Work device and work robot
By combining the body structure and locking mechanism, and utilizing the cooperation of the limiting protrusion and groove, the problem of the working device lifting up in ditches and bumpy road conditions is solved, achieving stable obstacle crossing and smooth grass cutting.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN HANYANG TECHNOLOGY CO LTD
- Filing Date
- 2025-07-31
- Publication Date
- 2026-07-31
AI Technical Summary
Existing mowing equipment tends to lift up when encountering ditches, bumps, or other road conditions, resulting in uneven mowing and difficulty in passing obstacles.
The design combines a body structure and a locking mechanism. The horizontal and vertical axes are connected by an elastic element. The floating angle of the body is limited by the cooperation of the limiting protrusion and the limiting groove, ensuring that the swivel wheel is in stable contact with the ground.
It improves the obstacle-crossing ability of the working device, ensures the flatness of the lawn after mowing and the stability of the casters, and enhances the ability to pass through obstacles.
Smart Images
Figure CN224571857U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a working device and a working robot. Background Technology
[0002] With the continuous advancement of technology, more and more operational robots are being used in homes, yards, shopping malls, and other places. Among them, lawnmowers can automatically mow lawns in yards, and snowplows can automatically shovel snow in yards. Operational robots consist of a mobile device and an operational device. The operational device is detachably mounted on the mobile device via a locking mechanism. The mobile device can push or pull the operational device to move on the ground, enabling the operational device to complete its tasks.
[0003] In the prior art, when the mobile device drives the working device to move and encounters road conditions such as ditches or bumps, the working device and the mobile device will deflect as a whole, making it easy for one end of the working device to lift up. The wheels of the working device will then be far from the ground, making it difficult for the working device to pass through ditches or bumps. When the working device is a lawn mower, when it encounters ditches or bumps during its movement, the blades at the bottom of the lawn mower will fluctuate significantly, resulting in uneven lawns after mowing. Summary of the Invention
[0004] This utility model provides a working device and a working robot to solve the technical problem in the prior art that working devices are not easy to pass through ditches, bumps and other road conditions.
[0005] An embodiment of this utility model provides a working device, including a locking mechanism, an elastic element, and a vehicle body mechanism; The vehicle body structure includes a vehicle body frame, a longitudinal axis, a transverse axis, and a connecting seat; the vehicle body frame is mounted on the locking mechanism via an elastic element, the transverse axis is rotatably mounted on the locking mechanism, the connecting seat is mounted on the side of the transverse axis, one end of the longitudinal axis is rotatably mounted on the connecting seat, and the other end of the longitudinal axis is mounted on the vehicle body frame; The side of the horizontal shaft is provided with a first limiting protrusion, and the locking mechanism is provided with a first limiting groove. The first limiting protrusion is rotatably inserted into the first limiting groove. The side of the longitudinal axis is provided with a second limiting protrusion, and the connecting seat is provided with a second limiting groove. The second limiting protrusion is rotatably inserted into the second limiting groove.
[0006] Optionally, the side of the transverse shaft is further provided with a first flange body, and the connecting seat is mounted on the first flange body; The connecting seat is provided with a bearing hole, and the body mechanism also includes a bearing installed in the bearing hole. The end of the longitudinal axis away from the body frame is rotatably installed in the inner hole of the bearing.
[0007] Optionally, the transverse axis is further provided with a through hole penetrating the first flange body, and the longitudinal axis is provided with a first connecting hole at the end away from the vehicle frame; The body structure also includes a first fastener, one end of which passes through the through hole and is fixedly connected to the first connection hole.
[0008] Optionally, the body structure further includes a support block mounted on the body frame, and a second flange body is provided on the longitudinal axis, the second flange body being mounted on the support block.
[0009] Optionally, the end of the connecting seat away from the horizontal axis is provided with a first limiting arm and a second limiting arm spaced apart, and the second limiting groove is disposed between the first limiting arm and the second limiting arm.
[0010] Optionally, the body structure includes casters and working components mounted on the body frame.
[0011] Optionally, the working component includes a lifting drive, a rotating drive, and a cutter mounted on the output end of the rotating drive. The lifting drive is mounted on the vehicle frame, and the rotating drive is mounted on the output end of the lifting drive.
[0012] Optionally, the locking mechanism includes a locking support plate and a locking assembly, wherein the locking support plate is provided with a locking hole; the end of the elastic element away from the vehicle frame is connected to the locking support plate; The locking assembly includes a locking elastic element, a connecting rod, a rotating arm, and a lock cylinder with a locking hook. The lock cylinder is rotatably mounted on the locking support plate. The opposite ends of the locking elastic element are respectively connected to the lock cylinder and the locking support plate. The locking elastic element is used to drive the lock cylinder to rotate around a first direction so that the locking hook locks the connector that extends into the lock hole. The rotating arm is rotatably mounted on the locking support plate, and the two ends of the connecting rod are rotatably connected to the lock cylinder and the rotating arm, respectively; the rotating arm is used to drive the lock cylinder to rotate around the second direction through the connecting rod, so that the lock hook disengages from the connector that extends into the lock hole; the first direction is opposite to the second direction.
[0013] Optionally, the locking mechanism further includes a limiting block mounted on the locking support plate, wherein the first limiting groove is disposed on the limiting block.
[0014] Another embodiment of this utility model provides a working robot, including a mobile device and the aforementioned working device; the vehicle body mechanism is detachably mounted on the mobile device via the locking mechanism.
[0015] In this invention, the vehicle frame is mounted on the locking mechanism via an elastic element. The horizontal shaft is rotatably mounted on the locking mechanism, and the connecting seat is fixedly mounted on the side of the horizontal shaft. One end of the longitudinal shaft is rotatably mounted on the connecting seat, and the other end of the longitudinal shaft is fixedly mounted on the vehicle frame. When the working device travels and encounters road conditions such as ditches or bumps, if the front of the working device (the end away from the locking mechanism) lifts up or falls down, the vehicle frame will drive the horizontal shaft to rotate through the longitudinal shaft and the connecting seat. The vehicle mechanism has a certain range of forward and backward floating effect. After the first limiting protrusion of the horizontal shaft abuts against the inner wall of the first limiting groove, the locking mechanism (and the moving device connected to the locking mechanism) will limit the rotation angle of the horizontal shaft. Thus, the locking mechanism will prevent the vehicle frame from lifting too high or falling too low, ensuring the stability of the universal wheels under the vehicle frame in contact with the ground. If the left or right side of the working mechanism tilts up or falls down, the vehicle frame will drive the longitudinal axis to rotate, giving the vehicle mechanism a certain range of left and right floating effect. After the second limiting protrusion of the longitudinal axis abuts against the inner wall of the second limiting groove, the connecting seat will limit the rotation angle of the longitudinal axis. Thus, the locking mechanism (and the moving device connected to the locking mechanism) will limit the rotation angle of the longitudinal axis through the horizontal axis and the connecting seat. In this way, the locking mechanism will prevent the left or right side of the vehicle mechanism from being raised too high or falling too low, ensuring the stability of the universal wheels under the vehicle frame in contact with the ground.
[0016] In this invention, the vehicle body mechanism and the locking mechanism have the technical effect of floating in the front-to-back direction and floating in the left-to-right direction. The first limiting protrusion inserted into the first limiting groove can limit the floating angle of the vehicle body mechanism in the front-to-back direction, and the second limiting protrusion inserted into the second limiting groove can limit the floating angle of the vehicle body mechanism in the left-to-right direction. This ensures the stability of the universal wheels on the vehicle body frame in contact with the ground and improves the obstacle-crossing ability of the working device. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a cross-sectional view of the working device provided in an embodiment of the present invention; Figure 2 yes Figure 1 A magnified view of a section at point A in the middle; Figure 3 This is a partial structural schematic diagram of the working device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the locking mechanism of the working device provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the longitudinal axis of the working device provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the horizontal axis of the working device provided in an embodiment of the present invention; Figure 7 This is a structural schematic diagram of the longitudinal axis, connecting seat, longitudinal axis and support block provided in an embodiment of the present utility model.
[0019] The reference numerals in the accompanying drawings are as follows: 1. Locking mechanism; 11. First limiting groove; 12. Locking support plate; 121. Lock hole; 122. First side plate; 1221. First groove; 123. Second side plate; 1231. Second groove; 13. Locking assembly; 131. Locking elastic element; 132. Connecting rod; 133. Rotary arm; 134. Lock cylinder; 1341. Lock hook; 14. Limiting block; 2. Elastic element; 3. Body mechanism; 31. Body frame; 32. Longitudinal axis; 321. Second limiting protrusion; 322. First connecting hole; 3 23. Second flange body; 33. Horizontal shaft; 331. First limiting protrusion; 332. First flange body; 333. Through hole; 34. Connecting seat; 341. Second limiting groove; 342. First limiting arm; 35. Bearing; 36. First fastener; 37. Support block; 38. Caster wheel; 39. Working assembly; 391. Rotary drive component; 392. Cutting blade; 4. First limiting cylinder; 41. First disc body; 42. First cylinder body; 5. Second limiting cylinder; 51. Second disc body; 52. Second cylinder body. Detailed Implementation
[0020] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0021] In this application, "front" refers to the direction of the front of the working device, "rear" refers to the direction of the side of the working device, "up" refers to the direction of the roof of the working device, and "down" refers to the direction of the bottom of the working device.
[0022] like Figures 1 to 3 As shown, an embodiment of the present invention provides a working device, including a locking mechanism 1, an elastic element 2, and a vehicle body mechanism 3; The body structure 3 includes a body frame 31, a longitudinal shaft 32, a transverse shaft 33, and a connecting seat 34; the body frame 31 is mounted on the locking mechanism 1 via an elastic element 2, the transverse shaft 33 is rotatably mounted on the locking mechanism 1, the connecting seat 34 is mounted on the side of the transverse shaft 33, one end of the longitudinal shaft 32 is rotatably mounted on the connecting seat 34, and the other end of the longitudinal shaft 32 is mounted on the body frame 31; The side of the horizontal shaft 33 is provided with a first limiting protrusion 331, and the locking mechanism 1 is provided with a first limiting groove 11. The first limiting protrusion 331 is rotatably inserted into the first limiting groove 11. The side of the longitudinal axis 32 is provided with a second limiting protrusion 321, and the connecting seat 34 is provided with a second limiting groove 341. The second limiting protrusion 321 is rotatably inserted into the second limiting groove 341.
[0023] The elastic element 2 includes, but is not limited to, springs, tension springs, etc. The vehicle body mechanism 3 is connected to the locking mechanism 1 through the elastic element 2, ensuring the stability of the connection between the vehicle body mechanism 3 and the locking mechanism 1 and improving the obstacle-crossing ability of the working device. The horizontal axis 33 is set perpendicular to the vertical axis 32. The horizontal axis 33 is set along the left-right direction of the vehicle body mechanism 3, and the vertical axis 32 is set along the front-back direction of the vehicle body mechanism 3. The first limiting protrusion 331 can rotate in the first limiting groove 11, but the first limiting groove 11 can also limit the rotation angle of the first limiting protrusion 331. Similarly, the second limiting protrusion 321 can rotate in the second limiting groove 341, but the second limiting groove 341 can also limit the rotation angle of the second limiting protrusion 321.
[0024] In this invention, the vehicle frame 31 is mounted on the locking mechanism 1 via an elastic element 2. A horizontal shaft 33 is rotatably mounted on the locking mechanism 1. A connecting seat 34 is fixedly mounted on the side of the horizontal shaft 33. One end of the longitudinal shaft 32 is rotatably mounted on the connecting seat 34, and the other end of the longitudinal shaft 32 is fixedly mounted on the vehicle frame 31. During the operation of the working device, if it encounters road conditions such as ditches or bumps, and if the front of the working mechanism (the end furthest from the locking mechanism 1) lifts upwards or falls downwards, the vehicle frame 31 will be held in place by the longitudinal shaft 33. The shaft 32 and the connecting seat 34 drive the horizontal shaft 33 to rotate, and the body mechanism 3 has a certain range of front and rear floating technical effect. After the first limiting protrusion 331 of the horizontal shaft 33 abuts against the inner side wall of the first limiting groove 11, the locking mechanism 1 (and the moving device connected to the locking mechanism 1) will limit the rotation angle of the horizontal shaft 33. In this way, the locking mechanism 1 will prevent the body frame 31 from being raised too high or falling too low, and ensure the stability of the universal wheel 38 under the body frame 31 in contact with the ground. If the left or right side of the working mechanism tilts up or falls down, the vehicle frame 31 will drive the longitudinal axis 32 to rotate, and the vehicle mechanism 3 will have a certain range of left and right floating technical effect. After the second limiting protrusion 321 of the longitudinal axis 32 abuts against the inner wall of the second limiting groove 341, the connecting seat 34 will limit the rotation angle of the longitudinal axis 32. Thus, the locking mechanism 1 (and the moving device connected to the locking mechanism 1) will limit the rotation angle of the longitudinal axis 32 through the horizontal axis 33 and the connecting seat 34. In this way, the locking mechanism 1 will prevent the left or right side of the vehicle mechanism from being raised too high or falling too low, and ensure the stability of the universal wheel 38 under the vehicle frame 31 in contact with the ground.
[0025] In this invention, the vehicle body mechanism 3 and the locking mechanism 1 have the technical effect of floating in the front-back direction and floating in the left-right direction. The first limiting protrusion 331 inserted into the first limiting groove 11 can limit the floating angle of the vehicle body mechanism 3 in the front-back direction, and the second limiting protrusion 321 inserted into the second limiting groove 341 can limit the floating angle of the vehicle body mechanism 3 in the left-right direction. This ensures the stability of the vehicle on the vehicle body frame 31 in contact with the ground and improves the obstacle-crossing ability of the working device.
[0026] In one embodiment, such as Figure 2 and Figure 6 As shown, the side of the horizontal shaft 33 is also provided with a first flange body 332, and the connecting seat 34 is installed on the first flange body 332. The connecting seat 34 is provided with a bearing 35 hole, and the body mechanism 3 also includes a bearing 35 installed in the bearing 35 hole. The end of the longitudinal shaft 32 away from the body frame 31 is rotatably installed in the inner hole of the bearing 35.
[0027] The longitudinal shaft 32 is rotatably mounted on the connecting seat 34 via the bearing 35, and the connecting seat 34 is equivalent to a bearing 35 seat.
[0028] In this embodiment, the connecting seat 34 is mounted on the horizontal shaft 33 via the first flange body 332. The connecting seat 34 and the horizontal shaft 33 are two planes that fit together, which ensures the stability of the connecting seat 34 mounted on the horizontal shaft 33, and the disassembly and assembly operations between the connecting seat 34 and the horizontal shaft 33 are convenient.
[0029] In one embodiment, such as Figure 2 As shown, the horizontal axis 33 is also provided with a through hole 333 that penetrates the first flange body 332, and the end of the vertical axis 32 away from the vehicle frame 31 is provided with a first connecting hole 322. The body structure 3 also includes a first fastener 36, one end of which passes through the through hole 333 and is fixedly connected to the first connection hole 322.
[0030] The through hole 333 extends radially through the horizontal shaft 33. The first fastener 36 includes, but is not limited to, screws and bolts. The outer diameter of the first fastener 36 is larger than the inner diameter of the through hole 333. The first fastener 36 and the first connecting hole 322 are fixedly connected by a threaded structure.
[0031] In this embodiment, the end of the longitudinal shaft 32 away from the vehicle frame 31 is rotatably inserted into the through hole 333. The first fastener 36 can support the longitudinal shaft 32 from the middle, further ensuring the stability of the connection between the transverse shaft 33 and the longitudinal shaft 32.
[0032] In one embodiment, such as Figure 3 , Figure 5 as well as Figure 7 As shown, the body structure 3 also includes a support block 37 mounted on the body frame 31, and a second flange body 323 is provided on the longitudinal axis 32, and the second flange body 323 is mounted on the support block 37.
[0033] The support block 37 can be fixedly installed on the vehicle frame 31 by screws, bolts or other fasteners, and the end of the longitudinal axis 32 away from the connecting seat 34 is fixedly installed on the vehicle frame 31 by the support block 37.
[0034] In this embodiment, the longitudinal shaft 32 is fixedly installed on the support block 37 through the second flange body 323, which ensures the stability of the connection between the longitudinal shaft 32 and the support block 37, and the disassembly and assembly operations between the longitudinal shaft 32 and the support block 37 are convenient.
[0035] In one embodiment, such as Figure 7 As shown, the connecting seat 34 has a first limiting arm 342 and a second limiting arm spaced apart at one end away from the horizontal axis 33, and the second limiting groove 341 is disposed between the first limiting arm 342 and the second limiting arm.
[0036] In one specific embodiment, the first limiting arm 342 and the second limiting arm have the same shape.
[0037] Specifically, when the longitudinal axis 32 rotates to the left to its limit position, it will abut against the first limiting arm 342, thereby limiting the angle of rotation of the longitudinal axis 32 to the left; when the longitudinal axis 32 rotates to the right to its limit position, it will abut against the second limiting arm, thereby limiting the angle of rotation of the longitudinal axis 32 to the right.
[0038] In this embodiment, the first limiting arm 342 and the second limiting arm can limit the rotation angle of the longitudinal axis 32 through the second limiting protrusion 321.
[0039] In one embodiment, such as Figure 1 As shown, the body structure 3 includes casters 38 and working components 39 mounted on the body frame 31.
[0040] The caster wheels 38 are located below the vehicle body mechanism 3, and the working components 39 include, but are not limited to, a cutter assembly and a snow sweeping assembly, thus enabling the working device to perform functions such as mowing grass and sweeping snow. Furthermore, two caster wheels 38 are provided, spaced apart in the left-right direction.
[0041] In this embodiment, the design of the longitudinal axis 32 and the transverse axis 33 allows the caster wheel 38 to make close contact with the ground, ensuring the obstacle-crossing ability of the working device.
[0042] In one embodiment, such as Figure 1 As shown, the working component 39 includes a lifting drive (not shown in the figure), a rotating drive 391, and a cutter 392 installed at the output end of the rotating drive 391. The lifting drive is installed on the vehicle frame 31, and the rotating drive 391 is installed at the output end of the lifting drive.
[0043] The lifting drive assembly includes, but is not limited to, pneumatic cylinders and hydraulic cylinders, and the rotary drive component 391 includes, but is not limited to, rotary cylinders and rotary motors.
[0044] In this embodiment, the rotary drive 391 can drive the cutter 392 to rotate, and the cutter 392 can perform the function of mowing grass. The lifting drive can drive the rotary drive 391 and the cutter 392 to rise and fall, so that the cutter 392 can cut grass at different depths, improving the applicability and versatility of the working device. In addition, the floating range of the vehicle frame 31 in the left-right and front-back directions is small. The working component 39 is mounted on the machine, and the floating range of the cutter 392 is also relatively small. After the grass is cut by the cutter 392, the flatness of the grass is improved.
[0045] In one embodiment, such as Figure 4 As shown, the locking mechanism 1 includes a locking support plate 12 and a locking assembly 13. The locking support plate 12 is provided with a locking hole 121. The end of the elastic member 2 away from the vehicle frame 31 is connected to the locking support plate 12. The locking assembly 13 includes a locking elastic element 131, a connecting rod 132, a rotating arm 133, and a lock cylinder 134 with a locking hook 1341. The lock cylinder 134 is rotatably mounted on the locking support plate 12. The opposite ends of the locking elastic element 131 are respectively connected to the lock cylinder 134 and the locking support plate 12. The locking elastic element 131 is used to drive the lock cylinder 134 to rotate around a first direction so that the locking hook 1341 locks the connector that extends into the lock hole 121. The rotating arm 133 is rotatably mounted on the locking support plate 12, and the two ends of the connecting rod 132 are rotatably connected to the lock cylinder 134 and the rotating arm 133, respectively; the rotating arm 133 is used to drive the lock cylinder 134 to rotate around the second direction through the connecting rod 132, so that the lock hook 1341 disengages from the joint extending into the lock hole 121; the first direction is opposite to the second direction.
[0046] The locking elastic element 131 includes, but is not limited to, springs; of the first direction and the second direction, one is a clockwise direction and the other is a counterclockwise direction.
[0047] Specifically, the mobile device is equipped with a connector. When the locking mechanism 1 is installed on the mobile device, as the connector passes through the lock hole 121, the connector will drive the lock cylinder 134 to rotate around the second direction and stretch the locking elastic element 131. The elastic force of the locking elastic element 131 causes the locking hook 1341 of the lock cylinder 134 to lock onto the connector, thereby stably locking the locking mechanism 1 onto the mobile device. When the user rotates the rotating arm 133, the rotating arm 133 drives the lock cylinder 134 to rotate around the second direction through the connecting rod 132. The locking hook 1341 disengages from the connector, thereby releasing the locking assembly 13 from locking the connector, allowing the connector to be pulled out of the lock hole 121.
[0048] In this embodiment, the locking component 13 has a simple structure, a large locking force, and is easy to operate.
[0049] In one embodiment, such as Figure 4 As shown, the locking support plate 12 has a first side plate 122 and a second side plate 123 on opposite sides, the first side plate 122 has a first groove 1221, and the second side plate 123 has a second groove 1231. The vehicle body mechanism 3 also includes a first limiting cylinder 4 and a second limiting cylinder 5. The first limiting cylinder 4 includes a first disc body 41 and a first cylindrical portion 42 connected to the first disc body 41. The second limiting cylinder 5 includes a second disc body 51 and a second cylindrical portion 52 connected to the second disc body 51. The first disc 41 is mounted on the first side plate 122, and the end of the first cylinder 42 away from the first disc 41 passes through the first groove 1221 and is rotatably sleeved on the first end of the horizontal shaft 33. The second disc 51 is mounted on the second side plate 123, and the end of the second cylinder 52 away from the second disc 51 passes through the second groove 1231 and is rotatably sleeved on the second end of the horizontal shaft 33.
[0050] In this embodiment, the design of the first limiting cylinder 4 and the second limiting cylinder 5 ensures the stability of the horizontal shaft 33 when it is rotatably mounted on the locking support plate 12.
[0051] In one embodiment, such as Figure 1 As shown, the locking mechanism 1 also includes a limiting block 14 mounted on the locking support plate 12, and the first limiting groove 11 is disposed on the limiting block 14.
[0052] The limiting block 14 can be fixedly installed on the locking support plate 12 by fasteners such as screws and bolts, and the limiting block 14 can limit the rotation angle of the crossbar through the first limiting groove 11.
[0053] Another embodiment of this utility model provides a working robot, including a mobile device (not shown in the figure) and the above-mentioned working device; the body mechanism 3 is detachably mounted on the mobile device through the locking mechanism 1.
[0054] The mobile device has the function of autonomous movement, so that the mobile device can push or pull the working device to move on the ground.
[0055] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.
Claims
1. A work device characterized by comprising: This includes locking mechanisms, elastic components, and body structures; The vehicle body structure includes a vehicle body frame, a longitudinal axis, a transverse axis, and a connecting seat; the vehicle body frame is mounted on the locking mechanism via an elastic element, the transverse axis is rotatably mounted on the locking mechanism, the connecting seat is mounted on the side of the transverse axis, one end of the longitudinal axis is rotatably mounted on the connecting seat, and the other end of the longitudinal axis is mounted on the vehicle body frame; The side of the horizontal shaft is provided with a first limiting protrusion, and the locking mechanism is provided with a first limiting groove. The first limiting protrusion is rotatably inserted into the first limiting groove. The side of the longitudinal axis is provided with a second limiting protrusion, and the connecting seat is provided with a second limiting groove. The second limiting protrusion is rotatably inserted into the second limiting groove.
2. The work device according to claim 1, characterized in that, The side of the horizontal shaft is also provided with a first flange body, and the connecting seat is installed on the first flange body; The connecting seat is provided with a bearing hole, and the body mechanism also includes a bearing installed in the bearing hole. The end of the longitudinal axis away from the body frame is rotatably installed in the inner hole of the bearing.
3. The work device according to claim 2, characterized in that, The horizontal axis is also provided with a through hole penetrating the first flange body, and the longitudinal axis is provided with a first connection hole at the end away from the vehicle frame. The body structure also includes a first fastener, one end of which passes through the through hole and is fixedly connected to the first connection hole.
4. The work device according to claim 1, characterized by The body structure also includes a support block mounted on the body frame, and a second flange body is provided on the longitudinal axis, the second flange body being mounted on the support block.
5. The work device according to claim 1, characterized by The connecting seat is provided with a first limiting arm and a second limiting arm spaced apart at one end away from the horizontal axis, and the second limiting groove is disposed between the first limiting arm and the second limiting arm.
6. The work device according to claim 1, characterized by The body structure includes casters and working components mounted on the body frame.
7. The work device according to claim 6, characterized in that The working component includes a lifting drive, a rotating drive, and a cutter mounted on the output end of the rotating drive. The lifting drive is mounted on the vehicle frame, and the rotating drive is mounted on the output end of the lifting drive.
8. The work device of claim 1, wherein The locking mechanism includes a locking support plate and a locking assembly, wherein the locking support plate is provided with a locking hole; the end of the elastic element away from the vehicle frame is connected to the locking support plate; The locking assembly includes a locking elastic element, a connecting rod, a rotating arm, and a lock cylinder with a locking hook. The lock cylinder is rotatably mounted on the locking support plate. The opposite ends of the locking elastic element are respectively connected to the lock cylinder and the locking support plate. The locking elastic element is used to drive the lock cylinder to rotate around a first direction so that the locking hook locks the connector that extends into the lock hole. The rotating arm is rotatably mounted on the locking support plate, and the two ends of the connecting rod are rotatably connected to the lock cylinder and the rotating arm, respectively; the rotating arm is used to drive the lock cylinder to rotate around the second direction through the connecting rod, so that the lock hook disengages from the connector that extends into the lock hole; the first direction is opposite to the second direction.
9. The work device according to claim 8, characterized in that The locking mechanism further includes a limiting block mounted on the locking support plate, and the first limiting groove is disposed on the limiting block.
10. A work robot, characterized by A mobile device and a work device as claimed in any one of claims 1 to 9; the vehicle body mechanism is detachably attached to the mobile device by the locking mechanism.