A universal wheel device, a working mechanism and a working robot

Abstract

This utility model relates to the field of robot technology, and in particular to a universal wheel device, a working mechanism, and a working robot. In the universal wheel device, the universal wheel is mounted on a support assembly. The first end of the support shaft is connected to a support plate, and the second end of the support shaft is slidably inserted into a guide hole. The first support frame includes a base and a vertical frame connected to the base. The vertical frame has first and second clamping arms spaced apart, with a clamping groove between the first and second clamping arms. A limiting block is provided on the side of the first and / or second clamping arms facing the clamping groove. The vertical frame also has a first through hole passing through the first and second clamping arms, connecting to the clamping groove. A sensor is installed in the first through hole, and the limiting block is used to limit the sensor within the first through hole. The base is mounted on the second end of the support shaft. In this utility model, the sensor is easy to assemble and disassemble from the first support frame, and the stability of the sensor mounted on the first support frame is ensured.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a universal wheel device, a working mechanism and a working robot. Background Technology

[0002] Lawn mowers are widely used in agriculture, horticulture, parks and other fields due to their advantages such as high efficiency, safety, reliability and energy saving. In order to improve the obstacle-crossing ability and stability of lawn mowers, the wheels are installed at the bottom of the lawn mower through a suspension mechanism.

[0003] When a lawnmower encounters ditches or bumps while moving, the bottom of the casters is unsupported, leaving them suspended in the air, and the caster's support shaft will shift downwards. When the casters are suspended, the blades will stop working to prevent injury, and the lawnmower will also stop moving. To detect whether the casters are suspended, a sensor component detects the position of the support shaft to determine if the casters are in a suspended state.

[0004] The sensing assembly includes a magnet and a sensor. The magnet is mounted on the axle of the caster wheel via a first bracket, and the sensor is mounted on the vehicle body via a second bracket. In existing technology, the first bracket has a through hole, and the magnet is mounted in the through hole with an interference fit. During the lawnmower's movement, shaking and vibration are prone to occur, causing the magnet to easily fall off the first bracket. Furthermore, to ensure the magnet's stability on the first bracket, screws, bolts, or other fasteners are typically used to secure it; however, these fasteners can affect the magnet's magnetic field, thus impacting the stability of the sensing between the sensor and the magnet. Summary of the Invention

[0005] This utility model provides a universal wheel device, a working mechanism, and a working robot to solve the technical problem of low stability in the sensing between magnetic sensors and magnets in the prior art.

[0006] An embodiment of this utility model provides a universal wheel device, including a universal wheel, a sensing component, a support shaft, and a support component; the support component includes a support plate and a guide cylinder with a guide hole, the universal wheel is mounted on the support component, the first end of the support shaft is connected to the support plate, and the second end of the support shaft is slidably inserted into the guide hole; The sensing component includes a first support frame, a sensor, and a sensor unit; The first support frame includes a base and a vertical frame connected to the base. The vertical frame is provided with a first clamping arm and a second clamping arm that are spaced apart. A clamping groove is provided between the first clamping arm and the second clamping arm. A limiting block is provided on the side of the first clamping arm and / or the second clamping arm facing the clamping groove. The vertical frame is also provided with a first through hole that passes through the first clamping arm and the second clamping arm and communicates with the clamping groove. The sensor is installed in the first through hole and is disposed opposite to the first through hole. The limiting block is used to limit the sensor in the first through hole. The base is installed at the second end of the support shaft and is disposed opposite to the sensor.

[0007] Optionally, the limiting block is provided with a guide slope; the width of the limiting block gradually decreases from the end near the first through hole to the end away from the first through hole.

[0008] Optionally, the sensing component further includes a second support frame, which includes a base plate and a vertical block connected to the base plate. The vertical block is provided with a receiving groove, and the sensor is installed in the receiving groove.

[0009] Optionally, the receiving groove extends vertically and is disposed at one end of the vertical block facing the guide cylinder, and the side of the vertical block away from the guide cylinder is provided with a reinforcing inclined surface; The width of the vertical block gradually decreases from the end closest to the base toward the end furthest from the base; the base plate is also provided with a side groove surrounding the guide cylinder.

[0010] Optionally, the support assembly includes a limiting plate; the limiting plate is provided with at least two limiting grooves distributed circumferentially; One end of the guide cylinder is mounted on the support block, and the other end of the guide cylinder is provided with at least two circumferentially spaced limiting protrusions, which extend along the axial direction of the guide hole. The limiting plate is installed at the second end of the support shaft, and the limiting protrusions are slidably inserted into the limiting grooves one by one; the base is installed on the limiting plate.

[0011] Another embodiment of this utility model provides a working mechanism, including a body with an internal space and the aforementioned universal mechanism; the body includes a frame and a plate mounted on the frame, the guide cylinder and the sensor are mounted on the frame, and the guide cylinder and the sensing component are both located in the internal space, and the universal wheels and the support plate are both located below the body.

[0012] Optionally, the housing also includes a reinforcing plate disposed on the frame, and all sensors are mounted on the reinforcing plate.

[0013] Optionally, the frame includes a first support beam and a second support beam arranged at intervals and in parallel. The lower end of the first support beam is provided with a first groove, and the lower end of the second support beam is provided with a second groove. The reinforcing plate is installed in the first groove and the second groove, and the guide cylinder and the sensing component are both located in the accommodating space between the first support beam and the second support beam.

[0014] Optionally, the support assembly includes a flexible pad and a support base plate, the flexible pad being installed on the side of the support plate away from the caster wheel, and the guide cylinder being installed on the frame via the support base plate; The support base plate is provided with a plurality of spaced-apart limiting feet, which are used to abut against the support plate.

[0015] Another embodiment of this utility model provides a working robot, including a mobile mechanism and the above-described working mechanism; the working mechanism is detachably mounted on the mobile mechanism.

[0016] In this invention, the first support frame includes a base and a vertical frame connected to the base. The vertical frame has a first clamping arm and a second clamping arm spaced apart. A clamping groove is provided between the first and second clamping arms. A limiting block is provided on the side of the first and / or second clamping arms facing the clamping groove. During the insertion of the sensor from above into the clamping groove, the sensor is pressed against the first and / or second clamping arms by the limiting block. After passing the limiting block, the sensor is limited in the clamping groove. The first through hole is located to the side of the sensor. In this invention, the sensor is easy to assemble and disassemble from the first support frame, and the stability of the sensor mounted on the first support frame is ensured. The first support frame is mounted on the body of the working mechanism, thus preventing the sensor from easily shifting or falling during the movement of the working mechanism. Furthermore, the sensor in this application does not require fasteners such as screws or bolts to be mounted on the first support frame, thereby avoiding the influence of fasteners on the magnetic field of the sensor and ensuring the stability of the sensing between the sensor and the sensor unit. 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 1This is a schematic diagram of the structure of a universal wheel device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the first support frame of the universal wheel device provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of the sensor mounted on the second support frame according to an embodiment of the present invention; Figure 4 A partial structural schematic diagram of the universal wheel device provided in one embodiment of this utility model; Figure 5 A partial structural schematic diagram of the universal wheel device provided in one embodiment of this utility model; Figure 6 This is a schematic diagram of the working mechanism provided in one embodiment of the present utility model; Figure 7 This is a schematic diagram of the universal wheel device installed on the frame according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the universal wheel device installed on the frame according to another embodiment of the present invention.

[0019] The reference numerals in the accompanying drawings are as follows: 1. Casters; 2. Sensing assembly; 21. First support frame; 211. Base; 212. Vertical frame; 2121. First clamping arm; 2122. Second clamping arm; 2123. Clamping groove; 2124. Limiting block; 2125. First through hole; 2126. Guide slope; 22. Sensor; 23. Sensor; 24. Second support frame; 241. Base plate; 242. Vertical block; 2421. Receiving groove; 2422. Addition... 3. Strong inclined plane; 4. Support shaft; 5. Support assembly; 6. Support plate; 7. Guide cylinder; 8. Limiting protrusion; 9. Limiting plate; 10. Limiting groove; 11. Flexible pad; 2. Support base plate; 3. Limiting foot; 42. Machine body; 53. Frame; 6. First support beam; 7. First groove; 8. Second support beam; 9. Second groove; 10. Machine plate; 11. Reinforcing plate. 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 Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a universal wheel device, including a universal wheel 1, a sensing component 2, a support shaft 3, and a support component 4; the support component 4 includes a support plate 41 and a guide cylinder 42 with a guide hole, the universal wheel 1 is mounted on the support component 4, the first end of the support shaft 3 is connected to the support plate 41, and the second end of the support shaft 3 is slidably inserted into the guide hole; The sensing component 2 includes a first support frame 21, a sensor 22, and a sensor 23; The first support frame 21 includes a base 211 and a vertical frame 212 connected to the base 211. The vertical frame 212 is provided with a first clamping arm 2121 and a second clamping arm 2122 spaced apart. A clamping groove 2123 is provided between the first clamping arm 2121 and the second clamping arm 2122. A limiting block 2124 is provided on the side of the first clamping arm 2121 and / or the second clamping arm 2122 facing the clamping groove 2123. The vertical frame 212 is also provided with a first through hole 2125 passing through the first clamping arm 2121 and the second clamping arm 2122. The first through hole 2125 communicates with the clamping groove 2123. The sensor 22 is installed in the first through hole 2125 and is disposed opposite to the first through hole 2125. The limiting block 2124 is used to limit the sensor 22 in the first through hole 2125. The base 211 is installed at the second end of the support shaft 3 and is disposed opposite to the sensor 22.

[0023] The sensor 22 includes, but is not limited to, magnets, and the sensor 23 includes, but is not limited to, Hall effect sensors. The first support frame 21 can be made of plastic to further reduce the influence on the sensing between the sensor 22 and the sensor 23. The base 211 and the vertical frame 212 are integrally formed. Since the clamping groove 2123 is provided between the first clamping arm 2121 and the second clamping arm 2122, both the first clamping arm 2121 and the second clamping arm 2122 have a certain... The elasticity is such that the width of the clamping groove 2123 is smaller than the width of the sensor 22; the limiting block 2124 is located above the first through hole 2125; one or two limiting blocks 2124 can be provided. When only one limiting block 2124 is provided, the first limiting block 2124 is provided on the first clamping arm 2121 or the second clamping arm 2122. When two limiting blocks 2124 are provided, both the first clamping arm 2121 and the second clamping arm 2122 are provided with limiting blocks 2124.

[0024] Specifically, when the caster wheel 1 encounters road conditions such as ditches or cliffs during its movement, the bottom of the caster wheel 1 is not in contact with anything, and the caster wheel 1 will be in a suspended state. As a result, the caster wheel 1 will drive the support shaft 3 to move downward through the support plate 41. Since the sensor 22 is installed on the top of the support shaft 3, the sensor 23 can detect the downward position of the support shaft 3 through the sensor 22, and thus determine whether the caster wheel 1 is in a suspended state. When the sensing component 2 detects that the caster wheel 1 is in a suspended state, the working mechanism can stop the relevant operations (such as mowing the lawn).

[0025] In this utility model, the first support frame 21 includes a base 211 and a vertical frame 212 connected to the base 211. The vertical frame 212 is provided with a first clamping arm 2121 and a second clamping arm 2122 spaced apart. A clamping groove 2123 is provided between the first clamping arm 2121 and the second clamping arm 2122. A limiting block 2124 is provided on the side of the first clamping arm 2121 and / or the second clamping arm 2122 facing the clamping groove 2123. During the process of the sensor 22 being inserted into the clamping groove 2123 from above, the sensor 22 is squeezed by the limiting block 2124. After the sensor 22 passes the limiting block 2124, it is limited in the clamping groove 2123. The first through hole 2125 is located on the side of the sensor 22. In this invention, the sensor 22 is easy to assemble and disassemble from the first support frame 21, and the stability of the sensor 22 mounted on the first support frame 21 is ensured. The first support frame 21 is mounted on the body 5 of the working mechanism, thus preventing the sensor 22 from shifting or falling during the movement of the working mechanism. Furthermore, the sensor 22 in this application does not require fasteners to be mounted on the first support frame 21, thereby avoiding the influence of screws and bolts on the magnetic field of the sensor 22 and ensuring the stability of the sensing between the sensor 22 and the sensor 23.

[0026] In one embodiment, such as Figure 2 As shown, the limiting block 2124 is provided with a guide slope 2126; the width of the limiting block 2124 gradually decreases from the end near the first through hole 2125 to the end away from the first through hole 2125.

[0027] The width of the limiting block 2124 refers to the width of the cross-section of the limiting block 2124 along the direction of the first clamping arm 2121 and the second clamping arm 2122.

[0028] In this embodiment, the design of the guide slope 2126 makes the width above the limiting block 2124 smaller and the width below the limiting block 2124 larger; during the process of inserting the sensor 22 into the slot, the guide slope 2126 can gradually squeeze the first clamping arm 2121 and / or the second clamping arm 2122, ensuring the stability of the sensor 22 installed in the clamping groove 2123.

[0029] In one embodiment, such as Figure 3 and Figure 4 As shown, the sensing component 2 also includes a second support frame 24, which includes a base plate 241 and a vertical block 242 connected to the base plate 241. The vertical block 242 is provided with a receiving groove 2421, and the sensor 23 is installed in the receiving groove 2421.

[0030] The second support frame 24 is installed on the side of the guide cylinder 42, and the receiving groove 2421 is provided on the side of the vertical block 242 facing the guide cylinder 42.

[0031] In this embodiment, the second support frame 24 can serve to support the sensor 23.

[0032] In one embodiment, such as Figure 3 and Figure 4 As shown, the receiving groove 2421 extends vertically and is located at one end of the vertical block 242 facing the guide cylinder 42. The vertical block 242 is provided with a reinforcing inclined surface 2422 on the side away from the guide cylinder 42. The width of the vertical block 242 gradually decreases from the end closest to the base 211 toward the end furthest from the base 211; the base plate 241 is also provided with a side groove surrounding the guide cylinder 42.

[0033] The extension line of the receiving groove 2421 is perpendicular to the bottom plate 241.

[0034] In this embodiment, the design of the reinforcing inclined surface 2422 results in a smaller top width and a larger bottom width for the vertical block 242, giving it greater strength and rigidity. This also prevents the distance between the sensor 23 and the sensor 22 from easily changing, ensuring the stability of the sensing between them. Furthermore, the groove design on the upper side of the base plate 241 improves the compactness of the caster wheel assembly.

[0035] In one embodiment, such as Figure 1 and Figure 4As shown, the support component 4 includes a limiting plate 43; the limiting plate 43 is provided with at least two limiting grooves 431 that are circumferentially spaced. The guide cylinder 42 is provided with at least two circumferentially spaced limiting protrusions 421 at one end away from the support plate 41, and the limiting protrusions 421 extend along the axial direction of the guide hole. The limiting plate 43 is installed at the second end of the support shaft 3, and the limiting protrusions 421 are slidably inserted into the limiting grooves 431 in a one-to-one correspondence; the base 211 is installed on the limiting plate 43.

[0036] The limiting protrusion 421 and the limiting groove 431 can be provided in two, three, four or more forms according to actual needs; the limiting plate 43 can move up and down along the limiting protrusion 421 through the limiting groove 431; the outer diameter of the limiting plate 43 is larger than the inner diameter of the guide hole.

[0037] In this embodiment, the limiting plate 43 is installed on the top of the support shaft 3, and the limiting protrusion 421 on the top of the guide cylinder 42 is slidably inserted into the limiting groove 431. Thus, the limiting plate 43 can support the support shaft 3 through the guide cylinder 42, and there will be no axial rotation between the limiting plate 43 and the guide cylinder 42.

[0038] In one embodiment, the outward-facing wheel includes a universal support plate and a universal wheel body mounted on the outer housing support plate. The universal support plate is mounted on the support plate 41. The universal wheel device also includes a sealing ring mounted between the universal support plate and the support plate 41. The sealing ring is used to seal the gap between the universal support plate and the support plate 41.

[0039] like Figure 5 As shown, another embodiment of this utility model also provides a working mechanism, including a body 5 with an internal space and the aforementioned universal mechanism; the body 5 includes a frame 51 and a plate 52 mounted on the frame 51, the guide cylinder 42 and the sensor 23 are mounted on the frame 51, and the guide cylinder 42 and the sensing component 2 are both located in the internal space, and the universal wheel 1 and the support plate 41 are both located below the body 5.

[0040] The operating mechanism can automatically perform at least one of the following: mowing grass, sweeping snow, and blowing leaves; the second support frame 24 is also installed on the frame 51, which has great strength and rigidity.

[0041] In this embodiment, both the sensor 22 and the guide cylinder 42 are mounted on the frame 51. Since the frame 51 has high strength and rigidity, the stability between the sensor 22 and the sensor 23 is guaranteed.

[0042] In one embodiment, such as Figure 7 and Figure 8 As shown, the body 5 also includes a reinforcing plate 53 disposed on the frame 51, and the sensor 23 is mounted on the reinforcing plate 53.

[0043] The reinforcing plate 53 further increases the strength and rigidity of the frame 51; the second support frame 24 is mounted on the reinforcing plate 53.

[0044] During the movement of the working mechanism, the frame 51 may be subjected to various forces (such as an upward supporting force). If the frame 51 is not thickened by the reinforcing plate 53, it is prone to deformation. The deformed frame 51 will change the position of the sensor 23 (that is, the deformed frame 51 will cause the sensor 23 to deviate from its original position), resulting in the technical problem of unstable sensing between the sensor 23 and the sensor 22. In this embodiment, the reinforcing plate 53 increases the thickness of the frame 51, and the position of the frame 51 where the second support frame 24 is installed is not easily deformed, so that the sensor 23 is not easily deviated from its original position, thus ensuring the stability of sensing between the sensor 23 and the sensor 22.

[0045] In one embodiment, such as Figure 8 As shown, the frame 51 includes a first support beam 511 and a second support beam 512 arranged at intervals and in parallel. The lower end of the first support beam 511 is provided with a first groove 5111, and the lower end of the second support beam 512 is provided with a second groove 5121. The reinforcing plate 53 is installed in the first groove 5111 and the second groove 5121. The guide cylinder 42 and the sensing component 2 are both located in the accommodating space between the first support beam 511 and the second support beam 512.

[0046] The first groove 5111 is located below the first support beam 511, and the second groove 5121 is located below the second support beam 512. Both the first support beam 511 and the second support beam 512 can be tubular beams.

[0047] In this embodiment, one side of the reinforcing plate 53 is installed in the first groove 5111, and the other side of the reinforcing plate 53 is installed in the second groove 5121. The guide cylinder 42 and the sensing component 2 are both located in the accommodating space between the first support beam 511 and the second support beam 512, which improves the compactness of the working mechanism.

[0048] In one embodiment, such as Figure 1 and Figure 5 As shown, the support assembly 4 includes a flexible pad 44 and a support base plate 45. The flexible pad 44 is installed on the side of the support plate 41 away from the caster wheel 1, and the guide cylinder 42 is installed on the frame 51 through the support base plate 45. The supporting base plate 45 is provided with a plurality of spaced limiting feet 451, which are used to abut against the supporting plate 41.

[0049] The flexible pad 44 can be made of silicone material; the number of limiting feet 451 can be set according to actual needs; and the limiting base plate 241 is located above the flexible pad 44.

[0050] Specifically, when the caster wheel 1 drives the support plate 41 to move upward, the support plate 41 abuts against the limiting leg 451, thereby limiting the upward travel of the caster wheel 1.

[0051] In this embodiment, the contact between the limiting foot 451 and the flexible pad 44 restricts the upward movement of the caster wheel 1. The flexible pad 44 and the support plate 41 are in flexible contact. The flexible pad 44 can play a buffering role, reducing the impact force between the support plate 41 and the limiting base plate 241, and extending the service life of the working mechanism.

[0052] Another embodiment of this utility model provides a working robot, including a moving mechanism (not shown in the figure) and the above-described working mechanism; the working mechanism is detachably mounted on the moving mechanism.

[0053] The mobile mechanism can drive the working mechanism to move on the ground, so that the working mechanism can complete the relevant tasks.

[0054] 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 universal wheel apparatus, characterized by, It includes a caster wheel, a sensing component, a support shaft, and a support assembly; the support assembly includes a support plate and a guide cylinder with a guide hole, the caster wheel is mounted on the support assembly, the first end of the support shaft is connected to the support plate, and the second end of the support shaft is slidably inserted into the guide hole; The sensing component includes a first support frame, a sensor, and a sensor unit; The first support frame includes a base and a vertical frame connected to the base. The vertical frame is provided with a first clamping arm and a second clamping arm that are spaced apart. A clamping groove is provided between the first clamping arm and the second clamping arm. A limiting block is provided on the side of the first clamping arm and / or the second clamping arm facing the clamping groove. The vertical frame is also provided with a first through hole that passes through the first clamping arm and the second clamping arm and communicates with the clamping groove. The sensor is installed in the first through hole and is disposed opposite to the first through hole. The limiting block is used to limit the sensor in the first through hole. The base is installed at the second end of the support shaft and is disposed opposite to the sensor.

2. The universal wheel apparatus of claim 1, wherein, The limiting block is provided with a guide slope; the width of the limiting block gradually decreases from the end closest to the first through hole toward the end furthest from the first through hole.

3. The universal wheel apparatus of claim 1, wherein, The sensing component further includes a second support frame, which includes a base plate and a vertical block connected to the base plate. The vertical block is provided with a receiving groove, and the sensor is installed in the receiving groove.

4. The universal wheel apparatus of claim 3, wherein, The receiving groove extends vertically and is located at one end of the vertical block facing the guide cylinder. The vertical block has a reinforcing inclined surface on the side away from the guide cylinder. The width of the vertical block gradually decreases from the end closest to the base toward the end furthest from the base; the base plate is also provided with a side groove surrounding the guide cylinder.

5. The universal wheel apparatus of claim 1, wherein, The support component includes a limiting plate; the limiting plate is provided with at least two limiting grooves distributed circumferentially; The guide cylinder is provided with at least two circumferentially spaced limiting protrusions at one end away from the support plate, and the limiting protrusions extend along the axial direction of the guide hole; The limiting plate is installed at the second end of the support shaft, and the limiting protrusions are slidably inserted into the limiting grooves one by one; the base is installed on the limiting plate.

6. A work mechanism characterized by comprising: The device includes a fuselage with an internal space and a universal joint mechanism as described in any one of claims 1 to 5; the fuselage includes a frame and a plate mounted on the frame, the guide cylinder and the sensor are mounted on the frame, and the guide cylinder and the sensing assembly are both located in the internal space, and the universal wheels and the support plate are both located below the fuselage.

7. The work mechanism according to claim 6, characterized in that The fuselage also includes a reinforcing plate mounted on the frame, and all the sensors are mounted on the reinforcing plate.

8. The work mechanism according to claim 7, characterized in that The frame includes a first support beam and a second support beam arranged at intervals and in parallel. The lower end of the first support beam is provided with a first groove, and the lower end of the second support beam is provided with a second groove. The reinforcing plate is installed in the first groove and the second groove. The guide cylinder and the sensing component are both located in the accommodating space between the first support beam and the second support beam.

9. The work mechanism of claim 7, wherein, The support assembly includes a flexible pad and a support base plate. The flexible pad is installed on the side of the support plate away from the caster wheel, and the guide cylinder is installed on the frame through the support base plate. The support base plate is provided with a plurality of spaced-apart limiting feet, which are used to abut against the support plate.

10. A work robot, characterized by It includes a moving mechanism and a working mechanism as described in any one of claims 7 to 9; the working mechanism is detachably mounted on the moving mechanism.

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