Autonomous movement device and working robot

Abstract

Implementations of the present application provide an autonomous movement device and a working robot. The autonomous movement device comprises a frame, a connecting rod assembly, and a linear driving assembly, wherein the connecting rod assembly is movably connected to the frame, and the connecting rod assembly is used for being connected to a snow removal mechanism. The linear driving assembly is transmittingly connected between the frame and the connecting rod assembly, and the linear driving assembly comprises a housing and a movable member. The housing is provided with an accommodating cavity and an opening communicated with the accommodating cavity. The movable member is partially movably accommodated in the housing, the movable member extends out relative to the housing by means of the opening so as to form a telescopic driving structure together with the housing; and two ends of the telescopic driving structure are respectively connected to the frame and the connecting rod assembly so as to drive the connecting rod assembly to drive the snow removal mechanism to move. When the autonomous movement device works on a horizontal operation surface, the opening faces downwards relative to the horizontal plane, and the telescopic driving structure can extend and retract to drive the snow removal mechanism to pitch.

Description

Autonomous mobile equipment and operation robots

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese application No. 2023109696366, filed on August 2, 2023, the entire contents of which are hereby incorporated by reference for all purposes. Technical Field

[0003] The present application relates to the field of robotics technology, and more specifically, to an autonomous mobile device and an operating robot. Background Art

[0004] The autonomous mobile device of the working robot can drive the actuator of the working robot to adjust its height to ensure that the actuator is at an appropriate height position when working.

[0005] Autonomous mobile devices in related technologies achieve height adjustment through linear drive assemblies. However, the moving parts of linear drive assemblies continuously expand and contract in low-temperature and humid environments, posing a risk of damaging the linear drive assembly by introducing external debris, such as snow, water, and sand particles. There is also a risk that snow and water entering the linear drive assembly may cause the lubricating oil and gears inside the linear drive assembly to freeze in low-temperature environments.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide an autonomous mobile device and an operating robot.

[0008] In the first aspect, an embodiment of the present application provides an autonomous mobile device, which includes a frame, a connecting rod assembly and a linear drive assembly. The connecting rod assembly is movably connected to the frame, and the connecting rod assembly is used to connect to an operating mechanism. The linear drive assembly is transmission-connected between the frame and the connecting rod assembly, and the linear drive assembly includes a shell and a movable part. The shell is provided with a accommodating cavity and an opening connected to the accommodating cavity. The movable part is partially movably accommodated in the shell, and the movable part extends relative to the shell through the opening to form a telescopic drive structure with the shell, and the two ends of the telescopic drive structure are respectively connected to the frame and the connecting rod assembly to drive the connecting rod assembly to drive the operating mechanism to move; when the autonomous mobile device is located on a horizontal platform for operation, the opening is arranged downward relative to the horizontal plane, and the telescopic drive structure can be extended and retracted to drive the operating mechanism to pitch.

[0009] In a second aspect, an embodiment of the present application provides a working robot, which includes an operating mechanism and an autonomous mobile device, wherein the operating mechanism is installed on the autonomous mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 shows a schematic structural diagram of a working robot provided in an embodiment of the present application.

[0012] FIG2 is a schematic diagram showing a partial structure of the working robot shown in FIG1 .

[0013] FIG3 shows a schematic structural diagram of an autonomous mobile device provided in an embodiment of the present application.

[0014] FIG4 shows a schematic planar structural diagram of the autonomous mobile device shown in FIG3 from another perspective.

[0015] FIG5 is a schematic structural diagram of another embodiment of the autonomous mobile device shown in FIG3 .

[0016] FIG6 shows a schematic planar structural diagram of the autonomous mobile device shown in FIG3 from another perspective.

[0017] Explanation of the accompanying figures: 10. Autonomous mobile equipment; 121. Support beam; 12. Frame; 123. Mounting seat; 122. Connecting rod assembly; 1221. Adapter; 1222. First connecting rod; 1223. Synchronizing rod; 1224. Second connecting rod; 13. Linear drive assembly; 131. Movable part; 1311. Second end; 1312. First end; 1313. Transmission end; 133. Mounting part; 134. Opening; 135. Shell; 1352. Accommodating chamber; 1354. Telescopic drive structure; 132. Drive member; 20. Body; 30. Controller; 100. Operating mechanism; 1000. Operating robot. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not distinguish components based on differences in name, but rather on differences in their functionality. For example, the term "including" used throughout the specification and claims is an open-ended term and should be interpreted as meaning "including but not limited to." "Substantially" means that those skilled in the art can solve the technical problem within a certain error range and achieve a substantial technical effect.

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0021] Please refer to Figure 1. An embodiment of the present application provides a working robot 1000. The working robot 1000 includes an operating mechanism 100, an autonomous mobile device 10 and a body 20. The autonomous mobile device 10 can be installed in the body 20. The operating mechanism 100 is connected to one side of the body 20 and is transmission-connected to the autonomous mobile device 10.

[0022] The body 20 may include a control component and a travel component. For example, the body 20 may further include a housing, the travel component may be mounted on the housing, the drive component may include structures such as drive wheels or drive tracks, and the control component may be disposed within the housing. The control component may include components such as a circuit board and / or a control chip. The control component may control the movement of the travel component, thereby enabling the working robot 1000 to move on a horizontal plane. In this way, the working robot 1000's mobile working mechanism 100 can operate within a predetermined area.

[0023] In this embodiment, the autonomous mobile device 10 can drive the operating mechanism 100 to move. Specifically, the autonomous mobile device 10 can drive the operating mechanism 100 to move in pitch and roll, thereby adjusting the height of the operating mechanism 100 from the ground. This helps meet the height adjustment requirements of the operating mechanism 100 and helps ensure that the operating mechanism 100 operates in the appropriate position. Under normal use, the autonomous mobile device 10 is generally located on a horizontal surface for operation, or on a plane that is approximately horizontal. The above-mentioned "height" is understood to be the distance between the operating mechanism 100 and the horizontal surface when the autonomous mobile device 10 is located on the horizontal surface for operation.

[0024] This specification does not limit the specific type of the operating mechanism 100. For example, the operating mechanism 100 can be a snow removal mechanism, a weeding mechanism, a mowing mechanism, a leaf blowing mechanism, a salt spreading mechanism, a roller brush mechanism, a snow pushing mechanism, etc. In this embodiment, the operating mechanism 100 includes a snow removal mechanism. The snow removal mechanism is used to clear the snow on the ground and throw the snow to a distant place to avoid affecting the road. As an example, the snow removal mechanism may include a fuselage and a snow removal component provided on the fuselage. The snow removal component may include structures such as an impeller group, a snow pushing shovel or a spiral auger. The snow removal mechanism may also include a snow throwing component provided on the fuselage. For example, the snow throwing component may include structures such as a snow throwing impeller and a blower.

[0025] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; internal communication between two components; or mere surface contact. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0026] Referring to FIG. 2 , in some embodiments, the autonomous mobile device 10 may include a frame 12, a linear drive assembly 13, and a connecting rod assembly 122. The connecting rod assembly 122 is movably connected to the frame 12 and is connected to the working mechanism 100. The linear drive assembly 13 is transmission-connected between the frame 12 and the connecting rod assembly 122. The linear drive assembly 13 can drive the connecting rod assembly 122 to move relative to the frame 12, thereby driving the working mechanism 100 to move, thereby meeting the height adjustment requirements of the working mechanism 100.

[0027] Please refer to Figures 2 and 3 simultaneously. In this embodiment, the linear drive assembly 13 includes a housing 135 and a movable member 131. The housing 135 has a receiving cavity 1352 and an opening 134 communicating with the receiving cavity 1352. The movable member 131 is partially movably accommodated within the housing 135. The movable member 131 extends relative to the housing 135 through the opening 134 to form a telescopic drive structure 1354 with the housing 135. The ends of the telescopic drive structure 1354 are respectively connected to the frame 12 and the connecting rod assembly 122 to drive the connecting rod assembly 122 to drive the operating mechanism 100 to move. When the autonomous mobile device 10 is operating on a horizontal surface, the opening 134 is positioned downward relative to the horizontal plane, and the telescopic drive structure 1354 can be extended and retracted to drive the operating mechanism 100 to pitch.

[0028] In this way, the linear drive assembly 13 can drive the connecting rod assembly 122 to move through the telescopic drive structure 1354, thereby driving the operating mechanism 100 to move, which helps to meet the adjustment requirements of the operating mechanism 100.

[0029] When the autonomous mobile device 10 is operating on a horizontal surface, the opening 134 is positioned downward relative to the horizontal plane. The downward orientation of the opening 134 can reduce the risk of external debris, such as dust, sand particles, and snow water, entering the housing 135 and damaging the linear drive assembly 13 when the movable member 131 moves. This helps reduce the risk of snow water entering the housing 135 causing the lubricating oil and gears inside the linear drive assembly 13 to freeze in low-temperature environments, thereby helping to ensure the normal operation of the linear drive assembly 13, improve stability, and also help to increase the service life of the linear drive assembly 13.

[0030] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "inside", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to simplify the description for the convenience of describing this application, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0031] In some embodiments, the frame 12 may include a support beam 121 and a mounting base 123. Both the support beam 121 and the mounting base 123 may be fixedly mounted within the body 20. The support beam 121 and the mounting base 123 are spaced apart from each other. For example, the distance between the support beam 121 and the horizontal surface on which the autonomous mobile device 10 is located is greater than the distance between the upper surface of the mounting base 123 and the horizontal surface. The ends of the telescopic drive structure 1354 are respectively connected to the support beam 121 and the connecting rod assembly 122. The connecting rod assembly 122 is movably mounted on the mounting base 123.

[0032] Referring to Figures 3 and 4 , the housing 135 has a transmission end 1313, and the opening 134 is located at the end of the housing 135 away from the transmission end 1313. The movable member 131 has a first end 1312 and a second end 1311. The first end 1312 is housed within the housing 135, and the second end 1311 and the first end 1312 are located at opposite ends of the movable member 131. This specification does not limit the specific connection between the telescopic drive structure 1354, the frame 12, and the connecting rod assembly 122.

[0033] As an example, housing 135 is connected to connecting rod assembly 122, and movable member 131 is connected to frame 12. Specifically, in this embodiment, transmission end 1313 is drivingly connected to connecting rod assembly 122, and second end 1311 is movably connected to support beam 121 of frame 12. When autonomous mobile device 10 is operating on a horizontal surface, the distance between transmission end 1313 and the horizontal surface is greater than the distance between second end 1311 and the horizontal surface, so that opening 134 faces downward relative to the horizontal surface.

[0034] The telescopic drive structure 1354 is telescopic. Since the support beam 121 limits the movement of the movable part 131, the shell 135 can move relative to the movable part 131, thereby driving the connecting rod assembly 122 to move relative to the mounting seat 123 through the transmission end 1313, and then driving the operating mechanism 100 to move, which helps to meet the height adjustment requirements of the operating mechanism 100, thereby helping to ensure that the operating mechanism 100 can be at a suitable height position.

[0035] The distance between transmission end 1313 and the horizontal plane is greater than the distance between second end 1311 and the horizontal plane. Consequently, transmission end 1313 is located above opening 134 in the direction of gravity. "Direction of gravity" is understood to mean the vertical direction when autonomous mobile device 10 is placed on a substantially horizontal surface or ground in use. Transmission end 1313 and opening 134 do not need to be aligned linearly along the direction of gravity; instead, they are staggered in the direction of gravity and are not located on the same horizontal plane. The horizontal plane where transmission end 1313 resides is always higher than the horizontal plane where opening 134 resides. When the telescopic drive structure 1354 is angled with the horizontal plane, external debris such as dust, silt particles, and snow and water are less likely to flow backward from second end 1311 toward first end 1312 and into housing 135. This reduces the risk of external debris entering housing 135 due to the telescopic movement of movable member 131, thereby ensuring proper operation of linear drive assembly 13.

[0036] Furthermore, because the height of transmission end 1313 is higher than the height of opening 134, even if foreign matter is introduced into housing 135 during the extension and retraction of movable member 131, gravity allows the matter to flow out of housing 135 from first end 1312 toward second end 1311. The aforementioned "height" refers to the distance between transmission end 1313 and the horizontal surface, and the distance between the position of opening 134 and the horizontal surface, when autonomous mobile device 10 is operating on the horizontal surface.

[0037] In this embodiment, the second end 1311 of the movable member 131 is rotatably connected to the support beam 121, and the connecting rod assembly 122 is rotatably connected to the mounting base 123. This specification does not limit the specific rotational connection between the second end 1311 and the support beam 121. For example, the support beam 121 may be provided with a rotating shaft, and the second end 1311 may be connected to the rotating shaft to enable the movable member 131 to rotate relative to the support beam 121, thereby improving the flexibility of the linear drive assembly 13 in driving the connecting rod assembly 122.

[0038] The rotational connection between the connecting rod assembly 122 and the mounting seat 123 can also be achieved through a rotating shaft. Specifically, a rotating shaft can be provided on the mounting seat 123, and the connecting rod assembly 122 can be connected to the rotating shaft so that the connecting rod assembly 122 can rotate relative to the mounting seat 123, which helps to improve the flexibility of the connecting rod assembly 122 relative to the mounting seat 123.

[0039] In other embodiments, as shown in FIG5 , housing 135 is connected to support beam 121, and movable member 131 is connected to connecting rod assembly 122. Specifically, in this embodiment, transmission end 1313 is rotatably connected to support beam 121, and second end 1311 is drivingly connected to connecting rod assembly 122. When autonomous mobile device 10 is operating on a horizontal surface, the distance between transmission end 1313 and the horizontal surface is greater than the distance between second end 1311 and the horizontal surface, so that opening 134 faces downward relative to the horizontal surface.

[0040] The telescopic drive structure 1354 is telescopic. Since the support beam 121 limits the movement of the shell 135, the movable part 131 can move relative to the shell 135, thereby driving the connecting rod assembly 122 to move relative to the mounting seat 123 through the second end 1311, and then driving the operating mechanism 100 to move, which helps to meet the height adjustment requirements of the operating mechanism 100, thereby helping to ensure that the operating mechanism 100 can be at a suitable height position.

[0041] Please refer to Figures 4 and 5 at the same time. No matter which end of the telescopic drive structure 1354 is connected to the frame 12 and the connecting rod assembly 122, the opening 134 of the shell 135 is always facing downward. This helps to reduce the risk of external debris such as dust, mud particles, snow water, etc. entering the shell 135 and damaging the linear drive assembly 13. It also helps to reduce the risk of snow water entering the shell 135 causing the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13 and also helping to increase the service life of the linear drive assembly 13.

[0042] In this embodiment, the direction of extension and retraction of the telescopic drive structure 1354 intersects the horizontal plane, so that the opening 134 faces downward relative to the horizontal plane. In this embodiment, the linear drive assembly 13 further includes a driver 132, which is disposed within the housing 135 and is transmission-connected to the movable member 131. Driver 132 is used to extend and retract the telescopic drive structure 1354. Specifically, driver 132 is used to drive the movable member 131 to slide relative to the housing 135. The direction of extension and retraction of the telescopic drive structure 1354 is the direction in which the movable member 131 slides relative to the housing 135. The movable member 131 slides relative to the housing 135 through the opening 134. In this embodiment, the axis A of the opening 134 extends along the direction of extension and retraction of the telescopic drive structure 1354. The angle α between the axis A and the horizontal plane (the horizontal surface on which the autonomous mobile device 10 is placed when in use) can be greater than or equal to 25 degrees and less than or equal to 35 degrees. This helps ensure that the movable member 131 has an appropriate angular adjustment range and that the operating mechanism 100 can be within an appropriate height adjustment range. Exemplarily, the angle α between the movable part 131 and the horizontal plane can be 25 degrees, 27 degrees, 29 degrees, 30.5 degrees, 31 degrees, 33 degrees, 34 degrees, 35 degrees or any value between two adjacent values ​​mentioned above, and can be set according to actual conditions.

[0043] When the angle α between the movable part 131 and the horizontal plane is greater than or equal to 25 degrees and less than or equal to 35 degrees, it helps to reduce the risk that the angle α between the movable part 131 and the horizontal plane is too large, resulting in the operating mechanism 100 being too far from the ground and unable to work normally.

[0044] In other embodiments, the position of the transmission end 1313 is always at the same height as the position of the opening 134 in the direction of gravity. In this case, the movable member 131 is approximately parallel to the horizontal plane (the horizontal surface on which the autonomous mobile device 10 is placed when in use), that is, the angle between the movable member 131 and the horizontal plane is approximately 0 degrees. The position of the first end 1312 is approximately flush with the position of the opening 134. Therefore, external debris such as dust, sand particles, snow and water are unlikely to enter the first end 1312 in the direction from the second end 1311 to the first end 1312, reducing the risk of external debris entering the linear drive assembly 13 due to the telescopic movement of the movable member 131, thereby helping to ensure the normal operation of the linear drive assembly 13.

[0045] 3 and 4 , in this embodiment, the connecting rod assembly 122 may include a swivel body 1221, a first connecting rod 1222, a synchronization rod 1223, and a second connecting rod 1224. The swivel body 1221 is rotatably connected to the mounting base 123, the synchronization rod 1223 is transmission-connected to the transmission end 1313 and spaced apart from the mounting base 123, the first connecting rod 1222 is rotatably connected between the swivel body 1221 and the synchronization rod 1223, and the second connecting rod 1224 is rotatably connected between the synchronization rod 1223 and the mounting base 123. The adapter 1221, the first connecting rod 1222, the synchronization rod 1223 and the second connecting rod 1224 roughly constitute a parallelogram linkage mechanism. When the linear drive component 13 drives the second connecting rod 1224 to swing relative to the mounting seat 123, it can drive the adapter 1221 to swing (rotate) relative to the mounting seat 123. Since the adapter 1221 is used to connect the working mechanism 100, when the adapter 1221 swings or rotates, it drives the working mechanism 100 to swing or rotate, which appears as a pitch motion of the working mechanism 100 relative to the horizontal plane.

[0046] Specifically, in this embodiment, referring to FIG. 6 , the synchronization rod 1223 serves as a medium for rotationally connecting the first link 1222 and the second link 1224. The synchronization rod 1223 may be a pivot structure, and the extension direction of the synchronization rod 1223 generally intersects (e.g., is perpendicular to) the axis A of the movable member 131 relative to the housing 135. One end of the first link 1222 is rotationally connected to the side of the adapter 1221 facing away from the mounting base 123. The other end of the first link 1222 is rotationally connected to the synchronization rod 1223 and spaced apart from the transmission end 1313. One end of the second link 1224 is rotationally connected to the synchronization rod 1223 and spaced apart from the first link 1222 and the transmission end 1313. The other end of the second link 1224 is connected to the side of the mounting base 123 facing away from the adapter 1221. The first link 1222 and the second link 1224 are respectively located on either side of the synchronization rod 1223. In this way, the linear drive assembly 13 drives the telescopic drive structure 1354 to extend and retract, thereby driving the synchronization rod 1223 to move. The synchronization rod 1223 drives the adapter 1221 to rotate relative to the mounting base 123 via the first connecting rod 1222, thereby achieving the pitch movement of the working mechanism 100. The connecting rod assembly 122 helps to improve the stability of the working mechanism 100 during height adjustment.

[0047] As such, the linear drive assembly 13 does not need to be directly connected to the operating mechanism 100. The flexibility of the first connecting rod 1222, the synchronization rod 1223, and the second connecting rod 1224 helps reduce the design complexity of the drive structure for the movement of the adapter 1221. By converting the linear motion of the linear drive assembly 13 into the circular motion of the adapter 1221, the autonomous mobile device 10 can be designed solely around the linear drive assembly 13, simplifying its structure and facilitating its manufacture.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0049] In some embodiments, there may be two first connecting rods 1222 and two second connecting rods 1224. The two first connecting rods 1222 are connected between the synchronization rod 1223 and the adapter 1221, and the two second connecting rods 1224 are connected between the synchronization rod 1223 and the mounting base 123. When the linear drive assembly 13 drives the connecting rod assembly 122 to operate, the two first connecting rods 1222 and the two second connecting rods 1224 further improve the stability of the operation of the adapter 1221, thereby improving the stability of the operation of the connection to the working mechanism 100.

[0050] This specification does not limit the specific type of the linear drive assembly 13. For example, the linear drive assembly 13 can be one of a push rod, a cylinder, a hydraulic cylinder, or a screw machine. As an example, when the linear drive assembly 13 is a cylinder, the cylinder body of the cylinder is the housing 135, the piston rod is the movable part 131, and its compressed air serves as the driving part 132. The first end 1312 can be the side of the piston rod close to the driving part 132, and the compressed air can drive the piston rod to move. This helps to reduce the risk of external debris such as dust, mud and sand particles, snow and water entering the housing 135 and damaging the linear drive assembly 13 when the piston rod moves.

[0051] For another example, when the linear drive component 13 is a push rod, the outer shell of the push rod is the housing 135, the screw is the movable part 131, and its motor serves as the driving part 132. At this time, the linear drive component 13 can also include a gear assembly, and the drive of the motor is connected to the gear assembly, and the first end 1312 is connected to the gear assembly. At this time, the drive of the motor can drive the gear assembly to move, so that the first end 1312 can drive the screw to move relative to the outer shell of the push rod.

[0052] By setting the opening 134 downward relative to the horizontal plane, it helps to reduce the risk of external debris such as dust, mud particles, snow water, etc. entering the shell 135 and damaging the linear drive assembly 13 when the screw moves, and helps to reduce the risk of snow water entering the shell 135 causing the gear assembly of the push rod to freeze in a low temperature environment.

[0053] For another example, when linear drive assembly 13 is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is housing 135, the piston rod is the movable member 131, and the fluid therein serves as the driving member 132. First end 1312 may be the side of the piston rod closest to driving member 132, so that the fluid can drive the piston rod to move. This helps reduce the risk of external debris, such as dust, sand particles, and snow water, entering housing 135 and damaging linear drive assembly 13 when the piston rod moves.

[0054] For another example, when the linear drive assembly 13 is a screw machine, the outer shell is the housing 135, the screw is the movable part 131, and its motor serves as the driving part 132. The linear drive assembly 13 may also include a nut, the motor drive is connected to the screw, and the first end 1312 may be the side of the screw close to the motor. In this case, the motor drive can drive the screw to rotate, thereby driving the nut to move the screw relative to the screw housing. This helps reduce the risk of external debris such as dust, sand particles, snow and water entering the housing 135 and damaging the linear drive assembly 13 when the screw moves.

[0055] In some embodiments, the autonomous mobile device 10 may further include a mounting portion 133 connected to a side of the adapter 1221 facing away from the linear drive assembly 13, and the operating mechanism 100 is mounted on the mounting portion 133. In this manner, the autonomous mobile device 10 can accommodate height adjustment of the operating mechanism 100, thereby ensuring that the operating mechanism 100 operates in an appropriate position and improving the operating efficiency of the operating robot 1000.

[0056] In some embodiments, the operating mechanism 100 is detachably mounted to the mounting portion 133. For example, the operating mechanism 100 can be detachably connected to the mounting portion 133 through snap-fitting, magnetic attraction, or fasteners. This facilitates installation and replacement of the operating mechanism 100. This allows the operating mechanism 100 to be replaced based on actual needs, improving the adaptability of the working robot 1000.

[0057] The specific structure of the working robot 1000 refers to the above-mentioned embodiments. Since the working robot 1000 adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0058] Referring to FIG. 1 , in some embodiments, the working robot 1000 may further include a controller 30. The controller 30 is electrically connected to the autonomous mobile device 10 to control the autonomous mobile device 10 to adjust the height of the working mechanism 100 within a certain range. Alternatively, the controller 30 may be electrically connected to the travel assembly of the body 20 to control the movement of the body 20 along a predetermined route or within a predetermined area. As an example, the controller 30 may control the movement of the body 20 along a predetermined route or within a predetermined area, and control the autonomous mobile device 10 to adjust the height of the working mechanism 100, so that the working mechanism 100 removes snow within an appropriate height range. This helps improve the intelligence and efficiency of the snow removal function of the working robot 1000.

[0059] In some embodiments, the operating robot 1000 may also include an ultrasonic ranging sensor. The operating robot 1000 has a path planning function (i.e., obstacle handling capability). For small obstacles, the operating robot 1000 can automatically cross. For medium and large obstacles, the operating robot 1000 can avoid them in time and clear the snow around the obstacles to the greatest extent possible. The transmitter of the ultrasonic ranging sensor of the operating robot 1000 emits ultrasonic waves. The ultrasonic waves meet and are reflected by the obstacles. The receiver of the ultrasonic ranging sensor can measure the distance from the obstacle to the operating robot 1000 based on the time difference of receiving the ultrasonic waves. This allows the operating robot 1000 to plan to avoid obstacles in advance, avoid collisions with obstacles, and effectively improve the safety performance of the operating robot 1000. Of course, in other embodiments, the operating robot 1000 can also use infrared ranging sensors or laser ranging sensors for obstacle avoidance.

[0060] In summary, the autonomous mobile device 10 and the working robot 1000 provided in the embodiments of the present application, wherein the linear drive assembly 13 includes a housing 135 and a movable member 131. The housing 135 has a housing cavity 1352 and an opening 134 communicating with the housing cavity 1352. The movable member 131 is partially movably accommodated within the housing 135. The movable member 131 extends relative to the housing 135 through the opening 134 to form a telescopic drive structure 1354 with the housing 135. The two ends of the telescopic drive structure 1354 are respectively connected to the frame 12 and the connecting rod assembly 122 to drive the connecting rod assembly 122 to drive the working mechanism 100 to move. When the autonomous mobile device 10 is located on a horizontal surface for operation, the opening 134 is arranged downward relative to the horizontal plane, and the telescopic drive structure 1354 can be extended and retracted to drive the working mechanism 100 to pitch. When the autonomous mobile device 10 is located on a horizontal surface for operation, the opening 134 is arranged downward relative to the horizontal plane. The opening 134 facing obliquely downward can reduce the risk of external debris such as dust, mud particles, snow water, etc. entering the shell 135 and damaging the linear drive assembly 13 when the movable part 131 moves. It helps to reduce the risk of snow water entering the shell 135 causing the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13, improve stability, and also help to increase the service life of the linear drive assembly 13.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations 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 any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements 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 the present application.

Claims

1. An autonomous mobile device, wherein: include: frame; A connecting rod assembly, movably connected to the frame, and the connecting rod assembly is used to connect with the operating mechanism; as well as A linear drive assembly is transmission-connected between the frame and the connecting rod assembly, and the linear drive assembly includes: A housing, wherein the housing is provided with a receiving cavity and an opening communicating with the receiving cavity; as well as A movable part is partially movably accommodated in the shell, and the movable part extends relative to the shell through the opening to form a telescopic driving structure with the shell, and the two ends of the telescopic driving structure are respectively connected to the frame and the connecting rod assembly to drive the connecting rod assembly to drive the operating mechanism to move; when the autonomous mobile device is located on a horizontal platform for operation, the opening is set downward relative to the horizontal plane, and the telescopic driving structure can be extended and retracted to drive the operating mechanism to pitch.

2. The autonomous mobile device according to claim 1, wherein: The shell is provided with a transmission end, and the opening is arranged at an end of the shell away from the transmission end; the movable part has a first end and a second end opposite to each other, and the first end is accommodated in the shell; the linear drive assembly also includes a driving part, which is arranged in the shell and is transmission-connected to the movable part.

3. The autonomous mobile device according to claim 2, wherein: The transmission end is transmission-connected to the connecting rod assembly, and the second end is movably connected to the frame; when the autonomous mobile device is located on a horizontal surface for operation, the distance between the transmission end and the horizontal plane is greater than the distance between the second end and the horizontal plane so that the opening faces downward relative to the horizontal plane.

4. The autonomous mobile device according to claim 2, wherein: The transmission end is movably connected to the frame, and the second end is transmission-connected to the connecting rod assembly; when the autonomous mobile device is located on a horizontal surface for operation, the distance between the transmission end and the horizontal plane is greater than the distance between the second end and the horizontal plane so that the opening faces downward relative to the horizontal plane.

5. The autonomous mobile device according to any one of claims 2 to 4, wherein: The linear drive assembly is one of a push rod, a cylinder, a hydraulic cylinder or a screw machine; When the linear drive component is a push rod, the outer shell of the push rod is the housing, the screw rod is the movable part, and the motor is the driving part; When the linear drive assembly is a cylinder, the cylinder body of the cylinder is the housing, the piston rod is the movable part, and the compressed air is the driving part; When the linear drive assembly is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is the housing, the piston rod is the movable part, and the fluid is the driving part; When the linear drive assembly is a screw machine, the outer shell of the screw machine is the housing, the screw is the movable part, and the motor is the driving part.

6. The autonomous mobile device according to any one of claims 1 to 5, wherein: The telescopic direction of the telescopic drive structure intersects with a horizontal plane so that the opening faces downward relative to the horizontal plane.

7. The autonomous mobile device according to claim 6, wherein: The angle between the axis of the opening and the horizontal plane is greater than or equal to 25 degrees and less than or equal to 35 degrees.

8. The autonomous mobile device according to any one of claims 1 to 7, wherein: The frame comprises a supporting crossbeam and a mounting seat, two ends of the telescopic driving structure are respectively connected to the supporting crossbeam and the connecting rod assembly, and the connecting rod assembly is movably arranged on the mounting seat.

9. The autonomous mobile device according to claim 8, wherein: The connecting rod assembly includes a connecting body, a first connecting rod and a second connecting rod. The connecting body is rotatably connected to the mounting seat. The first connecting rod is transmission-connected between the connecting body and the telescopic drive structure. The second connecting rod is rotatably connected between the telescopic drive structure and the mounting seat.

10. The autonomous mobile device according to claim 9, wherein: The connecting rod assembly also includes a synchronization rod, which is connected to the telescopic driving structure, and the first connecting rod and the second connecting rod are both rotatably connected to the synchronization rod.

11. The autonomous mobile device according to claim 10, wherein: An extension direction of the synchronization rod intersects with a telescopic direction of the telescopic drive structure, and the first connecting rod, the telescopic drive structure, and the second connecting rod are arranged at intervals along the extension direction of the synchronization rod.

12. The autonomous mobile device according to claim 10 or 11, wherein: The number of the first connecting rods is set to two, the two first connecting rods are connected between the synchronization rod and the adapter, and the two first connecting rods are respectively located on both sides of the linear drive assembly.

13. The autonomous mobile device according to claim 10 or 11, wherein: The number of the second connecting rods is set to two, the two second connecting rods are connected between the synchronization rod and the mounting seat, and the two second connecting rods are respectively located on both sides of the linear drive assembly.

14. The autonomous mobile device according to any one of claims 1 to 13, wherein: The autonomous mobile device further comprises a mounting portion, wherein the mounting portion is connected to the connecting rod assembly, and the mounting portion is used to be detachably connected to the operating mechanism.

15. A working robot, wherein: The operating robot comprises: Operating organization; and According to the autonomous mobile device according to any one of claims 1 to 14, the operating mechanism is installed on the autonomous mobile device.

16. The working robot according to claim 15, wherein: The working robot further comprises a body, the autonomous mobile device is arranged in the body, and the working mechanism is connected to one side of the body and to the connecting rod assembly.

17. The working robot according to claim 15 or 16, wherein: The working robot may further include a controller electrically connected to the autonomous mobile device to control the autonomous mobile device to adjust the height of the working mechanism.

18. The working robot according to any one of claims 15 to 17, wherein: The operating mechanism includes a snow removal mechanism.

19. The working robot according to any one of claims 15 to 17, wherein: The operating mechanism includes at least one of the following structures: a weeding mechanism, a mowing mechanism, a leaf blowing mechanism, a salt spreading mechanism, a rolling brush mechanism, and a snow pushing mechanism.

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