Work mechanism and work robot

Abstract

This utility model relates to the field of robotics, and more particularly to a working mechanism and a working robot. In the working mechanism, a bearing housing is mounted on a locking component; a bearing is rotatably sleeved on a first support rod; a nut is threaded onto the first support rod and serves to limit the bearing on the first support rod; both the nut and the bearing are installed in the bearing hole of the bearing housing; the end of the first support rod away from the nut is mounted on a vehicle body component; the end of the bearing housing away from the locking component has a first arm and a second arm spaced apart, with a first limiting groove between the first arm and the second arm; a first limiting block is provided on the side of the first support rod, and the first limiting block is rotatably inserted into the first limiting groove. In this utility model, the working mechanism has a left-right floating effect, improving its obstacle-crossing ability; and the first support rod has high strength and rigidity, making it less prone to breakage.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a working mechanism 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 moving mechanism and a working mechanism. The working mechanism is detachably mounted on the moving mechanism via a locking mechanism. The moving mechanism can push or pull the working mechanism to move on the ground, enabling the working mechanism to complete its tasks.

[0003] In existing technology, when the moving mechanism drives the working mechanism to travel and encounters road conditions such as ditches or bumps, the working mechanism and the moving mechanism will deflect as a whole, making it easy for one side of the working mechanism to lift up. The wheels of the working mechanism will be far from the ground, making it difficult for the working device to pass through ditches or bumps. When the working mechanism is a lawn mowing mechanism, when the lawn mowing mechanism encounters ditches or bumps, the blades at the bottom of the lawn mowing mechanism will fluctuate up and down significantly, resulting in poor flatness of the lawn after mowing. Summary of the Invention

[0004] This utility model provides a working mechanism and a working robot to solve the technical problem in the prior art that working mechanisms are not easy to pass through road conditions such as ditches and bumps.

[0005] An embodiment of this utility model provides a working mechanism, including a locking component, a body component, a first support rod, a nut component, a bearing, and a bearing seat with a bearing hole; The bearing housing is mounted on the locking component; the bearing is rotatably sleeved on the first support rod; the nut is threadedly sleeved on the first support rod and is used to limit the bearing on the first support rod; Both the nut and the bearing are installed in the bearing hole, and the end of the first support rod away from the nut is installed on the vehicle body component. The bearing housing is provided with a first arm and a second arm spaced apart at one end away from the locking component, and a first limiting groove is provided between the first arm and the second arm. The first support rod has a first limiting block on its side, and the first limiting block is rotatably inserted into the first limiting groove.

[0006] Optionally, the first limiting block rotates within the first limiting groove at an angle range of -15° to 15° about the axial direction of the first support rod.

[0007] Optionally, the bearing hole is provided with a first annular step and a second annular step that are spaced apart along the axial direction; The working mechanism also includes a retaining ring, one end of the bearing abuts against the first annular step, the other end of the bearing abuts against the first side of the retaining ring, and the second side of the retaining ring abuts against the second annular step.

[0008] Optionally, the locking component includes a support plate, a first elastic element, a locking assembly, a second support rod, and a limiting seat with a second limiting groove; Both the locking assembly and the limiting seat are mounted on the support plate. One end of the first elastic member is connected to the support plate, and the other end of the first elastic member is connected to the vehicle body component. The second support rod is provided with a second limiting block on its side. The second support rod is rotatably mounted on the support plate, and the second limiting block is rotatably mounted in the second limiting groove. The first support rod is perpendicular to the second support rod.

[0009] Optionally, the second limiting block rotates within the second limiting groove at an angle range of -15° to 15° about the axial direction of the second support rod.

[0010] Optionally, the locking component further includes a mounting flange, which includes a flange plate and a support lug for connecting the flange plate. The support lug has a mounting hole, and the mounting flange is mounted on the second support rod through the mounting hole. The side of the flange plate away from the support lug is attached to and connected to the bearing seat.

[0011] Optionally, the support plate is provided with a first side plate and a second side plate on opposite sides, the first side plate is provided with a first groove, and the second side plate is provided with a second groove; The locking component further includes a first limiting cylinder and a second limiting cylinder. The first limiting cylinder includes a first disc body and a first cylinder body connected to the first disc body. The second limiting cylinder includes a second disc body and a second cylinder body connected to the second disc body. The first disc is mounted on the first side plate, and the end of the first cylinder away from the first disc passes through the first groove and is rotatably sleeved on the first end of the second support rod. The second disc is mounted on the second side plate, and the end of the second cylinder away from the second disc passes through the second groove and is rotatably sleeved on the second end of the second support rod.

[0012] Optionally, the vehicle body component includes a working assembly, wheels, mounting blocks, and a vehicle body, wherein the working assembly, wheels, and mounting blocks are all mounted on the vehicle body; The first support rod is provided with a disc body, and the mounting block is provided with an insertion hole; the end of the first support rod away from the locking component is inserted into the insertion hole, and the disc body is attached to and connected to the mounting block.

[0013] Optionally, the vehicle body is provided with an internal space and a fourth through hole communicating with the internal space; the working component includes a lifting drive, a rotating drive, and a cutter installed at the output end of the rotating drive; the lifting drive is installed in the internal space, and the rotating drive is installed at the output end of the lifting drive; the lifting drive is used to drive the rotating drive to move along the fourth through hole.

[0014] Another embodiment of this utility model provides a working robot, including a moving mechanism and the above-described working mechanism; the body mechanism is detachably mounted on the moving mechanism via the locking component.

[0015] In this invention, when the working mechanism encounters road conditions such as ditches and bumps during its movement, if the left or right side of the working mechanism lifts up or falls down, the vehicle body component will drive the first support rod to rotate (the first limiting block rotates in the first limiting groove). The vehicle body component has a certain range of left and right floating effect. After the first limiting block of the first support rod abuts against the inner wall of the first limiting groove, the bearing seat will limit the rotation angle of the first support rod. Thus, the locking component (and the moving mechanism connected to the locking component) will limit the rotation angle of the first support rod through the bearing seat. In this way, the locking component will prevent the left or right side of the vehicle body component from lifting too high or falling too low, ensuring the stability of the wheels under the vehicle body component in contact with the ground and improving the obstacle-crossing ability of the working mechanism.

[0016] In addition, the nut is threaded onto the first support rod and is used to limit the bearing on the first support rod. Both the nut and the bearing are installed in the bearing hole of the bearing seat, so the first support rod is a solid shaft, which ensures the strength and rigidity of the first support rod. When the working mechanism shakes, swings, vibrates or vibrates during the movement, the first support rod is not prone to breakage or deformation. Moreover, the disassembly and assembly of the first support rod and the bearing seat are convenient. 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 mechanism 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 exploded structural diagram of the working mechanism provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the mounting flange and bearing seat of the working mechanism provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the locking component of the working mechanism provided in one embodiment of the present invention.

[0019] The reference numerals in the accompanying drawings are as follows: 1. Body parts; 11. Working components; 12. Wheels; 13. Mounting blocks; 14. Body; 141. Interior space; 2. Locking component; 21. Support plate; 211. First side plate; 2111. First groove; 212. Second side plate; 2121. Second groove; 22. First elastic element; 23. Locking assembly; 24. Second support rod; 241. Second limiting block; 25. Limiting seat; 251. Second limiting groove; 26. Mounting flange; 261. Flange; 262. Support lug; 263. Mounting hole; 27. First limiting cylinder; 271. First disc; 272. First cylinder; 28. Second limiting cylinder; 281. Second disc; 282. Second cylinder; 3. First support rod; 31. First limiting block; 32. Disc body; 4. Nut; 5. Bearing; 6. Bearing seat; 61. Bearing hole; 611. First annular step; 612. Second annular step; 62. First support arm; 63. Second support arm; 64. First limiting groove; 7. Snap ring. 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 mechanism, "rear" refers to the direction of the side of the working mechanism, "up" refers to the direction of the roof of the working mechanism, and "down" refers to the direction of the bottom of the working mechanism.

[0022] like Figures 1 to 3As shown, an embodiment of the present invention provides a working mechanism, including a locking component 2, a body component 1, a first support rod 3, a nut component 4, a bearing 5, and a bearing seat 6 with a bearing hole 61. The bearing housing 6 is mounted on the locking component 2; the bearing 5 is rotatably sleeved on the first support rod 3; the nut 4 is threadedly sleeved on the first support rod 3 and is used to limit the bearing 5 on the first support rod 3. Both the nut 4 and the bearing 5 are installed in the bearing hole 61, and the end of the first support rod 3 away from the nut 4 is installed on the body component 1. The bearing seat 6 is provided with a first limiting groove 64 at the end away from the locking component 2; The first support rod 3 has a first limiting block 31 on its side, and the first limiting block 31 is rotatably inserted into the first limiting groove 64.

[0023] The first support rod 3 is arranged along the left and right direction of the working mechanism. The outer wall of the first support rod 3 is provided with external threads, and the nut 4 is provided with threaded holes. The external threads are threadedly connected to the threaded holes. The first support rod 3 is provided with a shoulder. One end of the bearing 5 abuts against the nut 4, and the other end of the bearing 5 abuts against the shoulder. Thus, the nut 4 can limit the bearing 5 on the first support rod 3.

[0024] Specifically, when the working mechanism encounters road conditions such as ditches and bumps during its movement, if the left or right side of the working mechanism lifts up or falls down, the vehicle body component 1 will drive the first support rod 3 to rotate (the first limiting block 31 rotates in the first limiting groove 64). The vehicle body component 1 has a certain range of left and right floating technical effect. After the first limiting block 31 of the first support rod 3 abuts against the inner wall of the first limiting groove 64, the bearing seat 6 will limit the rotation angle of the first support rod 3. Thus, the locking component 2 (and the moving mechanism connected to the locking component 2) will limit the rotation angle of the first support rod 3 through the bearing seat 6. In this way, the locking component 2 will prevent the left or right side of the vehicle body component 1 from lifting too high or falling too low, ensuring the stability of the wheel 12 under the vehicle body component 1 in contact with the ground and improving the obstacle crossing ability of the working mechanism.

[0025] In addition, the nut 4 is threaded onto the first support rod 3 and is used to limit the bearing 5 on the first support rod 3. Both the nut 4 and the bearing 5 are installed in the bearing hole 61 of the bearing seat 6. The first support rod 3 is a solid shaft, which ensures the strength and rigidity of the first support rod 3. When the working mechanism shakes, swings, vibrates or vibrates during its movement, the first support rod 3 is not prone to breakage or deformation. Furthermore, the disassembly and assembly of the first support rod 3 and the bearing seat 6 are convenient.

[0026] Furthermore, in the prior art, a connecting hole is provided at the end of the first support rod 3, and fasteners such as screws and bolts are used to fix it in the connecting hole. A retaining spring is also required at the end of the fastener, which not only disrupts the overall shape of the first connecting rod 3 (making one end of the first connecting rod hollow), but also makes the retaining spring prone to deformation during operation. In this application, the nut 4 is directly fixedly fitted onto the first connecting rod 3, eliminating the need for a connecting hole at the end of the first connecting rod 3. This ensures that the first connecting rod 3 is a solid structural component, thus making the first support rod 3 less prone to breakage or deformation.

[0027] In one specific embodiment, such as Figure 4 As shown, the bearing seat 6 has a first support arm 62 and a second support arm 63 spaced apart at one end away from the locking component 2, and the first limiting groove 64 is disposed between the first support arm 62 and the second support arm 63.

[0028] The first support arm 62 and the second support arm 63 both extend along the axial direction of the bearing seat 6.

[0029] In one embodiment, the first limiting block 31 rotates within the first limiting groove 64 at an angle range of -15° to 15° about the axial direction of the first support rod 3.

[0030] Specifically, when neither the left nor right side of the vehicle body component 1 is lifted or dropped (i.e., the left and right sides of the vehicle body component 1 are on the same horizontal plane), the first support rod 3 is at the 0 mark. When the vehicle body component 1 rotates 15° to the left, the first limiting block 31 will abut against the first support arm 62, thereby the bearing seat 6 will restrict the first [A1] support rod 3 from rotating to the left. After the first support arm 62 abuts against the first limiting block 31, it will press the vehicle body component 1 to the left, preventing the left side of the vehicle body component 1 from being lifted too high or the right side of the vehicle body component 1 from falling too low. When the vehicle body component 1 rotates 15° to the right, the first limiting block 31 will abut against the second support arm 63, thereby the bearing seat 6 will restrict the first support rod 3 from rotating to the right. After the second support arm 63 abuts against the first limiting block 31, it will press the vehicle body component 1 to the right, preventing the right side of the vehicle body component 1 from being lifted too high or the left side of the vehicle body component 1 from falling too low.

[0031] In one embodiment, such as Figure 1 and Figure 2 As shown, the bearing hole 61 is provided with a first annular step 611 and a second annular step 612 that are spaced apart along the axial direction; The working mechanism also includes a retaining ring 7, one end of the bearing 5 abuts against the first annular step 611, the other end of the bearing 5 abuts against the first side of the retaining ring 7, and the second side of the retaining ring 7 abuts against the second annular step 612.

[0032] The nut 4 can rotate in the bearing hole 61, and the snap ring 7 can axially limit the bearing 5 in the bearing hole 61, ensuring the stability of the bearing 5 installed in the bearing hole 61.

[0033] In this embodiment, the disassembly and assembly of the bearing 5 and the bearing housing 6 are convenient.

[0034] In one embodiment, such as Figure 1 , Figure 3 as well as Figure 5 As shown, the locking component 2 includes a support plate 21, a first elastic element 22, a locking assembly 23, a second support rod 24, and a limiting seat 25 with a second limiting groove 251; Both the locking assembly 23 and the limiting seat 25 are mounted on the support plate 21. One end of the first elastic member 22 is connected to the support plate 21, and the other end of the first elastic member 22 is connected to the vehicle body component 1. The second support rod 24 is provided with a second limiting block 241 on its side. The second support rod 24 is rotatably mounted on the support plate 21, and the second limiting block 241 is rotatably mounted in the second limiting groove 251. The first support rod 3 is perpendicular to the second support rod 24.

[0035] The first elastic element 22 includes, but is not limited to, springs, tension springs, etc., and the second support rod 24 is arranged along the front-rear direction of the working mechanism. The locking assembly 23 is detachably connected to the moving mechanism, so that the working mechanism can be detachably installed on the moving mechanism through the locking assembly 23.

[0036] Specifically, when the working mechanism encounters road conditions such as ditches and bumps during its movement, if the front of the vehicle body component 1 (the end away from the locking component 2) lifts up or falls down, the vehicle body component 1 will drive the second support rod 24 to rotate through the first support rod 3 and the bearing seat 6. The vehicle body component 1 has a certain range of forward and backward floating effect. After the second limiting block 241 of the second support rod 24 abuts against the inner side wall of the second limiting groove 251, the locking component 2 (and the moving mechanism connected to the locking component 2) will limit the rotation angle of the second support rod 24. Thus, the locking component 2 will prevent the vehicle body component 1 from lifting too high or falling too low, ensuring the stability of the wheel 12 under the vehicle body component 1 in contact with the ground.

[0037] By combining the first limiting groove 64 with the first limiting block 31 to limit the rotation angle of the first support rod 3, the vehicle body component 1 and the locking component 2 have the technical effect of floating in the front and rear directions and floating in the left and right directions, and ensure the stability of the wheel 12 on the vehicle body component 1 in contact with the ground, thereby improving the obstacle crossing ability of the working mechanism.

[0038] In one embodiment, the second limiting block 241 rotates within the second limiting groove 251 at an angle range of -15° to 15° about the axial direction of the second support rod 24.

[0039] Specifically, when neither the front nor rear end of the vehicle body component 1 is lifted or dropped (i.e., the front and rear sections of the vehicle body component 1 are on the same horizontal plane), the second support rod 24 is at the 0 mark. When the vehicle body component 1 rotates forward 15°, the second limiting block 241 abuts against the first inner wall of the second limiting groove 251, thereby limiting the second support rod 24 to rotate forward continuously. After the first inner side of the second limiting groove 251 abuts against the second limiting block 241, it will press the vehicle body component 1 forward, preventing the front end of the vehicle body component 1 from falling too low. When the vehicle body component 1 rotates backward 15°, the second limiting block 241 abuts against the second inner wall of the second limiting groove 251, thereby limiting the second support rod 24 to rotate backward continuously. After the second inner side of the second limiting groove 251 abuts against the second limiting block 241, it will press the vehicle body component 1 backward, preventing the front end of the vehicle body component 1 from lifting too high.

[0040] In one embodiment, such as Figure 3 and Figure 4 As shown, the locking component 2 also includes a mounting flange 26, which includes a flange 261 and a support lug 262 connecting the flange 261. The support lug 262 is provided with a mounting hole 263. The mounting flange 26 is mounted on the second support rod 24 through the mounting hole 263. The side of the flange 261 away from the support lug 262 is attached to and connected to the bearing seat 6.

[0041] The supporting lug 262 and the flange 261 can be integrally formed, and the flange 261 can be installed on the bearing seat 6 by fasteners such as screws and bolts.

[0042] In this embodiment, the mounting flange 26 is sleeved on the second support rod 24 through the support lug 262, and the bearing seat 6 is fixedly installed on the mounting flange 26 through the flange 261. The disassembly and assembly of the bearing seat 6 and the second support rod 24 are convenient. At the same time, the bearing seat 6 is connected to the first support rod 3, establishing a connection relationship between the second support rod 24 and the first support rod 3.

[0043] In one embodiment, such as Figure 5 As shown, the support plate 21 has a first side plate 211 and a second side plate 212 on opposite sides, the first side plate 211 has a first groove 2111, and the second side plate 212 has a second groove 2121. The locking component 2 further includes a first limiting cylinder 27 and a second limiting cylinder 28. The first limiting cylinder 27 includes a first disc body 271 and a first cylinder body 272 connected to the first disc body 271. The second limiting cylinder 28 includes a second disc body 281 and a second cylinder body 282 connected to the second disc body 281. The first disc 271 is mounted on the first side plate 211, and the end of the first cylinder 272 away from the first disc 271 passes through the first groove 2111 and is rotatably sleeved on the first end of the second support rod 24. The second disc 281 is mounted on the second side plate 212, and the end of the second cylinder 282 away from the second disc 281 passes through the second groove 2121 and is rotatably sleeved on the second end of the second support rod 24.

[0044] The first limiting cylinder 27 is fixedly mounted on the first side plate 211 via the first disc 271, and the second limiting cylinder 28 is fixedly mounted on the second side plate 212 via the second disc 281; the first end of the second support rod 24 can be rotatably mounted in the inner hole of the first cylinder 272 via the bearing 5, and the second end of the second support rod 24 can be rotatably mounted in the inner hole of the second cylinder 282 via the bearing 5.

[0045] In this embodiment, the second support rod 24 is rotatably mounted on the support plate 21 through the first limiting cylinder 27 and the second limiting cylinder 28, which ensures the stability of the second support rod 24 rotatably mounted on the support plate 21.

[0046] In one embodiment, such as Figure 5 As shown, the support plate 21 is provided with a lock hole; the locking assembly 23 includes a second elastic element, a connecting rod, a rotating arm and a lock cylinder with a lock hook. The lock cylinder is rotatably mounted on the support plate 21. The opposite ends of the second elastic element are respectively connected to the lock cylinder and the support plate 21. The second elastic element is used to drive the lock cylinder to rotate around a first direction so that the lock hook locks the connector that extends into the lock hole. The rotating arm is rotatably mounted on the support plate 21, 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 a second direction through the connecting rod, so that the lock hook disengages from the joint that extends into the lock hole; the first rotation direction is opposite to the second rotation direction.

[0047] The second elastic element includes, but is not limited to, a spring; of the first winding direction and the second winding direction, one is clockwise and the other is counterclockwise.

[0048] Specifically, the moving device is equipped with a connector. When the locking component 2 is installed on the moving mechanism, as the connector passes through the keyhole, it drives the lock cylinder to rotate in a second direction and stretches the second elastic element. The elastic force of the second elastic element causes the lock hook of the lock cylinder to lock onto the connector, thereby stably locking the locking component 2 onto the moving mechanism. When the user rotates the rotating arm, the rotating arm drives the lock cylinder to rotate in a second direction via the connecting rod. The lock hook disengages from the connector, thus releasing the locking component 23 from locking the connector, allowing the connector to be pulled out of the keyhole.

[0049] In this embodiment, the locking component 23 has a simple structure, a large locking force, and is easy to operate.

[0050] In one embodiment, such as Figures 1 to 3 As shown, the vehicle body component 1 includes a working assembly 11, a wheel 12, a mounting block 13, and a vehicle body 14. The working assembly 11, the wheel 12, and the mounting block 13 are all mounted on the vehicle body 14. The first support rod 3 is provided with a disc body 32, and the mounting block 13 is provided with an insertion hole; the end of the first support rod 3 away from the locking component 2 is inserted into the insertion hole, and the disc body 32 is attached to and connected to the mounting block 13.

[0051] The disc body 32 is equivalent to a flange 261, and the disc body 32 and the mounting block 13 are fixedly connected by the flange 261, ensuring the stability of the connection between the first support rod 3 and the mounting block 13. The wheels 12 include, but are not limited to, casters, etc., and are located below the vehicle body 14. The working components 11 include, but are not limited to, a cutter assembly, a snow sweeping assembly, etc., thus the working mechanism has functions such as mowing grass and sweeping snow. Furthermore, two wheels 12 are provided, and the two vehicles are spaced apart in the left-right direction.

[0052] In this embodiment, the design of the first support rod 3 and the second support rod 24 avoids the phenomenon of the wheel 12 being raised too high, ensuring the stability of the wheel 12 in contact with the ground and improving the obstacle-crossing ability of the working mechanism; at the same time, it also avoids the phenomenon of the working component 11 being raised too high or falling too low, ensuring the stability of the working component 11 during operation.

[0053] In one embodiment, such as Figure 1As shown, the vehicle body 14 is provided with an internal space 141 and a fourth through hole communicating with the internal space 141; the working component 11 includes a lifting drive, a rotating drive, and a cutter installed at the output end of the rotating drive; the lifting drive is installed in the internal space 141, and the rotating drive is installed at the output end of the lifting drive; the lifting drive is used to drive the rotating drive to move along the fourth through hole.

[0054] The fourth through hole is located at the bottom of the vehicle body 14; the lifting drive assembly includes, but is not limited to, pneumatic cylinders, hydraulic cylinders, etc., and the rotary drive component includes, but is not limited to, rotary cylinders, rotary motors, etc.

[0055] In this embodiment, the rotary drive unit can drive the cutter to rotate, and the cutter can perform the function of mowing grass; the lifting drive unit can drive the rotary drive unit and the cutter to rise and fall, so that the cutter can cut grass at different depths, improving the applicability and versatility of the working device. In addition, the floating range of the vehicle body 14 in the left-right and front-back directions is small, the floating range of the cutter is also small when the working component 11 is mounted on the machine, and the grass is improved after the grass is cut by the cutter.

[0056] Another embodiment of this utility model provides a working robot, including a moving mechanism (not shown in the figure) and the above-mentioned working mechanism; the body mechanism is detachably mounted on the moving mechanism via the locking component 2.

[0057] 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.

[0058] 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 mechanism characterized by comprising: It includes locking components, body components, a first support rod, a nut, a bearing, and a bearing housing with bearing holes; The bearing housing is mounted on the locking component; the bearing is rotatably sleeved on the first support rod; the nut is threadedly sleeved on the first support rod and is used to limit the bearing on the first support rod; Both the nut and the bearing are installed in the bearing hole, and the end of the first support rod away from the nut is installed on the vehicle body component. The bearing housing is provided with a first limiting groove at the end away from the locking component; The first support rod has a first limiting block on its side, and the first limiting block is rotatably inserted into the first limiting groove.

2. The work mechanism according to claim 1, characterized in that Around the axial direction of the first support rod, the first limiting block rotates within the first limiting groove at an angle ranging from -15° to 15°.

3. The work mechanism according to claim 1, characterized in that The bearing hole is provided with a first annular step and a second annular step that are spaced apart along the axial direction. The working mechanism also includes a retaining ring, one end of the bearing abuts against the first annular step, the other end of the bearing abuts against the first side of the retaining ring, and the second side of the retaining ring abuts against the second annular step.

4. The work mechanism of claim 1, wherein, The locking component includes a support plate, a first elastic element, a locking assembly, a second support rod, and a limiting seat with a second limiting groove; Both the locking assembly and the limiting seat are mounted on the support plate. One end of the first elastic member is connected to the support plate, and the other end of the first elastic member is connected to the vehicle body component. The second support rod is provided with a second limiting block on its side. The second support rod is rotatably mounted on the support plate, and the second limiting block is rotatably mounted in the second limiting groove. The first support rod is perpendicular to the second support rod.

5. The work mechanism according to claim 4, characterized in that Around the axial direction of the second support rod, the second limiting block rotates within the second limiting groove at an angle ranging from -15° to 15°.

6. The work mechanism of claim 4, wherein, The locking component further includes a mounting flange, which includes a flange plate and a support lug for connecting the flange plate. The support lug has a mounting hole, and the mounting flange is mounted on the second support rod through the mounting hole. The side of the flange plate away from the support lug is attached to and connected to the bearing seat.

7. The work mechanism of claim 4, wherein, The support plate is provided with a first side plate and a second side plate on opposite sides, the first side plate is provided with a first groove, and the second side plate is provided with a second groove. The locking component further includes a first limiting cylinder and a second limiting cylinder. The first limiting cylinder includes a first disc body and a first cylinder body connected to the first disc body. The second limiting cylinder includes a second disc body and a second cylinder body connected to the second disc body. The first disc is mounted on the first side plate, and the end of the first cylinder away from the first disc passes through the first groove and is rotatably sleeved on the first end of the second support rod. The second disc is mounted on the second side plate, and the end of the second cylinder away from the second disc passes through the second groove and is rotatably sleeved on the second end of the second support rod.

8. The work mechanism of claim 1, wherein, The vehicle body components include a working assembly, wheels, mounting blocks, and a vehicle body, wherein the working assembly, wheels, and mounting blocks are all mounted on the vehicle body; The first support rod is provided with a disc body, and the mounting block is provided with an insertion hole; the end of the first support rod away from the locking component is inserted into the insertion hole, and the disc body is attached to and connected to the mounting block.

9. The work mechanism of claim 1, wherein, The vehicle body is provided with an internal space and a fourth through hole connecting the internal space; the working component includes a lifting drive, a rotating drive, and a cutter installed at the output end of the rotating drive; the lifting drive is installed in the internal space, and the rotating drive is installed at the output end of the lifting drive; the lifting drive is used to drive the rotating drive to move along the fourth through hole.

10. A work robot, characterized by It includes a moving mechanism and a working mechanism as described in any one of claims 1 to 9; the vehicle body mechanism is detachably mounted on the moving mechanism via the locking component.

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