjustment member 2 more reliable.

[0097] like Figure 4 and Figure 5As shown, in this embodiment, the working mechanism 5 is movably connected to the support body 1. The movable connection is configured to allow the working mechanism 5 to move only along the height direction of the autonomous operating device 100. Specifically, the working mechanism 5 includes a first base 58, and a connecting rod 57 is configured between the first base 58 and the support body 1. The connecting rod 57 extends along a first direction, which is parallel to the forward direction of the autonomous operating device 100 when it travels in a straight line. The two ends of the connecting rod 57 are respectively rotatably connected to the first base 58 and the support body 1. The configuration of the connecting rod 57 allows the working mechanism 5 to move only along the height direction of the autonomous operating device 100, but prevents the working mechanism 5 from moving in other directions, such as along the first direction, or along a second direction, which is orthogonal to the first direction and the height direction of the autonomous operating device 100, or in other directions within the common plane of the second direction and the first direction, i.e., the horizontal plane, and restricts the rotation of the working mechanism 5 within the horizontal plane. Since the working mechanism 5 is rigidly abutted against the height adjustment member 2 along the height direction of the autonomous operating equipment 100 in its natural state, the rotation of the working mechanism 5 in the plane of the height direction is also restricted by the height adjustment member 2.

[0098] Specifically, a second seat 56 is detachably mounted on the support body 1, and one end of the connecting rod 57 is rotatably connected to the second seat 56. Further, a second mounting portion 142 is constructed on the support body 1, and the second seat 26 is detachably connected to the second mounting portion 142. Both ends of the connecting rod 57 are rotatably connected to the first seat 58 and the second seat 56, respectively, optionally by hinge. The relevant structure and connection relationship between the working mechanism 5 and the support body 1 are the same as the structure and connection relationship of the first seat, second seat, connecting rod, first connecting shaft, second connecting shaft, and second mounting portion described in Chinese Utility Model Patent CN215683378U. The relevant description of the second seat and the second mounting portion in Chinese Utility Model Patent CN215683378U is also incorporated in its entirety into this embodiment.

[0099] For example, to further reduce the adjustment resistance of the height adjustment component 2 during the height adjustment process, the autonomous operating device 100 further includes an assist spring (not shown) disposed between the working mechanism 5 and the support body 1. The assist spring is configured to give the working mechanism 5 a tendency to move upward. Specifically, the assist spring is disposed between the first seat 58 and the second seat 56. In one case, the assist spring is configured to gradually stretch and deform as the working mechanism 5 moves downward along the height direction of the autonomous operating device 100, accumulating elastic potential energy, and gradually contract as the working mechanism 5 moves upward along the height direction of the autonomous operating device 100, releasing elastic potential energy, thereby providing a certain assistance for the upward movement of the working mechanism 5 along the height direction.

[0100] In this embodiment, in order to further reduce the adjustment resistance, such as Figure 4 As shown, in one scenario, this is achieved by reducing the weight of the height adjustment component 2 itself. This reduces the frictional resistance between the first rotating shaft 20, which bears the weight of the height adjustment component 2, and the support body 1, thereby achieving the technical objective of reducing adjustment resistance. Optionally, the height adjustment component 2 is a shell structure with a hollow inner cavity.

[0101] In this embodiment, as Figure 1 , Figure 2 As shown, the support body 1 includes a lower chassis shell 12, and the autonomous operating equipment 100 further includes an upper chassis shell 11 fastened to the lower chassis shell 12. In this embodiment, the upper chassis shell 11 also serves as the outer shell of the equipment. The pivot seat 13 is fixed on the lower chassis shell 12, and the working mechanism 5 is located below the lower chassis shell 12.

[0102] Based on this, such as Figure 13 , Figure 16 As shown, the height adjustment component 2 is a dial component. Correspondingly, the height adjustment component 2 has a dialing surface 214 for turning the component. The upper shell 11 of the chassis has a first opening 114. The height adjustment component 2 passes through the first opening 114 and is divided into a hidden area covered by the upper shell 11 of the chassis and a visible area 2a protruding from the upper surface of the upper shell 11 of the chassis. In the visible area 2a, the height adjustment component 2 at least partially exposes the dialing surface 214. In the hidden area, the height adjustment component 2 is connected to the lower shell 12 of the chassis via a first pivot 20 and can use the pivot as a fulcrum to turn the working mechanism so that it moves along the height direction of the autonomous working device 100.

[0103] In this way, at least a portion of the dial surface 214 is exposed in the visible area 2a. This facilitates the user's operation of the height adjustment component 2, while other parts of the height adjustment component 2, such as the first rotating shaft 20 and its related structures, the contact area between the height adjustment component 2 and the working mechanism 5, and the kinematic pair 3 formed between them as mentioned above, are all built into the hidden area. That is, they are jointly covered by the chassis upper shell 11 and the height adjustment component 2 passing through the first opening 114, providing good dust protection for the built-in parts of the height adjustment component 2. In other words, compared with the prior art, this embodiment only requires operating a small portion of the dial component exposed in the visible area 2a to adjust the working height of the working mechanism 5. While achieving the technical objective of height adjustment, it reduces the impact on the overall appearance of the equipment and better protects important internal interconnected structures such as the kinematic pair from external interference or environmental corrosion.

[0104] For example, the height adjustment member 2 is clearance-fitted with the first opening 114, the clearance allowing the height adjustment member 2 to move freely within the first opening 114. Along the thickness direction of the height adjustment member 2, the height adjustment member 2 is arc-shaped in the visible region 2a.

[0105] For example, along the thickness direction of the height adjustment member 2, the ratio of the visible area 2a to the projected area of ​​the height adjustment member 2 does not exceed 0.3. In some cases, along the thickness direction of the height adjustment member 2, the ratio of the visible area 2a to the projected area of ​​the height adjustment member 2 does not exceed 0.1. This minimizes the impact on the overall appearance of the device, facilitating packaging and transportation.

[0106] For example, such as Figure 14 and Figure 15 As shown, the locking mechanism 4 is mounted on the lower housing 12 of the chassis and is completely covered by the upper housing 11 of the chassis. Specifically, the outer peripheral surface 212 of the height adjustment member 2 has a plurality of equally spaced locking slots 213, and the locking mechanism 4 includes an elastic locking arm 41 mounted on the upper housing 11 of the chassis, the elastic locking arm 41 being adapted to elastically engage in the corresponding locking slot 213.

[0107] In this embodiment, the lower chassis shell 12 has a second opening 121. In the concealed area, after the lower chassis shell 12 is fastened to the upper chassis shell 11, the second opening 121 and the first opening 114 are substantially aligned in the height direction of the autonomous operating equipment 100. The height adjustment component 2 passes through the second opening 121 and is further divided into a lower concealed area located below the lower chassis shell 12 and an upper concealed area located between the lower chassis shell 12 and the upper chassis shell 11. The height adjustment component 2 is connected to the lower chassis shell 12 in the lower concealed area through the first rotating shaft 20, and is simultaneously engaged with the locking mechanism 4 in the upper concealed area. Specifically, the second opening 121 is configured as a rectangular hole. In the upper concealed region, the two short sides of the second opening 121 are respectively arranged opposite to the outer peripheral surface 212 of the height adjustment member 2, and the two long sides of the second opening 121 are respectively arranged opposite to the side surface 211 of the height adjustment member 2. The locking mechanism 4 includes a first elastic locking arm and a second elastic locking arm respectively formed on the two short sides of the second opening 121. As mentioned above, the first elastic locking arm and the second elastic locking arm are symmetrically configured with respect to the height adjustment member 2, and the first elastic locking arm and the second elastic locking arm protrude upward from the upper surface of the chassis lower shell 12. Specifically, they protrude towards the locking groove 213 corresponding to the height adjustment member 2 exposed in the upper concealed region. The first elastic locking arm and the second elastic locking arm are configured to be elastically engaged in the corresponding locking groove 213 simultaneously, and to be disengaged from the corresponding locking groove 213 simultaneously through elastic deformation, as mentioned above. In some cases, the locking mechanism 4 includes a first elastic locking arm and a second elastic locking arm formed on the two long sides of the second opening 121, respectively. In this case, the first elastic locking arm and the second elastic locking arm can be elastically engaged into the locking groove 213 from one side of the height adjustment member 2, and can release the engagement with the corresponding locking groove 213 by elastic deformation in response to the rotation of the height adjustment member 2 itself. In this way, the technical purpose of releasably locking the rotation angle of the height adjustment member 2 can also be achieved. All of the above situations are within the scope of the concept of this utility model.

[0108] In some cases, the actuating surface 214 may be formed on, for example, the side surface 211 of the height adjustment member 2. In this embodiment, the actuating surface 214 is formed on the outer peripheral surface 212 of the height adjustment member 2, and the plurality of locking slots 213 are equally spaced on the actuating surface 214. The first elastic locking arm and the second elastic locking arm are respectively engaged with the corresponding locking slots 213 on the actuating surface 214 along the radial direction of the height adjustment member 2. In some cases, the actuating surface 214 may be configured as a rough surface.

[0109] In this embodiment, as Figure 15 , Figure 17 as well as Figure 18As shown, the lower chassis shell 12 has a second opening 121. The height adjustment member 2 passes through the second opening 121 and is further divided into a lower concealed area located below the lower chassis shell 12 and an upper concealed area located between the lower chassis shell 12 and the upper chassis shell 11. The height adjustment member 2 is connected to the lower chassis shell 12 in the lower concealed area via the first rotating shaft 20, and is aligned and connected with the locking mechanism 4 in the upper concealed area.

[0110] In this way, the user can directly assemble the height adjustment component 2 onto the chassis lower shell 12 from the open lower concealed area below the chassis lower shell 12. While the height adjustment component 2 is assembled in the lower concealed area, it naturally completes the alignment and connection with the locking mechanism 4 in the upper concealed area, without having to specially open the chassis upper shell 11 to complete the alignment and connection between the locking mechanism 4 and the height adjustment component 2. Therefore, the assembly efficiency of the autonomous operating equipment 100 can be improved.

[0111] In this embodiment, as Figure 18 As shown, the bottom of the upper chassis shell 11 has an annular partition 111 extending downward along the height direction of the autonomous operating equipment 100. The upper chassis shell 11, the lower chassis shell 12, and the inner ring wall of the annular partition 111 together form a second isolation chamber. The first opening 114 and the second opening 121 are both connected to the second isolation chamber. The height adjustment member 2 passes through the second opening 121 from bottom to top, placing its upper concealed area within the second isolation chamber and aligning with the locking mechanism 4. By placing the locking mechanism 4, including the elastic locking arm 41, within the second isolation chamber, damage to the elastic locking arm 41 by external factors, including the user, or misoperation of the elastic locking arm 41 can be prevented, thereby extending the service life of the integrally molded part, the elastic locking arm 41.

[0112] In some cases, the upper chassis shell 11, the lower chassis shell 12, and the outer ring wall of the annular partition 111 together form a first isolation chamber 112. The first isolation chamber 112 contains internal components, such as energy modules, detection modules, interaction modules, and control modules as described below. The first isolation chamber 112 is arranged in a sealed, separate manner from the second isolation chamber. Specifically, an annular sealing groove 122 is formed around the second opening 121 on the lower chassis shell 12. Simultaneously, the annular partition 111 is sealed and fastened within the annular sealing groove 122 when the upper chassis shell 11 is fastened to the lower chassis shell 12. Preferably, a sealing strip 113 is installed within the annular sealing groove 122 to seal and separate the first and second isolation chambers.

[0113] In this embodiment, the lower concealed region of the height adjustment member 2 is formed within the receiving groove 14, and the second opening 121 extends through the receiving groove 14. More precisely, the lower concealed region passes through the receiving groove 14 and the receiving cavity 143 sequentially from bottom to top and is installed in place. The structure and arrangement of the receiving cavity 143 are described below.

[0114] For example, to facilitate the user in recording the current working height of the working mechanism 5, the height adjustment member 2 has a plurality of height marks 215, each corresponding to at least a portion of a plurality of locking slots 213. Optionally, one height mark 215 is arranged every 3 to 5 locking slots 213 along the distribution direction of the locking slots 213. The plurality of height marks 215 are equally spaced along the circumference of the height adjustment member 2, and at least some of the plurality of height marks 215 are exposed in the display area 2a. The lower housing 12 of the chassis has an indicator mark 16, which cooperates with the plurality of height marks 215 to indicate the current height of the working mechanism 5. In this way, the user can read the current height of the working mechanism 5 from the display area 2a without having to observe the working mechanism 5. Preferably, the plurality of height marks 215 are formed on the side 21 of the height adjustment member 2.

[0115] In this embodiment, the autonomous operating device 100 is a self-propelled operating device capable of autonomously walking in a straight line. The axial direction of the first axis is parallel to the forward direction of the autonomous operating device 100 when it walks in a straight line, as described above.

[0116] Based on this, the height adjustment component 2 is rotatably supported on the support body 1 by a first rotating shaft 20 extending along the first direction. The working mechanism 5 abuts against the height adjustment component 2, and at the abutting part, the working mechanism 5 and the height adjustment component 2 form a planar motion pair 3, wherein the plane of the planar motion pair 3 is orthogonal to the first direction. The height adjustment component 2 can operably convert its own rotation into the displacement of the working mechanism 5 in the height direction of the self-propelled working equipment through the planar motion pair 3.

[0117] Compared to the height adjustment mechanism in the prior art, the height adjustment component 2 in this embodiment is supported on the support body 1 by a first rotating shaft 20 extending along the first direction. In this way, the height adjustment component 2 can be positioned to rotate in a single rotation plane, for example, perpendicular to the first direction. Therefore, the size space occupied by the height adjustment component 2 in the first direction, that is, the front-back direction of the autonomous working device 100, is very small. Furthermore, the height adjustment component 2 and the working mechanism 5 generate relative movement through a planar kinematic pair 3 orthogonal to the first direction, thereby adjusting the working height of the working mechanism 5. Similarly, the size space occupied by the planar kinematic pair in the first direction is very small. Therefore, the height adjustment mechanism composed of the height adjustment component 2 and the planar kinematic pair occupies a small overall size space in the first direction of the working device, which is conducive to the compact and miniaturized design of the working device.

[0118] In one scenario, the height adjustment component 2 is entirely biased to one side of the working mechanism 5 along a first direction. In this embodiment, along the forward direction of the autonomous operating device 100, the height adjustment component 2 is entirely biased to the rear side of the working mechanism 5.

[0119] For example, the planar motion pair 3 can be a slotted pin pair, a cam pair, or a gear and rack pair. Taking the planar motion pair 3 as a slotted pin pair as an example, optionally, the first protrusion 311 on the aforementioned supporting part 31 is configured as a pin, and the grooved part 321 on the aforementioned abutting part 32 is configured as a groove. The first protrusion 311 is received in the grooved part 321, thus forming the slotted pin pair. Taking the planar motion pair 3 as a cam pair as an example, the supporting part 31 is provided with a cam, and the aforementioned abutting part 32 has a push rod that cooperates with the cam. The cam rotates with the height adjustment member 2, acts on the push rod, and drives the working mechanism 5 to move along the height direction of the autonomous working device 100 through the push rod.

[0120] For example, the height adjustment component 2 is a dial component capable of being rotated. The dial component is constructed with a small aspect ratio, optionally less than 1:5, and in one case, at least less than 1:1. The thickness direction of the height adjustment component 2 is parallel to the first direction. In this way, space can be greatly saved in the first direction, which is beneficial to the lightweight, miniaturized, and compact design of the autonomous operating equipment 100.

[0121] In this embodiment, as Figure 3As shown, the lower part of the support body 1 is recessed upward to form a receiving groove 14, in which the height adjustment member 2 and the working mechanism 5 are housed together. Specifically, a second mounting portion 142 extending along the height direction of the self-propelled working device 100 is configured within the receiving groove 14, and the working mechanism 5 is movably connected to the second mounting portion 142. As mentioned above, the second seat 56 is detachably mounted on the second mounting portion 142, and the second seat 56 is movably connected to the first seat 58 on the working mechanism 5 via a connecting rod 57. On the other hand, a first mounting portion 141 extending along the height direction of the self-propelled working device 100 is configured within the receiving groove 14, and the first mounting portion 141 is offset to one side of the second mounting portion 142. The height adjustment member 2 is rotatably mounted on the first mounting portion 141 via a pivot. The bottom surface of the receiving groove 14 is recessed upward to form a receiving cavity 143. The top of the receiving cavity 143 has a second opening 121. The height adjustment member 2 is received in the receiving cavity 143. The height adjustment member 2 has an operating part 21 that is at least partially exposed from the second opening 121. The operating part 21 allows the user to apply an operating torque to drive the height adjustment member 2 to rotate.

[0122] Furthermore, the receiving groove 14 is provided with two opposing first mounting portions 141. Preferably, the two first mounting portions 141 are symmetrically arranged with respect to the receiving cavity 143. Optionally, they are arranged opposite each other in a first direction, and a limiting recess is formed between the ends of the two portions away from the receiving groove 14. After the height adjustment member 2 is connected to the rotating shaft seat 13 through the first rotating shaft 20, the rotating shaft seat 13 abuts against the limiting recess from bottom to top. At this time, the height adjustment member 2 is received in the receiving cavity 143 from bottom to top. The bottom of the rotating shaft seat 13 abuts against the bottom end of the first mounting portion 141 and is fixed by fasteners.

[0123] like Figure 6 , Figure 7 As shown, the working mechanism 5 includes a carrier and a movable component 52 movably disposed on the carrier in a second direction. In this embodiment, the movable component 52 includes an actuating component 5222, optionally such as a cutting assembly.

[0124] The following is a detailed description of the specific structure of the aforementioned working mechanism 5, in order to more clearly and completely demonstrate the core of this solution.

[0125] like Figures 6 to 12As shown, the working mechanism 5 includes a first support platform 51, a movable component 52, a traction component 532, and an elastic component 7. The movable component 52 is supported on the first support platform 51 and can move back and forth between a first position and a second position along a set direction. The set direction is orthogonal to the height direction of the autonomous working device 100. As shown in the figure, in this embodiment, the set direction is limited to being parallel to the aforementioned second direction, but it is not actually limited to this. In other embodiments, it can also be parallel to the aforementioned first direction, that is, the forward direction of the autonomous working device 100 when it moves in a straight line, or a direction that forms an acute or obtuse angle with the first direction in the plane formed by the first direction and the second direction. There is no limitation on this.

[0126] In this configuration, the traction member 532 is configured to be driven by the first drive member 531 to move the movable member 52 from a first position to a second position. The elastic member 7 is configured to store elastic potential energy in response to the movable member 52 moving from the first position to the second position, so as to operably release the elastic potential energy to drive the movable member 52 back from the second position to the first position. Here, the traction member 532 and the first drive member 531 can optionally be configured as an integrated component, or in some cases as separate components. The integrated component is, for example, an electric telescopic rod assembly, in which case the extendable or retractable movable rod of the electric telescopic rod assembly becomes the traction member 532, and correspondingly, the drive member that drives the extendable or retractable movable rod becomes the first drive member 531.

[0127] In this embodiment, when the movable part 52 needs to move from the first position to the second position, the first driving member 531 can drive the traction member 532 to move the movable part 52. Simultaneously, the elastic member 7 stores elastic potential energy during the movement of the movable part 52. When the movable part 52 needs to return from the second position to the first position, the driving of the first driving member 531 can be stopped, and the traction member 532 no longer applies traction force to the movable part 52. Instead, by releasing the elastic potential energy stored in the elastic member 7, the movable part 52 can be quickly driven back from the second position to the first position. Compared to the prior art, this significantly reduces equipment and operating costs.

[0128] Furthermore, in the selectable first position, the movable member 52 is essentially only subjected to a resisting force from the elastic member 7 toward the side away from the second position in the set direction, and is essentially not subjected to a force applied by the traction member 532. Thus, when subjected to an external impact force opposite to the resisting force, the movable member 52 can easily transmit the impact force to the elastic member 7, which then elastically deforms, causing the movable member 52 to retract and cushion the impact. In some cases, since both the traction member 532 and the elastic member 7 are compressible and deformable toward the first position, the movable member 52 can elastically retract to avoid external obstacles, thereby reducing the possibility of damage to the movable member 52.

[0129] like Figure 9 and Figure 10 As shown, in one scenario, the first position and the second position are selectable, and this embodiment does not limit this. In this embodiment, the first position can be selected as a first extreme position where the movable part 52 can move along the second direction, and the second position can be selected as a second extreme position where the movable part 52 can move along the second direction. In this embodiment, the movable part 52 includes a cutting component. The first extreme position can be a trimming position where the cutting component moves close to the edge of the autonomous operating device 100 along the second direction, and the second extreme position can be a return position where the cutting component moves away from the edge of the autonomous operating device 100 along the second direction. The second extreme position can be a return position where the cutting component moves close to the central axis of the autonomous operating device 100 along the second direction, so as to ensure that the cutting component has a sufficient safe distance from the edge of the device as much as possible. In this way, when the cutting component is encountered by obstacles from the edge of the working area at the trimming position, it can elastically retreat to avoid the obstacles, thereby avoiding damage or even breakage caused by hard contact between the cutting component and the obstacles.

[0130] In this embodiment, the traction member 532 is driven by the positive driving force output by the first driving member 531 to move the movable member 52 from the first position to the second position. When the first driving member 531 has no driving force output or outputs a reverse driving force, the elastic member 7 releases elastic potential energy to drive the movable member 52 back from the second position to the first position. In one case, the positive driving force described here can be a positive rotational driving force, and correspondingly, the reverse driving force is a reverse rotational driving force. In another case, the positive driving force described here can be a positive linear driving force, and correspondingly, the reverse driving force is a reverse linear driving force. Furthermore, the definitions of "forward" and "reverse" here are relative concepts. In one case, "forward" may be, for example, clockwise, and the forward driving force is the driving force that rotates in the clockwise direction. Correspondingly, "reverse" is counterclockwise, and the reverse driving force is the driving force that rotates in the counterclockwise direction. In another case, "forward" may also be defined as counterclockwise, and correspondingly, "reverse" is clockwise. As long as the above-mentioned kinematic relationship between the traction member 532, the first driving member 531, and the movable member 52 is satisfied, no restrictions are imposed here.

[0131] In this embodiment, the traction member 532 is configured to be driven by the first driving member 531 to deform, displace, or rotate, thereby tractioning the movable member 52 from a first position to a second position. The elastic member 7 is configured to store elastic potential energy in response to the movable member 52 moving from the first position to the second position, so as to offset the deformation, displacement, or rotation of the traction member 532 by operably releasing the elastic potential energy, thereby causing the movable member 52 to return from the second position to the first position.

[0132] In one scenario, the traction member 532 is a flexible traction member, and it undergoes contraction deformation driven by the first driving member 531 to move the movable member 52 from a first position to a second position. From one perspective, the flexible traction member is, for example, a traction member capable of moving the movable member 52 through its own contraction deformation. This contraction deformation is, for example, a deformation that reduces the size and / or volume in at least one spatial direction, commonly such as curling deformation or folding deformation. Based on the above description, the deformation that achieves the above-mentioned elements does not include elastic deformation. Specifically, the flexible traction member is, for example, a cable traction member, a chain traction member, a belt traction member, or other flexible traction member that can reduce its size in the set direction through curling deformation. The flexible traction member is also, for example, a scissor-type linkage structure, a telescopic rod structure, or other mechanical structural assembly that can reduce its size in the set direction through folding deformation.

[0133] In this embodiment, the traction member 532 is a slender, flexible traction member. The first driving member 531 has a first driving shaft. One end of the traction member 532 is driven by the first driving member 531 to wind around the first driving shaft, and the other end is connected to the movable member 52. Here, the specific characteristics of the flexible traction member 532, such as its strength characteristics, are the same as those of the connecting member described in paragraphs 0063 to 0065 of the specification of Chinese Utility Model Patent CN219305439U (hereinafter referred to as "Prior Patent II"), and will not be repeated here.

[0134] For example, such as Figures 6 to 7 , Figures 9 to 10 As shown, a first driving member 531 is positioned on a first support platform 51. The first driving member 531 is configured as a first motor with a first drive shaft. One end of a flexible traction member 532 is wound around the first drive shaft to move the movable member 52. More specifically, a first fixing part 533 is provided on the first drive shaft, and one end of the flexible traction member 532 is driven and wound around the first fixing part 533. The movable member 52 has a second fixing part 534, and the other end of the flexible traction member 532 is fixed to the second fixing part 534. Optionally, the second fixing part 534 has a tie hole, and the other end of the traction member 532 is tied to the tie hole. The specific structure of the second fixing part of the flexible traction member 532 is described in conjunction with the appendix to the prior art patent 2. Figure 5 The structure shown in b is the same and will not be repeated here. Accordingly, the full text of prior patent 2 is incorporated herein by reference.

[0135] In one scenario, the first drive member 531, acting as the first motor, can selectively switch between three states: outputting positive torque, outputting reverse torque, and no torque output. The traction member 532, driven by the positive torque output from the first drive member 531, pulls the movable member 52 from a first position to a second position. During this process, the elastic member 7 tensions the traction member 532 by acting on the movable member 52, thus ensuring a very smooth movement of the movable member 52. When the first drive member 531 is in a state of no torque output or outputting reverse torque, the movable member 52 is driven by the elastic potential energy released by the elastic member 7 to return from the second position to the first position.

[0136] Here, during the reset process, the movable part 52 also pulls the traction member 532 toward the first position. The first drive shaft, under the tension of the traction member 532, overcomes its own damping and is forced to rotate in the opposite direction, thereby allowing the wound traction member 532 to gradually detach from and be released from the first drive shaft. In other words, when the movable part 52 needs to return from the second position to the first position, the first drive member 531 should at least be in a state of no torque output. At this time, the first drive shaft of the first drive member 531 is only subjected to its own damping. Under this condition, the energy consumed by the first drive member 531 can be minimized. At this time, the stored elastic potential energy is completely released through the elastic member 7 to drive the movable part 52 to return from the second position to the first position. To make the return stroke of the movable part 52 smoother, the first drive member 531 can also be in the state of outputting reverse torque. In this way, the reverse torque provided by the first drive member 531 cancels the damping effect on the first drive shaft, so that the elastic potential energy released by the elastic member 7 can be used to drive the movable part 52 to move without canceling the damping effect on the first drive shaft, thereby making the return stroke of the movable part 52 smoother.

[0137] In one scenario, one end of the traction member 532 is connected to the first driving member 531, and the other end is connected to the movable member 52. The traction member 532 is driven by the first driving member 531 to undergo rigid displacement, thereby pulling the movable member 52 from a first position to a second position. Here, the traction member 532 can be a rigid traction member. Optionally, a rigid rod, a rack, a movable frame, etc., can all be used as the aforementioned rigid traction member. The rigid traction member pulls the movable member 52 to move by undergoing rigid displacement, that is, by the overall displacement of the rigid traction member. For example, the movable member 52 can be moved by the overall displacement of the rigid rod, the overall displacement of the rack, or the overall displacement of the movable frame. Here, the traction member 532 can be connected to the first drive member 531 via any transmission component capable of operatively canceling the transmission function. Such a transmission component includes, for example, at least a portion of a disengaged gear transmission assembly or a clutch transmission assembly. Examples of the latter are described below. Taking the former as an example, when the traction member 532 needs to be driven by a driving force to move the movable member 52, the various parts of the operating gear transmission assembly engage. When the traction member 532 does not need to be driven by a driving force to move the movable member 52, at least a portion of the operating gear transmission assembly disengages. Thus, during the return stroke of the movable member 52, the traction member 532 no longer provides traction force to the movable member 52, and at the first position, the movable member 52 can be completely supported by the elastic member 7.

[0138] In this embodiment, the first driving member 531 has a first drive shaft, which is connected to the traction member 532 via a one-way clutch. In one case, the one-way clutch is selected as a one-way overrunning clutch. Here, we take the rack and pinion as an example to illustrate the concept. The first drive shaft on the first drive member 531 is connected to the gear transmission via a one-way clutch. The gear and the rack, i.e., the traction member 532, are meshed together. When it is necessary to move the movable part 52 from the first position to the second position, the first drive shaft is rotated in the forward direction by the driving force. The clutch engages and drives the gear to rotate, which in turn drives the rack to make a rigid displacement in the set direction, thus moving the movable part 52 from the first position to the second position. When it is necessary to reset the movable part 52, i.e., return to the second position, the clutch does not engage. The clutch no longer transmits power between the first drive member 531 and the gear. In other words, the gear can rotate freely and does not constrain or limit the return displacement of the rack, i.e., the traction member 532. Thus, under the action of the elastic potential energy of the elastic member, the movable part 52 can return from the second position to the first position. At the first position, the movable part 52 can be buffered or avoid obstacles from the front of the second position through elastic backing, making the movable part 52 less susceptible to damage.

[0139] As mentioned above, the first driving member 531 can be a linear driving member. The traction member 532 is driven by the positive linear driving force of the first driving member 531 to pull the movable member 52 to move linearly along a set direction. The linear driving member is, for example, an electric telescopic rod. Specifically, the traction member 532 is driven by the positive linear driving force output by the first driving member 531 to move the movable member 52 from a first position to a second position. During this process, the elastic member 7 tensions the traction member 532 by acting on the movable member 52, thus making the movement of the movable member 52 very smooth. When the first driving member 531 is in a state of no driving force output, the movable member 52 is driven by the elastic potential energy released by the elastic member 7 to return from the second position to the first position. This also achieves the technical purpose of driving the movable member 52 to move back and forth, and essentially does not deviate from the conceptual scope of this utility model.

[0140] In one embodiment, the first driving member 531 is disposed on either the first support platform 51 or the movable member 52. In this embodiment, the specific scenario of the first driving member 531 being disposed on the first support platform 51 has already been given, as previously described, and will not be repeated here. In another embodiment, the first driving member 531 is disposed on the movable member 52. Taking the traction member 532 as a flexible traction member as an example, a first fixed part is disposed on the first drive shaft of the first driving member 531. One end of the traction member 532 is driven to wrap around the first fixed part. The first support platform 51 has a second fixed part, and the other end of the traction member 532 is fixed to the second fixed part. As one end of the traction member 532 gradually wraps around the first fixed part, the traction member 532 undergoes contraction deformation in the set direction, thereby pulling the movable member 52 from the first position to the second position. When the first driving member 531 is in a state of no driving force output, the movable member 52 is driven by the elastic potential energy released by the elastic member 7 to return from the second position to the first position. During this process, the traction member 532 gradually unfolds. Optionally, the traction component 532 is a cable chain, and the first fixing part is a sprocket that matches the cable chain.

[0141] Taking traction component 532 as a rigid traction component as an example, such as Figure 25 As shown, the traction member 532 is a traveling wheel mounted on the first drive shaft of the first drive member 531. A traveling track is formed on the first support platform 51 to fit with the traveling wheel. The traction member 532 is driven by the first drive member 531 to rotate around the first drive shaft and travels along the traveling track, thereby pulling the movable member 52 to move. When the first drive member 531 is in a state of no driving force output, the movable member 52 is driven by the elastic potential energy released by the elastic member 7 to return from the second position to the first position. During this process, the traveling wheel is configured to freely travel along the traveling track.

[0142] In this embodiment, as Figure 6 , Figure 7 as well as Figure 8As shown, the movable component 52 includes a second support platform 521 and an operating module 522 positioned on the second support platform 521. The movable component 52 is supported on the first support platform 51 by the second support platform 521. Specifically, the first support platform 51 has a rectangular groove, the long side of which extends along a second direction, and the second support platform 521 is slidably disposed within the rectangular groove. Preferably, at least one first seat 58 is fixed to the first support platform 51. More specifically, the first support platform 51 also includes a first extension fixed to a long side of the rectangular groove and a second extension fixed to a short side of the rectangular groove. The first extension extends from the outer wall of the long side of the rectangular groove along a first direction, and the second extension extends from the outer wall of the short side of the rectangular groove along a second direction. The first extension has a plug-in portion 123 for inserting a bottom protective rod, the specific plug-in structure of which is described in detail below. In this embodiment, at least one first base 58 is fixed on the second extension and connected to the support 1 via a connecting rod. The detailed structure has been fully described above and in prior patents, and will not be repeated here.

[0143] In this embodiment, as Figures 6 to 7 As shown, the autonomous operating device 100 further includes a guide member 54 for guiding the movable component 52 to move linearly along a set direction. In one case, the guide member 54 includes guide grooves disposed on both sides of the first support platform 51, and the second support platform 521 has a guide portion adapted to the guide grooves. The linear movement of the movable component 52 along the set direction is achieved through the cooperation of the guide portion and the guide grooves.

[0144] In this embodiment, as Figures 9 to 11 As shown, the guide member 54 includes a first guide rod seat 541 and a second guide rod seat 542 spaced apart on the first support platform 51 along the direction in which the movable member 52 is pulled and moved, and a guide rod 543 extending along the set direction and mounted on the first guide rod seat 541 and the second guide rod seat 542. The movable member 52 includes a guide seat 23 that matches the guide rod 543. In one case, the guide seat 23 is connected to the guide rod 543 via a linear bearing. Specifically, the first guide rod seat 541 has a first rod hole, and the second guide rod seat 542 has a second rod hole, which extend in the set direction. The guide rod 543 passes through the first rod hole and the second rod hole and is supported on the first guide rod seat 541 and the second guide rod seat 542.

[0145] In this embodiment, as Figure 9 and Figure 10As shown, the elastic element 7 is a helical spring disposed between the guide seat 23 and the second guide rod seat 542 and fitted onto the outer periphery of the guide rod 543. In this case, when the movable part 52 moves from the first position to the second position, the elastic element 7 stores elastic potential energy through compression deformation; when the movable part 52 returns from the second position to the first position, the elastic element 7 releases the elastic potential energy by restoring itself. In one embodiment, the elastic element 7 is a helical spring disposed between the guide seat 23 and the first guide rod seat 541 and fitted onto the outer periphery of the guide rod 543. In this case, when the movable part 52 moves from the first position to the second position, the elastic element 7 stores elastic potential energy through stretching deformation; when the movable part 52 returns from the second position to the first position, the elastic element 7 releases the elastic potential energy by restoring itself. In other embodiments, the elastic element 7 may also be disposed between the first support platform 51 and the second support platform 521.

[0146] In this embodiment, at the first position, i.e., the aforementioned first extreme position, the first guide rod seat 541 stops the guide seat 23 to restrict the movable part 52 from continuing to move. At the second position, i.e., the aforementioned second extreme position, the elastic member 7, which is in a state of extreme compression or extreme tension, stops the guide seat 23 to restrict the movable part 52 from continuing to move. Alternatively, the first driving member 531 drives the flexible traction member 532 to apply a traction force to the movable part 52, so that after overcoming the force of the elastic member 7, the movable part 52 remains in that position, i.e., restricting the movable part 52 from continuing to move. All of the above methods belong to the method of restricting the second support platform 521 from continuing to move along its original state after it reaches the extreme position.

[0147] In this embodiment, a closed cover 511 is further included, which covers the first support platform 51. The first support platform 51 and the closed cover 511 together enclose a closed chamber 512. The traction member 532, the elastic member 7, the first driving member 531, and the guide member 54 are all placed inside the closed chamber 512. The closed cover 511 is configured to cover the first support platform 51 while limiting the two ends of the guide rod 543. In one case, after the closed cover 511 is covered on the first support platform 51, it is fastened by a threaded connection, such as... Figures 11 to 12 As shown, the inner wall of the enclosure 511 has a first limiting end face and a second limiting end face. The first limiting end face abuts against the outer end of the first guide rod seat 541, and the second limiting end face abuts against the outer end of the second guide rod seat 542, thereby restricting the guide rod 543 from disengaging from either end of the second guide rod seat 542 or the first guide rod seat 541.

[0148] In one embodiment, the guide member 54 further includes rollers 231 disposed within the guide seat 23. The rollers 231 are configured to roll freely along the guide rod 543 as the movable member 52 moves, thereby reducing the frictional resistance between the guide seat 23 and the guide rod 543 during the movement of the second support platform 521. Exemplarily, the guide member 54 includes at least one pair of rollers 231 disposed opposite each other within the guide seat 23. Specifically, the pair of rollers 231 are disposed opposite each other along the vertical direction of the guide rod, and the guide rod 543 passes between the at least one pair of rollers 231. The rollers 231 are configured to roll freely along the guide rod 543 as the movable member 52 moves. Figure 12 As shown, in this embodiment, two sets of rollers are arranged at intervals along the second direction inside the guide seat 23. Preferably, each set of rollers includes the pair of rollers 231 and a support roller. The guide rod 543 passes through the pair of rollers 231, and the support roller is arranged adjacent to the pair of rollers 231 and supported below the guide rod 543.

[0149] In this embodiment, the guide member 54 includes a pair of guide members 54 arranged symmetrically with respect to the movable member 52. Specifically, the pair of guide members 54 are arranged symmetrically with respect to the movable member 52 in a first direction. Optionally, in each guide member 54, an elastic element 7 is disposed between the guide seat 23 and one of the first guide rod seat 541 and the second guide rod seat 542. Further, the two elastic elements 7 on the pair of guide members 54 are arranged symmetrically with respect to the movable member 52.

[0150] In one embodiment, the autonomous operating device 100 includes a first support platform 51, a second support platform 521, an operating module 522, and a traction mechanism. The first support platform 51 is configured with a closed chamber 512 having a first through hole 5121. The second support platform 521 is movably supported on the first support platform 51 in a second direction orthogonal to the height direction of the autonomous operating device 100. The operating module 522 is mounted and positioned on the second support platform 521 and configured to extend at least partially from the first through hole 5121 into the closed chamber 512. The traction mechanism is received within the closed chamber 512 for traction of the second support platform 521. The second support platform 521 is configured to cover the first through hole 5121, either alone or together with the operating module 522, to substantially close the closed chamber 512.

[0151] When the autonomous operating equipment 100 moves and performs operations, the traction mechanism inside the enclosed chamber 512 pulls the second support platform 521 to move along the second direction and drives the operating module 522 to move and perform operations. Since the second support platform 521 alone or together with the operating module 522 covers the first through hole 5121, the enclosed chamber 512 is largely sealed. As a result, when the operating end of the operating module 522 is in motion and / or moving, it is difficult for splashes from the working surface to enter the enclosed chamber 512, thereby affecting the normal operation of the traction mechanism and / or other functional components, improving the safety and reliability of the equipment operation process, and extending the service life of the equipment.

[0152] In one embodiment, the work module 522 includes a second drive member 5221 and an execution component 5222 driven by the second drive member 5221. In other embodiments, the second drive member 5221 is a second motor, and the execution component 5222 is a roller brush component driven by the second drive member 5221. In other embodiments, the second drive member 5221 is a vacuum pump, and the execution component 5222 is a vacuuming component. Here, the second drive member 5221 is mounted on the second support platform 521, and the execution component 5222 is connected to the second drive member 5221 through a first through hole 5121. The execution component 5222 has an execution end externally located in the enclosed chamber 512, which may optionally be a vacuum port as described above for a vacuuming component, or a roller brush as described above for a roller brush component. In this embodiment, the work module 522 includes a second drive member 5221 and a cutting assembly driven by the second drive member 5221. The cutting assembly includes a blade disc component located below the first support platform 51. The cutter head assembly includes a cutter head and a rotating cutting head mounted on the cutter head. That is, here, the actuating component 5222 includes a cutting assembly with a cutter head actuating end, which is driven by the second driving member 5221 to perform the cutting operation. Optionally, the autonomous operating device 100 is a lawnmower, where the cutter head actuating end is driven by the second driving member 5221 to perform the mowing operation.

[0153] Specifically, the second driving member 5221 is a second motor that is vertically fixed to the surface of the second support platform 521. The output shaft of the second driving member 5221 extends toward the first through hole and is connected to the cutting assembly through the first through hole 5121 for transmission, so as to provide power for the cutting assembly to perform cutting action.

[0154] In one configuration, the second drive member 5221 is completely fixed to the bottom of the second support platform 521, and the actuating component 5222 is located below the second drive member 5221 and connected to the second drive member 5221 from bottom to top. In this case, the second support platform 521 alone covers the first through hole 5121, thereby substantially sealing the enclosed chamber 512.

[0155] In one configuration, the second support platform 521 has a second through hole 5211. The second drive member 5221 includes a body and a housing component that accommodates the body. The housing component is sealed and fastened to the second through hole 5211. The body and the actuating member 5222 pass through the second through hole 5211 and are connected to the first through hole 5121. Optionally, the second drive member 5221 may be a second motor, and the housing component may be the motor housing of the second drive member 5221.

[0156] In one embodiment, the autonomous operating device 100 further includes an annular seal 55 arranged around the first through-hole 5121, adapted to seal the gap between the second support platform 521 and the first support platform 51. Specifically, the annular seal 55 is detachably mounted on the second support platform 521. Figure 7 and Figure 8 As shown, a sleeve portion 551 is formed on the inner wall of the annular seal 55, through which the annular seal 55 is fitted onto the bottom of the second support platform 521. Optionally, the sleeve portion 551 is an annular sleeve groove, which is adapted to fit onto the bottom of the second support platform 521 to position the annular seal 55 at the lower part of the second support platform 521. Optionally, the bottom of the annular seal 55 has an annular smooth contact surface, which contacts and engages with the upper surface of the first support platform 51.

[0157] Specifically, when the second support platform 521 moves to any position, the orthographic projection of the second through hole 5211 onto plane P2 is always within the orthographic projection range of the annular seal 55 onto plane P2, and the orthographic projection of the output shaft of the second drive member 5221 onto plane P2 is always within the orthographic projection range of the second through hole 5211 onto plane P2. The second support platform 521 moves relative to the first support platform 51 within plane P2.

[0158] As previously described, the autonomous operating equipment 100 further includes a closed cover 511 covering the first support platform 51, the first support platform 51 and the closed cover 511 forming the aforementioned closed chamber 512, and the second support platform 521 is movably supported on the first support platform 51.

[0159] In this embodiment, the first support platform 51 has a sliding portion 513, and the second support platform 521 is movably supported on the sliding portion 513. A first through hole 5121 is formed on the sliding portion 513. In one case, the sliding portion 513 is constructed as the aforementioned rectangular groove with its long side extending along the second direction, and the second support platform 521 is slidably connected within the rectangular groove. It should be understood that the sliding portion 513 can also be constructed as a slide rail, and the first through hole 5121 is formed on the sliding portion 513.

[0160] In one scenario, the aforementioned traction mechanism includes the aforementioned traction member 532, a first drive member 531 that drives the traction member 532 to move the movable member 52, and an elastic member 7 that drives the movable member 52 from the second position back to the first position. The process of moving the movable member 52 has been described in detail above and will not be repeated here. In another scenario, the aforementioned traction mechanism may also include a lead screw component and a first drive member 531, wherein the lead screw component is driven by the first drive member 531 to move the movable member 52 along the predetermined direction. In a specific scenario, the aforementioned elastic member 7 can be omitted, and the movable member 52 can be moved back and forth by the lead screw component.

[0161] Optionally, the autonomous operating device 100 is a self-propelled lawnmower, as shown in the reference. Figures 19 to 24 Based on this, the following technical solutions will be further disclosed:

[0162] In this embodiment, the self-propelled lawnmower includes a support platform, a cutting assembly, side guards 81, and a bottom guard 82. In this embodiment, the support platform is a first support platform 51. As previously described, the first support platform 51 has a first direction and a second direction, wherein the first direction is parallel to the forward direction of the lawnmower when it travels in a straight line, and the second direction is orthogonal to the first direction and the height direction of the lawnmower. The cutting assembly is mounted on the support platform for performing cutting operations. The side guard 81 is located to the side of the cutting assembly to form a protective barrier to the side of the cutting assembly. The bottom guard 82 is located below the cutting assembly to form a protective barrier below the cutting assembly. Both the bottom guard 82 and the side guard 81 extend along the first direction. The side guard 81 is integrally formed on one side of the support platform in the second direction, and the bottom guard 82 is detachably connected to the support platform.

[0163] Here, the protective mechanism consists of two main parts: a side guard 81 integrally formed on the support platform and a bottom guard 82 detachably connected to the support platform. Since the self-propelled lawnmower mainly operates on a working surface, such as the ground, the bottom guard 82, facing the working surface, is far more likely to be damaged than the side guard 81 during actual use. In this embodiment, the side guard 81 is integrally formed with the support platform. Due to its low probability of damage, it does not require frequent disassembly. The integral forming method simplifies the installation structure and maintains the overall appearance of the lawnmower. The bottom guard 82 is detachably connected to the bottom of the support platform. Therefore, when it is damaged or when the cutting components need to be repaired, the bottom guard 82 can be removed from the support platform, thereby enhancing the ease of maintenance of the protective mechanism.

[0164] like Figures 20 to 21As shown, exemplarily, one end of the bottom protection 82 is detachably fixedly or movably connected to the first support platform 51, and the other end is detachably fixedly connected to the first support platform 51. In one scenario, one end of the bottom protection 82 is detachably rotatably connected to the first support platform 51, for example, via a detachable hinge shaft, and the other end is detachably fixedly connected to the first support platform 51, for example, via a threaded fastener. Thus, when assembling the bottom protection 82, one end can be rotatably connected to the support platform first, completing the assembly of that end, and then the other end can be naturally positioned along the first direction. After positioning, the other end can be directly assembled onto the support platform, thereby improving the assembly efficiency of the bottom protection 82. Furthermore, when it is necessary to disassemble the bottom protection 82 to inspect the cutting component located under the lawnmower, only the fixed end of the bottom protection 82 fixed to the support platform needs to be removed, and the bottom protection 82 can be rotated open to provide space for the inspection of the cutting component, without needing to remove the movable end of the bottom protection 82, further improving maintenance convenience.

[0165] For example, one end of the bottom protector 82 is engaged with the support platform, and the other end is fastened to the support platform by fasteners. In one case, the bottom protector 82 is a single integral piece; in another case, the bottom protector 82 is a modular assembly, the specific structural forms of which are detailed below. Taking the engagement of one end of the bottom protector 82 with the support platform as an example, in one case, the support platform has a plug-in portion 123, and one end of the bottom protector 82 is plugged into and fixed to this plug-in portion 123. Figure 21 As shown, further, in one embodiment, the insertion portion 123 is configured as an insertion protrusion formed by the support platform protruding outward, and the bottom protection 82 has an insertion groove or insertion hole that matches the insertion protrusion. In this embodiment, the insertion portion 123 is an insertion groove or insertion hole extending along the height direction of the lawnmower, and one end of the bottom protection 82 is inserted and fixed in the insertion portion 123.

[0166] like Figures 22 to 24In this embodiment, the bottom protection 82 includes a protective part 821 and a fixing seat 822. In one case, the protective part 821 and the fixing seat 822 are injection molded together. The protective part 821 includes a plurality of elongated protective rods 8211 extending along a first direction. The plurality of protective rods 8211 are arranged parallel and spaced apart along a second direction. At least one pair of adjacent protective rods 8211 are separated from each other to form a grass-leaking gap 8212. A grass-leaking gap 8212 is formed between each pair of adjacent protective rods 8211. In this embodiment, the plurality of protective rods 8211 specifically consists of three protective rods 8211, wherein any two adjacent protective rods 8211 are spaced apart, and the spacing between each pair of adjacent protective rods 8211 is substantially equal. The fixed base 822 is fastened to the support platform by threaded fasteners. In the protective part 821, one end of the multiple protective rods 8211 are connected together by the fixed base 822, and the other end of the multiple protective rods 8211 in the protective part 821 is a free end, which is inserted into the support platform respectively.

[0167] As one structural form, the guardrail 8211 includes a straight section, an inclined section, and a connecting section connected sequentially along the forward direction of the self-propelled lawnmower. The straight section is adapted to extend generally along the first direction, the connecting section is adapted to extend generally along the height direction of the self-propelled lawnmower, and the end of the straight section away from the inclined section is a fixed end, which is fixedly connected to the support platform via a mounting base 822. The inclined section is configured to face forward of the self-propelled lawnmower, and this configuration can buffer the impact force of obstacles such as hard blocks encountered by the self-propelled lawnmower during its movement.

[0168] like Figure 20 As shown, in this embodiment, the mounting base 822 includes an integrally formed first connecting portion 8221 and a second connecting portion 8222. The first connecting portion 8221 extends substantially along a first direction and is detachably fixedly connected to the support platform. The second connecting portion 8222 extends at least partially and substantially along a second direction and is integrally connected to the protective portion 821. The width of the first connecting portion 8221 in the second direction is smaller than the width of the second connecting portion 8222 in the second direction, and the second connecting portion 8222 can be considered to extend from one end of the first connecting portion 8221 toward the central axis of the lawnmower.

[0169] Specifically, the first connecting portion 8221 has a first mating portion, and a second mating portion 17 protrudes downward from the support platform. Optionally, the second mating portion 17 is columnar. The first mating portion has a first mating hole, and the second mating portion 17 has a second mating hole. When it is necessary to connect the fixing seat 822 to the support platform, the first mating portion and the second mating portion 17 on the fixing seat are aligned, and the first mating hole and the second mating hole are aligned. The fixing seat 822 is connected to the support platform by a fastening connector, such as a threaded connector, that simultaneously passes through the first and second mating holes. In this embodiment, two first mating portions are spaced apart along a first direction on the first connecting portion 822. Correspondingly, two second mating portions 17 are formed on the support platform. The fastening connection of the two sets of mating portions forms a reinforcement effect.

[0170] In this embodiment, the protective rod 8211 is constructed as a rigid metal rod, and has a first end and a second end along a first direction. The first end of the protective rod 8211 is fixedly connected to the aforementioned first connecting portion 8221. In this embodiment, the first end of the protective rod 8211 is injection molded to the first connecting portion 8221. The second end of the protective rod 8211 is a free end, and its position and shape are adapted to the insertion portion 123 provided on the support platform. The insertion portion 123 is formed at the front end of the support platform along the first direction, allowing the second end of the protective rod 8211 to be inserted. In this embodiment, the first connecting portion 8221 and the second mating portion 17 of the support platform, i.e., the first support platform 51, are fixedly connected by screws. In other embodiments, the first connecting portion 8221 and the second mating portion 17 can also be fixedly connected by a snap-fit ​​structure. During installation, the second end of the protective rod 8211 is first inserted into the insertion portion 123, and then the first connecting portion 8221 is fixedly connected to the support platform.

[0171] like Figure 23 As shown, in this embodiment, the second connecting portion 8222 extends at least partially toward the side facing the cutting assembly. The second fixing base 8222 is configured as an L-shaped connecting portion. Specifically, the second fixing base 8222 includes a short side portion and a long side portion perpendicularly connected to the short side portion, wherein the short side portion is configured to be parallel to the protective rod 8211, and the first ends of the plurality of protective rods 8211 are perpendicularly fixed to the long side portion.

[0172] like Figure 24 As shown, in this embodiment, the side protection 81 is formed by protruding vertically downward from the side of the support platform. Specifically, the side protection 81 includes a first vertical portion 811 and a second vertical portion 812, which are arranged opposite to each other on the support platform and both extend to the bottom of the cutting assembly.

[0173] As previously described, the cutting assembly is configured to reciprocate between a first horizontal position and a second horizontal position relative to the support platform along a second direction, wherein the first horizontal position is as described above as the first position, and the second horizontal position is as described above as the second position, wherein at the second horizontal position the distance of the cutting assembly to the first vertical portion 811 in the second direction is substantially equal to its distance to the second vertical portion 812, and at the first horizontal position the cutting assembly is at least partially located above the bottom protection 82 and the distance of the cutting assembly from the first vertical portion 811 in the second direction is less than its distance to the second vertical portion 812.

[0174] After the bottom protection 82 is installed, when the cutting assembly is in the first horizontal position, such as Figure 24 As shown in (a), the projection range of the blade cutting range on plane P3 at least partially overlaps with the projection range of the bottom guard 82 on plane P3. The minimum distance d1 from the outermost part of the first vertical part 811 to the blade cutting range is not greater than 35 mm, and the maximum distance d2 from the outermost part of the first vertical part 811 to the projection range of the guard on plane P3 is not less than 45 mm. The gap d3 between two adjacent guard rods 8211 along the second direction and the gap d4 between the innermost part of the first vertical part 811 and its adjacent guard rod 8211 are both not greater than 15 mm, preferably not greater than 12 mm. Here, P3 can be defined as the working plane of the self-propelled lawnmower.

[0175] In one embodiment, the system further includes a movable support mechanism that supports the first support platform. The movable support mechanism includes a chassis lower shell 12 and a movable mechanism 15 that supports the chassis lower shell 12 in walking and turning. The movable mechanism 15 includes drive wheels 151 and driven wheels 152 spaced apart along a first direction. One end of the bottom protection 82 extends along the first direction to at least partially overlap with the projected area of ​​the drive wheels 151 in a second direction.

[0176] Specifically, plane P4 is defined, which is perpendicular to plane P1 and to the rotation axis of drive wheel 151. The projection of bottom protection 82 onto plane P4 at least partially overlaps with the projection of drive wheel 151 onto plane P4, while the projection of protection portion onto plane P4 does not overlap with the projection of drive wheel 151 onto plane P4.

[0177] refer to Figure 23 The projection of the fixed seat 822 on the plane P3 at least partially overlaps with the projection of the second seat 56 on the corresponding chassis lower shell 12 on the plane P3, and the docking part of the second seat 56 is not blocked by the bottom protection 82, which makes it easy to disassemble the working mechanism 5 without removing the protective parts.

[0178] In addition, this embodiment provides an autonomous operating system, including an autonomous operating device 100, a docking station, and a boundary. The autonomous operating device 100 is particularly a robot capable of autonomously moving within a preset area and performing specific tasks, such as a smart sweeper / vacuum cleaner for cleaning or a smart lawnmower for mowing. The specific tasks specifically refer to tasks that process the work surface and change its state. This utility model uses a smart lawnmower as an example for detailed description. The autonomous operating device 100 can autonomously move on the surface of the work area, and as a smart lawnmower, it can autonomously perform lawn mowing on the ground. The autonomous operating device 100 includes at least a main body mechanism, a moving mechanism 15, a working mechanism 5, an energy module, a detection module, an interaction module, and a control module.

[0179] The main structure typically includes a chassis, which houses and accommodates the mobile mechanism 15, the working mechanism 5, the energy module, the detection module, the interaction module, the control module, and other functional mechanisms and modules. Typically, the chassis includes an upper chassis shell and a lower chassis shell. As mentioned earlier, the upper and lower chassis shells are fastened together to form a second isolation chamber for housing functional mechanisms and modules requiring waterproofing and / or dustproofing. In some embodiments, the main structure also includes an outer shell, which is typically constructed to at least partially cover the chassis, primarily to enhance the aesthetics and recognizability of the autonomous operating equipment 100. In this embodiment, the outer shell is constructed to be able to translate and / or rotate relative to the chassis under external force, and, in conjunction with an appropriate detection module, such as a Hall sensor, can further detect events such as collisions and lifting. In this embodiment, the chassis cover and the outer shell are the same structural component.

[0180] The moving mechanism 15 is configured to support the main body on the ground and drive the main body to move on the ground. It typically includes wheeled, tracked, or half-tracked moving mechanisms and walking moving mechanisms 15. In this embodiment, the moving mechanism 15 is a wheeled moving mechanism, including at least one drive wheel 151 and at least one prime mover. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous operating device 100 is achieved by the same-direction, constant-speed rotation of the left and right drive wheels (wheel rotation), and turning is achieved by the same-direction, differential-speed, or opposite-direction rotation of the left and right drive wheels 151. In other embodiments, the moving mechanism 15 may also include a steering mechanism independent of the drive wheels 151 and a steering prime mover independent of the prime mover. In this embodiment, the moving mechanism 15 also includes at least one driven wheel 152, which may be configured as a caster wheel. The drive wheel 151 and the driven wheel 152 are located at the front and rear ends of the autonomous operating device 100, respectively.

[0181] The working mechanism 5 is configured to perform specific work tasks, including an actuating component 5222 and a prime mover that drives the actuating component 5222. For example, in a smart sweeper / vacuum cleaner, the actuating component 5222 includes a roller brush, a suction pipe, and a dust collection chamber; in a smart lawnmower, the actuating component 5222 includes a cutting blade or cutting disc. It further includes other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The prime mover is preferably an electric motor, but in other embodiments it may be an internal combustion engine or a machine powered by other types of energy. In some other embodiments, the prime mover and the driving prime mover are constructed as the same prime mover.

[0182] The energy module is configured to provide energy for the various operations of the autonomous operating device 100. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operating device 100.

[0183] The detection module is constructed using at least one sensor to sense environmental parameters or its own operating parameters of the autonomous operating device 100. Optionally, the detection module may include sensors related to the defined working area, such as magnetic induction, impact, ultrasonic, infrared, and radio sensors, with the sensor type corresponding to the location and number of the corresponding signal generating devices. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, accelerometers, odometers, angle sensors, and geomagnetic sensors. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, and rain sensors.

[0184] The interaction module is configured to at least receive user-input control commands, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. In this embodiment, the interaction module includes an input device mounted on the autonomous operating device 100 for receiving user-input control commands, such as a control panel or emergency stop button. The interaction module also includes a display screen, indicator lights, and / or a buzzer mounted on the autonomous operating device 100 to make the user perceive information through light or sound. In other embodiments, the interaction module includes a communication module mounted on the autonomous operating device 100 and a terminal device independent of the autonomous operating device 100, such as a mobile phone, computer, or network server. User control commands or other information can be input on the terminal device and reach the autonomous operating device 100 via wired or wireless communication modules.

[0185] The control module typically includes at least one processor and at least one non-volatile memory. The memory stores pre-written computer programs or instruction sets, and the processor controls the execution of actions such as movement and operation of the autonomous operating device 100 according to the computer programs or instruction sets. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating device 100 and modify parameters in the memory according to signals from the detection module and / or user control commands.

[0186] A boundary is used to define the working area of ​​a robotic system and typically includes an outer boundary. In some embodiments, the boundary also includes an inner boundary. The autonomous working device 100 is confined to moving and operating within the outer boundary, outside the inner boundary, or between the outer and inner boundaries. The boundary can be physical, such as a wall, fence, railing, etc.; or it can be virtual, such as a virtual boundary signal emitted by a boundary signal generator, which is typically an electromagnetic or optical signal, or, for the autonomous working device 100 equipped with a positioning device (such as a satellite positioning device, visual positioning device, lidar positioning device, etc.), a virtual boundary set in an electronic map, exemplarily formed by two-dimensional or three-dimensional coordinates. In some embodiments, the boundary is constructed as a closed energized wire electrically connected to the boundary signal generator, which is typically located within a docking station. In some embodiments, the autonomous working device 100 is equipped with a vision module capable of distinguishing between grass and non-grass boundaries, and the vision module determines the boundary of the working area.

[0187] Docks are typically constructed on or within a boundary to provide parking for autonomous operating equipment 100, and in particular, to supply energy to the autonomous operating equipment 100 parked at the dock.

[0188] It should be understood that although this specification describes 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 embodiments that can be understood by those skilled in the art.

[0189] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

[0190] In this specification, the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the descriptions of the embodiments described later are relatively simple, and relevant parts can be referred to the descriptions of the foregoing embodiments.

[0191] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An autonomous work apparatus characterized by comprising: include: Support structure; The height adjustment component is supported on the support body in a manner that allows it to rotate about a first axis orthogonal to the height direction of the autonomous operating equipment. as well as The working mechanism is adapted to abut against the height adjustment member along the height direction of the autonomous operating equipment, and at the abutment location, the working mechanism and the height adjustment member form a kinematic pair; The height adjustment component can operably convert its own rotation into displacement of the working mechanism in the height direction of the autonomous operating equipment through the kinematic pair.

2. The autonomous work apparatus according to claim 1, characterized by, The working mechanism can float upwards along the height direction of the autonomous operating equipment and rest against the height adjustment component.

3. The autonomous work equipment of claim 1, wherein, The height adjustment member is supported on the support body by a first pivot extending along the first axis, and the height adjustment member is configured to be operably rotated about the first pivot.

4. An autonomous work apparatus according to claim 1 or 3, characterized in that, When the height adjustment component is in a forward rotation state, the working mechanism moves upward; when it is in a reverse rotation state, the working mechanism moves downward; and when it is in a stopped state, the working mechanism is at least prevented from moving downward by the height adjustment component.

5. The autonomous work apparatus according to claim 3, characterized by, The height adjustment component has an operating part for the user to apply an operating torque to drive the height adjustment component to rotate.

6. An autonomous work apparatus according to claim 3 or 5, characterized in that The first rotating shaft is rotatably mounted on the support body, and the autonomous operating device further includes a rotary power source connected to the first rotating shaft, the rotary power source being adapted to provide at least part of the power for the rotation of the height adjustment component.

7. The autonomous operating equipment according to claim 5, characterized in that, The height adjustment component has a support portion offset relative to the first rotating shaft. The working mechanism is adapted to abut against the support portion, and the distance from the support portion to the first axis is less than the distance from the operating portion to the first axis.

8. The autonomous operating equipment according to claim 7, characterized in that, The working mechanism has a stop part, and the stop part and the support part constitute the kinematic pair; The abutment portion and the support portion include a first protrusion extending toward the other, and the other abutment portion and the support portion include a groove-shaped portion that opens toward and receives the first protrusion from the opening.

9. The autonomous operating equipment according to claim 8, characterized in that, The first protrusion is rotatably received within the corresponding groove.

10. The autonomous operating equipment according to claim 9, characterized in that, The first protrusion is rotatably connected to the height adjustment member via a second pivot, the second pivot defining a second axis, the second axis being arranged parallel to the first axis.

11. The autonomous operating equipment according to claim 3, characterized in that, It further includes a pivot seat mounted on the support, wherein the first pivot is mounted on the pivot seat.

12. The autonomous operating equipment according to claim 11, characterized in that, The support body has a plurality of second positioning parts arranged at intervals along the height direction of the autonomous operating equipment, and the rotating shaft seat can be selectively mounted on any of the second positioning parts.

13. The autonomous operating equipment according to claim 11, characterized in that, The rotating shaft seat has a plurality of first positioning parts arranged at intervals along the height direction of the autonomous operating device, and the first rotating shaft can be selectively mounted on any of the first positioning parts.

14. The autonomous operating equipment according to claim 1, characterized in that, It further includes a locking mechanism disposed on the support body, the locking mechanism being used to releasably lock the rotation angle of the height adjustment member.

15. The autonomous operating equipment according to claim 14, characterized in that, The locking mechanism includes: A flexible arm is mounted on the support; and A latching part is disposed on the elastic arm and is driven by the elastic force of the elastic arm to latch the height adjustment member to lock its rotation angle. The elastic arm is configured to, in response to the rotation of the height adjustment member itself, elastically deform to disengage the locking portion from the height adjustment member.

16. The autonomous operating equipment according to claim 15, characterized in that, The height adjustment component is constructed as a disc-shaped structure and its cross-sectional shape along its thickness direction is circular, semi-circular, or fan-shaped. Multiple locking grooves are formed on the height adjustment component, and these multiple locking grooves are evenly distributed in the circumferential direction around the first axis. The locking part locks the rotation angle of the height adjustment component by locking the locking grooves.

17. The autonomous operating equipment according to claim 15, characterized in that, The support and / or the elastic arm are provided with at least one anti-rotation part, which is configured to restrict the height adjustment member to rotate only between a first angular position and a second angular position by blocking the height adjustment member along the rotation path of the height adjustment member. Specifically, when the height adjustment component is located at the first angle position, the working mechanism is at its highest position along the height direction of the autonomous operating equipment; when the height adjustment component is located at the second angle position, the working mechanism is at its lowest position along the height direction of the autonomous operating equipment.

18. The autonomous operating equipment according to claim 17, characterized in that, The height adjustment member has at least one second protrusion protruding from the surface of the member along the first axis direction, and the at least one anti-rotation part is configured to limit the rotation angle range of the height adjustment member by blocking the corresponding second protrusion.

19. The autonomous operating equipment according to claim 2, characterized in that, The working mechanism is movably connected to the support body, and the movable connection is configured to allow the working mechanism to move only along the height direction of the autonomous operating device.

20. The autonomous operating equipment according to claim 1, characterized in that, It further includes an assist spring disposed between the working mechanism and the support body, the assist spring being configured to give the working mechanism an upward displacement tendency.

21. The autonomous operating equipment according to claim 11, characterized in that, The support body includes a lower chassis shell, the pivot seat is fixed on the lower chassis shell, and the height adjustment component is a dial component that can be rotated.

22. The autonomous operating equipment according to claim 1 or 21, characterized in that, The autonomous operating equipment is a self-propelled operating equipment capable of autonomously moving in a straight line, and the axial direction of the first axis is parallel to the forward direction of the autonomous operating equipment when it moves in a straight line.

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