A pitch adjustment mechanism, a self-moving device, and a work robot

Abstract

This utility model relates to the field of robotics, and more particularly to a pitch adjustment mechanism, a self-moving device, and a working robot. The pitch adjustment mechanism includes a linear drive assembly, a first shaft, a second shaft, and an adjustment assembly. The adjustment assembly includes a first vertical frame, a second vertical frame, and a horizontal frame. The first and second vertical frames are spaced apart and mounted on the horizontal frame. The opposite ends of the second shaft are respectively connected to the first and second vertical frames. The first vertical frame has a first connector, and the second vertical frame has a second connector; the first and second connectors are used to connect the component to be adjusted. The linear drive assembly is rotatably connected to the horizontal frame via the first shaft, and the linear drive assembly drives the adjustment assembly to rotate around the second shaft. This utility model features a pitch adjustment mechanism with fewer components, a simple structure, low manufacturing cost, and convenient assembly and disassembly.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a pitch adjustment mechanism, a self-moving device, and a work robot. Background Technology

[0002] Robots used in homes, lawns, and courtyards typically consist of a robot body and a work device mounted on the robot body. The robot body can move the work device, which can perform functions such as snow removal and sweeping.

[0003] To ensure better operation of the working device, a pitch adjustment mechanism is usually installed on the robot body. This mechanism can adjust the pitch angle of the working device on the robot body, thus enabling better operation. However, existing pitch adjustment devices suffer from technical problems such as numerous components, complex structure, and high manufacturing costs. Summary of the Invention

[0004] This utility model provides a pitch adjustment mechanism, a self-moving device, and a work robot to solve the technical problems of existing pitch adjustment devices, such as numerous parts, complex structure, and high manufacturing cost.

[0005] An embodiment of the present invention provides a pitch adjustment mechanism, including a linear drive assembly, a first shaft, a second shaft, and an adjustment assembly; The adjustment assembly includes a first vertical frame, a second vertical frame, and a horizontal frame; the first vertical frame and the second vertical frame are installed at intervals on the horizontal frame, and the opposite ends of the second shaft are respectively connected to the first vertical frame and the second vertical frame; the first vertical frame is provided with at least one first connector, and the second vertical frame is provided with at least one second connector, and the first connector and the second connector are used to connect the part to be adjusted; The linear drive assembly is rotatably connected to the horizontal frame via the first shaft, and the linear drive is used to drive the adjustment assembly to rotate around the second shaft.

[0006] Optionally, the horizontal frame includes a horizontal rod and a first arm and a second arm spaced apart along a first direction on the horizontal rod. The opposite ends of the first shaft are respectively mounted on the first arm and the second arm, and the output end of the linear drive assembly is rotatably connected to the first shaft. The first vertical frame and the second vertical frame are installed at intervals along the first direction on the horizontal rod; the horizontal rod and the second shaft are arranged at intervals along the second direction; the first direction is perpendicular to the second direction.

[0007] Optionally, the horizontal frame further includes a first reinforcing rib and a second reinforcing rib, wherein the first reinforcing rib is disposed between the horizontal rod and the first support arm, and the second reinforcing rib is disposed between the horizontal rod and the second support arm.

[0008] Optionally, the horizontal bar has a weight-reducing hole on the side facing away from the first vertical frame.

[0009] Optionally, the first connector is provided with a first insertion groove and a first guide slope distributed at intervals, the first insertion groove being located between the first guide slope and the first vertical frame; the first guide slope is disposed opposite to the first insertion groove; The second connector is provided with a second insertion groove and a second guide slope distributed at intervals. The second insertion groove is located between the second guide slope and the second vertical frame. The second guide slope is arranged opposite to the second insertion groove.

[0010] An embodiment of this utility model also provides a self-moving device, including a self-moving mechanism and the above-mentioned pitch adjustment mechanism; The self-moving mechanism includes a vehicle body frame, the linear drive assembly is mounted on the vehicle body frame, and the second shaft is rotatably mounted on the vehicle body frame.

[0011] Optionally, the linear drive assembly includes a base, a third shaft, and a moving drive component; the base is mounted on the vehicle frame, the moving drive component is rotatably mounted on the base via the third shaft, and the output end of the moving drive component is rotatably connected to the horizontal frame via the first shaft.

[0012] Optionally, the pitch adjustment mechanism further includes a mounting base with a shaft hole, the mounting base being mounted on the vehicle frame, and the second shaft being rotatably mounted in the shaft hole.

[0013] An embodiment of this utility model also provides a working robot, including a working mechanism and the aforementioned self-moving device; the working mechanism is provided with a first locking groove and a second locking groove; the working mechanism is mounted on the adjusting assembly through a first connector inserted into the locking groove and a second connector inserted into the second locking groove.

[0014] Optionally, the working mechanism includes a working body, a first locking component, and a second locking component, wherein the first locking groove and the second locking groove are both provided on the working body; the first connector is provided with a first insertion groove, and the second connector is provided with a second insertion groove; The first locking assembly includes a first elastic element, a first connecting rod, a first rotating arm, and a first lock cylinder with a first locking hook. The first lock cylinder is rotatably mounted on the first working body. The opposite ends of the first elastic element are respectively connected to the first lock cylinder and the working body. The first elastic element is used to drive the first lock cylinder to rotate around a first circumferential direction so that the first locking hook locks the first connector through the first insertion groove. The first rotating arm is rotatably mounted on the working body. The opposite ends of the first connecting rod are respectively rotatably connected to the first lock cylinder and the first rotating arm. The first rotating arm is used to drive the first lock cylinder to rotate around a second circumferential direction through the first connecting rod so that the first locking hook disengages from the first insertion groove. The first circumferential direction is opposite to the second circumferential direction. The second locking assembly includes a second elastic element, a second connecting rod, a second rotating arm, and a second lock cylinder with a second locking hook. The second lock cylinder is rotatably mounted on the first working body. The two opposite ends of the second elastic element are respectively connected to the second lock cylinder and the working body. The second elastic element is used to drive the second lock cylinder to rotate around a second circumferential direction so that the second locking hook locks the second connector through the second insertion groove. The second rotating arm is rotatably mounted on the working body. The two opposite ends of the second connecting rod are respectively rotatably connected to the second lock cylinder and the second rotating arm. The second rotating arm is used to drive the lock cylinder to rotate around a first circumferential direction through the second connecting rod so that the second locking hook disengages from the second insertion groove.

[0015] In this invention, the adjustment assembly includes a first vertical frame, a second vertical frame, and a horizontal frame. The first and second vertical frames are spaced apart and mounted on the horizontal frame. The opposite ends of a second shaft are connected to the first and second vertical frames, respectively. The linear drive assembly is rotatably connected to the horizontal frame via the first shaft. The linear drive assembly can drive the adjustment assembly to rotate around the second shaft. When the working mechanism is mounted on the adjustment assembly via a first connector and a second connector, it achieves the function of adjusting the pitch angle of the working mechanism. In this invention, the pitch adjustment mechanism has fewer parts, a simple structure, low manufacturing cost, and convenient assembly and disassembly. In addition, the adjustment assembly is directly rotatably connected to the output end of the linear drive assembly, and the adjustment assembly is directly rotatably mounted on the vehicle frame via the second shaft. Therefore, there is no need to set a connecting rod rocker arm assembly between the adjustment assembly and the vehicle frame, thus leaving sufficient space behind the adjustment assembly for installing cables and electrical modules. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the pitch adjustment mechanism provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the pitch adjustment mechanism provided in one embodiment of the present invention from another perspective; Figure 3 This is a partially exploded structural diagram of the pitch adjustment mechanism provided in one embodiment of the present invention; Figure 4 This is a partial structural schematic diagram of a self-moving device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the working mechanism provided in one embodiment of the present utility model.

[0018] The reference numerals in the accompanying drawings are as follows: 1. Pitch adjustment mechanism; 11. Linear drive assembly; 111. Base; 112. Third shaft; 113. Moving drive component; 12. First shaft; 13. Second shaft; 14. Adjustment assembly; 141. First vertical frame; 142. Second vertical frame; 143. Horizontal frame; 1431. Horizontal rod; 1432. First support arm; 1433. Second support arm; 1434. First reinforcing rib; 1435. Second reinforcing rib; 1436. Weight reduction hole; 15. First connector; 151. First insertion groove; 15 2. First guide ramp; 16. Second connector; 161. Second insertion groove; 162. Second guide ramp; 17. Mounting seat; 2. Vehicle frame; 3. Working body; 31. First lock groove; 32. Second lock groove; 4. First locking assembly; 41. First elastic element; 42. First connecting rod; 43. First rotating arm; 44. First lock cylinder; 441. First lock hook; 5. Second locking assembly; 51. Second elastic element; 52. Second connecting rod; 53. Second rotating arm; 54. Second lock cylinder; 541. Second lock hook. Detailed Implementation

[0019] 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.

[0020] The first direction in this application is Figure 1 The X direction in the middle, the second direction is Figure 1 The Z-direction in the middle.

[0021] like Figures 1 to 3 As shown, an embodiment of the present invention provides a pitch adjustment mechanism 1, which includes a linear drive assembly 11, a first shaft 12, a second shaft 13, and an adjustment assembly 14. The adjustment assembly 14 includes a first vertical frame 141, a second vertical frame 142, and a horizontal frame 143; the first vertical frame 141 and the second vertical frame 142 are spaced apart and mounted on the horizontal frame 143, and the opposite ends of the second shaft 13 are respectively connected to the first vertical frame 141 and the second vertical frame 142; the first vertical frame 141 is provided with at least one first connector 15, and the second vertical frame 142 is provided with at least one second connector 16, the first connector 15 and the second connector 16 are used to connect the component to be adjusted; The linear drive assembly 11 is rotatably connected to the horizontal frame 143 via the first shaft 12, and the linear drive assembly 11 is used to drive the adjustment assembly 14 to rotate around the second shaft 13.

[0022] The horizontal frame 143 is installed at the upper end of the first vertical frame 141 and the second vertical frame 142, and the second shaft 13 is installed at the lower end of the first frame and the second frame. The linear drive assembly 11 includes, but is not limited to, pneumatic cylinders, hydraulic cylinders, linear motors, and lead screw and nut assemblies. The second shaft 13 is rotatably mounted on the vehicle frame 2, and the linear drive assembly 11 is mounted on the vehicle frame 2. The component to be adjusted is mounted on the adjustment assembly 14 through the first connector 15 and the second connector 16, so that the linear drive assembly 11 can drive the adjustment assembly 14 and the component to be adjusted to rotate around the second shaft 13, thereby achieving the function of adjusting the pitch angle of the component to be adjusted. The component to be adjusted includes, but is not limited to, the working mechanism.

[0023] In this embodiment, the adjustment assembly 14 includes a first vertical frame 141, a second vertical frame 142, and a horizontal frame 143. The first vertical frame 141 and the second vertical frame 142 are spaced apart and mounted on the horizontal frame 143. The opposite ends of the second shaft 13 are respectively connected to the first vertical frame 141 and the second vertical frame 142. The linear drive assembly 11 is rotatably connected to the horizontal frame 143 via the first shaft 12. The linear drive assembly 11 can drive the adjustment assembly 14 to rotate around the second shaft 13. When the component to be adjusted is mounted on the adjustment assembly 14 via the first connector 15 and the second connector 16, the pitch angle of the component to be adjusted can be adjusted. In this utility model, the pitch adjustment mechanism 1 has fewer parts, a simple structure, low manufacturing cost, and convenient disassembly and assembly. In addition, the adjustment component 14 is directly rotatably connected to the output end of the linear drive component 11, and the adjustment component 14 is directly rotatably mounted on the vehicle frame 2 through the second shaft 13. Therefore, there is no need to set up a connecting rod rocker arm component or the like between the adjustment component 14 and the vehicle frame 2, so that there is enough space behind the adjustment component 14 for installing cables, electrical modules and other components.

[0024] In one embodiment, such as Figures 1 to 3 As shown, the horizontal frame 143 includes a horizontal rod 1431 and a first arm 1432 and a second arm 1433 spaced apart on the horizontal rod 1431 along a first direction. The opposite ends of the first shaft 12 are respectively mounted on the first arm 1432 and the second arm 1433. The output end of the linear drive assembly 11 is rotatably connected to the first shaft 12. The first vertical frame 141 and the second vertical frame 142 are installed at intervals along the first direction on the horizontal rod 1431; the horizontal rod 1431 and the second shaft 13 are arranged at intervals along the second direction; the first direction is perpendicular to the second direction.

[0025] The first support arm 1432, the second support arm 1433, and the horizontal rod 1431 are integrally formed parts; the first support arm 1432 and the second support arm 1433 both protrude above the horizontal rod 1431.

[0026] In this embodiment, the linear drive assembly 11 is rotatably connected to the first support arm 1432 and the second support arm 1433 via the first shaft 12, and the disassembly and assembly of the linear drive assembly 11 and the adjustment assembly 14 are convenient; in addition, the adjustment assembly 14 and the second shaft 13 form a square structure, thereby reducing the weight of the pitch adjustment mechanism 1.

[0027] In one embodiment, such as Figure 3As shown, the horizontal frame 143 also includes a first reinforcing rib 1434 and a second reinforcing rib 1435. The first reinforcing rib 1434 is disposed between the horizontal rod 1431 and the first support arm 1432, and the second reinforcing rib 1435 is disposed between the horizontal rod 1431 and the second support arm 1433.

[0028] The first reinforcing rib 1434 is disposed on the side of the first support arm 1432 away from the second support arm 1433, and the second reinforcing rib 1435 is disposed on the side of the second support arm 1433 away from the first support arm 1432.

[0029] In this embodiment, the design of the first reinforcing rib 1434 and the second reinforcing rib 1435 ensures the strength and rigidity of the horizontal frame 143.

[0030] In one embodiment, such as Figure 2 As shown, the horizontal rod 1431 has a weight-reducing hole 1436 on the side opposite to the first vertical frame 141.

[0031] The weight reduction hole 1436 can be set in one or more according to actual needs.

[0032] In this embodiment, the design of the weight-reducing hole 1436 reduces the weight of the horizontal frame 143 while also taking into account heat dissipation or wiring requirements.

[0033] In one embodiment, such as Figure 1 As shown, the first connector 15 is provided with a first insertion groove 151 and a first guide slope 152 distributed at intervals. The first insertion groove 151 is located between the first guide slope 152 and the first vertical frame 141. The first guide slope 152 is arranged opposite to the first insertion groove 151. The second connector 16 is provided with a second insertion groove 161 and a second guide slope 162 spaced apart. The second insertion groove 161 is located between the second guide slope 162 and the second vertical frame 142. The second guide slope 162 is arranged opposite to the second insertion groove 161.

[0034] During the process of the first connector 15 being inserted into the first locking groove 31 of the working mechanism, the first lock cylinder 44 in the first locking groove 31 first contacts the first guide slope 152. The first guide slope 152 drives the first lock cylinder 44 to rotate and stretches the first elastic member 41. After the first insertion groove on the first connector 15 moves to the position of the first locking hook 441 on the first lock cylinder 44, the rebound force of the first elastic member 41 drives the first lock cylinder 44 to rotate, so that the first locking hook 441 is engaged in the first insertion groove 151, and the first connector 15 is securely locked in the first locking groove 31.

[0035] During the process of the second connector 16 being inserted into the second locking groove 32 of the working mechanism, the second lock cylinder 54 in the second locking groove 32 first contacts the second guide slope 162. The second guide slope 162 drives the second lock cylinder 54 to rotate and stretches the second elastic member 51. After the second insertion groove 161 on the second connector 16 moves to the position of the second locking hook 541 on the second lock cylinder 54, the rebound force of the second elastic member 51 drives the second lock cylinder 54 to rotate, so that the second locking hook 541 is engaged in the second insertion groove 161, thereby the second connector 16 is securely locked in the second locking groove 32.

[0036] like Figure 4 As shown, one embodiment of this utility model also provides a self-moving device, including a self-moving mechanism and the above-mentioned pitch adjustment mechanism 1; The self-moving mechanism includes a vehicle frame 2, the linear drive assembly 11 is mounted on the vehicle frame 2, and the second shaft 13 is rotatably mounted on the vehicle frame 2.

[0037] The self-moving mechanism also includes wheels, tracks, etc., installed on the vehicle frame 2, so that the self-moving mechanism can move autonomously on the ground and lawn.

[0038] In this invention, the adjustment component 14 is directly rotatably connected to the output end of the linear drive component 11. The adjustment component 14 is directly rotatably mounted on the vehicle frame 2 via the second shaft 13. Therefore, there is no need to set up a linkage rocker arm assembly or the like between the adjustment component 14 and the vehicle frame 2. Thus, there is sufficient space behind the adjustment component 14 for installing components such as cables and electrical modules.

[0039] In one embodiment, such as Figure 1 and Figure 4As shown, the linear drive assembly 11 includes a seat 111, a third shaft 112, and a moving drive component 113; the seat 111 is mounted on the vehicle frame 2, the moving drive component 113 is rotatably mounted on the seat 111 via the third shaft 112, and the output end of the moving drive component 113 is rotatably connected to the horizontal frame 143 via the first shaft 12.

[0040] The moving drive component 113 includes, but is not limited to, pneumatic cylinders, hydraulic cylinders, and linear motors; the seat 111 is fixedly installed on the vehicle frame 2.

[0041] In this embodiment, during the process of the moving drive component 113 driving the adjustment component 14 to rotate, the fixed end of the moving drive component 113 can rotate around the base 111 through the third shaft 112. Therefore, during the process of the moving drive component 113 driving the adjustment component 14 to rotate, it is not easy for accidents such as torsion or jamming to occur, thus ensuring the stability of the linear drive component 11 driving the adjustment component 14 to rotate.

[0042] In one embodiment, such as Figure 1 and Figure 4 As shown, the pitch adjustment mechanism 1 also includes a mounting base 17 with a shaft hole, the mounting base 17 is mounted on the vehicle frame 2, and the second shaft 13 is rotatably mounted in the shaft hole.

[0043] The mounting base 17 can be fixedly mounted on the vehicle frame 2 by screws, bolts, etc., and the second shaft 13 can rotate around the mounting base 17.

[0044] In this embodiment, the design of the mounting base 17 improves the ease of mounting the second shaft 13 onto the vehicle frame 2.

[0045] An embodiment of this utility model also provides a working robot, including a working mechanism (not shown in the figure) and the aforementioned self-moving device; the working mechanism is provided with a first locking groove 31 and a second locking groove 32; the working mechanism is mounted on the adjustment assembly 14 through a first connector 15 inserted into the first locking groove 31 and a second connector 16 inserted into the second locking groove 32.

[0046] The operating mechanism can perform functions such as snow removal, grass cutting, and leaf blowing.

[0047] In this embodiment, the pitch adjustment mechanism 1 can adjust the pitch angle of the working mechanism on the vehicle frame 2, so that the working mechanism can smoothly perform relevant tasks.

[0048] In one embodiment, such as Figure 5As shown, the working mechanism includes a working body 3, a first locking component 4 and a second locking component 5. The first locking groove 31 and the second locking groove 32 are both provided on the working body 3. The first connector 15 is provided with a first insertion groove 151, and the second connector 16 is provided with a second insertion groove 161. The first locking assembly 4 includes a first elastic element 41, a first connecting rod 42, a first rotating arm 43, and a first lock cylinder 44 with a first locking hook 441. The first lock cylinder 44 is rotatably mounted on the first working body 3. The opposite ends of the first elastic element 41 are respectively connected to the first lock cylinder 44 and the working body 3. The first elastic element 41 is used to drive the first lock cylinder 44 to rotate around a first circumferential direction so that the first locking hook 441 locks the first connector 15 through the first insertion groove 151. The first rotating arm 43 is rotatably mounted on the working body 3. The opposite ends of the first connecting rod 42 are respectively rotatably connected to the first lock cylinder 44 and the first rotating arm 43. The first rotating arm 43 is used to drive the first lock cylinder 44 to rotate around a second circumferential direction through the first connecting rod 42 so that the first locking hook 441 disengages from the first insertion groove 151. The first circumferential direction is opposite to the second circumferential direction. The second locking assembly 5 includes a second elastic element 51, a second connecting rod 52, a second rotating arm 53, and a second lock cylinder 54 with a second locking hook 541. The second lock cylinder 54 is rotatably mounted on the first working body 3. The opposite ends of the second elastic element 51 are respectively connected to the second lock cylinder 54 and the working body 3. The second elastic element 51 is used to drive the second lock cylinder 54 to rotate around a second circumferential direction so that the second locking hook 541 locks the second connector 16 through the second insertion groove 161. The second rotating arm 53 is rotatably mounted on the working body 3. The opposite ends of the second connecting rod 52 are respectively rotatably connected to the second lock cylinder 54 and the second rotating arm 53. The second rotating arm 53 is used to drive the second lock cylinder 54 to rotate around a first circumferential direction through the second connecting rod 52 so that the second locking hook 541 disengages from the second insertion groove.

[0049] The first elastic element 41 and the second elastic element 51 include, but are not limited to, springs; of the first winding direction and the second winding direction, one is a clockwise direction and the other is a counterclockwise direction.

[0050] Specifically, during the process of inserting the first connector 15 into the first lock groove 31, the first lock cylinder 44 first contacts the first guide slope 152. The first guide slope 152 drives the first lock cylinder 44 to rotate around the second circumferential direction and stretches the first elastic member 41. After the first insertion groove 151 on the first connector 15 moves to the position of the first lock hook 441, the rebound force of the first elastic member 41 drives the first lock cylinder 44 to rotate around the first circumferential direction, so that the first lock hook 441 is engaged in the first insertion groove 151, thereby the first locking assembly 4 securely locks the first connector 15 into the first lock groove 31. Similarly, during the process of the second connector 16 being inserted into the second lock groove 32, the second lock cylinder 54 first contacts the second guide slope 162. The second guide slope 162 drives the second lock cylinder 54 to rotate around the first direction and stretch the second elastic member 51. After the second insertion groove 161 on the second connector 16 moves to the position of the second lock hook 541 on the second lock cylinder 54, the rebound force of the second elastic member 51 drives the second lock cylinder 54 to rotate around the second direction, so that the second lock hook 541 is engaged in the second insertion groove 161, thereby the second connector 16 is securely locked in the second lock groove 32.

[0051] When the user rotates the first rotating arm 43, the first rotating arm 43 drives the first lock cylinder 44 to rotate around the second direction, and the first lock hook 441 disengages from the first insertion groove, thereby the first locking component 4 engages to lock the first connector 15, and the first connector 15 can be pulled out from the first lock groove 31; similarly, when the user rotates the second rotating arm 53, the second rotating arm 53 drives the second lock cylinder 54 to rotate around the first direction, and the second lock hook 541 disengages from the second insertion groove 161, thereby the second locking component 5 engages to lock the second connector 16, and the second connector 16 can be pulled out from the second lock groove 32.

[0052] In this embodiment, the first locking component 4 and the second locking component 5 have simple structures, large locking force, and are easy to operate.

[0053] 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 pitch adjustment mechanism, characterized by, It includes a linear drive assembly, a first axis, a second axis, and an adjustment assembly; The adjustment assembly includes a first vertical frame, a second vertical frame, and a horizontal frame; the first vertical frame and the second vertical frame are installed at intervals on the horizontal frame, and the opposite ends of the second shaft are respectively connected to the first vertical frame and the second vertical frame; the first vertical frame is provided with at least one first connector, and the second vertical frame is provided with at least one second connector, and the first connector and the second connector are used to connect the part to be adjusted; The linear drive assembly is rotatably connected to the horizontal frame via the first shaft, and the linear drive assembly is used to drive the adjustment assembly to rotate around the second shaft.

2. The pitch adjustment mechanism of claim 1, wherein, The horizontal frame includes a horizontal rod and a first arm and a second arm spaced apart along a first direction on the horizontal rod. The opposite ends of the first shaft are respectively mounted on the first arm and the second arm, and the output end of the linear drive assembly is rotatably connected to the first shaft. The first vertical frame and the second vertical frame are installed at intervals along the first direction on the horizontal rod; the horizontal rod and the second shaft are arranged at intervals along the second direction; the first direction is perpendicular to the second direction.

3. The pitch adjustment mechanism of claim 2, wherein, The horizontal frame also includes a first reinforcing rib and a second reinforcing rib, the first reinforcing rib being disposed between the horizontal rod and the first support arm, and the second reinforcing rib being disposed between the horizontal rod and the second support arm.

4. The pitch adjustment mechanism of claim 2, wherein, The horizontal bar has a weight-reducing hole on the side opposite to the first vertical frame.

5. The pitch adjustment mechanism of claim 1, wherein, The first connector is provided with a first insertion groove and a first guide slope distributed at intervals. The first insertion groove is located between the first guide slope and the first vertical frame. The first guide slope is arranged opposite to the first insertion groove. The second connector is provided with a second insertion groove and a second guide slope distributed at intervals. The second insertion groove is located between the second guide slope and the second vertical frame. The second guide slope is arranged opposite to the second insertion groove.

6. A self-moving device, characterized in that, Includes a self-moving mechanism and a pitch adjustment mechanism as described in any one of claims 1 to 5; The self-moving mechanism includes a vehicle body frame, the linear drive assembly is mounted on the vehicle body frame, and the second shaft is rotatably mounted on the vehicle body frame.

7. The self-moving device of claim 6, wherein, The linear drive assembly includes a base, a third shaft, and a moving drive component; the base is mounted on the vehicle frame, the moving drive component is rotatably mounted on the base via the third shaft, and the output end of the moving drive component is rotatably connected to the horizontal frame via the first shaft.

8. The self-moving device of claim 6, wherein, The pitch adjustment mechanism also includes a mounting base with a shaft hole, the mounting base being mounted on the vehicle frame, and the second shaft being rotatably mounted in the shaft hole.

9. A work robot, characterized by It includes a working mechanism and a self-moving device as described in any one of claims 6 to 8; the working mechanism is provided with a first locking slot and a second locking slot; the working mechanism is mounted on the adjusting assembly via a first connector inserted into the first locking slot and a second connector inserted into the second locking slot.

10. The work robot according to claim 9, characterized by The working mechanism includes a working body, a first locking component, and a second locking component. The first locking groove and the second locking groove are both provided on the working body. The first connector is provided with a first insertion groove, and the second connector is provided with a second insertion groove. The first locking assembly includes a first elastic element, a first connecting rod, a first rotating arm, and a first lock cylinder with a first locking hook. The first lock cylinder is rotatably mounted on the first working body. The opposite ends of the first elastic element are respectively connected to the first lock cylinder and the working body. The first elastic element is used to drive the first lock cylinder to rotate around a first circumferential direction so that the first locking hook locks the first connector through the first insertion groove. The first rotating arm is rotatably mounted on the working body. The opposite ends of the first connecting rod are respectively rotatably connected to the first lock cylinder and the first rotating arm. The first rotating arm is used to drive the first lock cylinder to rotate around a second circumferential direction through the first connecting rod so that the first locking hook disengages from the first insertion groove. The first circumferential direction is opposite to the second circumferential direction. The second locking assembly includes a second elastic element, a second connecting rod, a second rotating arm, and a second lock cylinder with a second locking hook. The second lock cylinder is rotatably mounted on the first working body. The two opposite ends of the second elastic element are respectively connected to the second lock cylinder and the working body. The second elastic element is used to drive the second lock cylinder to rotate around a second circumferential direction so that the second locking hook locks the second connector through the second insertion groove. The second rotating arm is rotatably mounted on the working body. The two opposite ends of the second connecting rod are respectively rotatably connected to the second lock cylinder and the second rotating arm. The second rotating arm is used to drive the lock cylinder to rotate around a first circumferential direction through the second connecting rod so that the second locking hook disengages from the second insertion groove.

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