Work device and work system

Abstract

The application provides a working device and a working system, and relates to the technical field of garden devices. The working device can improve the carrying capacity of the working device and is beneficial to reducing the limitation of the expansion function of the working device. The working device comprises a self-moving device and a trailer device. The self-moving device has a first connecting structure and a first walking mechanism. The first walking mechanism is used to drive the self-moving device to move by itself. The trailer device has a second walking mechanism and a carrying part. The trailer device is detachably connected with the self-moving device through the first connecting structure. The trailer device can move following the self-moving device through the second walking mechanism. The carrying part is used to detachably install a first function module. In the case that the first function module is detachably installed on the carrying part, the working device can perform a work corresponding to the first function module. The first axis and the movement direction of the self-moving device satisfy a perpendicular relationship.

Description

Technical Field

[0001] This application relates to the field of garden equipment technology, and in particular to an operating device and operating system. Background Technology

[0002] Lawn-mowing robots have been widely used in various scenarios. In addition to their mowing function, some lawn-mowing robots are also equipped with other related functional modules (devices). For example, they are equipped with grass clipping and leaf collection devices, liquid spraying devices, etc., and these devices are usually installed on the lawn-mowing robot as assemblies. However, the load-bearing capacity, power performance, and size of lawn-mowing robots limit the types and functions of the devices that can be equipped on them. Utility Model Content

[0003] This application provides a work equipment and a work system that can improve the load-bearing capacity of the work equipment and help reduce the limitations on the expansion functions of the work equipment.

[0004] On one hand, this application provides a working device, which includes: a self-moving device and a trailer device; wherein, the self-moving device has a first connecting structure and a first traveling mechanism, the first traveling mechanism being used to drive the self-moving device to move on its own; the trailer device has a second traveling mechanism and a load-bearing part, the trailer device being detachably connected to the self-moving device through the first connecting structure, and the trailer device being able to swing relative to the self-moving device about a first axis through the first connecting structure, and the trailer device being able to follow the movement of the self-moving device through the second traveling mechanism; the load-bearing part is used to detachably install a first functional module, and when the first functional module is detachably installed on the load-bearing part, the working device is able to perform the work corresponding to the first functional module; the first axis is perpendicular to the movement direction of the self-moving device.

[0005] The work equipment provided in this application features a first traveling mechanism within its self-moving device, enabling the device to move independently and easily reach the work area. Furthermore, a first connecting structure within the self-moving device allows for detachable connection of a trailer or similar device to it. The first axis of this connecting structure is perpendicular to the direction of movement of the self-moving device, allowing the trailer to swing relative to it, improving the equipment's mobility and obstacle-crossing capabilities. Simultaneously, a load-bearing section within the trailer allows for the installation of various first functional modules with different operational functions, enabling the equipment's functionality to be expanded as needed. A second traveling mechanism within the trailer allows the load-bearing section to move, reducing the trailer's resistance and increasing its load-bearing capacity. This reduces limitations on the first functional modules carried by the trailer and improves the equipment's climbing performance. Therefore, the work equipment provided in this application enhances the load-bearing capacity of work equipment and reduces limitations on its functional expansion capabilities.

[0006] In one possible implementation of this application, the working equipment further includes a connector, one end of which matches and is detachably rotatably connected to the first connecting structure, and the other end of which is connected to the trailer device; wherein, the first axis includes the rotation axis of the connector and the first connecting structure.

[0007] In one possible implementation of this application, the trailer device includes a first trailer and a second trailer. The first trailer is fixedly connected to the other end of a connector, and the second trailer is rotatably connected to the first trailer. The rotation axes of the second trailer and the first trailer are parallel to the first axis. A load-bearing part is disposed on the second trailer. A second traveling mechanism is disposed on the first trailer and the second trailer.

[0008] In one possible implementation of this application, the second trailer has a clearance notch that matches the first trailer, the clearance notch being formed on the second trailer extending in the direction of movement, and at least a portion of the first trailer being located within the clearance notch.

[0009] In one possible implementation of this application, the trailer assembly further includes an articulated shaft, through which the second trailer is rotatably connected to the first trailer.

[0010] In one possible implementation of this application, the trailer assembly is rotatably connected to the other end of the connector, and the rotation axis of the trailer assembly and the connector is parallel to the first axis.

[0011] In one possible implementation of this application, along the direction of movement, the steering component in the second traveling mechanism is disposed at the end of the bearing portion near the self-moving device, and the driven component in the second traveling mechanism is disposed at the end of the bearing portion away from the self-moving device.

[0012] In one possible implementation of this application, the second traveling mechanism includes a driving component and a driven component; along the direction of movement, the driving component is disposed at one end of the trailer device and is capable of driving the trailer device to move; the driven component is disposed at the other end of the trailer device.

[0013] In one possible implementation of this application, the second walking mechanism further includes a steering component; the steering component is disposed on the load-bearing part, and the drive component is fixedly disposed on the output part of the steering component; the steering component can drive the drive component to rotate relative to the load-bearing part around the second axis through the output part; the second axis is perpendicular to the ground.

[0014] In one possible implementation of this application, the other end of the connector is fixedly connected to the trailer assembly; the second traveling mechanism is rotatably connected to the load-bearing part, and the rotation axis of the second traveling mechanism relative to the load-bearing part is perpendicular to the first axis.

[0015] In one possible implementation of this application, the second traveling mechanism includes a drive assembly and a steering assembly; the steering assembly is disposed on the load-bearing part, and two sets of drive assemblies are fixedly connected to both sides of the output component of the steering assembly along the width direction of the trailer device. The steering assembly can drive the two sets of drive assemblies to rotate relative to the load-bearing part around a second axis through the output component; the second axis is perpendicular to the ground.

[0016] In one possible implementation of this application, the second traveling mechanism further includes a drive bridge, which is rotatably connected to the output component, and the rotation axis of the drive bridge relative to the output component is parallel to the direction of movement. The drive bridge extends along the width direction; two sets of drive components are respectively disposed at both ends of the drive bridge.

[0017] In one possible implementation of this application, the working equipment includes at least two connectors, which are distributed between the trailer and the self-moving device along the width direction of the self-moving device.

[0018] On the other hand, this application provides a working system, which includes: a first functional module and a working device provided by any of the above; wherein the first functional module is detachably disposed on the carrier, and the work performed by the first functional module is different from the work performed by the second functional module carried by the self-moving device.

[0019] The operating system provided in this application includes any of the operating devices provided above, which can improve the carrying capacity of the operating system and reduce the limitations on the expansion functions of the operating system, thereby enabling the operating system to carry any required first functional module. Attached Figure Description

[0020] Figure 1 Schematic diagram of the operating system provided in this application Figure 1 ;

[0021] Figure 2 Provided for this application Figure 1 Diagram of the structure viewed from below Figure 1 ;

[0022] Figure 3 Provided for this application Figure 1 Diagram of the structure viewed from below Figure 2 ;

[0023] Figure 4 Application illustration of the operating system provided in this application Figure 1 ;

[0024] Figure 5 Application illustration of the operating system provided in this application Figure 2 ;

[0025] Figure 6 Schematic diagram of the operating system provided in this application Figure 2 ;

[0026] Figure 7 Provided for this application Figure 6 A schematic diagram of the structure viewed from below;

[0027] Figure 8 Application illustration of the operating system provided in this application Figure 3 ;

[0028] Figure 9 Application illustration of the operating system provided in this application Figure 4 ;

[0029] Figure 10 Schematic diagram of the operating system provided in this application Figure 3 ;

[0030] Figure 11 Provided for this application Figure 10 Diagram of the structure viewed from below Figure 1 ;

[0031] Figure 12 Provided for this application Figure 10 Diagram of the structure viewed from below Figure 2 ;

[0032] Figure 13 Provided for this application Figure 10 A schematic diagram of the rear view structure;

[0033] Figure 14 Application illustration of the operating system provided in this application Figure 5 .

[0034] Explanation of reference numerals in the attached figures:

[0035] 1-Self-moving device; 11-Body body; 12-First walking mechanism; 13-First connecting structure; 2-Trailer device; 21-Bearing part; 22-Second walking mechanism; 221-Drive assembly; 222-Driven assembly; 223-Steering assembly; 224-Drive axle; 23-First trailer; 24-Second trailer; 25-Archive shaft; 3-Connector; 4-First functional module; 5-Ground; X-Direction of movement; Y-Width direction; Z-Vertical direction. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0037] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0038] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0039] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0040] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0041] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0042] Lawn mowing robots can cut and trim lawns. By equipping them with additional functional modules, their capabilities can be expanded, such as enabling them to collect grass clippings or spray liquids.

[0043] In related technologies, functional modules are typically installed on lawnmower robots in the following way: They are mounted on the robot's body via a connecting structure. This approach has the following problems: ① The lawnmower robot's body has limited load-bearing capacity, restricting the weight of the functional modules. For example, for liquid spraying devices, the lawnmower robot needs to carry a significant amount of liquid. ② The size and installation location of the functional modules are limited. The module's volume cannot be much larger than the lawnmower robot's body, and it cannot obstruct sensors or other devices on the robot's body. Under these constraints, some functional modules cannot be installed on the robot's body. ③ The functional modules affect the lawnmower robot's center of gravity. For example, a change in the center of gravity can easily cause the robot to tilt or tip over. Furthermore, changes in the center of gravity as the load increases or decreases can also affect the robot's walking performance.

[0044] This application provides a work device that can improve its load-bearing capacity and reduce limitations on its expansion capabilities. (Refer to...) Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 1 Schematic diagram of the operating system provided in this application Figure 1 , Figure 2 Provided for this application Figure 1Diagram of the structure viewed from below Figure 1 , Figure 3 Provided for this application Figure 1 Diagram of the structure viewed from below Figure 2 .

[0045] The working equipment provided in this application embodiment includes: a self-moving device 1 and a trailer device 2; wherein, the self-moving device 1 has a first connecting structure 13 and a first traveling mechanism 12, the first traveling mechanism 12 is used to drive the self-moving device 1 to move on its own; the trailer device 2 has a second traveling mechanism 22 and a load-bearing part 21, the trailer device 2 is detachably connected to the self-moving device 1 through the first connecting structure 13, and the trailer device 2 can swing relative to the self-moving device 1 about a first axis through the first connecting structure 13, and the trailer device 2 can follow the movement of the self-moving device 1 through the second traveling mechanism 22; the load-bearing part 21 is used to detachably install a first functional module 4, and when the first functional module 4 is detachably installed on the load-bearing part 21, the working equipment can perform the work corresponding to the first functional module 4; the first axis and the movement direction X of the self-moving device 1 are perpendicular.

[0046] In this embodiment, the self-moving device 1 can move autonomously and perform tasks. For example, the self-moving device 1 includes robots, sweepers, snowplows, lawnmowers, cleaning machines, etc., that can move on their own. That is, the self-moving device 1 includes at least one second functional module, which can be a cutting module, a sweeping module, a collecting module, a blowing module, etc. For ease of description and explanation, a lawnmower is used as an example to describe the work equipment provided in this embodiment, but this does not limit the self-moving device 1 in the work equipment provided in this embodiment to only be a lawnmower.

[0047] For example, a first walking mechanism 12 can be provided in the self-moving device 1. For instance, the first walking mechanism 12 can be a wheeled walking mechanism, a tracked walking mechanism, or a legged walking mechanism, etc. The first walking mechanism 12 enables the self-moving device 1 to move independently on the ground 5. The first walking mechanism 12 can be located below the vehicle body 11 and along the vertical direction Z, with the orthographic projection of the first walking mechanism 12 located within the orthographic projection of the vehicle body 11. This helps to reduce the size of the self-moving device 1.

[0048] In this embodiment, the trailer device 2 can provide mounting points for the first functional module 4 and also support the first functional module 4. For example, a support portion 21 matching the first functional module 4 can be provided on the trailer device 2. For example, the support portion 21 can be a flat box-shaped structure with an opening on one side. A slot can be provided in the support portion 21, and correspondingly, a buckle matching the slot can be provided on the first functional module 4, so that the first functional module 4 can be detachably mounted on the support portion 21 through the cooperation of the buckle and the slot. It should be understood that the first functional module 4 and the support portion 21 can also be detachably connected through other structures, which is not limited in this application. For example, the first functional module 4 can be a cutting module, a sweeping module, a collecting module, a blowing module, a spraying module, a soil testing module, a weeding module, a fertilizing module, a robotic arm, etc. The specific type of the first functional module 4 is not limited in this embodiment.

[0049] For example, a second traveling mechanism 22 can be provided in the trailer device 2. For instance, the second traveling mechanism 22 can be a wheeled traveling mechanism, a tracked traveling mechanism, or a legged traveling mechanism. Since the second traveling mechanism 22 can move, the trailer device 2 can move independently on the ground 5 via the second traveling mechanism 22. The second traveling mechanism 22 can be positioned below the support portion 21 and along the vertical direction Z, with its orthographic projection within the orthographic projection of the support portion 21. This helps to reduce the size of the trailer device 2.

[0050] In another example, a first connecting structure 13 can be provided on the self-moving device 1, and a connector 3 or a second connecting structure matching the first connecting structure 13 can be provided on the trailer device 2. This allows the trailer device 2 to be connected to the self-moving device 1 via the first connecting structure 13, or to be detached from the self-moving device 1. The first connecting structure 13 can be configured as a movable connection, meaning that after the trailer device 2 is connected to the self-moving device 1 via the first connecting structure 13, the trailer device 2 can still swing relative to the self-moving device 1. For example, the first connecting structure 13 can be a hinge, with the first axis of the hinge set to be perpendicular or nearly perpendicular to the movement direction X of the self-moving device 1 (e.g., an angle of 85° to 95°), and the first axis can be parallel or nearly parallel to the ground 5 (e.g., an angle of 0° to 5°), thereby allowing the trailer device 2 to swing up and down relative to the self-moving device 1.

[0051] In this way, after connecting the trailer device 2 and the self-moving device 1 through the first connection structure 13 and installing the first functional module 4 on the trailer device 2, the first functional module 4 can be controlled to perform operations, thereby enabling the working equipment to perform operations corresponding to the first functional module 4.

[0052] The working equipment provided in this application embodiment has a first traveling mechanism 12 in the self-moving device 1, which allows the self-moving device 1 to move independently, facilitating its access to the working area. Furthermore, the self-moving device 1 has a first connecting structure 13, which allows for the detachable connection of a trailer device 2 or similar device to the self-moving device 1. Moreover, setting the first axis of the first connecting structure 13 to be perpendicular to the movement direction X of the self-moving device 1 allows the trailer device 2 to swing up and down relative to the self-moving device 1, improving the equipment's mobility and obstacle-crossing performance on complex road surfaces (such as slopes, ditches, etc.). Meanwhile, a load-bearing section 21 is provided in the trailer device 2, through which various first functional modules 4 with different operating functions can be installed, thereby arbitrarily expanding the functions of the operating equipment as needed. Furthermore, a second traveling mechanism 22 is provided in the trailer device 2, allowing the load-bearing section 21 to move via the second traveling mechanism. This helps reduce the movement resistance of the trailer device 2, thereby improving its load-bearing capacity, reducing restrictions on the first functional modules 4 carried by the trailer device 2, and improving the climbing performance of the operating equipment. Therefore, the operating equipment provided in this embodiment can improve the load-bearing capacity of the operating equipment and help reduce the limitations on the expansion functions of the operating equipment.

[0053] In some possible embodiments of this application, such as Figure 1 , Figure 2 and Figure 3 As shown, the working equipment also includes a connector 3. One end of the connector 3 is matched with the first connecting structure 13 and is detachably rotatably connected to the first connecting structure 13. The other end of the connector 3 is connected to the trailer device 2. The first axis includes the rotation axis of the connector 3 and the first connecting structure 13.

[0054] In this embodiment, the trailer device 2 and the self-moving device 1 can be detachably connected via the connector 3. For example, the connector 3 can be rod-shaped, block-shaped, or plate-shaped. One end of the connector 3 can be matched with the first connecting structure 13 to connect the connector 3 to the first connecting structure 13, and the other end of the connector 3 can be connected to the trailer device 2.

[0055] For example, the first connecting structure 13 can be configured as a first lug with a first through hole. Correspondingly, a second through hole is provided at one end of the connector 3. A pin or similar device matching both the first and second through holes can be used to rotatably connect the connector 3 and the first lug. Thus, by inserting and removing the pin, a detachable connection between the connector 3 and the first connecting structure 13 can be achieved. Alternatively, the first connecting structure 13 can be configured as a hanging ring with a hook corresponding to the hanging ring at one end of the connector 3. The connector 3 can be detachably connected to the first connecting structure 13 through the engagement of the hook and the hanging ring. The axis of the first through hole or the rotation direction of the hook relative to the hanging ring is perpendicular to the direction of motion X; that is, the axis of rotation of the connector 3 relative to the first connecting structure 13 is the aforementioned first axis.

[0056] In another example, the end of the connector 3 furthest from the first connecting structure 13 can be rotatably or fixedly connected to the trailer assembly 2, such as by welding, snap-fitting, or threading the connector 3 to the bearing portion 21. In this way, the trailer assembly 2 and the self-moving device 1 can be detachably rotatably connected by the connector 3.

[0057] In another example, the working equipment includes at least two connecting members 3, which are distributed along the width direction Y of the self-moving device 1 between the trailer device 2 and the self-moving device 1. The connecting members 3 can be rod-shaped, allowing the trailer device 2 and the self-moving device 1 to be detachably and rotatably connected via two or three equal numbers of connecting members 3. For example, multiple connecting members 3 can be arranged along the width direction Y of the self-moving device 1, and a corresponding first connecting structure 13 can be provided on each connecting member 3 on the self-moving device 1. The first axis of rotation of all connecting members 3 relative to the first connecting structure 13 can be coaxial or nearly coaxial. Connecting the trailer device 2 and the self-moving device 1 via at least two connecting members 3 not only improves the reliability of the connection between the trailer device 2 and the self-moving device 1, but also restricts the movement of the trailer device 2 relative to the self-moving device 1, thereby reducing arbitrary swaying of the trailer device 2 relative to the self-moving device 1 and improving the smoothness of the trailer device 2's movement.

[0058] In the above embodiments, since a connector 3 is provided between the trailer device 2 and the self-moving device 1, and the connector 3 is matched with the first connecting structure 13, it is convenient to detachably rotate and connect the trailer device 2 and the self-moving device 1 through the connector 3. Furthermore, the connector 3 can increase the distance between the trailer device 2 and the self-moving device 1, thereby reducing interference or influence between the trailer device 2 and the self-moving device 1.

[0059] In some possible embodiments of this application, reference is made to Figure 4 and Figure 5, Figure 4 Application illustration of the operating system provided in this application Figure 1 , Figure 5 Application illustration of the operating system provided in this application Figure 2 .like Figure 1 , Figure 2 and Figure 3 As shown, the trailer device 2 includes a first trailer 23 and a second trailer 24. The first trailer 23 is fixedly connected to the other end of the connector 3, and the second trailer 24 is rotatably connected to the first trailer 23. The rotation axes of the second trailer 24 and the first trailer 23 are parallel to the first axis. The bearing part 21 is disposed on the second trailer 24.

[0060] In this embodiment, the trailer device 2 can be configured as a structure consisting of two parts capable of relative movement. For example, the trailer device 2 can be configured as a structure including a first trailer 23 and a second trailer 24, and the second trailer 24 can be rotatably connected to the first trailer 23. A portion of the second traveling mechanism 22 can be disposed on the first trailer 23, and the other portion of the second traveling mechanism 22 can be disposed on the second trailer 24.

[0061] For example, the second trailer 24 can be configured as a flat plate, and the support portion 21 can be disposed on the second trailer 24. For instance, the upper surface of the flat second trailer 24 (the side furthest from the ground 5 in the vertical direction Z) can be used as the support portion 21. The first trailer 23 can be configured as a flat plate, a block, or a box with an opening, etc. For example, two hanging rings can be provided on the first trailer 23, and correspondingly, two hooks can be provided on the second trailer 24. The two hooks are respectively hooked to one hanging ring, and the axis of rotation of the hook relative to the hanging ring is set to be perpendicular to the direction of movement X, that is, the axis of rotation of the hook relative to the hanging ring is along the width direction Y of the self-moving device 1. In this way, the axis of rotation of the second trailer 24 and the first trailer 23 can be parallel or nearly parallel to the first axis.

[0062] Another example, such as Figure 4 and Figure 5 As shown, the first trailer 23 can be fixedly connected to the end of the connecting piece 3 away from the self-moving device 1. For example, the connecting piece 3 can be fixedly connected to the first trailer 23 by welding, bonding, snap-fitting, or threaded connection. In this way, during the movement of the working equipment on the uneven ground 5, the self-moving device 1 and the first trailer 23, as well as the second trailer 24 and the first trailer 23, can rotate relative to each other, thereby allowing the working equipment to pass through pits or bumps smoothly and stably.

[0063] Another example, such as Figure 2 and Figure 3As shown, the second trailer 24 has a clearance notch that matches the first trailer 23. The clearance notch extends along the direction of movement X on the second trailer 24, and at least a portion of the first trailer 23 is located within the clearance notch. For example, the width of the first trailer 23 can be set to be smaller than the width of the second trailer 24 along the width direction Y of the self-moving device 1. The clearance notch can be provided at the end of the second trailer 24 near the self-moving device 1, and the clearance notch is recessed from the end of the second trailer 24 near the self-moving device 1 along the direction of movement X. The outline shape of the clearance notch can be set according to the outline shape of the first trailer 23, and the outline shape of the clearance notch can be larger than the outline shape of the first trailer 23, so that a portion or the entire first trailer 23 can be located within the clearance notch. One drive wheel can be provided on the first trailer 23, and two casters can be provided on the second trailer 24.

[0064] Alternatively, a clearance notch matching the second trailer 24 can be provided on the first trailer 23. This clearance notch extends along the direction of movement X on the first trailer 23, allowing at least a portion of the second trailer 24 to be located within the clearance notch on the first trailer 23. Two casters can be provided on the first trailer 23, and one drive wheel can be provided on the second trailer 24. This helps to reduce the length of the trailer assembly 2 along the direction of movement X and also saves the storage space required for the trailer assembly 2.

[0065] Another example, such as Figure 2 and Figure 3 As shown, the trailer assembly 2 also includes a hinge shaft 25, through which the second trailer 24 and the first trailer 23 are rotatably connected. For example, the hinge shaft 25 can be a cylindrical shaft, and shaft holes matching the cylindrical shaft can be provided on both the second trailer 24 and the first trailer 23, with the axis of the shaft hole being parallel or nearly parallel to the first axis. One end of the cylindrical shaft can be fixedly connected to the shaft hole of the second trailer 24, and the other end can be rotatably connected to the shaft hole of the first trailer 23. Alternatively, one end of the cylindrical shaft can be fixedly connected to the shaft hole of the first trailer 23, and the other end can be rotatably connected to the shaft hole of the second trailer 24. For example, a ball bearing can be used, with the ball bearing sleeved on the cylindrical shaft and then fixed in the shaft hole, thereby rotatably connecting the second trailer 24 and the first trailer 23 through the hinge shaft 25. This improves the stability and reliability of the rotatable connection between the second trailer 24 and the first trailer 23.

[0066] In the above embodiments, since the trailer device 2 is configured to include a second trailer 24 and a first trailer 23, and the second trailer 24 is rotatably connected to the first trailer 23, the second trailer 24 and the first trailer 23 can rotate relative to each other as the working equipment passes through the uneven ground 5. This allows the trailer device 2 to be suitable for traveling on different terrains, which helps to reduce the occurrence of the trailer device 2 getting stuck on the uneven ground 5.

[0067] In some possible embodiments of this application, reference is made to Figure 6 , Figure 7 , Figure 8 and Figure 9 , Figure 6 Schematic diagram of the operating system provided in this application Figure 2 , Figure 7 Provided for this application Figure 6 A schematic diagram of the structure viewed from below. Figure 8 Application illustration of the operating system provided in this application Figure 3 , Figure 9 Application illustration of the operating system provided in this application Figure 4 .like Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the second traveling mechanism 22 includes a driving component 221 and a driven component 222; along the direction of movement X, the driving component 221 is disposed at one end of the trailer device 2, and the driving component 221 can drive the trailer device 2 to move; the driven component 222 is disposed at the other end of the trailer device 2.

[0068] In this embodiment, the second traveling mechanism 22 can be configured to include a driving component 221 and a driven component 222. The driving component 221 can generate motion, such as active rotation, and the driven component 222 can passively rotate. For example, the driving component 221 may include a hub drive motor and a tire. The stator of the hub drive motor can be fixedly connected to the support portion 21, and the tire can be mounted on the rotor of the hub motor to form the driving component 221. The driving component 221 may also include an electric motor (engine) and a tire. The electric motor can be fixed to the support portion 21, and the tire can be mounted on the support portion 21 via a rotating shaft. The electric motor and the rotating shaft can be connected in a transmission connection to form the driving component 221. The driven component 222 may include a caster wheel, etc.

[0069] For example, along the direction of movement X of the self-moving device 1, the driving component 221 can be disposed at the front end of the support portion 21 and the driven component 222 at the rear end of the support portion 21; alternatively, the driving component 221 can be disposed at the rear end of the support portion 21 and the driven component 222 at the front end of the support portion 21. In this way, the driving component 221 can provide power to the support portion 21 to drive the support portion 21 to move, and during the movement of the support portion 21, the driven component 222 can roll on the ground 5.

[0070] Another example, such as Figure 2 and Figure 3 As shown, the drive assembly 221 can be mounted on the first trailer 23, and the driven assembly 222 can be mounted on the second trailer 24. For example, the drive assembly 221 may include a tire, and the driven assembly 222 may include two casters. That is, the drive assembly 221, including a tire, is mounted on the first trailer 23, and the two casters are mounted on the second trailer 24. In this way, the drive assembly 221 and the two casters form a three-point support, which helps to reduce the sway of the trailer device 2 relative to the vertical Z direction during travel.

[0071] In the above embodiments, since the second walking mechanism 22 includes a driving component 221 and a driven component 222, the driving component 221 can provide power to the trailer device 2, and the driven component 222 can provide more support points to the trailer device 2, thereby enabling the trailer device 2 to move on its own, and thus improving the load-bearing capacity of the working equipment.

[0072] In some possible embodiments of this application, the second walking mechanism 22 further includes a steering component 223; the steering component 223 is disposed on the support portion 21, and the drive component 221 is fixedly disposed on the output component of the steering component 223. The steering component 223 can drive the drive component 221 to rotate relative to the support portion 21 around the second axis through the output component; the second axis is perpendicular to the ground 5.

[0073] In this embodiment, a steering device can be provided in the trailer device 2 to drive the drive assembly 221 to rotate around the vertical direction Z. For example, the steering assembly 223 may include an output component, a reduction mechanism, and a motor. The output component may be a rotating shaft, which is rotatably mounted on the bottom of the support portion 21, with the axis of the rotating shaft perpendicular or nearly perpendicular to the ground 5. The reduction mechanism can be connected to the rotating shaft via gears or other transmissions, the motor can be connected to the reduction mechanism, and the drive assembly 221 can be fixed on the rotating shaft. In this way, the motor can drive the rotating shaft to rotate relative to the support portion 21 around the second axis (the axis on which the rotating shaft rotates relative to the support portion 21), which in turn can drive the drive assembly 221 to rotate relative to the support portion 21 around the second axis, thereby changing the movement direction X of the trailer device 2.

[0074] In the above embodiment, since the drive component 221 is mounted on the carrier 21 via the steering component 223, the steering component 223 can drive the drive component 221 to rotate relative to the carrier 21 around the second axis. In this way, during the movement of the working equipment, the self-moving device 1 and the trailer device 2 can be turned synchronously, thereby reducing the turning radius of the working equipment and improving the passing performance of the working equipment in narrow areas.

[0075] In some possible embodiments of this application, such as Figure 6 and Figure 7 As shown, the trailer device 2 is rotatably connected to the other end of the connector 3, and the rotation axis of the trailer device 2 and the connector 3 is parallel to the first axis.

[0076] In this embodiment, the supporting part 21 of the trailer device 2 can be configured as an integral flat plate or an open box. The other end of the connecting member 3, away from the self-moving device 1, can also be rotatably connected to the trailer device 2. For example, a second lug can be provided at the end of the supporting part 21 near the self-moving device 1, and a third through hole can be provided on the second lug. The axis of the third through hole is perpendicular or nearly perpendicular to the direction of movement X, and parallel or nearly parallel to the ground 5. A fourth through hole can be provided at the other end of the connecting member 3, and a pin or similar device matching both the third and fourth through holes can be used to rotatably connect the connecting member 3 to the supporting part 21.

[0077] For example, such as Figure 8 and Figure 9 As shown, during the movement of the working equipment on the uneven ground 5, the self-moving device 1 and the connecting part 3, as well as the connecting part 3 and the trailer device 2, can rotate relative to each other, so that the working equipment can pass through the pits or bumps smoothly and stably.

[0078] In the above embodiments, since the connector 3 is rotatably connected to the trailer device 2, the flexibility of the trailer device 2 in rotating relative to the self-moving device 1 can be increased, thereby improving the ability of the working equipment to travel on uneven ground 5.

[0079] In some possible embodiments of this application, along the direction of movement, the steering component 223 in the second walking mechanism 22 is disposed at one end of the bearing portion 21 near the self-moving device 1, and the driven component 222 in the second walking mechanism 22 is disposed at one end of the bearing portion 21 away from the self-moving device 1.

[0080] In this embodiment, when the support portion 21 of the trailer assembly 2 is a single integral structure, a steering assembly 223 can be provided in the trailer assembly 2, and the steering assembly 223 can be located at the end of the support portion 21 near the self-moving device 1. For example, by providing the steering assembly 223 at the bottom of the support portion 21, the drive assembly 221 can be provided on the steering assembly 223, so that the drive assembly 221 is located at the front end of the support portion 21. The caster wheel, which serves as the driven assembly 222, can be provided at the end of the support portion 21 away from the self-moving device 1, that is, the caster wheel is located at the rear end of the support portion 21.

[0081] In the above embodiments, since the steering component 223 is disposed at one end of the bearing portion 21 near the self-moving device 1, the drive component 221 can be located at the front end of the bearing portion 21, thereby reducing the turning radius of the working equipment.

[0082] In some possible embodiments of this application, reference is made to Figure 10 , Figure 11 , Figure 12 , Figure 13 and Figure 14 , Figure 10 Schematic diagram of the operating system provided in this application Figure 3 , Figure 11 Provided for this application Figure 10 Diagram of the structure viewed from below Figure 1 , Figure 12 Provided for this application Figure 10 Diagram of the structure viewed from below Figure 2 , Figure 13 Provided for this application Figure 10 A schematic diagram of the rear view structure. Figure 14 Application illustration of the operating system provided in this application Figure 5 .like Figure 10 , Figure 11 and Figure 12 As shown, the other end of the connector 3 is fixedly connected to the trailer device 2; the second traveling mechanism 22 is rotatably connected to the load-bearing part 21, and the rotation axis of the second traveling mechanism 22 relative to the load-bearing part 21 is perpendicular to the first axis.

[0083] In this embodiment, the support portion 21 can be configured as a flat plate or a box with an opening. The other end of the connector 3 away from the self-moving device 1 can be fixedly connected to the support portion 21, for example, by welding, bonding, snap-fitting, or threaded connection.

[0084] For example, the second traveling mechanism 22 can be rotatably mounted on the bottom of the support portion 21. For instance, the rotation axis of the second traveling mechanism 22 relative to the support portion 21 can be set to be parallel or nearly parallel to the vertical direction Z, that is, the rotation axis of the second traveling mechanism 22 relative to the support portion 21 is perpendicular or nearly perpendicular to the first axis.

[0085] In the above embodiments, since the second traveling mechanism 22 is rotatably connected to the bearing part 21, and the rotation axis of the second traveling mechanism 22 relative to the bearing part 21 is perpendicular to the first axis, the second traveling mechanism 22 can also change the direction of movement X during the movement of the working equipment, so that the self-moving device 1 and the trailer device 2 can both change the direction of movement X synchronously, which is beneficial to reducing the turning radius of the working equipment.

[0086] In some possible embodiments of this application, such as Figure 11 and Figure 12 As shown, the second traveling mechanism 22 includes a drive assembly 221 and a steering assembly 223; the steering assembly 223 is disposed on the bearing part 21, and the two sets of drive assemblies 221 are fixedly connected to both sides of the output component of the steering assembly 223 along the width direction Y of the trailer device 2. The steering assembly 223 can drive the two sets of drive assemblies 221 to rotate relative to the bearing part 21 around the second axis through the output component; the second axis is perpendicular to the ground 5.

[0087] In this embodiment, the second walking mechanism 22 can be configured to include a drive component 221 and a steering component 223, so that the drive component 221 provides power to the load-bearing part 21, and the steering component 223 drives the drive component 221 to rotate relative to the load-bearing part 21, thereby changing the movement direction X of the trailer device 2.

[0088] For example, the steering assembly 223 may include an output component, a reduction mechanism, and a motor. The output component may be a rotating shaft, which is rotatably mounted on the bottom of the bearing portion 21, and the axis of the rotating shaft is perpendicular or nearly perpendicular to the ground 5. The reduction mechanism can be connected to the rotating shaft through a transmission such as gears, the motor can be connected to the reduction mechanism, and the drive assembly 221 can be fixed on the rotating shaft.

[0089] Another example, such as Figure 12As shown, the drive assembly 221 may include a hub drive motor and a tire. The stator of the hub drive motor can be fixedly connected to the output component of the steering assembly 223, and the tire can be mounted on the rotor of the hub motor to form the drive assembly 221. The drive assembly 221 may also include an electric motor (engine) and a tire. The electric motor can be fixed to the output component, and the tire can be mounted on the output shaft of the electric motor to form the drive assembly 221. For example, along the width direction Y of the trailer 2, two sets of drive assemblies 221 can be fixedly arranged on both sides of the output component. This allows the steering assembly 223 to drive the two sets of drive assemblies 221 to rotate relative to the bearing portion 21 around the second axis, thereby changing the direction of movement X of the trailer 2.

[0090] In the above embodiment, since the second traveling mechanism 22 is configured to include a drive assembly 221 and a steering assembly 223, the drive assembly 221 can provide power to the trailer device 2, and the steering assembly 223 can drive the drive assembly 221 to rotate, thereby enabling the trailer device 2 to have a steering function. Furthermore, by respectively arranging the two sets of drive assemblies 221 on both sides of the steering assembly 223, the stability of the support for the load-bearing part 21 can be improved.

[0091] In some possible embodiments of this application, such as Figure 13 As shown, the second traveling mechanism 22 also includes a drive bridge 224, which is rotatably connected to the output component. The rotation axis of the drive bridge 224 relative to the output component is parallel to the direction of motion X. The drive bridge 224 extends along the width direction Y. Two sets of drive components 221 are respectively disposed at both ends of the drive bridge 224.

[0092] In this embodiment, two sets of drive components 221 can be rotatably connected to the steering component 223 via a drive axle 224. The drive axle 224 can be configured as a column, and the columnar drive axle 224 is rotatably connected to the output component of the steering component 223 via a rotating shaft. The connection point between the drive axle 224 and the output component is located at the midpoint of the drive axle 224 along its length direction (width direction Y of the trailer device 2). The rotation axis of the drive axle 224 relative to the output component is parallel or nearly parallel to the direction of motion X. A set of drive components 221 can be provided at each end of the drive axle 224, so that the drive axle 224 can be rotated around a second axis by rotating the components, thereby causing the two sets of drive components 221 to rotate around the second axis. Furthermore, the two sets of drive components 221 can rotate relative to the support portion 21 around the direction of motion X.

[0093] In the above embodiment, since the two sets of drive components 221 are mounted on the output component via the drive bridge 224 and the drive bridge 224 is rotatably connected to the output component around the motion direction X, the two sets of drive components 221 can rotate relative to the bearing part 21 around the motion direction X. In this way, when the working equipment passes over the uneven ground 5, the two sets of drive components 221 can swing relative to the bearing part 21 around the motion direction X, thereby reducing the shaking of the bearing part 21 and improving the stability of the working equipment.

[0094] In addition, embodiments of this application also provide an operating system, such as Figure 1 , Figure 6 and Figure 10 As shown, the operating system includes: a first functional module 4 and an operating device provided in any of the above embodiments; wherein, the first functional module 4 is detachably disposed on the support part 21, and the operation performed by the first functional module 4 is different from the operation performed by the second functional module carried by the self-moving device 1.

[0095] In this embodiment, the first functional module 4 may be at least one of a cutting module, a sweeping module, a collecting module, a blowing module, a spraying module, a soil testing module, a weeding module, a fertilizing module, a robotic arm, etc. The first functional module 4 can be detachably mounted on the load-bearing part 21 of the trailer device 2 by means of snap-fit, plug-in, fastener connection, etc.

[0096] In this embodiment, the self-moving device 1 has a second functional module, which may be at least one of a cutting module, a sweeping module, a collecting module, a blowing module, a spraying module, and a soil testing module, etc., wherein the first functional module 4 and the second functional module are different. In this way, the operating system can perform the work of the first functional module 4 or the work of the second functional module, so that the operating system can perform two different tasks simultaneously.

[0097] The operating system provided in this application includes the operating equipment provided in any of the above embodiments. Therefore, it can improve the carrying capacity of the operating system and reduce the restrictions on the expansion functions of the operating system, thereby enabling the operating system to carry any required first functional module 4.

[0098] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A working device, characterized in that, include: The self-moving device has a first connecting structure and a first walking mechanism, the first walking mechanism being used to drive the self-moving device to move on its own. A trailer-mounted device has a second traveling mechanism and a load-bearing portion. The trailer-mounted device is detachably connected to the self-moving device via a first connecting structure, and the trailer-mounted device can swing relative to the self-moving device about a first axis via the first connecting structure. The trailer-mounted device can follow the movement of the self-moving device via the second traveling mechanism. The load-bearing portion is used to detachably mount a first functional module. When the first functional module is detachably mounted on the load-bearing portion, the working device can perform the operation corresponding to the first functional module. The first axis is perpendicular to the movement direction of the self-moving device.

2. The operating equipment according to claim 1, characterized in that, The working equipment also includes a connector, one end of which matches the first connecting structure and is detachably rotatably connected to the first connecting structure, and the other end of which is connected to the trailer device; wherein, the first axis includes the rotation axis of the connector and the first connecting structure.

3. The operating equipment according to claim 2, characterized in that, The trailer assembly includes a first trailer and a second trailer. The first trailer is fixedly connected to the other end of the connector, and the second trailer is rotatably connected to the first trailer. The rotation axes of the second trailer and the first trailer are parallel to the first axis. The load-bearing part is disposed on the second trailer. The second traveling mechanism is disposed on the first trailer and the second trailer.

4. The operating equipment according to claim 3, characterized in that, The second trailer has a clearance notch that matches the first trailer, the clearance notch being formed on the second trailer extending along the direction of movement, and at least a portion of the first trailer being located within the clearance notch.

5. The operating equipment according to claim 4, characterized in that, The trailer assembly also includes a hinge shaft, through which the second trailer and the first trailer are rotatably connected.

6. The operating equipment according to claim 2, characterized in that, The trailer assembly is rotatably connected to the other end of the connector, and the rotation axis of the trailer assembly and the connector is parallel to the first axis.

7. The operating equipment according to claim 6, characterized in that, Along the direction of movement, the steering component in the second traveling mechanism is located at one end of the bearing portion near the self-moving device, and the driven component in the second traveling mechanism is located at one end of the bearing portion away from the self-moving device.

8. The operating equipment according to claim 2, characterized in that, The second traveling mechanism includes a driving component and a driven component; along the direction of movement, the driving component is disposed at one end of the trailer device, and the driving component can drive the trailer device to move; the driven component is disposed at the other end of the trailer device.

9. The operating equipment according to claim 8, characterized in that, The second traveling mechanism further includes a steering component; the steering component is disposed on the bearing portion, and the driving component is fixedly disposed on the output component of the steering component. The steering component can drive the driving component to rotate relative to the bearing portion around a second axis through the output component; the second axis is perpendicular to the ground.

10. The operating equipment according to claim 2, characterized in that, The other end of the connector is fixedly connected to the trailer device; the second traveling mechanism is rotatably connected to the load-bearing part, and the rotation axis of the second traveling mechanism relative to the load-bearing part is perpendicular to the first axis.

11. The operating equipment according to claim 10, characterized in that, The second traveling mechanism includes a drive assembly and a steering assembly; the steering assembly is disposed on the load-bearing part, and two sets of drive assemblies are fixedly connected to both sides of the output component of the steering assembly along the width direction of the trailer device. The steering assembly can drive the two sets of drive assemblies to rotate relative to the load-bearing part around a second axis through the output component; the second axis is perpendicular to the ground.

12. The operating equipment according to claim 11, characterized in that, The second traveling mechanism further includes a drive bridge, which is rotatably connected to the output component, and the rotation axis of the drive bridge relative to the output component is parallel to the direction of movement. The drive bridge extends along the width direction. Two sets of drive components are respectively disposed at both ends of the drive bridge.

13. The working equipment according to any one of claims 2 to 12, characterized in that, The working equipment includes at least two of the connecting members, which are distributed between the trailer and the self-moving device along the width direction of the self-moving device.

14. An operating system, characterized in that, include: The working equipment as described in any one of claims 1 to 13; A first functional module is detachably disposed on the support unit, and the operation performed by the first functional module is different from the operation performed by the second functional module carried by the self-moving device.

Images