Operation robot

Abstract

An operation robot. The operation robot comprises an executing mechanism and a mobile robot, and the mobile robot comprises a chassis body, a support, and a pushing mechanism. The support is rotatably mounted on the chassis body in a pitching manner, and the executing mechanism is detachably mounted on the support. The pushing mechanism is mounted in the chassis body and is transmittingly connected to the support to drive the support to rotate, so as to drive the executing mechanism to perform pitching movement relative to the mobile robot.

Description

A working robot

[0001] Priority information

[0002] The present invention claims priority and benefits of the invention patent, patent application number 202310724634.0, entitled "A Multifunctional Robot", filed with the State Intellectual Property Office of China on June 16, 2023, and the utility model patent, patent application number 202321557190.8, entitled "Lifting Device and Robot Having the Same", filed with the State Intellectual Property Office of China on June 16, 2023, and the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of intelligent working equipment, and in particular to a working robot. Background Art

[0004] Currently, robots are widely used to replace manual labor, freeing up human labor and improving people's lives. These robots typically consist of a mobile body and an actuator mounted on it. The mobile body drives the actuator within a predetermined area. However, these actuators are typically fixed, making them difficult to meet the diverse needs of users.

[0005] Summary of the Invention

[0006] The main purpose of this application is to propose a working robot, which aims to solve the technical problem that the working robot has a fixed execution mechanism and is difficult to meet the diverse needs of users.

[0007] To achieve the above-mentioned purpose, an embodiment of the present application proposes a working robot, including an actuator and a mobile robot, the mobile robot including a body, a bracket and a pushing mechanism, the bracket can be installed on the body in a pitch and rotation manner, the actuator can be detachably installed on the bracket, installed inside the body, and is transmission-connected to the bracket to drive the bracket to rotate, thereby driving the actuator to perform pitch movements relative to the mobile robot.

[0008] The working robot proposed in the embodiment of the present application has a bracket fixed to the actuator installed on the body of the mobile robot, the actuator is detachably mounted on the bracket, the bracket is assembled on the body in a pitching and rolling manner, and the pushing mechanism is assembled inside the body to reduce the overall size of the mobile robot and improve the overall integration. Driven by the pushing mechanism, the bracket can be driven to pitch, thereby driving the actuator to pitch.

[0009] During the operation of the operating robot, the mobile robot can control the pitch movement of the actuator according to different situations. For example, when encountering an obstacle, the actuator can be controlled to pitch up to cross the obstacle without moving around the obstacle; for example, when the work target is at different heights and angles, the mobile robot can control the pitch movement of the actuator to perform operations on the work targets at different heights and angles; for example, when replacing the actuator, the mobile robot controls the pitch movement of the actuator to move to a height and angle that is convenient for the user to replace, thereby meeting the diverse needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0011] FIG1 is a schematic diagram of the disassembled structure of a working robot provided in an embodiment of the present application;

[0012] FIG2 is a schematic structural diagram of a mobile robot of the working robot of FIG1 from a perspective (the pushing mechanism is in an extended limit state);

[0013] FIG3 is a schematic structural diagram of the mobile robot of the working robot in FIG1 from another perspective (the pushing mechanism is in a retracted limit state);

[0014] FIG4 is a side view of the mobile robot of the working robot in FIG1 when the electric push rod is extended to the extreme position;

[0015] FIG5 shows a partial enlarged view of the mounting portion of the mobile robot of FIG4 ;

[0016] FIG6 is a schematic diagram showing a partial structure of the actuator of the working robot in FIG1 ;

[0017] FIG. 7 shows an enlarged structural schematic diagram of the actuator at point A in FIG. 6 .

[0018] Description of Figure Numbers:

[0019] 10. Vehicle body; 11. Side panels; 12. Support beam; 13. Back connecting plate; 14. Bottom plate; 15. Third rotating shaft; 20. Bracket; 21. Column; 22. Mounting portion; 30. Push mechanism; 40. Connecting rod mechanism; 41. First connecting rod; 411. Ear plate; 42. Second connecting rod; 43. First rotating shaft; 44. Second rotating shaft; 200. Mobile robot; 110. Actuator; 311. Slot; 312. Plug-in column; 321. Plug-in hole; 322. Buckle; 31. Output end; 16. Housing; 111. Through hole; 411. First end of the first connecting rod; 412. Second end of the first connecting rod; 421. First end of the second connecting rod; 422. Second end of the second connecting rod; 23. First connecting end; 24. Second connecting end; 211. First limiting surface; 212. Second limiting surface; 1000. Operating robot. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of the present invention.

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] Operation robots replace manual work through intelligent operations, bringing convenience to people's lives and helping to release labor.

[0023] An operating robot generally includes a mobile body and an execution device mounted on the mobile body. The mobile body drives the execution device to operate within a predetermined area. However, currently the execution device is generally fixed, which makes it difficult to meet the diverse needs of users.

[0024] Please refer to Figures 1 to 3. The embodiment of the present application proposes a working robot 1000, which includes an actuator 110 and a mobile robot 200. The mobile robot 200 includes a vehicle body 10, a bracket 20 and a pushing mechanism 30. The actuator 110 is detachably mounted on the bracket. The pushing mechanism 30 can drive the bracket 20 to pitch and rotate relative to the vehicle body 10, so as to drive the actuator 110 fixed on the bracket 20 to pitch and move relative to the mobile robot 200, thereby achieving obstacle avoidance, operations at different heights and angles, and meeting the diverse needs of users.

[0025] Because the actuator 110 is detachably mounted on the bracket 20, maintenance and upkeep of the actuator 110 and / or the mobile robot are facilitated, as well as replacement of the actuator 110 with different functions. Furthermore, because the actuator 110 is detachable from the bracket 20, the same bracket 20 can be adapted to accommodate actuators 110 with different operating mechanisms, allowing the working robot 1000 to adapt to different usage scenarios.

[0026] Hereinafter, the mobile robot 200 of the working robot 1000 of the present application will be introduced in detail by taking the working robot 1000 used for working in a courtyard as an example.

[0027] Among them, the vehicle body 10 may include a moving mechanism, and the moving mechanism may be a crawler walking mechanism selected from the existing technology, or a mobile chassis with rollers selected from the existing technology, etc., which can realize the function of moving on the ground in different environments, and there is no restriction here.

[0028] The bracket 20 is mainly used to fix the actuator 110 to achieve assembly of the actuator 110 and the vehicle body 10 , and at the same time, provide support for the actuator 110 .

[0029] The pitching movement of the bracket 20 on the vehicle body 10 is mainly driven by the pushing mechanism 30, which is installed inside the vehicle body 10 to improve the overall integration of the mobile robot 200, reduce the occupied space, and reduce the overall size of the mobile robot 200.

[0030] The pushing mechanism 30 is in transmission connection with the bracket 20 to drive the bracket 20 to rotate, thereby driving the actuator 110 to pitch.

[0031] It should be noted that the mobile body may be equipped with a built-in Bluetooth module, a Wi-Fi module, or an RTK module, etc., so as to enable it to move along a predetermined route within a predetermined area, and in some embodiments, drive the execution device to perform operations.

[0032] The pushing mechanism 30 may be a linear drive mechanism, which has a simple and reliable driving method and low cost.

[0033] In some embodiments, a bracket 20 that can be fixed to the actuator 110 is installed on the body 10 of the mobile robot 200. The bracket 20 can be assembled on the body 10 so as to be able to pitch and roll. The pushing mechanism 30 is assembled inside the body 10 to reduce the overall size of the mobile robot 200 and improve the overall integration. Driven by the pushing mechanism 30, the bracket 20 can be driven to pitch and roll, thereby driving the actuator 110 to pitch and roll.

[0034] During the operation of the working robot 1000, the mobile robot 200 can control the pitch movement of the actuator 110 according to different situations. For example, when encountering an obstacle, the mobile robot 200 can control the actuator 110 to pitch up to cross the obstacle without moving around the obstacle; for example, when the working target is at different heights and angles, the mobile robot 200 can control the pitch movement of the actuator 110 to perform operations on the working targets at different heights and angles; for example, when replacing the actuator 110, the mobile robot 200 controls the pitch movement of the actuator 110 to move to a height and angle that is convenient for the user to replace, thereby meeting the diverse needs of users.

[0035] Among them, the pushing mechanism 30 can be a linear driving component, specifically, an electric push rod, which is rotatably installed on the vehicle body 10, and the output end 31 of the electric push rod is transmission-connected to the bracket 20. Of course, in other embodiments, the pushing mechanism 30 can also use other linear driving mechanisms, such as: a cylinder, a hydraulic cylinder, a linear motor, a linear electric cylinder, etc.

[0036] In some embodiments, the vehicle body 10 may include a shell 16 and a supporting beam 12, the shell 16 has two side panels 11 arranged opposite to each other, both of the side panels 11 are provided with a through hole 111, the supporting beam 12 is passed through the through holes 111 on both sides to pass through the two side panels 11, and the pushing mechanism 30 is installed on the supporting beam 12.

[0037] Specifically, the housing 16 may further include a back connecting plate 13 , and opposite sides of the back connecting plate 13 are connected to the two side plates 11 to be enclosed and connected together.

[0038] The supporting beam 12 passes through the two side panels 11 and extends outward from the outside of the two side panels 11 to be mounted on the shell 16, so that the supporting beam 12 has a high structural strength and fixed stability on the shell 16. Its load-bearing capacity is borne by the shell 16 to further ensure the installation stability of the pushing mechanism 30 installed on the supporting beam 12.

[0039] In some embodiments, the support beam 12 can be located between the top and bottom of the shell 16, so as to be higher than the bottom of the side panel 11. In this way, when the stroke of the pushing mechanism 30 is designed, its stroke can be set shorter to improve the driving stability when the driving bracket 20 moves.

[0040] Of course, in the process of the pushing mechanism 30 driving the bracket 20 to pitch, the load-bearing capacity of the actuator 110 is at least partially borne by the pushing mechanism 30. The pushing mechanism 30 can be installed in the middle of the supporting beam 12, and its driving end can be connected to the middle of the bracket 20 for transmission, so that the pushing mechanism 30 can provide the bracket 20 with sufficient and stable driving performance and supporting performance to a large extent, and the support strength and driving force of the bracket 20 can also be equivalent everywhere.

[0041] The pushing mechanism 30 is rotatably mounted on the supporting beam 12. Specifically, a rotating shaft is installed on the lower side of the supporting beam 12, and the pushing mechanism 30 is installed on the rotating shaft so that it can rotate relative to the supporting beam 12, thereby improving the flexibility of its driving bracket 20.

[0042] In order to further improve the flexibility of the pushing mechanism 30 in driving the bracket 20 and reduce the stroke of the pushing mechanism 30 to ensure its driving stability, the mobile robot 200 also includes a connecting rod mechanism 40 located between the pushing mechanism 30 and the bracket 20, and the pushing mechanism 30 is connected to the bracket 20 through the connecting rod mechanism 40.

[0043] In this way, the pushing mechanism 30 does not need to be directly connected to the bracket 20 for transmission. The flexibility of the connecting rod mechanism 40 is utilized to effectively reduce the design complexity of the driving mechanism for driving the pitch movement of the bracket 20, and the linear motion of the pushing mechanism 30 is converted into the circular motion of the bracket 20, so that the driving mechanism only needs to be designed as a pushing mechanism 30 (electric push rod), and has the effects of simple structure, stable transmission and low cost.

[0044] Specifically, the connecting rod mechanism 40 includes a first connecting rod 41 and a second connecting rod 42 .

[0045] Among them, the first end 411 of the first connecting rod 41 is rotatably mounted on the bottom plate 14 of the vehicle body 10, the second end 412 of the first connecting rod 41 is rotatably connected to the output end 31, the first end 421 of the second connecting rod 42 is rotatably mounted on the output end 31 of the electric push rod, and the second end 422 of the second connecting rod 42 is rotatably connected to the bracket 20.

[0046] To facilitate the installation of the connecting rod mechanism 40, the connecting rod mechanism 40 also includes a first rotating shaft 43, which is rotatably mounted on the output end 31 of the electric push rod. The second end 412 of the first connecting rod 41 is rotatably connected to the first rotating shaft 43, and the first end 421 of the second connecting rod 42 is rotatably connected to the first rotating shaft 43.

[0047] In this way, the electric push rod drives the first rotating shaft 43 to move, thereby driving the first connecting rod 41 and the second connecting rod 42 to move, thereby driving the pitching movement of the bracket 20.

[0048] Of course, in order to facilitate the installation of the first connecting rod 41, the connecting rod mechanism 40 further includes a second rotating shaft 44, which is rotatably mounted on the bottom plate 14 of the vehicle body 10, and the first end 411 of the first connecting rod 41 is rotatably connected to the rotating shaft.

[0049] In some embodiments, in order to improve the transmission stability of the connecting rod mechanism 40 transmission bracket 20, the bracket 20 has a first connecting end 23 and a second connecting end 24 arranged at intervals, and two second connecting rods 42 are provided. The first ends 421 of the two second connecting rods 42 are respectively rotatably connected to the two ends of the first rotating shaft 43, and the second ends 422 of the two second connecting rods 42 are respectively rotatably connected to the first connecting end 23 and the second connecting end 24, and the output end 31 of the electric push rod is located between the first ends 421 of the two second connecting rods 42.

[0050] With such an arrangement, during the driving process of the pushing mechanism 30, the pushing mechanism 30 first drives the first rotating shaft 43 to move, and the first rotating shaft 43 drives the two second connecting rods 42 to move, and the first ends 421 of the two second connecting rods 42 are respectively rotated and connected to the two ends of the first rotating shaft 43, so that the transmission of the two second connecting rods 42 is also relatively stable.

[0051] In some embodiments, the two second connecting rods 42 synchronously drive the first connecting end 23 and the second connecting end 24 of the bracket 20 to move, so that the bracket 20 can pitch and rotate as a whole. It can be understood that the bracket 20 is subjected to two force points of jacking, and they are arranged horizontally at intervals to achieve equal thrust on both sides of the bracket 20, thereby ensuring the rotational stability of the bracket 20 during the pitch and rotation process.

[0052] In some embodiments, in order to ensure transmission stability and installation stability between the first connecting rod 41 and the second connecting rod 42, the second end 412 of the first connecting rod 41 has two oppositely arranged ear plates 411, and the two ear plates 411 are rotatably connected to the first rotating shaft 43. The first end 421 of the second connecting rod 42 is located between the two ear plates 411, and the two ear plates 411 can limit the first end 421 of the second connecting rod 42 from sliding on the first rotating shaft 43 along the axial direction of the first rotating shaft 43.

[0053] In this way, the second connecting rod 42 is limited by the two lugs 411 and is not easily separated from the first rotating shaft 43 .

[0054] Of course, in some further embodiments, the connection between one first link 41 and the corresponding second link 42 can be arranged using the above embodiment, and another second link 42 and another second link 42 can be arranged at intervals to save the overall space occupied by the link mechanism 40 and facilitate the layout of other electrical components in the vehicle body 10;

[0055] In some further embodiments, the connecting rods between the two first connecting rods 41 and the corresponding two second connecting rods 42 can be arranged in the above-mentioned embodiment.

[0056] In order to improve the structural stability of the bracket 20 when the electric push rod is in the extreme extension state, so that the actuator 110 can be stably in a predetermined state (predetermined angle and / or predetermined height), in some embodiments, the bracket 20 is provided with a first limiting surface 211. When the electric push rod is extended to the extreme position, the first limiting surface 211 can limit the rotation of the second connecting rod 42. It can be understood that the second connecting rod 42 can be provided with a corresponding first limiting structure to cooperate with the first limiting surface 211.

[0057] For example, the second connecting rod 42 may have a front side facing the bracket 20 , and the front side is a first limiting structure. When the electric push rod is in the extended limit state, the first limiting surface 211 cooperates with the front limiting surface of the second connecting rod 42 .

[0058] For another example, the second connecting rod 42 may have a front side facing the bracket 20 and a side side adjacent to the front side, and a limiting step is formed on the side side. The limiting step is a first limiting structure. When the electric push rod is in the extended limit state, the first limiting surface 211 is limitedly matched with the step surface of the limiting step.

[0059] In this embodiment, when two second connecting rods 42 are provided, the limiting structure of one second connecting rod 42 is provided on its front surface, while the limiting structure of the other second connecting rod 42 is provided as a limiting step on its side surface. In this way, the two connecting rods respectively cooperate with the bracket 20 to limit the position, so that the bracket 20 and the connecting rod mechanism 40 have multiple limiting cooperation positions, further improving the structural stability of the bracket 20 when the electric push rod is in the extended limit state.

[0060] Of course, in order to improve the structural stability of the bracket 20 when the electric push rod is in the retracted limit state, so that the actuator 110 can be stably in a predetermined state (predetermined angle and / or predetermined height), in some embodiments, the bracket 20 is provided with a second limiting surface 212. When the electric push rod is retracted to the limit position, the second limiting surface 212 can limit the rotation of the second connecting rod 42. It is understandable that the second connecting rod 42 can be provided with a corresponding second limiting structure to cooperate with the second limiting surface 212.

[0061] For example, the second connecting rod 42 may have a front side facing the bracket 20 and a back side opposite to the front side, and the back side constitutes the second limiting structure. When the electric push rod is in the retracted limit state, the second limiting surface 212 cooperates with the back side of the second connecting rod 42.

[0062] In some embodiments, two second connecting rods 42 may be provided, wherein the front side of one second connecting rod 42 is its first limiting structure and the back side is its second limiting structure, and the side of the other second connecting rod 42 has a limiting step, and the limiting step is its first limiting structure.

[0063] In order to reduce the driving strength of the electric push rod during the extension process and save the energy consumption of the electric push rod, the second end of the second connecting rod 42 is rotatably connected to the top of the bracket 20.

[0064] It can be understood that the bottom of the bracket 20 is rotatably connected to the bottom plate 14 of the vehicle body 10. In this way, when the bracket 20 pitches and rotates, it makes a circular motion around its rotation connection position (that is, the fulcrum). That is, the farther the second end of the second connecting rod 42 is from the connection position with the bracket 20, the farther away it is from the bottom of the bracket 20 (that is, the longer the lever arm), the smaller the thrust of the second connecting rod 42 to drive the bracket 20 to rotate (that is, the smaller the required force), and the energy consumption of the electric push rod is also less.

[0065] Therefore, by rotatably connecting the second end of the second connecting rod 42 to the top of the bracket 20, the energy consumption of the electric push rod can be reduced as much as possible.

[0066] In order to facilitate the installation of the bracket 20 , a rotatable third shaft 15 is installed on the bottom plate 14 of the vehicle body 10 , and the bottom of the bracket 20 is installed on the third shaft 15 .

[0067] 4 , to further enhance the stability of the support provided by the electric push rod and the connecting rod mechanism 40 to the bracket 20 when the electric push rod is in its extended limit position, the centerlines of the first connecting rod 41 and the second connecting rod 42 are coplanar when the electric push rod is extended to its limit position, and form an acute angle with the bracket 20. It will be appreciated that the first connecting rod 41 and the second connecting rod 42 are colinear to form an acute angle with the bracket 20, utilizing the stability of the triangle to enhance the stability of the support provided to the bracket 20.

[0068] Specifically, when the electric push rod is extended to the extreme position, the bracket 20 is perpendicular to the bottom plate 14 of the vehicle body 10 .

[0069] In addition, in order to facilitate the disassembly and assembly of the bracket 20 and the actuator 110 and to facilitate the replacement of different actuators 110, the bracket 20 is provided with a mounting portion 22 on the side facing away from the pushing mechanism 30, and the mounting portion 22 is used for detachable assembly with the actuator 110.

[0070] The mounting portion 22 may adopt a detachable structure in the prior art, such as a latch assembly, a screw assembly, etc.

[0071] In this embodiment, in order to reduce the difficulty of assembly and improve user experience, the mounting portion 22 is a hook. In this way, when the user disassembles the actuator 110 or replaces a different actuator 110, the user can achieve assembly and disassembly by hooking or contact hooking of the hook. The operation is simple and does not require the use of additional auxiliary tools.

[0072] In some embodiments, in order to improve the assembly stability of the bracket 20 and the actuator 110, the bracket 20 has two columns 21 arranged opposite to each other, and the lower ends of the two columns 21 are respectively installed at the two ends of the third rotating shaft 15, and the two columns 21 are both provided with the mounting portion 22.

[0073] 5 to 7 , in some embodiments, the actuator 110 may include a body having a socket 321, the actuator 110 including a buckle 322 located in the body, the buckle 322 being disposed adjacent to the outlet end of the socket 321, and the mounting portion 22 including a plug post 312 having a slot 311 disposed thereon, wherein the plug post 312 can be inserted into the socket 321 to be snapped into the slot 311. The wall of the socket 321 guides and positions the plug post 312, and the buckle 322 is rotatably connected to the actuator 110.

[0074] In some embodiments, the buckle 322 is rotatably mounted on the housing and has a locked position for engaging with the plug-in post 312 and an unlocked position for separating from the plug-in post 312. The housing may be provided with a manual mechanism that is transmission-connected to the buckle 322 via a corresponding linkage mechanism. A user manually actuates the manual mechanism to rotate the buckle 322 to the unlocked position. At this point, the plug-in post 312 is fully inserted into the plug-in hole 321, and the manual mechanism is subsequently released. Alternatively, the buckle 322 may automatically rotate to the locked position under the action of an elastic member such as a tension spring, thereby completing the engagement between the buckle 322 and the slot 311. To disassemble the device, the manual mechanism is manually actuated to rotate the buckle 322 to the unlocked position, allowing the buckle 322 to clear the plug-in post 312. The plug-in post 312 can then be removed.

[0075] In order to enhance the stability and reliability of the connection, multiple mounting portions 22 , plug holes 321 and buckles 322 are provided, and the plug holes 321 and buckles 322 correspond one to one, and the mounting portions 22 and plug holes 321 correspond one to one.

[0076] The actuator 110 is a snow removal mechanism, a grass cutting mechanism, or an air blowing mechanism.

[0077] In some embodiments, in order to improve user experience and practicality, the pitch angle range of the actuator 110 when it is driven by the pushing mechanism 30 to perform a pitch movement is 0° to 25°.

[0078] In this utility model, unless otherwise specified or limited, terms such as "mounted" and "connected" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, integral connections, or transmission connections; they can be direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0079] In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as specific or special structures. The description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiments or examples of the present invention. In the present invention, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present invention and the features of the different embodiments or examples, unless they are contradictory.

[0080] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A working robot, It is characterized in that include: Executive body; as well as A mobile robot, comprising: Vehicle body; A bracket, the bracket is mounted on the vehicle body in a pitch-rotatable manner, and the actuator is detachably mounted on the bracket; The pushing mechanism is installed inside the vehicle body and is connected to the bracket in a transmission manner to drive the bracket to rotate, thereby driving the actuator to perform a pitching movement relative to the mobile robot.

2. The working robot according to claim 1, It is characterized in that The pushing mechanism is a linear driving member, which is rotatably mounted on the vehicle body, and the output end of the linear driving member is drivingly connected to the bracket.

3. The working robot according to claim 2, It is characterized in that The vehicle body includes a shell and a supporting beam, the shell has two side panels arranged opposite to each other, both side panels are provided with through holes, the supporting beam is penetrated by the through holes on both sides to penetrate the two side panels, and the pushing mechanism is installed on the supporting beam.

4. The working robot according to claim 3, It is characterized in that The pushing mechanism is rotatably mounted on the supporting crossbeam.

5. The working robot according to any one of claims 2 to 4, It is characterized in that The working robot further includes a connecting rod mechanism located between the pushing mechanism and the bracket, wherein the pushing mechanism is transmission-connected to the bracket via the connecting rod mechanism, and the connecting rod mechanism includes: A first connecting rod, a first end of which is rotatably mounted on the bottom plate of the vehicle body, and a second end of which is rotatably connected to the output end; and A second connecting rod, wherein the first end of the second connecting rod is rotatably mounted on the output end of the linear drive component, and the second end of the second connecting rod is rotatably connected to the bracket.

6. The working robot according to claim 5, It is characterized in that The connecting rod mechanism also includes a first rotating shaft, which is rotatably mounted on the output end of the linear drive member, the second end of the first connecting rod is rotatably connected to the first rotating shaft, and the first end of the second connecting rod is rotatably connected to the first rotating shaft.

7. The working robot according to claim 6, It is characterized in that The bracket has a first connecting end and a second connecting end arranged at an interval, and two second connecting rods are provided. The first ends of the two second connecting rods are respectively rotatably connected to the two ends of the first rotating shaft, and the second ends of the two second connecting rods are respectively rotatably connected to the first connecting end and the second connecting end, and the output end of the linear drive member is located between the first ends of the two second connecting rods.

8. The working robot according to claim 6, It is characterized in that The second end of the first connecting rod has two oppositely arranged ear plates, and the two ear plates are both rotatably connected to the first rotating shaft. The first end of the second connecting rod is located between the two ear plates, and the two ear plates can limit the first end of the second connecting rod from sliding on the first rotating shaft along the axial direction of the first rotating shaft.

9. The working robot according to claim 5, It is characterized in that The bracket is provided with a first limiting surface, and when the linear drive member is extended to the extreme position, the first limiting surface can limit the rotation of the second connecting rod, and / or the bracket is provided with a second limiting surface, and when the linear drive member is retracted to the extreme position, the second limiting surface can limit the rotation of the second connecting rod.

10. The working robot according to claim 5, It is characterized in that The bottom of the bracket is rotatably connected to the vehicle body, and the second end of the second connecting rod is rotatably connected to the top of the bracket.

11. The working robot according to claim 10, It is characterized in that The bottom plate of the vehicle body is provided with a rotatable third rotating shaft, and the bottom of the bracket is installed on the third rotating shaft.

12. The working robot according to claim 5, It is characterized in that The connecting rod mechanism also includes a second rotating shaft, which is rotatably mounted on the bottom plate of the vehicle body, and the first end of the first connecting rod is rotatably connected to the second rotating shaft.

13. The working robot according to claim 5, It is characterized in that When the linear drive member is extended to the extreme position, the center lines of the first connecting rod and the second connecting rod are coplanar and form an acute angle with the bracket.

14. The working robot according to any one of claims 2 to 13, It is characterized in that When the linear drive member is extended to the extreme position, the bracket is perpendicular to the bottom plate of the vehicle body.

15. The working robot according to any one of claims 1 to 13, It is characterized in that A mounting portion is provided on a side of the bracket facing away from the pushing mechanism, and the mounting portion is used for detachable assembly with the actuator.

16. The working robot according to claim 15, It is characterized in that The bracket has two columns that are arranged opposite to each other, the lower ends of the two columns are respectively installed on the two ends of the third rotating shaft, and the two columns are both provided with the installation part.

17. The working robot according to claim 16, It is characterized in that The mounting portion is a hook.

18. The working robot according to claim 15, It is characterized in that The actuator includes a body provided with a plug-in hole, the actuator includes a buckle located in the body, the buckle is arranged adjacent to the outlet end of the plug-in hole, the mounting portion includes a plug-in column, the plug-in column is provided with a slot, wherein the plug-in column can be inserted into the plug-in hole so that the plug-in hole is plugged into the slot.

19. The working robot according to any one of claims 1 to 18, It is characterized in that When the actuator is driven by the push mechanism to perform a pitching motion, the pitch angle range is 0° to 25°.

20. The working robot according to any one of claims 1 to 19, It is characterized in that The actuator is one of a snow removal mechanism, a grass cutting mechanism and an air blowing mechanism.

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