Auxiliary cutting mechanism and lawn mower

Abstract

An auxiliary cutting mechanism, comprising a cutterhead (91), an upper protective cover (92) and a lower protective cover (93), wherein the upper protective cover comprises a side enclosure (921), and the side enclosure surrounds the side portion of the cutterhead; and the lower protective cover is arranged at the bottom of the cutterhead, with the projection of the lower protective cover towards the ground covering at least part of a left rear portion and at least part of a right rear portion of the projection of the cutterhead towards the ground, and covering at least part of one of a left front portion or a right front portion of the projection of the cutterhead towards the ground. On one hand, when the auxiliary cutting mechanism is located at a position of extending out of a lawn mower body, under the stopping action of the upper protective cover and the lower protective cover, it is difficult for a person's hands or feet to touch the cutterhead; on the other hand, since the front portion close to one side of the lawn mower body is not covered by the lower protective cover, the grass pressing effect of the lower protective cover can be reduced, thereby ensuring a cutting effect. A lawn mower is further comprised.

Description

Auxiliary cutting mechanism and lawn mower Technical Field

[0001] The embodiments of the present application relate to the technical field of mechanical equipment, and in particular to an auxiliary cutting mechanism and a lawn mower. Background Art

[0002] A walking device with a cutting function, such as a lawn mower, includes a body and an auxiliary cutting mechanism. The auxiliary cutting mechanism is installed on the body, and the body walks on the ground. When walking, the auxiliary cutting mechanism can cut weeds on the ground.

[0003] In actual production life, a protective cover is usually set on the auxiliary cutting mechanism to reduce the risk of people touching the cutter disc during the cutting process and increase safety.

[0004] In the related art, the protective cover surrounds the entire cutter disc, which reduces the risk of people touching the cutter disc. However, it is easy for weeds to be blocked by the protective cover and difficult to be cut by the cutter disc, resulting in poor cutting effect. Summary of the Invention

[0005] In order to solve the above problems, embodiments of the present application provide an auxiliary cutting mechanism and a lawn mower to at least partially solve the above problems.

[0006] One or more embodiments of the present application provide an auxiliary cutting mechanism, including a cutter disc, an upper guard and a lower guard; the transverse center line and the longitudinal center line of the cutter disc jointly divide the cutter disc into four parts, namely, a left front part, a right front part, a left rear part and a right rear part; the upper guard includes a side enclosure, which surrounds the side of the cutter disc; the lower guard is arranged at the bottom of the cutter disc, and the projection of the lower guard toward the ground covers at least a part of the left rear part of the cutter disc projected toward the ground, and covers at least a part of the right rear part of the cutter disc projected toward the ground, and covers at least a part of either the left front part or the right front part of the cutter disc projected toward the ground.

[0007] Optionally, there is a preset distance C between the front end of the lower shield and the front end of the side enclosure.

[0008] Optionally, the lower guard is surrounded by the side enclosures, and the gaps between the rear end, left end and right end of the lower guard and the side enclosures are respectively smaller than a preset threshold value, so as to prevent fingers or toes from extending into the gaps.

[0009] Optionally, a plurality of spaced-apart grass inlets are provided on the left front portion or the right front portion of the lower guard shield, and the grass inlets face the front end of the side enclosure.

[0010] Optionally, the width of the grass inlet is less than or equal to 12 mm.

[0011] Optionally, the distance between the left front part of the lower guard and the center of the cutter disc is greater than the distance between the left front part of the cutter disc and its own center; or, the distance between the right front part of the lower guard and the center of the cutter disc is greater than the distance between the right front part of the cutter disc and its own center.

[0012] Optionally, a grass outlet hole is provided on the left rear portion of the lower guard shield, and / or a grass outlet hole is provided on the right rear portion of the lower guard shield.

[0013] Optionally, the length direction of the cross section of the grass outlet hole is consistent with the front-to-back direction, and the width of the cross section of the grass outlet hole is less than or equal to 12 mm.

[0014] Optionally, a hollow structure is provided at the rear of the side panel.

[0015] Optionally, the hollow structure is in the shape of an elongated strip, and the width of the hollow structure is less than or equal to 12 mm.

[0016] Optionally, the upper guard also includes a top cover, the edge of the top cover is connected to the side enclosure, and the auxiliary cutting mechanism also includes a drive module, the drive module is connected to the body of the lawn mower, and is connected to the upper side of the blade disc, and is surrounded by the side enclosure; the top cover covers the drive module and is connected to the drive module.

[0017] Optionally, the top cover includes a first partition and a second partition, the first partition covers the driving module, and the second partition is located in front of the first partition and is higher than the second partition.

[0018] Optionally, the lower shield is directly connected to the upper shield.

[0019] The present application also provides a lawn mower, comprising a body and the above-mentioned auxiliary cutting mechanism, wherein the auxiliary cutting mechanism is connected to the body.

[0020] Optionally, the side panel includes relative inner and outer panels in the left and right directions, the auxiliary cutting mechanism is pivotally connected to the fuselage, and includes a retracted position and a released position on the pivot path, when the auxiliary cutting mechanism is in the retracted position, the outer panel of the side panel is close to the fuselage, and when the auxiliary cutting mechanism is in the released position, the outer panel of the side panel is away from the fuselage.

[0021] Optionally, the lawn mower further includes a first connecting rod and a second connecting rod, the first connecting rod including a first end and a second end relative to each other, the first end being pivotally connected to the fuselage around a first axis, and the second end being pivotally connected to the auxiliary cutting mechanism around a second axis, the second connecting rod including a third end and a fourth end relative to each other, the third end being pivotally connected to the fuselage around a third axis, and the fourth end being pivotally connected to the auxiliary cutting mechanism around a fourth axis, the first axis, the second axis and the third axis are all parallel to the fourth axis; the distance A1 between the first axis and the second axis is equal to the distance A2 between the third axis and the fourth axis; the distance B1 between the first axis and the third axis is equal to the distance B2 between the second axis and the fourth axis.

[0022] Based on the above-mentioned working mechanism provided in the present application, if the auxiliary cutting mechanism is installed on the lawn mower, the left front part or the right front part that is not covered by the lower guard cover can be located on the side close to the lawn mower body, and the right front part or the left front part covered by the lower guard cover can be located on the side away from the lawn mower body. In this way, on the one hand, when the auxiliary cutting mechanism is in a position extending outside the body, it is difficult for people's hands or feet to touch the blade under the stopping action of the upper guard cover and the lower guard cover. On the other hand, since the front part close to the lawn mower body is not covered by the lower guard cover, the influence of the lower guard cover pressing the grass can be reduced to ensure the cutting effect.

[0023] The present application also provides a telescopic working mechanism, which is applied to an intelligent walking device. The telescopic working mechanism includes a connecting mechanism, a working mechanism and a position detection device; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position is used to be rotatably connected to the body of the intelligent walking device, and the second connecting position is connected to the working mechanism, and the connecting mechanism rotates relative to the body to drive the working mechanism to move relative to the body; the position detection device includes a position detection part and a moving part, the position detection part is connected to the body of the intelligent walking device, and the moving part is arranged on the connecting mechanism or the working mechanism, the position detection part is used to detect that the moving part reaches a predetermined position and generates a position electrical signal, and the position electrical signal is used to control the movement of the connecting mechanism or the working mechanism.

[0024] The present application also provides another telescopic working mechanism, which is applied to an intelligent walking device, including a working mechanism, a connecting mechanism and a telescopic mechanism; the telescopic mechanism includes a telescopic fixing part and a telescopic part, the telescopic fixing part is used to connect the body of the intelligent walking device, and the telescopic part is connected to the connecting mechanism; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position is used to rotate or slide with the body, and the second connecting position is connected to the working mechanism, the telescopic part drives the connecting mechanism to rotate or slide through telescopic movement, and the connecting mechanism drives the working mechanism to rotate or slide relative to the body.

[0025] Optionally, the telescopic working mechanism further includes a fixing seat, which is used to be fixedly connected to the fuselage, and the first connecting position of the connecting mechanism and the telescopic fixing portion of the telescopic mechanism are connected to the fixing seat.

[0026] Optionally, the connecting mechanism includes an elastic member and a connecting rod mechanism, one end of the connecting rod mechanism is hinged to the fuselage, and the other end is connected to the working mechanism, the elastic member is arranged at the hinge between the connecting rod mechanism and the fuselage, and the telescopic part is connected to the connecting rod mechanism.

[0027] The present application also provides another telescopic working mechanism, which is applied to an intelligent walking device, including a working mechanism, a connecting mechanism, an elastic member and a rotating mechanism; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position is used to be rotatably connected to the body of the intelligent walking device, and the second connecting position is connected to the working mechanism; the rotating mechanism is arranged on the body of the intelligent walking device, and the rotating mechanism is in contact with the connecting mechanism; one end of the elastic member is connected to the body, and the other end is connected to the connecting mechanism, and the rotating mechanism is used to push the connecting mechanism to drive the working mechanism close to the center line of the body, and the elastic member is compressed; the elastic member is used to push the connecting mechanism to drive the working mechanism away from the center line of the body.

[0028] The present application also provides an operation execution mechanism for connecting to the body of an intelligent walking device, the operation execution mechanism includes a working mechanism, a connecting mechanism and a power mechanism; the connecting mechanism includes two opposite ends, one end is pivotally connected to the body, and the other end is connected to the working mechanism; the connecting mechanism can drive the working mechanism to move back and forth between a retracted position and a released position; the power mechanism is connected to the connecting mechanism, and the power mechanism is used to drive the connecting mechanism to pivot relative to the body; when the working mechanism is in the retracted position, the working mechanism and the center line of the body are separated by a first distance, and when the working mechanism is in the release position, the working mechanism and the center line of the body are separated by a second distance, and the first distance is smaller than the second distance.

[0029] Optionally, the power mechanism includes an elastic member, which is connected between the connecting mechanism and the fuselage, and / or connected between the connecting mechanism and the working mechanism; the elastic member applies an elastic force to the connecting mechanism that enables the connecting mechanism to drive the working mechanism to pivot from the retracted position toward the released position.

[0030] Optionally, the elastic member is connected between the working mechanism and the first connecting rod, and / or the elastic member is connected between the working mechanism and the second connecting rod.

[0031] Optionally, the power mechanism includes a rotating motor, the output shaft of the rotating motor is connected to the connecting mechanism, and the connecting mechanism is driven to rotate the working mechanism.

[0032] Optionally, the operation execution mechanism further includes a limiting mechanism, which applies a limiting force to the connecting mechanism to limit the working mechanism to the retracted position through the connecting mechanism.

[0033] Optionally, the limiting mechanism includes a limiting member, which reciprocates between an avoidance position and a stop position. When the limiting member is located at the avoidance position, the connecting mechanism is allowed to drive the working mechanism to reciprocate between the release position and the retracted position; when the limiting member is located at the stop position, the connecting mechanism is prevented from driving the working mechanism to pivot from the retracted position toward the release position.

[0034] Optionally, a first limiting portion is provided on the fuselage, and when the connecting mechanism drives the working mechanism to move to the release position, the force of the power mechanism causes the connecting mechanism to rest against the first limiting portion.

[0035] The present application also provides an intelligent walking device, comprising a body, a working mechanism, a connecting mechanism, a power mechanism and a damping member; the connecting mechanism comprises two opposite ends, one end being pivotally connected to the body and the other end being connected to the working mechanism, the connecting mechanism being capable of driving the working mechanism to reciprocate between a retracted position and a released position; the power mechanism being connected to the connecting mechanism, the power mechanism being used to drive the connecting mechanism to pivot relative to the body; when the working mechanism is in the retracted position, a first distance is spaced between the center lines of the working mechanism and the body, and a second distance is spaced between the center lines of the working mechanism and the body when the working mechanism is in the released position, the first distance being smaller than the second distance; a first limiting portion is provided on the body, and when the connecting mechanism drives the working mechanism to move to the released position or the retracted position, the force of the power mechanism causes the connecting mechanism to abut against the first limiting portion; the damping member is connected to the connecting mechanism, and during the process of the connecting mechanism pivoting toward the released position or the retracted position, the damping member applies a damping force opposite to the force to the connecting mechanism.

[0036] Optionally, the connecting mechanism includes a first link and a second link, the first link includes a first end and a second end relative to each other, the first end is pivotally connected to the fuselage around a first axis, and the second end is pivotally connected to the working mechanism around a second axis; the second link includes a third end and a fourth end relative to each other, the third end is pivotally connected to the fuselage around a third axis, and the fourth end is pivotally connected to the working mechanism around a fourth axis; the first axis, the second axis, and the third axis are all parallel to the fourth axis; the distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis; the distance between the first axis and the third axis is equal to the distance between the second axis and the fourth axis; wherein the damping member is connected to the first link or the second link.

[0037] Optionally, the damping member is connected between the fuselage and the first connecting rod; or, the damping member is connected between the fuselage and the second connecting rod; or, the damping member is connected between the working mechanism and the first connecting rod; or, the damping member is connected between the working mechanism and the second connecting rod.

[0038] Optionally, the damping member is connected between the first rod and the body, or the damping member is connected between the second rod and the slider, or the damping member is connected between the slider and the body.

[0039] The present application also provides a working mechanism, which is applied to an intelligent walking device, and the working mechanism includes: a connecting part, a fixing seat, a working part, an angle detection component and a control component; one end of the connecting part is connected to the fixing seat, and the other end of the connecting part is connected to the working part; the connecting part is constructed to rotate relative to the fixing seat to drive the working part to move relative to the fixing seat; the angle detection component is used to detect the rotation angle of the connecting part relative to the fixing seat, and send an angle signal indicating the rotation angle to the control component; the control component is used to control the connecting part to stop rotating relative to the fixing seat when the rotation angle indicated by the angle signal reaches an angle threshold, so that the angle between the connecting part and the fixing seat is within a preset angle range.

[0040] Optionally, the connecting part includes a plurality of connecting rods, and the control assembly includes an elastic return member, a driving part and a limit member; the plurality of connecting rods are of the same length and parallel to each other, one end of the connecting rod is hinged to the fixed seat, and the other end of the connecting rod is hinged to the working part, the axis of the hinge between the connecting rod and the fixed seat is parallel to the axis of the hinge between the connecting rod and the working part, different connecting rods have different axes of hinge between the fixed seat, and different connecting rods have different axes of hinge between the working part; the elastic return member is connected between the connecting rod and the fixed seat, or between the connecting rod and the working part, the elastic return member is in a compressed state, and when the angle between the connecting rod and the fixed seat becomes larger, the degree of compression of the elastic return member becomes smaller; the driving part is a motor, the stator part of the driving part is fixedly connected to the fixed seat, and the fixed The axis at which the fixed seat is hinged to any connecting rod is the same as the axis of the output shaft of the driving unit; the distance between the limit member and the rotation axis of the output shaft is greater than zero, the limit member is fixedly connected to the output shaft, the limit member abuts against any connecting rod, and the limit member is used to prevent the compression degree of the elastic reset member from becoming smaller; the driving unit is used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a first angle threshold after the output shaft of the driving unit starts to rotate, so that the angle between the connecting rod and the fixed seat is within the first preset angle range, and the driving unit is also used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a second angle threshold after the output shaft of the driving unit starts to rotate, so that the angle between the connecting rod and the fixed seat is within the second preset angle range.

[0041] Optionally, the connecting part includes a plurality of connecting rods, and the angle detection assembly includes a magnetic encoder and a magnetic block; the plurality of connecting rods have the same length and are parallel to each other, one end of the connecting rod is hinged to the fixed seat, and the other end of the connecting rod is hinged to the working part, the axis of the hinge between the connecting rod and the fixed seat is parallel to the axis of the hinge between the connecting rod and the working part, different connecting rods have different axes of hinge between the fixed seat, and different connecting rods have different axes of hinge between the working part; the magnetic encoder and the magnetic block are arranged at the hinge between any connecting rod and the working part, and the magnetic encoder is hinged to the fixed seat. The magnetic blocks are relative to each other, the magnetic block is fixedly connected to the working part and the magnetic encoder is fixedly connected to any one of the connecting rods, or the magnetic encoder is fixedly connected to the working part and the magnetic block is fixedly connected to any one of the connecting rods; the magnetic block is cylindrical, and the axis at which any one of the connecting rods is hinged to the working part is the same as the central axis of the magnetic block; the magnetic encoder is used to detect the rotation angle of the magnetic block relative to the magnetic encoder, generate an angle signal for indicating the rotation angle of the magnetic block relative to the magnetic encoder, and send the angle signal to the control component.

[0042] Optionally, the connecting part includes a plurality of connecting rods, and the control assembly includes an elastic return member, a driving part and a limit member; the plurality of connecting rods are of the same length and parallel to each other, one end of the connecting rod is hinged to the fixed seat, and the other end of the connecting rod is hinged to the working part, the axis of the hinge between the connecting rod and the fixed seat is parallel to the axis of the hinge between the connecting rod and the working part, different connecting rods have different axes of hinge between the fixed seat, and different connecting rods have different axes of hinge between the working part; the elastic return member is connected between the connecting rod and the fixed seat, or between the connecting rod and the working part, the elastic return member is in a compressed state, and when the angle between the connecting rod and the fixed seat becomes larger, the degree of compression of the elastic return member becomes smaller; the driving part is a motor, the stator part of the driving part is fixedly connected to the working part, and the working The axis at which the working part is hinged to any connecting rod is the same as the axis of the output shaft of the driving part; the distance between the limit member and the rotation axis of the output shaft is greater than zero, the limit member is fixedly connected to the output shaft, the limit member abuts against any connecting rod, and the limit member is used to prevent the compression degree of the elastic reset member from becoming smaller; the driving part is used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a first angle threshold after the output shaft of the driving part starts to rotate, so that the angle between the connecting rod and the fixed seat is within the first preset angle range, and the driving part is also used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a second angle threshold after the output shaft of the driving part starts to rotate, so that the angle between the connecting rod and the fixed seat is within the second preset angle range.

[0043] Optionally, the connecting part includes multiple connecting rods, and the control assembly includes an elastic return member, a driving part and a limit member; the multiple connecting rods have the same length and are parallel to each other, one end of the connecting rod is hinged to the fixed seat, and the other end of the connecting rod is hinged to the working part, the axis of the hinge between the connecting rod and the fixed seat is parallel to the axis of the hinge between the connecting rod and the working part, different connecting rods have different axes of hinge between the fixed seat, and different connecting rods have different axes of hinge between the working part; the elastic return member is connected between the connecting rod and the fixed seat, or between the connecting rod and the working part, the elastic return member is in a compressed state, and when the angle between the connecting rod and the fixed seat becomes larger, the degree of compression of the elastic return member becomes smaller; the driving part is a motor, the stator part of the driving part is fixedly connected to any connecting rod, and the axis of the hinge between the working part and any connecting rod is the same as the axis of the output shaft of the driving part The same, or the axis of the hinge connection between the fixed seat and any one of the connecting rods is the same as the axis of the output shaft of the driving unit; the distance between the limit member and the rotation axis of the output shaft is greater than zero, the limit member is fixedly connected to the output shaft, the limit member abuts against the working part, or the limit member abuts against the fixed seat, and the limit member is used to prevent the compression degree of the elastic reset member from becoming smaller; the driving unit is used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a first angle threshold after the output shaft of the driving unit starts to rotate, so that the angle between the connecting rod and the fixed seat is within a first preset angle range, and the driving unit is also used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a second angle threshold after the output shaft of the driving unit starts to rotate, so that the angle between the connecting rod and the fixed seat is within a second preset angle range.

[0044] The present application also provides an intelligent walking device, including a working mechanism and a fuselage, the working mechanism including a connecting part, a fixing seat, a working part, an angle detection component and a control component; the fixing seat is fixedly connected to the fuselage; one end of the connecting part is connected to the fixing seat, and the other end of the connecting part is connected to the working part; the connecting part is constructed to rotate relative to the fixing seat to drive the working part to move relative to the fixing seat; the angle detection component is used to detect the rotation angle of the connecting part relative to the fixing seat, and send an angle signal indicating the rotation angle to the control component; the control component is used to control the connecting part to stop rotating relative to the fixing seat when the rotation angle indicated by the angle signal reaches a first angle threshold, so that the angle between the connecting part and the fixing seat is within a first preset angle range, and is also used When the rotation angle indicated by the angle signal reaches a second angle threshold, the connecting part is controlled to stop rotating relative to the fixing seat so that the angle between the connecting part and the fixing seat is within a second preset angle range, the first angle threshold is less than the second angle threshold, the minimum angle in the first preset angle range is the same as the minimum angle in the second preset angle range, and the maximum angle in the first preset angle range is less than the maximum angle in the second preset angle range; when the angle between the connecting part and the fixing seat is equal to the maximum angle in the first preset angle range, the spacing between the working part and the fuselage is the first spacing, and when the angle between the connecting part and the fixing seat is equal to the maximum angle in the second preset angle range, the maximum spacing between the working part and the fuselage is the second spacing, and the second spacing is greater than the first spacing.

[0045] Optionally, the control component is used to send an avoidance signal to the fuselage if an angle signal is received indicating that the rotation angle indicated by the angle signal reaches a second angle threshold and the connecting part stops rotating relative to the fixed seat, and the third angle threshold is greater than the first angle threshold and less than the second angle threshold, and the avoidance signal is used to instruct the walking mechanism installed on the fuselage to move in a direction away from the working part, so as to drive the fuselage to move in a direction away from the working part; the control component is also used to send an avoidance signal to the fuselage if an angle signal is received indicating that the rotation angle indicated by the angle signal is greater than or equal to the third angle threshold, and the stop avoidance signal is used to instruct the walking mechanism to stop moving in a direction away from the working part, so as to make the fuselage stop moving in a direction away from the working part.

[0046] The present application also provides a control method, which is applied to a working mechanism including a connecting part and a fixed seat, and the working mechanism is applied to the intelligent walking device. The control method includes: when the rotation angle indicated by the angle signal reaches an angle threshold, controlling the connecting part to stop rotating relative to the fixed seat so that the angle between the connecting part and the fixed seat is within a preset angle range, wherein the working mechanism also includes a working part and an angle detection component, one end of the connecting part is connected to the fixed seat, and the other end of the connecting part is connected to the working part, and the connecting part is constructed to rotate relative to the fixed seat to drive the working part to move relative to the fixed seat, and the rotation angle indicated by the angle signal is the rotation angle of the connecting part relative to the fixed seat, and the angle detection component is used to detect the rotation angle and generate the angle signal.

[0047] The present application also provides an intelligent walking device, comprising:

[0048] body,

[0049] Work organization,

[0050] a connecting mechanism, one end of which is pivotally connected to the fuselage, the other end of which is connected to the working mechanism, and the connecting mechanism is capable of driving the working mechanism to reciprocate between a retracted position and a released position;

[0051] When the working mechanism is in the retracted position, the working mechanism and the centerline of the fuselage are spaced apart by a first distance; when the connecting mechanism is in the released position, the working mechanism and the centerline of the fuselage are spaced apart by a second distance, and the first distance is smaller than the second distance;

[0052] a limiting member, the limiting member abutting against the connecting mechanism and being capable of reciprocating between an avoidance position and a stop position; when the limiting member is in the avoidance position, the connecting mechanism is allowed to drive the working mechanism to reciprocate between the release position and the retracted position; during the process of the limiting member moving from the avoidance position toward the stop position, the limiting member can drive the connecting mechanism to move so as to drive the working mechanism to move from the release position to the retracted position;

[0053] a position detection mechanism capable of detecting whether the working mechanism has reached the retracted position; when the working mechanism reaches the retracted position, the position detection mechanism generates a first arrival signal; the limit member stops driving the connecting mechanism according to the first arrival signal and stays at the stop position; and / or,

[0054] The position detection mechanism can detect whether the working mechanism reaches the release position. When the working mechanism reaches the release position, the position detection mechanism generates a second arrival signal, and the limit member stays at the avoidance position according to the second arrival signal.

[0055] This application also provides another intelligent walking device, including:

[0056] body;

[0057] Work organization;

[0058] a connecting mechanism, one end of which is pivotally connected to the fuselage, the other end of which is connected to the working mechanism, and the connecting mechanism is capable of driving the working mechanism to reciprocate between a retracted position and a released position;

[0059] a power mechanism connected to the connecting mechanism, the power mechanism being used to drive the connecting mechanism to pivot relative to the fuselage;

[0060] At least one of the body, the working mechanism and the connecting mechanism is provided with an avoidance structure to allow the connecting mechanism to drive the working mechanism to reciprocate between the retracted position and the released position.

[0061] Optionally, the avoidance structure includes an avoidance groove, which is located on the connecting mechanism and is used to avoid the second avoidance hole.

[0062] Optionally, the connecting mechanism includes a first connecting rod and a second connecting rod, the first connecting rod includes a first end and a second end relative to each other, the first end is pivotally connected to the fuselage around a first axis, and the second end is pivotally connected to the working mechanism around a second axis, the second connecting rod includes a third end and a fourth end relative to each other, the third end is pivotally connected to the fuselage around a third axis, and the fourth end is pivotally connected to the working mechanism around a fourth axis, the first axis, the second axis, and the third axis are all parallel to the fourth axis; the distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis; the distance between the first axis and the third axis is equal to the distance between the second axis and the fourth axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The following drawings are only intended to illustrate and explain the present application and do not limit the scope of the present application.

[0064] FIG1 is a perspective schematic diagram of an auxiliary cutting mechanism provided by an exemplary embodiment of the present application;

[0065] FIG2 is a partial schematic diagram of an auxiliary cutting mechanism provided by an exemplary embodiment of the present application;

[0066] FIG3 is a partial schematic diagram of a lawn mower provided by an exemplary embodiment of the present application;

[0067] FIG4 is a partially exploded schematic diagram of a lawn mower provided by an exemplary embodiment of the present application;

[0068] FIG5 is a bottom view of a lawn mower provided by an exemplary embodiment of the present application, wherein the auxiliary cutting mechanism is in a released position;

[0069] FIG6 is a schematic diagram of a telescopic working mechanism according to an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0070] 7 is a schematic diagram of a telescopic working mechanism of an exemplary embodiment of the present application, in which the working mechanism is in a retracted position;

[0071] FIG8 is a schematic structural diagram of a telescopic working mechanism according to an exemplary embodiment of the present application;

[0072] FIG9 is a schematic diagram of a position detection device in a telescopic working mechanism according to an exemplary embodiment of the present application;

[0073] FIG10 is a schematic diagram of a position detection device in a telescopic working mechanism according to another exemplary embodiment of the present application;

[0074] FIG11 is a schematic structural diagram of a connecting rod mechanism in a telescopic working mechanism according to an exemplary embodiment of the present application;

[0075] FIG12 is a schematic diagram of a telescopic working mechanism according to an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0076] 13 is a schematic diagram of a telescopic working mechanism of an exemplary embodiment of the present application, in which the working mechanism is in a retracted position;

[0077] FIG14 is a schematic structural diagram of a telescopic working mechanism according to an exemplary embodiment of the present application;

[0078] 15 is a schematic diagram of the telescopic mechanism in the telescopic working mechanism of the exemplary embodiment of the present application being located at a fourth connection position;

[0079] FIG16 is a schematic structural diagram of a connecting rod mechanism in a telescopic working mechanism according to an exemplary embodiment of the present application;

[0080] FIG17 is a schematic diagram of a telescopic working mechanism according to an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0081] FIG18 is a schematic diagram of a telescopic working mechanism according to an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0082] FIG19 is a schematic structural diagram of a telescopic working mechanism according to an exemplary embodiment of the present application;

[0083] FIG20 is an exploded view of a telescopic working mechanism according to an exemplary embodiment of the present application;

[0084] FIG21 is a schematic diagram of the rotating portion of the telescopic working mechanism of the exemplary embodiment of the present application in the first position;

[0085] FIG22 is a schematic diagram of the rotating portion of the telescopic working mechanism according to an exemplary embodiment of the present application in a second position;

[0086] FIG23 is a schematic structural diagram of a connecting rod mechanism in a telescopic working mechanism according to another exemplary embodiment of the present application;

[0087] FIG24 is a perspective schematic diagram of an operation execution mechanism provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0088] FIG25 is a perspective schematic diagram of a work execution mechanism provided by an exemplary embodiment of the present application from another perspective, wherein the working mechanism is in a release position;

[0089] FIG26 is a partial perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application;

[0090] FIG27 is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0091] FIG28 is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0092] FIG29 is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0093] FIG30 is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0094] FIG31 is a partial perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0095] FIG32 is a partial perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0096] FIG33 is a partial schematic diagram of another intelligent walking device provided by an exemplary embodiment of the present application;

[0097] FIG34 is a schematic diagram of a working mechanism according to an embodiment of the present application, wherein the working portion is in an extended state;

[0098] FIG35 is a schematic diagram of an intelligent walking device with a working portion in an extended state according to an embodiment of the present application;

[0099] FIG36 is a cross-sectional view of a highlighted angle detection assembly according to one embodiment of the present application;

[0100] FIG37 is a cross-sectional view of a highlight angle detection assembly according to another embodiment of the present application;

[0101] FIG38 is a schematic diagram of a working mechanism according to an embodiment of the present application, wherein the working portion is in a retracted state;

[0102] FIG39 is a schematic diagram of an intelligent walking device with a working portion in a retracted state according to an embodiment of the present application;

[0103] FIG40 is a schematic diagram of an intelligent walking device when a working portion touches an obstacle according to an embodiment of the present application;

[0104] FIG41 is a partial perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0105] FIG42 is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0106] FIG43 is a perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application from another perspective, wherein the working mechanism is in a released position;

[0107] FIG44 is a perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application from another perspective, wherein the working mechanism is in a released position;

[0108] FIG45 is a schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0109] FIG46 is a schematic top view of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0110] FIG47 is a schematic top view of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0111] FIG48 is a partial perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a released position;

[0112] FIG49 is a stereoscopic schematic diagram based on FIG48 from another perspective.

[0113] FIG50 is a partial perspective schematic diagram of an intelligent walking device provided by an exemplary embodiment of the present application, wherein the working mechanism is in a retracted position;

[0114] Figure 51 is a three-dimensional schematic diagram of the working mechanism of an intelligent walking device provided by an exemplary embodiment of the present application.

[0115] Explanation of the accompanying reference numerals: 91 - cutterhead, 92 - upper guard, 921 - side guard, 9211 - hollow structure, 922 - top cover, 9221 - first partition, 9222 - second partition, 9223 - first connecting hole, 9224 - avoidance hole; 93 - lower guard, 931 - grass inlet, 932 - grass outlet; 94 - drive module, 941 - first threaded hole, 942 - second threaded hole; 95 - body; 961 - first connecting rod, 9611 - first through hole, 962 - second connecting rod, 9621 - second through hole; 97 - third fastener; L1 - first axis, L2 - second axis, L3 - third axis, L4 - fourth axis; 10-Body; 11-First Limiting Portion; 111-Limiting Groove; 12-Second Limiting Portion; 121-Stop Plate; 13-Third Limiting Portion; 141-Limiting Column; 142-Magnet; 143-Sensor; 15-Fixed Seat; 151-First Avoidance Hole; 16-Working Mechanism; 17-Elastic Element; 18-Connecting Rod Mechanism; 181-First Connecting Rod; 1811-First Hinge Point; 1812-Third Hinge Point; 182-Second Connecting Rod; 1821-Second Hinge Point; 1822-Fourth Hinge Point; 19-Rotating Mechanism; 191-Rotating Portion; 192-Rotating Power Device; 20-Body; 21-Working Mechanism; 22-Telescopic Mechanism; 221-Telescopic Portion; 222-Telescopic Fixing Portion; 223-Rolling Element; 23-Fixed Seat; 24-Elastic Element; 25 - Connecting rod mechanism; 251 - First connecting rod; 2511 - First hinge point; 2512 - Third hinge point; 252 - Second connecting rod; 2521 - Second hinge point; 2522 - Fourth hinge point; 30 - Fuselage; 31 - Working mechanism; 32 - Elastic member; 33 - Connecting rod mechanism; 331 - First connecting rod; 3311 - First hinge point; 3312 - Third hinge point; 332 - Second connecting rod; 3321 - Second hinge point; 3322 - Fourth hinge point; 34 - Rotating mechanism; 341 - Rotating portion; 3411 - Connecting portion; 3412 - Pushing portion; 342 - Rotating power device; 343 - Transmission shaft; 344 - Rolling member; 35 - Fixed seat; 351 - First avoidance hole; 36 - First limiting portion; 40 - Body, 401 - First Limiting Unit, 41 - Working Mechanism, 42 - Connecting Mechanism, 421 - First Connecting Rod, 422 - Second Connecting Rod; 43 - Power Mechanism, 431 - Elastic Member, 4311 - Pin, 432 - First Receiving Hole, 433 - First Rotating Shaft; 44 - Limiting Mechanism, 441 - Limiting Member, 442 - Driving Unit; L1 - First Axis, L2 - Second Axis, L3 - Third Axis, L4 - Fourth Axis, L5 - Preset Axis; 50 - Body, 501 - First Limiting Unit, 51 - Working Mechanism, 52 - Connecting Mechanism, 521 - First Connecting Rod, 522 - Second Connecting Rod, 531 - First Rod, 532 - Second Rod, 533 - Slider, 5201 - First Portion, 5202 - Second Portion;54 - Power mechanism, 541 - Elastic member, 542 - Pin; 55 - Damping member, 551 - Inner shell, 552 - Outer shell; L1 - First axis, L2 - Second axis, L3 - Third axis, L4 - Fourth axis; 60 - Body; 61 - Working part; 611 - Second rotating shaft; 6111 - Third end; 6112 - Fourth end; 62 - Connecting part; 621 - First connecting rod; 6211 - First baffle; 622 - Second connecting rod; 63 - First rotating shaft; 631 - First end; 632 - Second end; 64 - Fixed seat; 641 - Fifth end; 642 - Sixth end; 643 - Second baffle; 65 - First avoidance hole; 66 - Angle detection assembly; 661 - Magnetic encoder; 662 - Magnetic block; 67 - Control assembly; 671 - Elastic reset member; 672 - Driving unit; 673 - Limiting member; 70-body, 701-first limiting part, 702-main body, 703-fixing seat, 7031-first avoidance hole; 71-working mechanism, 72-connecting mechanism, 721-first connecting rod, 722-second connecting rod, 723-first protrusion; 73-power mechanism, 731-elastic member, 732-pin, 7301-first accommodating hole, 7302-first rotating shaft; 741-limiting member, 742-driving part; 75-position detection mechanism, 751-first position sensor, 752-second position sensor; L1-first axis, L2-second axis, L3-third axis, L4-fourth axis; 80-body, 81-working mechanism, 811-motor, 812-cover, 82-connecting mechanism, 821-first connecting rod, 8211-straight section, 8212-arc section, 822- Second connecting rod; 83 - power mechanism, 831 - elastic member, 832 - pin; 84 - limit mechanism, 841 - limit member, 842 - driving unit; 85 - first avoidance hole, 86 - avoidance groove, 87 - second avoidance hole; L1 - first axis, L2 - second axis, L3 - third axis, L4 - fourth axis, L5 - preset axis. DETAILED DESCRIPTION

[0116] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.

[0117] In this document, “illustrative” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “illustrative” should not be interpreted as a more preferred or more advantageous technical solution.

[0118] To simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, to simplify the drawings and facilitate understanding, in some figures, only one or more components with the same structure or function are schematically shown, or only one or more are labeled.

[0119] In response to the problems raised in the background technology, on the first aspect, the present application provides an auxiliary cutting mechanism for installation on a lawn mower. Referring to Figures 1 and 2, the auxiliary cutting mechanism includes a blade disc 91, an upper guard 92 and a lower guard 93. The transverse center line N and the longitudinal center line M of the blade disc 91 together divide the blade disc into four parts: left front, right front, left rear and right rear; the upper guard 92 includes a side enclosure 921, and the side enclosure 921 surrounds the side of the blade disc 91; the lower guard 93 is arranged at the bottom of the blade disc 91, and the projection of the lower guard 93 toward the ground covers at least a part of the left rear part of the blade disc 91 projected toward the ground, and covers at least a part of the right rear part of the blade disc 91 projected toward the ground, and covers at least a part of either the left front part or the right front part of the blade disc 91 projected toward the ground.

[0120] That is to say, when looking from the lower guard 93 toward the upper guard 92 , the left front or right front of the cutter disc 91 is not covered by the lower guard 93 and is exposed, while other areas are at least partially covered by the lower guard 93 .

[0121] The longitudinal center line of the cutter disc 91 may be parallel to the forward direction of the lawn mower, and the transverse center line may intersect the longitudinal center line at right angles.

[0122] Based on the above technical solution, if the auxiliary cutting mechanism is installed on the lawn mower, the left front part or the right front part that is not covered by the lower guard 93 can be located on the side close to the lawn mower body 95, and the right front part or the left front part covered by the lower guard 93 can be located on the side away from the lawn mower body 95. In this way, on the one hand, when the auxiliary cutting mechanism is in a position extending outside the body 95, it is difficult for a person's hands or feet to touch the cutter disc 91 under the stopping action of the upper guard 92 and the lower guard 93. On the other hand, since the front part close to the lawn mower body 95 is not covered by the lower guard 93, the effect of the lower guard 93 pressing the grass can be reduced to ensure the cutting effect.

[0123] It should be clarified that in this application, "up" and "down" are defined based on the direction of gravity when the auxiliary cutting mechanism is cutting the weeds on the ground, that is, the side of the cutter disc 91 close to the ground is the bottom, and the side of the cutter disc 91 away from the ground is the top.

[0124] "Front" and "rear" are defined based on the forward direction of the lawn mower when the auxiliary cutting mechanism is cutting the weeds on the ground. That is, the side facing the forward direction of the lawn mower is the front, and the side away from the forward direction of the lawn mower is the rear.

[0125] "Left" and "right" refer to the state where the auxiliary cutting mechanism is cutting the weeds on the ground, facing the direction of the lawn mower's movement. The left side is on the left hand side, and the right side is on the right hand side.

[0126] For example, in the perspective view shown in Figure 1, the machine body 95 is located to the left of the auxiliary cutting mechanism. The machine body 95 moves forward in the direction indicated by arrow X. The left front portion of the cutter disc 91 is close to the machine body 95 and is not covered by the lower guard 93. The right front portion of the cutter disc 91 is away from the machine body 95 but close to the area to be mowed. The side shields 921 of the upper guard 92 surround the cutter disc 91. This protects the hands and feet from touching the cutter disc 91 and reduces the impact of the lower guard 93 on the grass, ensuring a good cutting effect.

[0127] In one possible implementation, referring to Figure 1 , a preset distance C is defined between the front end of the side panel 921 and the front end of the lower shield 93. This distance C ensures sufficient clearance between the front end of the side panel 921 and the front end of the lower shield 93, allowing weeds to enter the blade disc 91 through this clearance and be cut by the blade disc 91. In other words, the preset distance C can reduce the impact of weed compression. It also prevents a person's hands or feet from reaching through the gap between the upper shield 92 and the ground, contacting the front end of the lower shield 93, and thus contacting the blade disc 91, when the auxiliary cutting mechanism extends from the body 95.

[0128] Specifically, the preset distance C is positively correlated with the distance between the cutter disc 91 and the ground. That is, the greater the distance between the cutter disc 91 and the ground, the easier it is for a person's hand or foot to reach through the gap between the upper guard 92 and the ground and contact the cutter disc 91. Therefore, the preset distance C should be set larger to prevent a person's hand or foot from reaching through the gap between the upper guard 92 and the ground and contacting the cutter disc 91. Conversely, the smaller the distance between the cutter disc 91 and the ground, the more difficult it is for a person's hand or foot to reach through the gap between the upper guard 92 and the ground and contact the cutter disc 91. Therefore, the preset distance C can be set smaller. In one example, the preset distance C can be greater than or equal to 50 mm.

[0129] Furthermore, the lower guard 93 is surrounded by the side panels 921. The gaps between the rear, left, and right ends of the lower guard 93 and the side panels 921 are smaller than a preset threshold, thereby preventing fingers or toes from entering these gaps. This allows the gaps between the rear, left, and right ends of the lower guard 93 and the side panels 921 to be controlled, preventing hands or feet from entering these gaps and contacting the cutterhead 91. Specifically, the preset thresholds may be less than or equal to 12 mm, making it difficult for hands or feet to pass through these gaps.

[0130] In one possible implementation, referring to FIG1 , the left or right front portion of the lower guard 93 is provided with a plurality of spaced-apart grass inlets 931, which face the front end of the side panel 921. Thus, while the left or right front portion of the lower guard 93 covers the cutterhead 91, the provision of the grass inlets 931 allows grass to be cut to extend from the grass inlets 931 above the lower guard 93, where it can be cut by the cutterhead 91, thereby minimizing the impact of the lower guard 93 on the grass.

[0131] The width of the grass inlet 931 is less than or equal to 12 mm. Thus, it is difficult for a person's hands or feet to pass through the grass inlet 931, thereby ensuring the safety protection function of the lower shield 93.

[0132] Furthermore, if the projection of the lower guard 93 toward the ground covers at least a portion of the left front portion of the projection of the cutter disc 91 toward the ground, the distance between the left front portion of the lower guard 93 and the center of the cutter disc 91 can be greater than the distance between the left front portion of the cutter disc 91 and its own center. This, on the one hand, allows the lower guard 93 to extend beyond the left front portion of the cutter disc 91 when viewed from above, providing better protection. On the other hand, it allows the front end of the grass inlet 931 to extend beyond the cutter disc 91, facilitating the passage of grass to be cut through the grass inlet 931 and onto the edge of the cutter disc 91, making it easier for the cutter disc 91 to cut the grass.

[0133] Similarly, if the projection of the lower guard 93 toward the ground covers at least a portion of the right front portion of the projection of the cutter disc 91 toward the ground, the distance between the right front portion of the lower guard 93 and the center of the cutter disc 91 can be greater than the distance between the right front portion of the cutter disc 91 and its own center. This, on the one hand, allows the lower guard 93 to extend beyond the right front portion of the cutter disc 91 when viewed from above, providing better protection. On the other hand, it allows the front end of the grass inlet 931 to extend beyond the cutter disc 91, facilitating the passage of grass to be cut through the grass inlet 931 and onto the edge of the cutter disc 91, making it easier for the cutter disc 91 to cut the grass.

[0134] In one possible implementation, referring to FIG1 , a grass outlet hole 932 is provided on the left rear portion of the lower guard 93 , and / or a grass outlet hole 932 is provided on the right rear portion of the lower guard 93 . In this way, the cut weeds can be discharged from the grass outlet hole 932 .

[0135] The length of the cross-section of the grass hole 932 is aligned with the front-to-back direction, and the width of the grass hole 932 is less than or equal to 12 mm. This makes it difficult for a person's hands or feet to pass through the grass hole 932, ensuring the safety and protective function of the lower shield 93. That is, the grass hole 932 can be an elongated strip, for example, a rectangle or an oval, including both length and width dimensions.

[0136] In a possible implementation, referring to FIG3 , a hollow structure 9211 is provided at the rear of the side enclosure 921. In this way, the hollow structure 9211 can serve as a grass outlet, and the cut weeds can be discharged from the hollow structure 9211.

[0137] The hollow structure 9211 is in the shape of an elongated strip, and its width is less than or equal to 12 mm. This makes it difficult for a person's hands or feet to pass through the hollow structure 9211, thereby ensuring the safety protection function of the side panel 921. The hollow structure 9211 can be rectangular or oval.

[0138] 3 and 4 , the upper guard 92 further includes a top cover 922, the edges of which are connected to the side panels 921. The auxiliary cutting mechanism further includes a drive module 94, which is connected to the body 95 of the mower and to the upper side of the cutter disc 91 and is surrounded by the side panels 921. The top cover 922 covers and is connected to the drive module 94. Thus, the upper guard 92 also protects the drive module 94 and, through the combined protective action of the top cover 922 and the side panels 921, prevents human hands or feet from contacting the cutter disc 91.

[0139] Specifically, a first connection hole 9223 may be provided on the top cover 922 , and the first fastener passes through the first connection hole 9223 and is connected to the driving module 94 , thereby fixing the top cover 922 on the driving module 94 .

[0140] In one example, referring to Figures 1 and 3, the top cover 922 includes a first partition 9221 and a second partition 9222. The first partition 9221 covers the drive module 94, and the second partition 9222 is located in front of the first partition 9221 and is higher than the second partition 9222. In this way, the second partition 9222 is located in front of the cutterhead 91 and is at a greater distance from the ground, which can reduce the impact of grass pressing and help ensure the mowing effect of the cutterhead 91.

[0141] In one possible implementation, the lower shield 93 is directly connected to the upper shield 92. This simplifies the structure of the auxiliary cutting mechanism. For example, the edge of the lower shield 93 can be connected to the side panel 921 of the upper shield 92 via a second fastener.

[0142] In addition, in one example, referring to Figure 1, the distance Y between the center of the cutter disc 91 and the left or right end of the side enclosure 921 can be greater than or equal to 50 mm, and the distance Z between the center of the cutter disc 91 and the rear end of the side enclosure 921 can be greater than or equal to 50 mm.

[0143] In a second aspect, the present application also provides a lawn mower. Referring to Figures 4 and 5 , the lawn mower includes a body 95 and the aforementioned auxiliary cutting mechanism. The auxiliary cutting mechanism is connected to the body 95, and the lower guard 93, as projected onto the ground, covers the side of the cutter disc 91 projected onto the ground that is away from the centerline of the body 95, as well as a portion of the cutter disc 91 projected onto the ground that is closer to the centerline of the body 95. In other words, in the left-right direction, the side of the cutter disc 91 not covered by the lower guard is positioned closer to the centerline of the body 95. For example, the lower guard 93's projection onto the ground covers the left front portion of the cutter disc 91 projected onto the ground, but not the right front portion. Consequently, the left front portion of the cutter disc 91 is positioned closer to the centerline of the body 95, while the right front portion is positioned further away from the centerline. Conversely, the right front portion of the cutter disc 91 is positioned closer to the centerline of the body 95, while the left front portion is positioned further away from the centerline. Here, the centerline of the body 95 extends in the front-to-back direction.

[0144] Based on the above description of the auxiliary cutting mechanism, it can be seen that because the side enclosures 921 of the upper guard 92 surround the sides of the cutter disc 91, they can act as a stop, making it difficult for a person's hands or feet to touch the cutter disc 91. Since at least the front area of ​​the cutter disc 91 near the centerline of the body 95 is not covered by the lower guard 93 and is exposed, the effect of the lower guard 93 on the grass is reduced, ensuring a good mowing effect. Therefore, the lawn mower provided by this application can not only protect a person's hands or feet, but also reduce the effect of grass being pressed, ensuring a good mowing effect.

[0145] In one possible embodiment, the side panel 921 includes an inner panel and an outer panel that are opposed to each other in the left-right direction. The auxiliary cutting mechanism is pivotally connected to the fuselage 95 and includes a retracted position and a deployed position along its pivot path. When the auxiliary cutting mechanism is in the retracted position, the outer panel of the side panel 921 is close to the fuselage 95, and when the auxiliary cutting mechanism is in the deployed position, the outer panel of the side panel 921 is away from the fuselage 95. For example, in FIG4 , the auxiliary cutting mechanism is in the retracted position relative to the fuselage region; in FIG5 , the auxiliary cutting mechanism is in the deployed position relative to the fuselage 95.

[0146] Based on this technical solution, when mowing is required, the auxiliary cutting mechanism can be deployed, with the outer panels of the side panels 921 positioned away from the main body 95. This allows the auxiliary cutting mechanism to at least partially extend beyond the main body 95, enabling it to cut weeds at the edge of the mowing area while preventing the main body 95 from colliding with surrounding walls or buildings. Furthermore, the outer panels of the side panels 921 provide protection, preventing hands or feet from contacting the cutter disc 91. When mowing is not required, the auxiliary cutting mechanism can be retracted, with the outer panels of the side panels 921 positioned closer to the main body 95. This reduces the space occupied by the lawn mower and facilitates storage.

[0147] In a possible embodiment, referring to Figures 4 and 5, the lawn mower may further include a first link 961 and a second link 962, the first link 961 including a first end and a second end relative to each other, the first end being pivotally connected to the body 95 around a first axis L1, and the second end being pivotally connected to the auxiliary cutting mechanism around a second axis L2; ​​the second link 962 including a third end and a fourth end relative to each other, the third end being pivotally connected to the body 95 around a third axis L3, and the fourth end being pivotally connected to the auxiliary cutting mechanism around a fourth axis L4; the first axis L1, the second axis L2, and the third axis L3 are all parallel to the fourth axis L4; the distance A1 between the first axis L1 and the second axis L2 is equal to the distance A2 between the third axis and the fourth axis; the distance B1 between the first axis and the third axis is equal to the distance B2 between the second axis and the fourth axis.

[0148] Based on this technical solution, the connection between the first link 961, the second link 962, the fuselage 95, and the auxiliary cutting mechanism can be understood as a parallel four-bar linkage. This connection relationship can ensure that the angle between the orientation of the auxiliary cutting mechanism and the centerline of the fuselage 10 remains constant. For example, the orientation of the auxiliary cutting mechanism and the centerline of the fuselage 95 always remain parallel. The centerline of the fuselage 95 extends in the front-to-back direction.

[0149] In one example, the second end of the first connecting rod 961 is pivotally connected to the driving module 94 of the auxiliary cutting mechanism around the second axis L2; ​​the fourth end of the second connecting rod 962 is pivotally connected to the driving module 94 of the auxiliary cutting mechanism around the fourth axis L4.

[0150] The lawn mower may further include a third fastener 97. The drive module 94 is provided with a first threaded hole 941, and the first connecting rod 961 is provided with a first through hole 9611. The third fastener 97 passes through the first through hole 9611 of the first connecting rod 961 and is threadedly connected to the first threaded hole 941 of the drive module 94. The third fastener 97 and the first through hole 9611 are loosely fitted. In this way, the pivotal connection between the first connecting rod 961 and the drive module 94 is achieved.

[0151] Similarly, the driving module 94 is further provided with a second threaded hole 942, and the second connecting rod 962 is provided with a second through hole 9621. The third fastener 97 passes through the second through hole 9621 of the second connecting rod 962 and is threadedly connected to the second threaded hole 942 of the driving module 94. The third fastener 97 and the second through hole 9621 are loosely fitted. In this way, the pivotal connection between the second connecting rod 962 and the driving module 94 is achieved.

[0152] In one example, a relief hole 9224 may be provided on the top cover 922 of the upper shield 92 to allow the third fastener 97 to pass through and be threadedly connected to the driving module 94 .

[0153] In addition, the lawn mower may further include a first stopper and a second stopper, wherein the first stopper is connected to the auxiliary cutting mechanism and is used to limit the auxiliary cutting mechanism to the extended position, and the second stopper is connected to the auxiliary cutting mechanism and is used to limit the auxiliary cutting mechanism to the retracted position. Regarding the first stopper and the second stopper, those skilled in the art can easily conceive of various implementations, which will not be elaborated in this application.

[0154] The present application also provides a telescopic working mechanism and an intelligent walking device. Before describing the telescopic working mechanism and the intelligent walking device of the embodiments of the present application, the application scenarios of the telescopic working mechanism and the intelligent walking device are briefly described for easy understanding.

[0155] The telescopic working mechanism can be applied to intelligent walking devices to perform auxiliary work. The intelligent walking device can be a lawn mowing robot, a cleaning robot, a sweeping robot, a snow removal robot, etc. The application scenario of the embodiment of the present application is illustrated by taking a lawn mowing robot as an example. The lawn mowing robot is an intelligent walking device that facilitates users to mow lawns and vegetation. When mowing, the lawn mowing robot needs to work within a pre-set working boundary. However, due to the positioning accuracy problem of the lawn mowing robot, whether the established working boundary is a physical boundary or a virtual boundary, there is a certain distance between the working boundary and the actual boundary of the lawn to prevent the lawn mowing robot from crossing the working boundary when mowing. As a result, the lawn mowing robot will miss the edge area of ​​the lawn during mowing, and the lawn edge area needs to be processed by manual mowing, which increases labor costs. In view of this, the present application proposes a telescopic working mechanism and an intelligent walking device that can solve the various problems existing in the above-mentioned prior art.

[0156] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0157] 6 to 11 , the telescopic working mechanism of this embodiment includes a connecting mechanism, a working mechanism 16 and a position detecting device.

[0158] Among them, the connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used to rotate with the body 10 of the intelligent walking device, and the second connecting position is connected to the working mechanism 16. The connecting mechanism rotates relative to the body 10, driving the working mechanism 16 to move relative to the body 10.

[0159] For example, the first connection position is rotatably connected to the body 10, and the connection method can be hinged. The second connection position is connected to the working mechanism 16, and the connection method can also be hinged. When the connection mechanism rotates relative to the body 10, the working mechanism 16 can be driven to move relative to the body 10.

[0160] The position detection device includes a position detection part and a moving part. The position detection part is connected to the body 10 of the intelligent walking device, and the moving part is arranged on the connecting mechanism or the working mechanism 16. The position detection part is used to detect that the moving part reaches a predetermined position and generates a position electrical signal, which is used to control the movement of the connecting mechanism or the working mechanism.

[0161] Exemplarily, the position detection unit is fixedly connected to the body 10 of the intelligent walking device, and the moving unit is fixedly connected to the connecting mechanism or the working mechanism 16. The connection method can be welding, bolt connection, etc., which is not limited in this embodiment. During the movement of the working mechanism 16 relative to the body 10, the predetermined positions that can be reached are the release position and the retracted position, respectively. The release position indicates the position where the working mechanism 16 is away from the center line of the body 10. The release position may include the position where the working mechanism 16 is at least partially outside the projection area of ​​the body 10, or the position where the working mechanism 16 is not extended and is closer to the edge of the body 10. This embodiment does not limit this. The retracted position indicates the position where the working mechanism 16 is close to the center line of the body 10. The retracted position may include the position where the working mechanism 16 is at least partially located in the projection area of ​​the body 10, or the position where the working mechanism 16 is closer to the center line of the body 10. This embodiment does not limit this. The projection area of ​​the fuselage 10 refers to the area projected onto the ground plane directly below the fuselage 10. Referring to Figures 6 and 7, the centerline of the fuselage 10 is the dotted line shown in the figures. The centerline of the fuselage 10 may refer to an axis of the fuselage 10 that is parallel to the forward direction of the fuselage 10. When the connecting mechanism or working mechanism 16 reaches a predetermined position during its movement, the position detection unit provided on the fuselage 10 detects the moving portion of the connecting mechanism or working mechanism 16. This can determine that the moving portion has reached the predetermined position, i.e., the working mechanism 16 has reached the predetermined position. At this time, the position detection unit generates an electrical position signal, which is used to control the movement of the connecting mechanism or working mechanism 16. For example, the electrical position signal can be used to control the connecting mechanism or working mechanism 16 to stop moving when it reaches the predetermined position.

[0162] It should be noted that the telescopic working mechanism may also include a power mechanism, which is connected to the connecting mechanism to provide power for the movement of the connecting mechanism. The power mechanism may be a power device, such as a motor, which is connected to the first connection position of the connecting mechanism to drive the connecting mechanism to move; the power mechanism may also include a rotating power device 192 and a rotating part 191, and the rotating part 191 connected to the rotating power device 192 is in contact with the connecting mechanism, and by arranging an elastic member 17 at the first connection position, the movement of the connecting mechanism is achieved by utilizing the cooperation of the elastic member 17, the rotating power device 192 and the rotating part 191 (the specific movement process is described in the following embodiment), and this embodiment does not limit this. When it is detected that the moving part has reached the predetermined position, the position detection part generates a position electrical signal and sends the electrical signal to the power mechanism. After receiving the position electrical signal, the power mechanism stops driving the connecting mechanism, so as to realize that the connecting mechanism or the working mechanism 16 is controlled by the position electrical signal to stop moving when it reaches the predetermined position.

[0163] The telescopic working mechanism of the embodiment of the present application includes a connecting mechanism, a working mechanism 16 and a position detection device; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position is used to be rotatably connected to the body 10 of the intelligent walking device, and the second connecting position is connected to the working mechanism 16, and the connecting mechanism rotates relative to the body 10, thereby driving the working mechanism 16 to move relative to the body 10; the position detection device includes a position detection part and a moving part, the position detection part is connected to the body 10 of the intelligent walking device and the moving part is arranged on the connecting mechanism or the working mechanism 16, the position detection part is used to detect that the moving part reaches a predetermined position and generates a position electrical signal, and the position electrical signal is used to control the movement of the connecting mechanism or the working mechanism. By applying the telescopic working mechanism of the present application to an intelligent walking device, when the position detection part detects that the moving part on the connecting mechanism has reached the release position, the intelligent walking device can be operated. Then, a position electrical signal is generated to control the connecting mechanism or the working mechanism 16 to stop moving. At this time, the working mechanism 16 is fully or partially extended from one side of the body 10 of the intelligent walking device or is closer to the edge of the body 10, so that the edge area can be processed. When the position detection part detects that the moving part on the connecting mechanism has reached the retracted position, a position electrical signal is generated to control the connecting mechanism or the working mechanism 16 to stop moving, so that the working mechanism 16 is retracted from one side of the body 10 or closer to the center line of the body 10. There is no need to manually process the edge area, thereby reducing labor costs.

[0164] In an optional implementation, the telescopic working mechanism further includes a fixing seat 15, which is used to be fixedly connected to the fuselage 10, the first connection position of the connecting mechanism is rotatably connected to the fixing seat 15, and the position detection unit is fixedly disposed on the fixing seat 15. For example, referring to FIG6 , the fixing seat 15 can be fixedly connected to the fuselage 10, the first connection position of the connecting mechanism can be rotatably connected to the fixing seat 15, such as by hinged connection, and the position detection unit can be connected to the fixing seat 15, and the connection method can be bolt connection, etc. In this implementation, the fixing seat 15 is used to replace the fixing function of the fuselage 10, and the fixing seat 15 is used as an independent fixing device. The connection relationship between the first connection position of the connecting mechanism and the position detection unit of the position detection device and the fuselage 10 can be replaced by a connection relationship with the fixing seat 15, which can make the overall structure of the telescopic working mechanism more compact. The entire telescopic working mechanism can be disassembled and installed by disassembling and installing the fixing seat 15, which is convenient for operation.

[0165] In an optional implementation, the position detection part includes a limiting structure, the limiting structure includes a first limiting part 11 and a second limiting part 12, the predetermined position includes a first predetermined position and a second predetermined position, when the working mechanism 16 reaches the release position, the first limiting part 11 limits the movement of the movable part at the first predetermined position, so that the position detection part generates a position electrical signal; when the working mechanism 16 reaches the retracted position, the second limiting part 12 limits the movement of the movable part at the second predetermined position, so that the position detection part generates a position electrical signal, wherein the release position indicates the position of the working mechanism 16 away from the center line of the fuselage 10, and the retracted position indicates the position of the working mechanism 16 close to the center line of the fuselage 10.

[0166] Here, the distance and proximity are relative. Relative to the retracted position, the released position is the position where the working mechanism 16 is away from the center line of the fuselage 10; relative to the released position, the retracted position is the position where the working mechanism 16 is close to the center line of the fuselage 10.

[0167] For example, referring to FIG9 , the limiting structure can be set on the fixing seat 15 or the fuselage 10, and this embodiment does not limit this. The limiting structure can include a first limiting portion 11 and a second limiting portion 12. The predetermined positions include a first predetermined position and a second predetermined position. The first limiting portion 11 and the second limiting portion 12 can be limiting grooves 111, baffles, etc., and this embodiment does not limit this. The setting position of the first limiting portion 11 is the first predetermined position, and the setting position of the second limiting portion 12 is the second predetermined position. The first predetermined position corresponds to the release position of the working mechanism 16, and the second predetermined position corresponds to the retracted position of the working mechanism 16. The first limiting portion 11 limits the movement of the movable portion at the first predetermined position, so that the position detection portion generates a position electrical signal, and controls the working mechanism 16 to stop moving after reaching the release position; the second limiting portion 12 limits the movement of the movable portion at the second predetermined position, so that the position detection portion generates a position electrical signal, and controls the working mechanism 16 to stop moving after reaching the retracted position.

[0168] In this embodiment, the first limiter 11 and the second limiter 12 are provided to limit the position of the working mechanism 16 when it moves to the release position or the retracted position, respectively. This causes the position detection unit to generate an electrical position signal, controlling the working mechanism 16 to stop moving when it reaches the release position or the retracted position. This simple structure can simultaneously serve the functions of limiting and determining the position.

[0169] In an optional implementation, the first limiting portion 11 is a limiting groove 111, the second limiting portion 12 is a stop plate 121, and the movable portion is a limiting column 141, which is fixedly arranged on a side of the working mechanism 16 or the connecting mechanism close to the fuselage 10.

[0170] For example, referring to Figures 6 and 9 , the connecting mechanism and the working mechanism 16 are connected to the bottom of the fuselage 10, or to the fixed base 15 connected to the bottom of the fuselage 10. The limiting groove 111 and the stop plate 121 can also be provided at the bottom of the fuselage 10, or to the fixed base 15 connected to the bottom of the fuselage 10. The limiting post 141 is fixedly connected to the connecting mechanism, and the connection method can be welding or other methods. The stop plate 121 can be connected to the fuselage 10 or the fixed base 15 by welding or other methods, or can be provided on the fixed base 15 by integral molding. The limiting post 141 is provided on a surface of the connecting mechanism or the working mechanism 16 that is close to the fuselage 10 (or the fixed base 15). When the connecting mechanism or the working mechanism 16 moves to the release position, the limiting post 141 enters the limiting groove 111, and the limiting groove 111 restricts the movement of the limiting post 141, thereby stopping the movement of the connecting mechanism or the working mechanism 16. When the connecting mechanism or the working mechanism 16 moves to the retracted position, the limiting column 141 is restricted from moving by the stop plate 121 , thereby stopping the connecting mechanism or the working mechanism 16 from moving.

[0171] In this embodiment, the limit slot 111 can be directly formed on the body 10 or the fixing base 15, which has a simple structure, is easy to manufacture, and has a low cost. The limit post 141 cooperates with the limit slot 111 and the stop plate 121 respectively to stop the movement of the working mechanism 16 in the released position or the retracted position, which has a simple structure and is easy to manufacture.

[0172] In an optional implementation, the telescopic working mechanism also includes a power device, and the position detection part also includes a current detection device connected to the power device. The fixed end of the power device is connected to the fuselage 10, and the output end of the power device is connected to the connecting mechanism to drive the connecting mechanism to move through the power device; when the first limiting part 11 limits the movement of the movable part at the first predetermined position, or when the movement of the movable part is limited at the second predetermined position by the second limiting part 12, the current detection device detects that the current of the power device increases and sends a position electrical signal to the power device, and the position electrical signal is used to control the power device to stop driving the connecting mechanism or the working mechanism 16.

[0173] Exemplarily, the power device can be a motor, comprising a fixed end and an output end, wherein the fixed end is fixedly connected to the body 10 or the fixed base 15, and the output end is connected to the first connection position of the connecting mechanism, and the connecting mechanism is driven to move by the output end of the power device. The position detection unit also includes a current detection device electrically connected to the power device. Here, the current detection device can be separately provided for detecting the current of the power device, or it can be provided on the control circuit board of the intelligent walking device in the body 10. This embodiment is not limited to this. When the first limiter 11 limits the movement of the movable part at the first predetermined position, or when the second limiter 12 limits the movement of the movable part at the second predetermined position, the current in the power device will suddenly increase. When the current detection device detects the increase in the current of the power device, it generates a position signal and sends it to the power device. After receiving the position signal, the power device stops driving the connecting mechanism or working mechanism 16, thereby achieving the connection mechanism or working mechanism 16 stopping movement when reaching the retracted position or the released position.

[0174] In this embodiment, by providing a power device, the connecting mechanism or working mechanism 16 can be driven to move between a release position and a retracted position. By providing a current detection device connected to the power device, when the first limit portion 11 limits the movement of the movable portion at the first predetermined position, or when the second limit portion 12 limits the movement of the movable portion at the second predetermined position, the current detection device detects that the current of the power device has increased, and then generates a position electrical signal and sends it to the power device. After receiving the position electrical signal, the power device stops driving the connecting mechanism or working mechanism 16, thereby avoiding the situation where the limiting structure limits the movement of the movable portion while the power device is still driving the connecting mechanism, thereby causing damage to the components.

[0175] In an optional implementation, the telescopic working mechanism also includes a rotating power device 192 and a rotating part 191. The rotating power device 192 is connected to the fuselage 10, and the rotating part 191 connected to the rotating power device 192 is connected to the connecting mechanism. When the rotating power device 192 drives the rotating part 191 to rotate from the first position to the second position, the connecting mechanism drives the working mechanism 16 to move from the retracted position to the released position; when the rotating power device 192 drives the rotating part 191 to rotate from the second position to the first position, the rotating part 191 drives the working mechanism to move from the released position to the retracted position.

[0176] For example, referring to FIG8 , the rotating mechanism 19 includes a rotating power device 192 and a rotating portion 191 . The rotating power device 192 may be a motor. One end of the rotating portion 191 is connected to the rotating power device 192, and the other end is connected to the connecting mechanism. For example, the other end and the connecting mechanism may be connected or abutted, but this embodiment is not limited thereto. The rotating portion 191 rotates under the drive of the rotating power device 192 . When the rotating portion 191 is in a first position, the working mechanism 16 is in a retracted position. When the rotating portion 191 is in a second position, the working mechanism 16 is in a released position. When the rotating power device 192 drives the rotating portion 191 to rotate from the first position to the second position, the connecting mechanism drives the working mechanism 16 to move from the retracted position to the released position. When the rotating power device 192 drives the rotating portion 191 to rotate from the second position to the first position, the rotating portion 191 pushes the connecting mechanism to move, so that the connecting mechanism drives the working mechanism to move from the released position to the retracted position.

[0177] It should be noted that when the rotating power device 192 drives the rotating part 191 to rotate from the first position to the second position, the rotating part 191 can drive the connecting mechanism to move, so that the connecting mechanism drives the working mechanism 16 to move from the retracted position to the released position; it is also possible to set an elastic member 17 at the first connection position of the connecting mechanism. When the rotating part 191 is in the first position, the elastic member 17 is in a compressed state. When the rotating part 191 rotates to the second position, the elastic force of the elastic member 17 can be used to move the connecting mechanism, thereby driving the working mechanism 16 to move from the retracted position to the released position. This embodiment does not limit this.

[0178] In this embodiment, by providing a rotational power device 192 and a rotating portion 191, the rotational power device 192 and the rotating portion 191 drive the connecting mechanism, thereby driving the working mechanism 16 to move to the retracted position or the released position. Furthermore, the rotating portion 191 can also be used to limit the connecting mechanism in the first position or the second position. This simultaneously achieves the functions of limiting and driving the connecting mechanism.

[0179] In an optional implementation, the limiting structure includes a third limiting portion 13, and the position detection portion also includes a current detection device connected to the rotating power device 192. The third limiting portion 13 is arranged on the fuselage 10. When the rotating portion 191 reaches the second position, the rotation of the rotating portion 191 is limited by the third limiting portion 13. When the current detection device detects that the current of the rotating power device 192 increases, it sends a position electrical signal to the rotating power device 192. The position electrical signal is used to control the rotating power device 192 to stop driving.

[0180] Exemplarily, referring to FIG8 , a third limiting portion 13 corresponding to the second position of the rotating portion 191 is provided on the body 10 or the fixing seat 15 , such as the first avoidance hole 151 shown in FIG8 , and the third limiting portion 13 is used to limit the rotation of the rotating portion 191 . Since the rotating part 191 may not exert a force on the connecting mechanism or the working mechanism 16 during the process of rotating from the first position to the second position, for example, the working mechanism 16 can be moved from the retracted position to the released position by setting an elastic member 17 at the first connection position of the connecting mechanism. In this case, the movement of the rotating part 191 is independent of the movement of the connecting mechanism. Therefore, when the working mechanism 16 moves to the released position, the first limiting part 11 is used to limit the connecting mechanism or the working mechanism 16 to stop the movement of the connecting mechanism, but the rotation of the rotating part 191 cannot be limited. Therefore, the third limiting part 13 is provided. When the rotating part 191 rotates to the second position, the rotation of the rotating part 191 is limited by the third limiting part 13. The current detection device detects that the current of the rotating power device 192 increases, and generates a position electrical signal and sends it to the rotating power device 192. After the rotating power device 192 receives the position electrical signal, the rotating power device 192 stops driving and the rotating part 191 stops rotating. The rotating portion 191 can also form an auxiliary limit for the connecting mechanism or the working mechanism 16 in the second position, so that the connecting mechanism or the working mechanism 16 stops moving. In addition, the first avoidance hole 151 can also limit the rotating portion 191 when the rotating portion 191 rotates to the first position.

[0181] In this implementation, by providing the third limiting portion 13 , the rotating portion 191 can be restricted from continuing to rotate when the rotating portion 191 reaches the second position, thereby enabling the rotating power device 192 to stop driving when the connecting mechanism reaches the release position.

[0182] In an optional implementation, the position detection part includes a sensor 143, and the moving part includes a magnet 142, or the position detection part includes a magnet 142, and the moving part includes a sensor 143. When the connecting mechanism reaches the release position or the retracted position, the magnet 142 is sensed by the sensor 143 and a position electrical signal is output.

[0183] For example, the sensor 143 may be a Hall sensor or a sensor for angle detection, which is not limited in this embodiment. When the sensor 143 is a Hall sensor, if the position detection unit includes a Hall sensor, the Hall sensor may be provided on the body 10 or the fixed base 15 at the release position and the retracted position corresponding to the working mechanism 16. Accordingly, the movable portion provided on the connecting mechanism may be a magnet 142. If the movable portion includes a Hall sensor, the Hall sensor may be provided on the connecting mechanism, for example, on the limit post 141. Accordingly, the magnet 142 may be provided on the body 10 or the fixed base 15 at the release position and the retracted position corresponding to the working mechanism 16, for example, within the limit slot 111 or on the stop plate 121. When the connecting mechanism or the working mechanism 16 reaches the release position or the retracted position, the Hall sensor may sense the magnet 142 and output an electrical position signal. The electrical position signal may be transmitted to the power device or the rotating power device 192 of the connecting mechanism, causing the power device or the rotating power device 192 to stop driving and the connecting mechanism or the working mechanism 16 to stop moving.

[0184] 10 , the sensor 143 is a sensor for performing angle detection. For example, the sensor for performing angle detection may be a magnetic encoder. If the position detection portion includes a sensor for performing angle detection, a sensor for performing angle detection may be provided on the fuselage 10 or the fixed seat 15 at the release position or the retracted position of the working mechanism 16, respectively. Accordingly, the movable portion provided on the connecting mechanism or the working mechanism 16 may be a magnet 142, and the magnet 142 may be provided at the rotational connection between the connecting mechanism and the fuselage 10 or the fixed seat 15, such as the rotating shaft of the hinge point. If the movable portion includes a sensor for performing angle detection, a sensor for performing angle detection may be provided on the connecting mechanism, and may also be provided on the rotating shaft of the hinge point. Accordingly, the magnet 142 may be provided on the fuselage 10 or the fixed seat 15 at the release position or the retracted position of the working mechanism 16, respectively. It should be noted that the angle detection sensor of this embodiment is disposed opposite and spaced from magnet 142. The angle detection sensor detects the rotational angle of magnet 142, and based on the rotational angle, determines whether the working mechanism 16 has reached the release position or the retracted position. Furthermore, the angle detection sensor can also detect the angle of the connecting mechanism or working mechanism 16 during movement, thereby determining the specific position of the connecting mechanism or working mechanism 16 during movement.

[0185] It should be noted that in this embodiment, in addition to using a combination of a magnetic encoder and a magnet to detect the rotation angle, a photoelectric rotary encoder or an angle sensor may also be used, and this embodiment is not limited thereto. The angle sensor may be positioned above the rotating shaft at the hinge point, with the rotating shaft extending from the hinge point and inserted into the interior of the angle sensor. When the connecting mechanism rotates, driving the rotating shaft to rotate, the rotating shaft drives the internal structure of the angle sensor to rotate, thereby detecting the rotation angle of the rotating shaft and determining whether the working mechanism 16 has reached the released position or the retracted position.

[0186] In this implementation, a magnet 142 and a sensor 143 are installed at corresponding positions of the fuselage 10, the fixing seat 15 or the connecting mechanism or the working mechanism 16. When the working mechanism 16 reaches the release position or the retracted position, the sensor 143 senses the magnet 142 and outputs a position electrical signal to stop the working mechanism 16 from moving, and the detection structure is simple.

[0187] In an optional implementation, the connecting mechanism includes an elastic member 17 and a connecting rod mechanism 18. One end of the connecting rod mechanism 18 is hinged to the fixed seat 15, and the other end is hinged to the working mechanism 16. The elastic member 17 is arranged at the hinge between the connecting rod mechanism 18 and the fixed seat 15, and the rotating part 191 abuts against the connecting rod mechanism 18.

[0188] For example, referring to FIG8 , the connection mechanism includes an elastic member 17 and a connecting rod mechanism 18. The connecting rod mechanism 18 may include a single link or multiple links. One end of the connecting rod mechanism 18 (i.e., the first connection position of the connecting rod mechanism) is hinged to the fuselage 10, and the other end is connected to the working mechanism 16 (i.e., the second connection position of the connecting rod mechanism). The connection method may be a rotational connection, such as a hinge, a pivot, etc., which is not limited in this embodiment. The elastic member 17 may include a torsion spring. The elastic member 17 is provided at the hinge of the connecting rod mechanism 18 and the fuselage 10. For example, the torsion spring may be mounted on the rotating shaft at the hinge of the connecting rod mechanism 18 and the fuselage 10. The first pin of the torsion spring may be fixedly connected to the fuselage 10 or the fixing seat 15, and the second pin of the torsion spring may be fixedly connected to the connecting rod mechanism 18. One or more elastic members 17 may be provided. For example, if the connecting rod mechanism 18 includes a first connecting rod 181 and a second connecting rod 182, the elastic member 17 may be provided at the hinge between the first connecting rod 181 or the second connecting rod 182 and the fuselage 10, or the elastic member 17 may be provided at the hinge between the first connecting rod 181 and the second connecting rod 182 and the fuselage 10. This embodiment does not limit this. The rotating portion 191 abuts against the connecting rod mechanism 18. For example, the rotating portion 191 may abut against the side of the connecting rod in the connecting rod mechanism 18, thereby limiting the movement of the connecting rod mechanism 18 in the first position or the second position, thereby limiting the movement of the working mechanism 16 between the release position and the retracted position. The rotating portion 191 may also abut against the working mechanism 16. This embodiment does not limit this.

[0189] The movement of the connecting mechanism is achieved by the cooperation of the elastic member 17, the rotational power device 192, and the rotating portion 191 as follows: When the working mechanism 10 is in the retracted position, the rotating portion 191 is in the first position and limits the connecting mechanism. At this time, the elastic member 17 is in a compressed state. During the process of rotating the rotating portion 191 from the first position to the second position, the limit on the connecting mechanism is released, that is, the elastic force of the elastic member 17 is released, allowing the connecting mechanism to move under the elastic force of the elastic member 17, thereby causing the connecting mechanism to drive all or part of the working mechanism 16 to extend from the projection area of ​​the fuselage 10, or the working mechanism 16 to not extend and closer to the edge of the fuselage 10 (this embodiment is not limited to this). This allows the working mechanism 16 to reach the released position. During this release process, the rotating portion 191 does not exert any force on the connecting mechanism, but only releases the limit on the connecting mechanism. Therefore, the rotational power device 192 and the rotating portion 191 do not perform any work on the connecting mechanism. When the working mechanism 10 reaches the released position, the rotating portion 191 is in the second position, and the elastic member 17 is in the released state. The connecting mechanism (or working mechanism 16) can now reciprocate between the released position and the retracted position. During the process of rotating the rotating portion 191 from the second position to the first position, the rotating power device 192 drives the rotating portion 191 to rotate, and the rotating portion 191 pushes the connecting mechanism to retract from outside the projection area of ​​the fuselage 10, or to a position closer to the centerline of the fuselage 10. This is not limited in this embodiment. This allows the working mechanism 16 to reach the retracted position. During this retraction process, the connecting mechanism moves under the force of the rotating portion 191, so the rotating power device 192 and the rotating portion 191 perform work on the connecting mechanism. In summary, during the process of achieving movement of the connecting mechanism using the elastic member 17, the rotating power device 192 and the rotating portion 191 cooperate to perform work only during the retraction process of the working mechanism 16, thereby reducing the energy consumption of the rotating power device 192 and the rotating portion 191.

[0190] In this implementation, when the working mechanism 16 is in the working process, that is, the rotating part 191 is in the second position, the connecting mechanism (or the working mechanism 16) can reciprocate between the release position and the retracted position. When the working mechanism 16 encounters an obstacle (such as a fence, bushes, bamboo forest, etc. at the edge of the lawn), the working mechanism 16 can drive the connecting rod mechanism 18 to move toward the direction close to the fuselage 10 under the action of the obstacle. When passing through the obstacle area, the connecting rod mechanism 18 drives the working mechanism 16 to the release position under the action of the elastic member 17 to continue working, thereby realizing the obstacle avoidance function.

[0191] In an optional implementation, the connecting rod mechanism 18 includes a first connecting rod 181 and a second connecting rod 182, one end of the first connecting rod 181 is hinged to the fixed seat 15 at a first hinge point 1811, and the other end is hinged to the working mechanism 16 at a third hinge point 1812; one end of the second connecting rod 182 is hinged to the fixed seat 15 at a second hinge point 1821, and the other end is hinged to the working mechanism 16 at a fourth hinge point 1822; the line connecting the first hinge point 1811 and the third hinge point 1812 is parallel to the line connecting the second hinge point 1821 and the fourth hinge point 1822, and the line connecting the first hinge point 1811 and the second hinge point 1821 is parallel to the line connecting the third hinge point 1812 and the fourth hinge point 1822. Exemplarily, referring to Figure 11, the line connecting the first hinge point 1811 and the third hinge point 1812 is equal to the line connecting the second hinge point 1821 and the fourth hinge point 1822, and the line connecting the first hinge point 1811 and the second hinge point 1821 is equal to the line connecting the third hinge point 1812 and the fourth hinge point 1822, and the lines connecting the first hinge point 1811, the second hinge point 1821, the third hinge point 1812 and the fourth hinge point 1822 form a parallelogram.

[0192] In this implementation, one end of the first link 181 is hinged to the fuselage 10 at a first hinge point 1811, and the other end is hinged to the working mechanism 16 at a third hinge point 1812; one end of the second link 182 is hinged to the fuselage 10 at a second hinge point 1821, and the other end is hinged to the working mechanism 16 at a fourth hinge point 1822; the line connecting the first hinge point 1811 and the third hinge point 1812 is parallel to the line connecting the second hinge point 1821 and the fourth hinge point 1822, and the line connecting the first hinge point 1811 and the second hinge point 1821 is parallel to the line connecting the third hinge point 1812 and the fourth hinge point 1822, so that the controllable The direction of the working mechanism 16 connected to the connecting rod mechanism 18, taking the intelligent walking device as a lawn mowing robot as an example, a grass inlet is provided on the working mechanism 16. When the line connecting the first hinge point 1811 and the second hinge point 1821 is set perpendicular to the forward direction of the body 10 of the lawn mowing robot, the third hinge point 1812 and the fourth hinge point 1822 are set to be connected in parallel with the grass inlet of the working mechanism 16. When all or part of the working mechanism 16 extends from one side of the body 10 along the forward direction of the body 10 to work, it can be ensured that the direction of the grass inlet of the working mechanism 16 is consistent with the forward direction of the body 10, thereby achieving a better mowing effect.

[0193] An embodiment of the present application also provides an intelligent walking device, including a body 10 and a telescopic working mechanism as described in any of the above embodiments, wherein the first connection position of the connecting mechanism in the telescopic working mechanism is rotationally connected to the body 10, and the position detection part of the position detection device is fixedly connected to the body 10.

[0194] For example, the intelligent walking device may be a lawn mower robot, a cleaning robot, a sweeping robot, a snow removal robot, etc., which is not limited in this embodiment. The telescopic working mechanism may be fixedly connected to the lower surface of the body 10. The telescopic working mechanism may be fixedly connected to the body 10 via a position detection portion of a position detection device in the telescopic working mechanism, and the first connection position of the connection mechanism may be rotatably connected to the body 10. Alternatively, the telescopic working mechanism may be fixedly connected to the body 10 via a fixing base 15 in the telescopic working mechanism.

[0195] The intelligent walking device in this embodiment includes a body 10 and a telescopic working mechanism as described in any of the above embodiments. The first connection position of the connecting mechanism in the telescopic working mechanism is rotationally connected to the body 10, and the position detection portion of the position detection device is fixedly connected to the body 10. If the intelligent walking device is used for mowing, the intelligent walking device can detect whether the moving portion on the connecting mechanism has reached a predetermined position through the position detection portion provided on the body 10 or the fixed seat 15 during mowing. This allows the working mechanism 16 to stop moving when it reaches the release position, thereby extending all or part of the working mechanism 16 from one side of the body of the intelligent walking device or moving it closer to the edge of the body so that the working mechanism can be closer to the edge of the working area and thus process the edge area of ​​the working area. The working mechanism 16 can also be stopped when it reaches the retracted position, thereby eliminating the need to manually process the edge area, reducing labor costs.

[0196] The present application also provides another telescopic working mechanism and intelligent walking device. Before describing the telescopic working mechanism and intelligent walking device of the embodiments of the present application, the application scenarios of the telescopic working mechanism and the intelligent walking device are briefly described for easy understanding.

[0197] The telescopic working mechanism can be applied to intelligent walking devices to perform auxiliary work. The intelligent walking device can be a lawn mowing robot, a cleaning robot, a sweeping robot, a snow removal robot, etc. The application scenario of the embodiment of the present application is illustrated by taking a lawn mowing robot as an example. The lawn mowing robot is an intelligent walking device that facilitates users to mow lawns and vegetation. When mowing, the lawn mowing robot needs to work within a pre-set working boundary. However, due to the positioning accuracy problem of the lawn mowing robot, whether the established working boundary is a physical boundary or a virtual boundary, there is a certain distance between the working boundary and the actual boundary of the lawn to prevent the lawn mowing robot from crossing the working boundary when mowing. As a result, the lawn mowing robot will miss the edge area of ​​the lawn during mowing, and the lawn edge area needs to be processed by manual mowing, which increases labor costs. In view of this, the present application proposes a telescopic working mechanism and an intelligent walking device that can solve the various problems existing in the above-mentioned prior art.

[0198] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0199] 12 to 16 , the telescopic working mechanism of this embodiment includes a working mechanism 21 , a connecting mechanism and a telescopic mechanism 22 .

[0200] The telescopic mechanism 22 includes a telescopic fixing portion 222 and a telescopic portion 221 . The telescopic fixing portion 222 is used to connect to the body 20 of the intelligent walking device, and the telescopic portion 221 is connected to the connecting mechanism.

[0201] Illustratively, the telescopic fixing portion 222 is detachably connected to the body 20 of the intelligent walking device, for example, it can be connected to the bottom of the body 20. One end of the telescopic portion 221 is connected to the telescopic fixing portion 222, and the other end is telescopic relative to the telescopic fixing portion 222 and connected to the connecting mechanism. The telescopic portion 221 and the connecting mechanism can be connected in a manner that includes abutment or connection. The specific arrangement can be flexibly arranged by those skilled in the art based on the relative position of the telescopic portion 221 and the connecting mechanism, and this embodiment is not limited to this.

[0202] The connecting mechanism includes a first connecting position and a second connecting position. The first connecting position is used to rotate or slide with the fuselage 20, and the second connecting position is connected to the working mechanism 21. The telescopic part 221 drives the connecting mechanism to rotate or slide through telescopic movement, and the connecting mechanism drives the working mechanism 21 to rotate or slide relative to the fuselage 20.

[0203] Exemplarily, the connecting mechanism includes a first connecting position and a second connecting position, which can be the first and second opposite ends of the connecting mechanism, wherein the first connecting position is connected to the fuselage 20 by rotation or sliding, and the connection method can be a rotational connection such as a hinge, or a sliding connection. The sliding connection can be a slide rail provided on the fuselage 20, and the connecting mechanism or the first connecting position of the connecting mechanism is located within the slide rail, which is not limited in this embodiment. The second connecting position can be connected to the working mechanism 21, and the connection method can be a rotational connection such as a hinge, or a fixed connection, which is not limited in this embodiment. The telescopic movement of the telescopic portion 221 drives the first connecting position of the connecting mechanism to rotate or slide relative to the fuselage 20, which can drive the entire connecting mechanism to rotate or slide relative to the fuselage 20, and then drive the working mechanism 21 connected to the second connecting position to rotate or slide relative to the fuselage 20. During the process of the working mechanism 21 rotating or sliding relative to the fuselage 20, the extreme positions that can be reached are respectively the release position and the retracted position, wherein the release position includes a position where the working mechanism 21 is at least partially outside the projection area of ​​the fuselage 20, or a position where the working mechanism 21 is not extended and is closer to the edge of the fuselage 20, and this embodiment does not limit this. The retracted position refers to a position where the working mechanism 21 is at least partially located in the projection area of ​​the fuselage 20, or a position where the working mechanism 21 is closer to the center line of the fuselage 20, and this embodiment does not limit this. The projection area of ​​the fuselage 20 refers to the area where the fuselage 20 is projected onto the ground plane directly below. Referring to Figures 12 and 13, the center line of the fuselage 20 is the dotted line shown in the figures. The center line of the fuselage 20 can refer to the axis of the fuselage 20 that is parallel to the forward direction of the fuselage 20.

[0204] It should be noted that the movement of the connecting mechanism in this embodiment can be connected to the connecting mechanism through the telescopic mechanism 22, and the telescopic movement of the telescopic mechanism 22 can be directly used to drive the connecting mechanism to rotate or slide; it can also be achieved by setting an elastic member 24 at the first connection position and using the elastic member 24 and the telescopic mechanism 22 to cooperate to realize the movement of the connecting mechanism (the specific movement process is described in the following embodiments), and this embodiment does not limit this.

[0205] In an optional implementation, the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the third connection position of the fuselage 20 and is located on the first side of the connection mechanism, where the first side is the side away from the center line of the fuselage 20. When the telescopic portion 221 contracts, the working mechanism 21 moves in a direction away from the center line of the fuselage 20. When the telescopic portion 221 extends, the working mechanism 21 moves in a direction close to the center line of the fuselage 20.

[0206] For example, referring to Figures 12 and 13 , the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to a third connection location on the body 20. The third connection location is located on a first side of the connection mechanism, where the first side refers to the side of the connection mechanism away from the centerline of the body 20. The telescopic portion 221 can abut or connect with the side of the connection mechanism. When the telescopic portion 221 retracts, the connection mechanism is freed from the constraints on the first side, allowing the connection mechanism to move away from the centerline of the body 20, thereby driving the working mechanism 21 away from the centerline of the body 20 to reach the released position. When the telescopic portion 221 extends, the connection mechanism moves toward the centerline of the body 20, thereby driving the working mechanism 21 toward the centerline of the body 20 to reach the retracted position. In the retracted position, the telescopic portion 221 can constrain the connection mechanism in the direction of the first side of the connection mechanism. In this embodiment, the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the third connection position of the fuselage 20 and is located on the first side of the connection mechanism, which is the side away from the centerline of the fuselage 20. When the telescopic portion 221 is retracted, the working mechanism 21 moves away from the centerline of the fuselage 20, and when the telescopic portion 221 is extended, the working mechanism 21 moves toward the centerline of the fuselage 20. In other words, the telescopic movement of the telescopic portion 221 can achieve movement of the working mechanism 21 relative to the fuselage 20. Furthermore, the telescopic portion 221 and the connection mechanism do not need to be connected; the above-mentioned movement process can be achieved through contact, which makes the overall structure simple and easy to install and disassemble.

[0207] In an optional implementation, the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the fourth connection position of the fuselage 20 and is located on the second side of the connection mechanism, where the second side is the side close to the center line of the fuselage 20. When the telescopic portion 221 is extended, the working mechanism 21 moves in a direction away from the center line of the fuselage 20. When the telescopic portion 221 is retracted, the working mechanism 21 moves in a direction close to the center line of the fuselage 20.

[0208] For example, referring to Figure 15 , the centerline of the body 20 is indicated by a dashed line. The telescopic fixing portion 222 of the telescopic mechanism 22 is connected to a fourth connection location on the body 20. The fourth connection location may be located on a second side of the connecting mechanism, with the second side being opposite to the first side, and the second side being the side of the connecting mechanism closer to the centerline of the body 20. The telescopic portion 221 may abut or connect with a side surface of a connecting rod in the linkage mechanism 25. When the telescopic portion 221 extends, the connecting mechanism may move away from the centerline of the body 20, thereby driving the working mechanism 21 away from the centerline of the body 20 to reach a released position. When the telescopic portion 221 retracts, the connecting mechanism may move closer to the centerline of the body 20, thereby driving the working mechanism 21 closer to the centerline of the body 20 to reach a retracted position. In the retracted position, the telescopic portion 221 can constrain the connecting mechanism in the direction of the second side of the connecting mechanism.

[0209] In this implementation, the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the fourth connection position of the fuselage 20 and is located on the second side of the connection mechanism, where the second side is the side close to the center line of the fuselage 20. The movement of the working mechanism 21 relative to the fuselage 20 can be achieved through the telescopic movement of the telescopic portion 221. Moreover, the fourth connection position is located outside the movement area of ​​the connection mechanism, and the installation space of the telescopic mechanism 22 is larger, thereby avoiding the installation position of the telescopic mechanism 22 interfering with the movement of the connection mechanism due to the compact overall structure of the telescopic working mechanism and the small overall installation space.

[0210] The telescopic working mechanism of this embodiment includes a working mechanism 21, a connecting mechanism, and a telescopic mechanism 22. The telescopic mechanism 22 includes a telescopic fixing portion 222 and a telescopic portion 221. The telescopic fixing portion 222 is used to connect to the body 20 of the intelligent walking device, and the telescopic portion 221 is connected to the connecting mechanism. The connecting mechanism includes a first connection position and a second connection position. The first connection position is used for rotational or sliding connection with the body 20, and the first connection position is connected to the working mechanism 21. When the telescopic portion drives the connecting mechanism to rotate or slide through the telescopic motion, the connecting mechanism drives the working mechanism to rotate or slide relative to the body. This allows the working mechanism to extend or retract relative to one side of the body. When the telescopic working mechanism of this application is applied to an intelligent walking device, the telescopic motion of the telescopic mechanism 22 drives the connecting mechanism to rotate or slide, and the connecting mechanism drives the working mechanism to rotate or slide relative to the body. This allows the working mechanism 21 to be fully or partially extended from the body 20 or moved closer to the edge of the body 20. Therefore, the working mechanism 21 can be used to process the edge of the working area, eliminating the need for manual processing of the edge area, reducing labor costs.

[0211] In an optional implementation, the connecting mechanism includes an elastic member 24 and a connecting rod mechanism 25, one end of the connecting rod mechanism 25 is hinged to the fuselage 20, and the other end is connected to the working mechanism 21, the elastic member 24 is arranged at the hinge between the connecting rod mechanism 25 and the fuselage 20, and the telescopic part 221 is connected to the connecting rod mechanism 25.

[0212] For example, referring to FIG14 , the connecting rod mechanism 25 may include a single link or multiple links. One end of the connecting rod mechanism 25 (i.e., the first connection position of the connecting rod mechanism) is hinged to the body 20, and the other end is connected to the working mechanism 21 (i.e., the second connection position of the connecting rod mechanism). The connection method may be a rotational connection, such as a hinge or pivot connection, which is not limited in this embodiment. The elastic member 24 may include a torsion spring. The elastic member 24 is disposed at the hinge of the connecting rod mechanism 25 and the body 20. For example, the torsion spring may be mounted on the rotating shaft at the hinge of the connecting rod mechanism 25 and the body 20. The first pin of the torsion spring may be fixedly connected to the body 20, and the second pin of the torsion spring may be fixedly connected to the connecting rod mechanism 25. One or more elastic members 24 may be provided. For example, if the connecting rod mechanism 25 includes a first connecting rod 251 and a second connecting rod 252, the elastic member 24 may be provided at the hinge between the first connecting rod 251 or the second connecting rod 252 and the fuselage 20, or the elastic member 24 may be provided at the hinge between the first connecting rod 251, the second connecting rod 252 and the fuselage 20. This embodiment does not impose any restrictions on this. The telescopic portion 221 is connected to the connecting rod mechanism 25. The manner in which the telescopic portion 221 is connected to the connecting rod mechanism 25 is determined based on the relative position of the telescopic portion 221 and the connecting mechanism, and can include abutment or connection. For example, the telescopic portion 221 is located on the first side of the connecting rod mechanism 25 (i.e., the first side of the connecting mechanism). In this case, the first side is the side in the direction in which the connecting rod mechanism 25 moves under the action of the elastic force, and the telescopic portion 221 can abut against the side of the connecting rod in the connecting rod mechanism 25. The telescopic portion 221 can also be located on the second side of the connecting rod mechanism 25 (i.e., the second side of the connecting mechanism). In this case, the second side is the side in the opposite direction of the direction in which the connecting rod mechanism 25 moves under the action of the elastic force, and the telescopic portion 221 can be connected to the side of the connecting rod in the connecting rod mechanism 25. Similarly, the telescopic portion 221 can also be connected to the working mechanism 21, and this embodiment does not limit this.

[0213] The movement process of the connecting mechanism is realized by the cooperation of the elastic member 24 and the telescopic mechanism 22 as follows: taking the third connection position where the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the fuselage 20 as an example, when the working mechanism 10 is in the retracted position, the telescopic portion 221 extends to limit the connecting mechanism, and the elastic member 24 is in a compressed state; when the telescopic mechanism 22 contracts, the limit on the connecting mechanism can be released, that is, the elastic force of the elastic member 24 is released, so that the connecting mechanism moves under the action of the elastic force of the elastic member 24, thereby causing the connecting mechanism to drive the working mechanism 21 to reach the release position. During this process, the telescopic mechanism 22 does not generate any force on the connecting mechanism, but only releases the limit on the connecting mechanism, so the telescopic mechanism 22 does not do any work on the connecting mechanism. When the working mechanism 10 reaches the release position, the telescopic portion 221 contracts, and the elastic member 24 is in the released state. At this point, the connecting mechanism (or working mechanism 21) can reciprocate between the release position and the retracted position. When the telescopic mechanism 22 extends, the telescopic portion 221 can push the connecting mechanism from the body 20 to the retracted position. During this process, the connecting mechanism moves under the force of the telescopic mechanism 22, so the telescopic mechanism 22 performs work on the connecting mechanism. In summary, when the elastic member 24 and the telescopic mechanism 22 cooperate to achieve movement of the connecting mechanism, the telescopic mechanism 22 only performs work during the retraction process of the working mechanism 21, reducing the energy consumption of the telescopic mechanism 22.

[0214] It should be understood that when the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the fourth connection position of the fuselage 20, the movement process of the connecting mechanism achieved by the cooperation of the elastic member 24 and the telescopic mechanism 22 is opposite to the above process, which will not be described in detail in this embodiment.

[0215] In this implementation, by hingedly connecting one end of the connecting rod mechanism 25 to the fuselage 20 and connecting the other end to the working mechanism 21, the connecting rod mechanism 25 can drive the working mechanism 21 to move relative to the fuselage 20, and the connecting rod mechanism 25 can be retracted by the force of the telescopic part 221, and released by providing an elastic member 24 at the hinge between the connecting rod mechanism 25 and the fuselage 20; in addition, when the connecting mechanism is in the working process, that is, the connecting mechanism (or the working mechanism 21) can reciprocate between the release position and the retracted position, the working mechanism 21 may encounter an obstacle (such as a fence, bushes, bamboo forest, etc. at the edge of the lawn). The working mechanism 21 can drive the connecting rod mechanism 25 to move in a direction close to the center line of the fuselage 20 under the force of the obstacle. When passing through the obstacle area, the connecting rod mechanism 25 drives the working mechanism 21 back to the release position under the action of the elastic member 24 to continue working, thereby realizing the obstacle avoidance function.

[0216] In an optional implementation, referring to Figure 16, the connecting rod mechanism 25 includes a first connecting rod 251 and a second connecting rod 252, one end of the first connecting rod 251 is hinged to the fuselage 20 at a first hinge point 2511, and the other end is hinged to the working mechanism 21 at a third hinge point 2512; one end of the second connecting rod 252 is hinged to the fuselage 20 at a second hinge point 2521, and the other end is hinged to the working mechanism 21 at a fourth hinge point 2522; the line connecting the first hinge point 2511 and the third hinge point 2512 is parallel to the line connecting the second hinge point 2521 and the fourth hinge point 2522, and the line connecting the first hinge point 2511 and the second hinge point 2521 is parallel to the line connecting the third hinge point 2512 and the fourth hinge point 2522. Exemplarily, the line connecting the first hinge point 2511 and the third hinge point 2512 is equal to the line connecting the second hinge point 2521 and the fourth hinge point 2522, and the line connecting the first hinge point 2511 and the second hinge point 2521 is equal to the line connecting the third hinge point 2512 and the fourth hinge point 2522, and the lines connecting the first hinge point 2511, the second hinge point 2521, the third hinge point 2512 and the fourth hinge point 2522 form a parallelogram.

[0217] In this implementation, one end of the first link 251 is hinged to the fuselage 20 at a first hinge point 2511, and the other end is hinged to the working mechanism 21 at a third hinge point 2512; one end of the second link 252 is hinged to the fuselage 20 at a second hinge point 2521, and the other end is hinged to the working mechanism 21 at a fourth hinge point 2522; the line connecting the first hinge point 2511 and the third hinge point 2512 is parallel to the line connecting the second hinge point 2521 and the fourth hinge point 2522, and the line connecting the first hinge point 2511 and the second hinge point 2521 is parallel to the line connecting the third hinge point 2512 and the fourth hinge point 2522, so that Taking the direction of the working mechanism 21 connected to the control connecting rod mechanism 25 as an example, taking the intelligent walking device as a lawn mowing robot, a grass inlet is provided on the working mechanism 21. When the line connecting the first hinge point 2511 and the second hinge point 2521 is set perpendicular to the forward direction of the body 20 of the lawn mowing robot, by setting the third hinge point 2512 and the fourth hinge point 2522 to be connected parallel to the grass inlet of the working mechanism 21, along the forward direction of the body 20, when the working mechanism 21 extends from one side of the body 20 to work, it can be ensured that the direction of the grass inlet of the working mechanism 21 is consistent with the forward direction of the body 20, thereby achieving a better mowing effect.

[0218] In an optional implementation, the telescopic fixing portion 222 includes a telescopic power device fixedly connected to the fuselage 20; one end of the telescopic portion 221 is connected to the telescopic power device, and the other end is connected to the connecting mechanism. For example, referring to Figure 15, the telescopic fixing portion 222 may include a telescopic power device, such as a motor, fixedly connected to the fuselage 20, and the connection method may be a bolt connection, etc. One end of the telescopic portion 221 is connected to the telescopic power device, and the other end is connected to the connecting mechanism. The telescopic portion 221 is driven by the telescopic power device to switch between a first state and a second state. In this implementation, the telescopic power device drives the telescopic portion 221 to extend or retract, thereby releasing the elastic force of the connecting mechanism to drive the working mechanism 21 to a released position, or to retract the connecting mechanism to drive the working mechanism 21 to a retracted position. This simple structure, and the telescopic power device only performs work during the retraction of the connecting mechanism, can reduce the energy consumption of the telescopic power device.

[0219] In one optional implementation, one end of the telescopic portion 221 is connected to a rolling member 223, the axis of which is connected to the telescopic portion 221, and the rolling member 223 is connected to the connecting mechanism. For example, referring to FIG15 , the rolling member 223 is disposed at one end of the telescopic portion 221 near the connecting mechanism. The connection may be a detachable connection, and the rolling member 223 may be a roller. In this implementation, when the telescopic fixing portion 222 of the telescopic mechanism 22 is connected to the first connection position of the body 20, the telescopic portion 221 pushes the connecting mechanism during its extension, overcoming the elastic force of the connecting mechanism until it reaches the retracted position. During this process, relative sliding will occur between the telescopic part 221 and the connecting mechanism (or connecting rod mechanism 25) in the length direction of the connecting mechanism (or connecting rod mechanism 25), and the friction between them will be relatively large. By connecting the rolling member 223 to the telescopic part 221, and the rolling member 223 abutting against the connecting mechanism (or connecting rod mechanism 25), the sliding friction between them can be converted into rolling friction, thereby reducing friction and improving the service life of the components.

[0220] In one optional implementation, the extension and retraction of the telescopic portion 221 are both linear motions. For example, the telescopic portion 221 can be a telescopic rod that performs linear telescopic motion relative to the telescopic fixed portion 222. This allows for the release and retraction of the connecting mechanism. Furthermore, the telescopic mechanism 22 has a simple overall structure, and the linear motion of the telescopic portion 221 requires minimal space, making installation easier.

[0221] In an optional implementation, the telescopic working mechanism further includes a fixing seat 23, which is used to be fixedly connected to the fuselage 20. The first end of the connecting mechanism and the telescopic fixing portion 222 of the telescopic mechanism 22 are both fixedly connected to the fixing seat 23. For example, referring to FIG14 , the fixing seat 23 can be fixedly connected to the fuselage 20, and the connection method can be a bolt connection, etc. In this implementation, the fixing seat 23 can be used to replace the fixing function of the fuselage 20, and the fixing seat 23 can be used as an independent fixing device. The connection relationship between the connecting mechanism and / or the telescopic mechanism 22 and the fuselage 20 can be replaced by a connection relationship with the fixing seat 23, which can make the overall structure of the telescopic working mechanism more compact. By disassembling and installing the fixing seat 23, the entire telescopic working mechanism can be disassembled and installed, which is convenient for operation.

[0222] An embodiment of the present application also provides an intelligent walking device, including a body 20 and a telescopic working mechanism as described in any of the above embodiments, wherein the telescopic mechanism 22 in the telescopic working mechanism is fixedly connected to the body 20, and the first connection position of the connection mechanism is rotationally or slidingly connected to the body 20.

[0223] For example, the intelligent walking device may be a lawn mower robot, a cleaning robot, a sweeping robot, a snow removal robot, etc., which is not limited in this embodiment. The telescopic working mechanism may be fixedly connected to the bottom surface of the body 20. The telescopic working mechanism may be fixedly connected to the body 20 via a telescopic mechanism 22 in the telescopic working mechanism, with the first connection position of the connection mechanism being rotationally or slidingly connected to the body 20. Alternatively, the telescopic working mechanism may be fixedly connected to the body 20 via a fixing seat 23 in the telescopic working mechanism.

[0224] The intelligent walking device in this embodiment includes a body 20 and a telescopic working mechanism as described in any of the above embodiments. The telescopic mechanism 22 in the telescopic working mechanism is fixedly connected to the body 20, and the first connection position of the connecting mechanism is rotatably or slidably connected to the body 20. During operation, the intelligent walking device can drive the connecting mechanism to rotate or slide through the telescopic movement of the telescopic mechanism 22, and the connecting mechanism drives the working mechanism to rotate or slide relative to the body. This allows the working mechanism 21 to fully or partially extend out of the body 20 or be brought closer to the edge of the body 20. Therefore, the edge of the working area can be processed by the working mechanism 21, eliminating the need for manual processing of the edge area, thereby reducing labor costs.

[0225] The present application also provides a telescopic working mechanism and an intelligent walking device. Before describing the telescopic working mechanism and the intelligent walking device of the embodiment of the present application, a brief description of the application scenarios of the telescopic working mechanism and the intelligent walking device is given first for easier understanding.

[0226] The telescopic working mechanism can be applied to intelligent walking devices to perform auxiliary work. The intelligent walking device can be a lawn mowing robot, a cleaning robot, a sweeping robot, a snow removal robot, etc. The application scenario of the embodiment of the present application is illustrated by taking a lawn mowing robot as an example. The lawn mowing robot is an intelligent walking device that facilitates users to mow lawns and vegetation. When mowing, the lawn mowing robot needs to work within a pre-set working boundary. However, due to the positioning accuracy problem of the lawn mowing robot, whether the established working boundary is a physical boundary or a virtual boundary, there is a certain distance between the working boundary and the actual boundary of the lawn to prevent the lawn mowing robot from crossing the working boundary when mowing. As a result, the lawn mowing robot will miss the edge area of ​​the lawn during mowing, and the lawn edge area needs to be processed by manual mowing, which increases labor costs. In view of this, the present application proposes a telescopic working mechanism and an intelligent walking device that can solve the various problems existing in the above-mentioned prior art.

[0227] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0228] 17 to 23 , the telescopic working mechanism of this embodiment can be applied to an intelligent walking device, and includes a working mechanism 31 , a connecting mechanism, an elastic member 32 and a rotating mechanism 34 .

[0229] The connection mechanism includes a first connection position and a second connection position. The first connection position is used to rotationally connect to the body 30 of the intelligent walking device, and the second connection position is connected to the working mechanism 31. For example, the first and second connection positions can be opposite first and second ends of the connection mechanism. The first connection position is rotationally connected to the body 30, and the connection method can be hinged. The second connection position can be connected to the working mechanism 31, and the connection method can be rotationally connected, such as hinged.

[0230] The rotating mechanism 34 is provided on the body 30 of the intelligent walking device, and the rotating mechanism 34 is in contact with the connecting mechanism.

[0231] For example, the rotation mechanism 34 can be connected to the bottom of the body 30. One end of the rotation mechanism 34 is rotationally connected to the body 30, and the other end abuts the connecting mechanism. Alternatively, the rotation mechanism 34 can abut the working mechanism 31, which is not limited in this embodiment. The rotation mechanism 34 can abut the side of the connecting mechanism, so that the rotation of the rotation mechanism 34 can drive or restrict the movement of the connecting mechanism.

[0232] One end of the elastic member 32 is connected to the fuselage, and the other end is connected to the connecting mechanism. The rotating mechanism 34 is used to push the connecting mechanism to drive the working mechanism 31 close to the center line of the fuselage 30, and the elastic member 32 is compressed; the elastic member 32 is used to push the connecting mechanism to drive the working mechanism 31 away from the center line of the fuselage 30.

[0233] For example, the elastic member 32 may include a torsion spring, which is disposed at the rotational connection between the connecting mechanism and the fuselage 30. One end of the elastic member 32 is connected to the fuselage, and the other end is connected to the connecting mechanism. Here, "connected" can be connected or abutted. For example, the torsion spring can be mounted on a rotating shaft connecting the connecting mechanism and the fuselage 30. The first leg of the torsion spring can be fixedly connected to or abutted against the fuselage 30, and the second leg of the torsion spring can be fixedly connected to or abutted against the connecting mechanism. The centerline of the fuselage 30 is the dotted line shown in Figure 17. The centerline of the fuselage 30 can refer to the axis of the fuselage 30 parallel to the forward direction of the fuselage 30.

[0234] During the retraction process, the rotating mechanism 34 can push the connecting mechanism to move, thereby driving the working mechanism 31 toward the centerline of the fuselage 30. During this process, the elastic member 32 is compressed. During the release process, the elastic force of the elastic member 32 is released, pushing the connecting mechanism to move, thereby driving the working mechanism 31 away from the centerline of the fuselage 30.

[0235] It should be understood that during the release process, the connecting mechanism moves under the elastic force of the elastic member 32, driving the working mechanism 31 away from the centerline of the body 30 to reach the released position. The released position can mean that the working mechanism 31 is at least partially outside the projected area of ​​the body 30, or that the working mechanism 31 is not extended and is closer to the edge of the body 30, and this embodiment is not limited to this. During this release process, the rotation mechanism 34 does not exert any force on the connecting mechanism; it simply releases the restraint on the connecting mechanism. The connecting mechanism moves under the elastic force of the elastic member 32, and therefore, the rotation mechanism 34 does not perform any work on the connecting mechanism. During the retraction process, the connecting mechanism moves under the force of the rotation mechanism 34 due to the contact between the rotation mechanism 34 and the connecting mechanism, driving the working mechanism 31 toward the centerline of the body 30 to reach the retracted position. The retracted position means that the working mechanism 31 is at least partially within the projected area of ​​the body 30, or closer to the centerline of the body 30, and this embodiment is not limited to this. During this retraction process, the connecting mechanism moves under the force of the rotating mechanism 34, so the rotating mechanism 34 performs work on the connecting mechanism. In summary, the rotating mechanism 34 only performs work during the retraction of the working mechanism 31 and does not perform work during the release process, thus reducing the energy consumption of the rotating mechanism 34. The projected area of ​​the fuselage 30 refers to the area of ​​the fuselage 30 projected on the ground plane directly below.

[0236] The telescopic working mechanism of this embodiment can be applied to an intelligent walking device, and includes a working mechanism 31, a connecting mechanism, an elastic member 32 and a rotating mechanism 34; the connecting mechanism includes a first connecting position and a second connecting position, the first connecting position is used to be rotatably connected to the body 30 of the intelligent walking device, and the second connecting position is connected to the working mechanism 31; the rotating mechanism 34 is arranged on the body 30 of the intelligent walking device, and the rotating mechanism 34 abuts against the connecting mechanism; one end of the elastic member 32 is connected to the body, and the other end is connected to the connecting mechanism, and the rotating mechanism 34 is used to push the connecting mechanism to drive the working mechanism 31 close to the center line of the body 30, and the elastic member 32 is compressed; the elastic member 32 is used to push the connecting mechanism to drive the working mechanism 31 away from the center line of the body 30. By applying the telescopic working mechanism of this embodiment to an intelligent walking device, the intelligent walking device can push the connecting mechanism through the elastic member 32 during operation to drive the working mechanism 31 away from the center line of the fuselage, so that all or part of the working mechanism 31 can extend from one side of the fuselage 30 of the intelligent walking device or the working mechanism 31 can be closer to the edge of the fuselage 30, so that the working mechanism 31 can be closer to the edge of the working area 1, and then the edge area of ​​the working area can be processed. Therefore, there is no need to manually process the edge area, thereby reducing labor costs.

[0237] In an optional implementation, the rotating mechanism 34 includes a rotating power device 342, a transmission shaft 343 and a rotating part 341. The rotating power device 342 is fixedly connected to the fuselage 30; one end of the transmission shaft 343 is connected to the rotating power device 342, and the other end is connected to the rotating part 341. The rotating part 341 is in contact with the connecting mechanism, and the transmission shaft 343 is driven to rotate by the rotating power device 342 to drive the rotating part 341 to rotate between the first position and the second position.

[0238] For example, referring to Figures 20 to 22, the rotational power device 342 can be a motor, etc., and is fixedly connected to the fuselage 30, such as by bolts. One end of the transmission shaft 343 is connected to the rotational power device 342, and the other end is connected to the rotating portion 341. The rotating portion 341 abuts against the connecting mechanism. The rotational power device 342 drives the transmission shaft 343 to rotate, and the transmission shaft 343 drives the rotating portion 341 to rotate between the first position and the second position.

[0239] The motion relationship between the rotating portion 341 and the working mechanism 31 is as follows: when the rotating portion 341 rotates from the second position to the first position, the rotating portion 341 generates a force on the connecting mechanism and overcomes the elastic force of the elastic member 32, driving the connecting mechanism to follow the movement of the rotating portion 341. At the same time, the connecting mechanism drives the working mechanism 31 to move until the rotating portion 341 stops rotating at the first position, so that the working mechanism 31 reaches the retracted position, which corresponds to the first position. At this time, the working mechanism 31 is partially or completely located in the projection area of ​​the fuselage 30, or is closer to the center of the fuselage 30. The position of the center line is not limited in this embodiment; alternatively, the rotating portion 341 can release the elastic force of the elastic member 32 during the process of rotating from the first position to the second position, and the connecting mechanism can move under the action of the elastic force, and at the same time the connecting mechanism drives the working mechanism 31 to move until the rotating portion 341 stops rotating at the second position, so that the working mechanism 31 reaches the release position, and the release position corresponds to the second position. At this time, the working mechanism 31 is partially or completely located outside the projection area of ​​the fuselage 30, or is closer to the edge of the fuselage 30. This embodiment does not limit this.

[0240] It should be noted that the rotating portion 341 can limit the connection mechanism in both the first and second positions. However, in the release position of the working mechanism 31, the connection mechanism can be limited by the rotating portion 341, or other limiting structures can be provided to limit the connection mechanism or the working mechanism 31. This embodiment does not limit this. In addition, the limiting of the connection mechanism or the working mechanism 31 in the release position only limits the connection mechanism or the working mechanism 31 in the direction of movement from the retracted position to the released position.

[0241] In this embodiment, the rotary power device 342 drives the transmission shaft 343 to rotate, and the transmission shaft 343 drives the rotating portion 341 to rotate between the first position and the second position, thereby releasing the working mechanism 31 to the released position or driving the working mechanism 31 back to the retracted position. During the release process, the rotating portion 341 does not exert any force on the connecting mechanism, but only releases the limit on the connecting mechanism. Therefore, the rotary power device 342 does not perform any work on the connecting mechanism. During the retraction process, the connecting mechanism moves under the force of the rotating portion 341, so the rotary power device 342 performs work on the connecting mechanism, and the structure is simple.

[0242] In an optional implementation, the rotating portion 341 includes a connecting portion 3411 and a pushing portion 3412, one end of the connecting portion 3411 is fixedly connected to the transmission shaft 343, and the other end is fixedly connected to the pushing portion 3412, the pushing portion 3412 abuts against a first side of the connecting mechanism, the first side is a side away from the center line of the fuselage 30, and the pushing portion 3412 rotates around the axis of the transmission shaft 343.

[0243] For example, referring to Figures 17 and 20, the centerline of the fuselage 30 is the dotted line shown in Figure 17. The centerline of the fuselage 30 may refer to an axis of the fuselage 30 parallel to the forward direction of the fuselage 30. One end of the connecting portion 3411 is fixedly connected to the transmission shaft 343, and the other end is fixedly connected to the pushing portion 3412. The connection method may be welding, etc. In addition, the connecting portion 3411 and the pushing portion 3412 may also be integrally formed, which is not limited in this embodiment. One end of the pushing portion 3412 is fixedly connected to the connecting portion 3411, and the other end abuts against the first side of the connecting mechanism. The first side refers to the side of the connecting mechanism away from the centerline of the fuselage 30. Among them, the pushing part 3412 rotates around the axis of the transmission shaft 343 with a preset radius. The preset radius is the distance between the pushing part 3412 and the axis of the transmission shaft 343. The preset radius can be related to the size of the connecting part 3411, and the angles between the connecting part 3411 and the transmission shaft 343 and the pushing part 3412 respectively. For example, the preset radius can be 10-80mm, which can be flexibly set by technical personnel in this field according to actual needs, and this embodiment does not limit this.

[0244] In this implementation, one end of the connecting portion 3411 is fixedly connected to the transmission shaft 343, and the other end is fixedly connected to the pushing portion 3412 to form the rotating portion 341. The pushing portion 3412 and the transmission shaft 343 are connected through the connecting portion 3411 to avoid the pushing portion 3412 being coaxial with the transmission shaft 343, and the pushing portion 3412 is rotated around the axis of the transmission shaft 343, so that the connection portion 3411 can be driven to rotate by the rotation of the transmission shaft 343, and then the pushing portion 3412 can be driven to rotate, so that the pushing portion 3412 can drive the working mechanism 31 to be retracted to the retracted position, which has a simple structure and saves costs.

[0245] In one alternative embodiment, the connecting portion 3411 is perpendicular to the transmission shaft 343, and the pushing portion 3412 is parallel to the transmission shaft 343. For example, referring to FIG. 20 , the connecting portion 3411 can be a connecting plate. The connecting portion 3411 is perpendicular to the axis of the transmission shaft 343 and perpendicular to the pushing portion 3412. That is, the pushing portion 3412 is parallel to the transmission shaft 343, and the pushing portion 3412 and the transmission shaft 343 are located at opposite ends of the connecting portion 3411 and connected to opposite surfaces of the connecting portion 3411. When the pushing portion 3412 rotates around the axis of the transmission shaft 343 at a predetermined radius, the predetermined radius is the length of the connecting plate, that is, the distance between the pushing portion 3412 and the transmission shaft 343. In this embodiment, by arranging the connecting portion 3411 perpendicular to the transmission shaft 343 and the pushing rod parallel to the transmission shaft 343, the pushing portion 3412 rotates around the axis of the transmission shaft 343, thereby driving the working mechanism 31 to retract from the exterior of the machine body 30. This simplifies the structure.

[0246] In one alternative embodiment, referring to Figures 21 and 22 , the first connection point of the connecting mechanism is rotationally connected to the body 30 via a rotation axis, and the transmission shaft 343 coincides with the axis of the rotation axis. That is, the transmission shaft 343 is coaxial with the rotation axis, but not connected to it. If the first connection point of the connecting mechanism is connected to the body 30 via multiple rotation axes, for example, the connecting mechanism comprises two connecting rods, each of which is connected to the body 30 via two rotation axes, then the transmission shaft 343 can be coaxial with any one of the rotation axes. In this embodiment, by arranging the rotation axis of the first connection point of the connecting mechanism to be rotationally connected to the body 30 to coincide with the axis of the transmission shaft 343 in the rotational power device 342, the transmission shaft 343 drives the rotating portion 341 to rotate. When the rotating portion 341 drives the connecting mechanism to rotate, no relative motion occurs between the rotating portion 341 and the connecting mechanism along the length of the connecting mechanism, resulting in reduced friction between the two, thereby extending the service life of the components.

[0247] In another optional implementation, a rolling member 344 is connected to the rotating portion 341, the axis of the rolling member 344 is connected to the rotating portion 341, and the outer peripheral surface of the rolling member 344 abuts against the connection mechanism. For example, the rolling member 344 is provided on one end of the rotating portion 341 close to the connection mechanism, and the connection method can be a detachable connection. The rolling member 344 rotates relative to the rotating portion 341, and the axis of relative rotation can coincide with the axis of the transmission shaft 343. For example, the rolling member 344 can be a roller or a ball.

[0248] In this embodiment, the rotating mechanism 34 can be located at any position between the first connection position and the second connection position of the connecting mechanism, that is, the rotating axis of the connecting mechanism rotatably connected to the fuselage 30 does not coincide with the axis of the transmission shaft 343 in the rotating power device 342. Without limiting the installation position of the rotating mechanism 34, the rotating mechanism 34 can be flexibly arranged according to the installation space. However, when the transmission shaft 343 drives the rotating part 341 to rotate, and then drives the connecting mechanism to rotate, relative sliding occurs between the rotating part 341 and the connecting mechanism in the longitudinal direction of the connecting mechanism, resulting in greater friction between the two. Therefore, by connecting a rolling element 344 to the rotating part 341, and the outer peripheral surface of the rolling element 344 abutting against the connecting mechanism, the sliding friction between the two can be converted into rolling friction, thereby reducing friction and improving the service life of the components.

[0249] In an optional implementation, the telescopic working mechanism further includes a fixing seat 35, which is used to be fixedly connected to the fuselage 30, and the connecting mechanism and the rotating power device 342 are both disposed on the fixing seat 35. For example, referring to FIG19 , the fixing seat 35 can be fixedly connected to the fuselage 30, and the connection method can be bolt connection, etc. The connecting mechanism is rotationally connected to the fixing seat 35, for example, it can be hinged, and the rotating power device 342 is fixedly connected to the fixing seat 35, for example, by bolt connection, welding, etc. In this implementation, the fixing seat 35 is used to replace the fixing function of the fuselage 30, and the fixing seat 35 is used as an independent fixing device. The connection relationship between the connecting mechanism and the rotating power device 342 and the fuselage 30 can be replaced by a connection relationship with the fixing seat 35, which can make the overall structure of the telescopic working mechanism more compact. The entire telescopic working mechanism can be disassembled and installed by disassembling and installing the fixing seat 35, which is convenient for operation.

[0250] In an optional implementation, a first avoidance hole 351 is provided on the fixing base 35, and the pushing portion 3412 passes through the first avoidance hole 351 to abut against the connecting mechanism, and the pushing portion 3412 rotates between the first position and the second position through the first avoidance hole 351. For example, referring to Figures 19 and 20, the fixing base 35 is fixedly connected to the fuselage 30, the rotating mechanism 34 is located between the fixing base 35 and the fuselage 30, that is, above the fixing base 35, and the connecting mechanism is located below the fixing base 35. Therefore, by providing the first avoidance hole 351 on the fixing base 35, the pushing portion 3412 of the rotating portion 341 can pass through the first avoidance hole 351 and abut against the connecting mechanism, and the pushing portion 3412 rotates in the first avoidance hole 351, thereby achieving rotation between the first position and the second position. At the same time, the size of the first avoidance hole 351 can limit the rotation space of the rotating part 341, and the size of the first avoidance hole 351 can be determined according to the first position and the second position, so that the first avoidance hole 351 can be used to limit the rotating part 341 at the first position and the second position.

[0251] In an optional implementation, the telescopic working mechanism also includes a current detection device connected to the rotating power device 342. When the rotating part 341 reaches the first position or the second position, the rotation of the rotating part 341 is restricted by the first avoidance hole 351. The current detection device detects that the current of the rotating power device 342 increases and sends a position electrical signal to the rotating power device 342. The position electrical signal is used to control the rotating power device 342 to stop driving.

[0252] For example, the current detection device can be provided separately for detecting the current of the rotating power device 342, or it can be provided on the control circuit board of the intelligent walking device in the fuselage 30, and this embodiment does not limit this. When the rotating portion 341 reaches the first position or the second position, the first avoidance hole 351 can limit the movement of the rotating portion 341, causing the current in the rotating power device 342 to suddenly increase. When the current detection device detects the increase in the current of the rotating power device 342, it generates a position signal and sends it to the rotating power device 342. After receiving the position signal, the rotating power device 342 stops driving, thereby achieving the connection mechanism or working mechanism 31 to stop moving when reaching the retracted position and the released position.

[0253] In this implementation, the rotation of the rotating part 341 is limited by the first avoidance hole 351. When the current detection device detects that the current of the rotating power device 342 increases, it sends a position electrical signal to the rotating power device 342 to control the rotating power device 342 to stop driving, thereby avoiding the problem that the rotating power device 342 is still driving after the first avoidance hole 351 limits the movement of the rotating part 341, causing damage to the components; or the rotating power device 342 is still driving after the working mechanism 31 has reached the retracted position or the released position, resulting in waste of electric energy.

[0254] In an optional implementation, a first limiting portion 36 is provided on the fuselage 30 or the fixed seat 35. When the rotating portion 341 is in the second position, the first limiting portion 36 limits the movement of the connecting mechanism or the working mechanism 31 in the first direction at the release position, and the working mechanism 31 can reciprocate between the retracted position and the released position. The retracted position refers to the position of the working mechanism 31 when the rotating portion 341 is in the first position, and the released position refers to the position of the working mechanism 31 when the rotating portion 341 is in the second position. The first direction refers to the direction of movement from the retracted position to the released position.

[0255] Referring to FIG. 17 , it should be understood that when the rotating portion 341 is in the second position, the working mechanism 31 is in operation. At this time, the connecting mechanism or the working mechanism 31 can be limited in the release position by the first limiting portion 36. However, the first limiting portion 36 only limits the connecting mechanism or the working mechanism 31 in the direction of movement from the retracted position to the released position. Therefore, the working mechanism 31 can reciprocate between the retracted position and the released position by the action of an external force and the elastic member 32. For example, when the working mechanism 31 encounters an obstacle, such as a fence, bushes, or bamboo grove at the edge of a lawn, the working mechanism 31 can move toward the fuselage 30 under the force of the obstacle. After passing the obstacle area, the working mechanism 31 returns to the released position under the elastic force of the elastic member 32, thereby achieving the obstacle avoidance function.

[0256] In an optional implementation, the rotating portion 341 abuts against the connecting mechanism in the first position, and the rotating portion 341 does not contact the connecting mechanism in the second position. Specifically, the rotating portion 341 abuts against the connecting mechanism in the first position, and the connecting mechanism can be limited when the working mechanism 31 is in the retracted position. When the working mechanism 31 moves from the retracted position to the released position under the action of the elastic force of the elastic member 20, or moves to the released position after avoiding an obstacle, the rotating portion 341 does not contact the connecting mechanism in the second position, but can limit the connecting mechanism or the working mechanism 31 by the above-mentioned first limiting portion 36, which can prevent the connecting mechanism from colliding with the rotating portion 341 in the released position, thereby avoiding damage to components caused by the connecting mechanism hitting the rotating portion 341.

[0257] In an optional implementation, the connecting mechanism includes a connecting rod mechanism 33, one end of the connecting rod mechanism 33 is hinged to the fuselage 30, and the other end is connected to the working mechanism 31, the elastic member 32 is arranged at the hinge between the connecting rod mechanism 33 and the fuselage 30, and the rotating part 341 abuts against the connecting rod mechanism 33.

[0258] For example, referring to FIG19 , the connecting rod mechanism 33 may include a single link or multiple links. One end of the connecting rod mechanism 33 (i.e., the first connection position of the connecting rod mechanism) is hinged to the body 30, and the other end (i.e., the second connection position of the connecting rod mechanism) is connected to the working mechanism 31. The connection method may be a rotational connection, such as a hinge or pivot connection, which is not limited in this embodiment. The elastic member 32 may be provided at the hinged connection between the connecting rod mechanism 33 and the body 30. For example, a torsion spring may be mounted on the rotating shaft at the hinged connection between the connecting rod mechanism 33 and the body 30. The first pin of the torsion spring may be fixedly connected to the body 30, and the second pin of the torsion spring may be fixedly connected to the connecting rod mechanism 33. One or more elastic members 32 may be provided. For example, if the connecting rod mechanism 33 includes a first connecting rod 331 and a second connecting rod 332, the elastic member 32 may be provided at the hinge between the first connecting rod 331 or the second connecting rod 332 and the body 30, or the elastic member 32 may be provided at the hinge between the first connecting rod 331 and the second connecting rod 332 and the body 30. This embodiment does not limit this. The rotating portion 341 abuts against the connecting rod mechanism 33. For example, the rotating portion 341 may abut against the side of the connecting rod in the connecting rod mechanism 33 when in the first position and the second position, thereby limiting the movement of the connecting rod mechanism 33 in the first position and the second position, thereby limiting the release position and the retracted position of the working mechanism 31. The rotating portion 341 may also abut against the working mechanism 31. This embodiment does not limit this.

[0259] In this implementation, one end of the connecting rod mechanism 33 is hinged to the fuselage 30 and the other end is connected to the working mechanism 31, so that the connecting rod mechanism 33 can drive the working mechanism 31 to move relative to the fuselage 30. The connecting rod mechanism 33 can be retracted or moved closer to the center line of the fuselage through the action of the rotating part 341, and the release is achieved by setting an elastic member 32 at the hinge between the connecting rod mechanism 33 and the fuselage 30, so that the working mechanism 31 can extend from one side of the fuselage of the intelligent walking device or move closer to the edge of the fuselage, as well as retract or move closer to the center line of the fuselage.

[0260] In an optional implementation, referring to Figure 23, the connecting rod mechanism 33 includes a first connecting rod 331 and a second connecting rod 332, one end of the first connecting rod 331 is hinged to the fuselage 30 at a first hinge point 3311, and the other end is hinged to the working mechanism 31 at a third hinge point 3312; one end of the second connecting rod 332 is hinged to the fuselage 30 at a second hinge point 3321, and the other end is hinged to the working mechanism 31 at a fourth hinge point 3322; the line connecting the first hinge point 3311 and the third hinge point 3312 is parallel to the line connecting the second hinge point 3321 and the fourth hinge point 3322, and the line connecting the first hinge point 3311 and the second hinge point 3321 is parallel to the line connecting the third hinge point 3312 and the fourth hinge point 3322, and the rotating part 341 abuts against the first side of the first connecting rod 331 or the second connecting rod 332, and the first side is the side away from the center line of the fuselage 30.

[0261] For example, the line connecting the first hinge point 3311 and the third hinge point 3312 is equal to the line connecting the second hinge point 3321 and the fourth hinge point 3322, and the line connecting the first hinge point 3311 and the second hinge point 3321 is equal to the line connecting the third hinge point 3312 and the fourth hinge point 3322. The lines connecting the first hinge point 3311, the second hinge point 3321, the third hinge point 3312, and the fourth hinge point 3322 form a parallelogram. The rotating portion 341 can abut against the first side of the first link 331, for example, the rotating mechanism 34 is disposed at the first hinge point 3311; or the rotating portion 341 can abut against the first side of the second link 332, for example, the rotating mechanism 34 is disposed at the second hinge point 3321. This is not limited in this embodiment, wherein the first side is the side away from the centerline of the fuselage 30.

[0262] In this implementation, one end of the first link 331 is hinged to the fuselage 30 at the first hinge point 3311, and the other end is hinged to the working mechanism 31 at the third hinge point 3312; one end of the second link 332 is hinged to the fuselage 30 at the second hinge point 3321, and the other end is hinged to the working mechanism 31 at the fourth hinge point 3322; the line connecting the first hinge point 3311 and the third hinge point 3312 is parallel to the line connecting the second hinge point 3321 and the fourth hinge point 3322, and the line connecting the first hinge point 3311 and the second hinge point 3321 is parallel to the line connecting the third hinge point 3312 and the fourth hinge point 3322. , the direction of the working mechanism 31 connected to the connecting rod mechanism 33 can be controlled. Taking the intelligent walking device as a lawn mowing robot as an example, a grass inlet can be provided on the working mechanism 31, and the line connecting the first hinge point 3311 and the second hinge point 3321 is set to be perpendicular to the forward direction of the body 30 of the lawn mowing robot, and the third hinge point 3312 and the fourth hinge point 3322 are connected to be parallel to the grass inlet of the working mechanism 31. When the working mechanism 31 extends from one side of the body 30 or works closer to the edge of the body, it can ensure that the direction of the grass inlet of the working mechanism 31 is consistent with the forward direction of the body 30, thereby achieving a better mowing effect.

[0263] An embodiment of the present application also provides an intelligent walking device, including a body 30 and a telescopic working mechanism as described in any of the above embodiments, wherein the rotating mechanism 34 in the telescopic working mechanism is fixedly connected to the body 30, and the first connection position of the connecting mechanism is rotationally connected to the body 30.

[0264] For example, the intelligent walking device may be a lawn mower robot, a cleaning robot, a sweeping robot, a snow removal robot, etc., which is not limited in this embodiment. The telescopic working mechanism may be connected to the lower surface of the body 30, with the rotating mechanism 34 in the telescopic working mechanism fixedly connected to the body 30, and the first connection position of the connecting mechanism rotatably connected to the body 30. Alternatively, the telescopic working mechanism and the body 30 may be fixedly connected to the body 30 via the fixing base 35 in the telescopic working mechanism.

[0265] The intelligent walking device in this embodiment includes a body 30 and a telescopic working mechanism as described in the above embodiment, wherein the rotating mechanism 34 in the telescopic working mechanism is fixedly connected to the body 30, and the first connection position of the connecting mechanism is rotatably connected to the body 30. During operation, the intelligent walking device pushes the connecting mechanism via the elastic member 32 to drive the working mechanism 31 away from the centerline of the body, so that all or part of the working mechanism 31 can extend from a side of the body 30 of the intelligent walking device or the working mechanism 31 can be closer to the edge of the body 30, so that the working mechanism 31 can be closer to the edge of the working area, thereby processing the edge area of ​​the working area. Therefore, there is no need to manually process the edge area, reducing labor costs.

[0266] The present application also provides an operation execution mechanism for connecting to the body 40 of the intelligent walking device. When encountering an obstacle, the operation execution mechanism can move toward the body 40 to avoid the obstacle. Therefore, there is no need to reserve a safety distance between the working mechanism of the operation execution mechanism and the boundary of the planning area. The operation execution mechanism can perform corresponding actions on the target objects at the edge of the planning area, that is, there will be no blind spots, and there is no need for manual labor to perform corresponding actions on the target objects in the blind spots, which can reduce the manual burden.

[0267] The present application also provides an intelligent walking device comprising a body and the aforementioned work execution mechanism, the work execution mechanism being mounted on the body. The work execution mechanism includes a working mechanism 41 and a connecting mechanism 42. The connecting mechanism 42 comprises two opposing ends, one end pivotally connected to the body 40 and the other end connected to the working mechanism 41. The connecting mechanism 42 includes a retracted position and a released position along its pivot path relative to the body 40. This intelligent walking device possesses the advantages of the aforementioned work mechanism.

[0268] In order to better introduce the structure and advantages of the working mechanism, the following description is based on the case where the working mechanism is installed on an intelligent walking device.

[0269] 24 to 28 , the operation execution mechanism includes a working mechanism 41, a connecting mechanism 42 and a power mechanism 43; the connecting mechanism 42 includes two opposite ends, one end is pivotally connected to the fuselage 40, and the other end is connected to the working mechanism 41, and the connecting mechanism 42 can drive the working mechanism 41 to reciprocate between a retracted position and a released position; the power mechanism 43 is connected to the connecting mechanism 42, and the power mechanism 43 is used to drive the connecting mechanism 42 to pivot relative to the fuselage 40; when the working mechanism 41 is located at the retracted position, the center line of the working mechanism 41 and the fuselage 40 are spaced apart by a first distance P1, and when the working mechanism 41 is located at the released position, the working mechanism 41 and the fuselage center line are spaced apart by a second distance P2, and the first distance P1 is smaller than the second distance P2.

[0270] The power mechanism 43 can drive the connecting mechanism 42 to pivot, so that the connecting mechanism 42 drives the working mechanism to move toward the released position; and / or the power mechanism 43 can also drive the connecting mechanism to pivot, so that the connecting mechanism 42 drives the working mechanism 41 to move toward the retracted position. The centerline of the body 40 can refer to the centerline of the body in the width or length direction of the intelligent walking device.

[0271] The relative positional relationship between the working mechanism 41 and the fuselage 40 can be:

[0272] When the working mechanism 41 is in the retracted position, at least a portion of the projection of the working mechanism 41 toward the ground lies within the projection of the fuselage 40 toward the ground. This means that at least a portion of the projection of the working mechanism 41 toward the ground overlaps with the projection of the fuselage 40 toward the ground. Thus, when the working mechanism 41 is in the retracted position, at least a portion of the working mechanism 41 is hidden in the space between the fuselage 40 and the ground, or at least a portion of the working mechanism 41 is hidden within the fuselage 40. In the ultimate state, the working mechanism 41 is completely hidden in the space between the fuselage 40 and the ground, or hidden within the fuselage 40. This can reduce the overall dimensions of the intelligent walking device, making it easier to store, and also reduce the risk of the working mechanism 41 being bumped or knocked. As shown in FIG. 27 , when the working mechanism 41 is in the retracted position, the projection of the working mechanism 41 toward the ground lies entirely within the projection of the fuselage toward the ground, and the distance between the working mechanism 41 and the centerline of the fuselage 40 is P1.

[0273] When the working mechanism 41 is in the released position, the ground projection of the working mechanism 41 may still be within the ground projection of the fuselage 40, or at least a portion of the ground projection of the working mechanism 41 may be outside the ground projection area of ​​the fuselage 40. Regarding at least a portion of the ground projection of the working mechanism 41 being outside the ground projection of the fuselage 40, it can be understood that at least a portion of the ground projection of the working mechanism 41 and the ground projection of the fuselage 40 do not overlap. Thus, when the working mechanism 41 is in the released position, at least a portion of the ground projection of the working mechanism 41 extends outside the fuselage 40 in the width or length direction of the intelligent walking device. In the extreme state, the entire ground projection of the working mechanism 41 is outside the ground projection of the fuselage 40, that is, the working mechanism 41 and the fuselage 40 are spaced apart in the width or length direction of the intelligent walking device. As shown in Figure 28, the ground projection of the working mechanism 41 is entirely outside the ground projection area of ​​the fuselage, and the distance between the working mechanism 41 and the centerline of the fuselage 40 is P2.

[0274] The projection of the working mechanism 41 toward the ground refers to the projection of the working mechanism 41 toward the ground along the height direction of the intelligent walking device. Similarly, the projection of the fuselage 40 toward the ground refers to the projection of the fuselage 40 toward the ground along the height direction of the intelligent walking device. Regarding the height direction of the intelligent walking device, it can be understood that if the ground is parallel to the horizontal plane, then the height direction of the intelligent walking device is parallel to the direction of gravity; if the ground is an inclined plane, that is, it has a preset angle β with the horizontal plane, then the height direction of the intelligent walking device has an angle with the direction of gravity, and this angle is equal to the preset angle β.

[0275] Through the above technical solution, first, under the action of the power mechanism 43, the working mechanism 41 can be moved to the release position to perform corresponding actions on the target object. Then, when the working mechanism 41 encounters an obstacle, under the resistance and push of the obstacle, or under the driving action of the power mechanism 43, the working mechanism 41 and the connecting mechanism 42 pivot toward the fuselage 40 together, thereby achieving the effect of avoiding the obstacle. In extreme cases, under the resistance and push of the obstacle, the connecting mechanism 42 can drive the working mechanism 41 to pivot to the retracted position. Therefore, there is no need to reserve a safety distance between the working mechanism 41 and the boundary of the planning area, and the working mechanism 41 can perform corresponding actions on the target objects at the edge of the planning area, that is, no blind spots will be left, and manual labor is no longer required to perform corresponding actions on the target objects in the blind spots, which can reduce the manual burden.

[0276] With reference to Figures 27 and 28, in one possible embodiment, while the connecting mechanism 42 drives the working mechanism 41 to reciprocate between the retracted position and the released position, the operating direction X of the working mechanism 41 remains parallel to the forward direction Y of the fuselage 40. This ensures that the operating direction of the working mechanism 41 is always oriented in the forward direction of the fuselage; that is, the operating direction of the working mechanism 41 relative to the fuselage remains unchanged. This facilitates the user's control of the operating direction of the working mechanism 41 by controlling the forward direction of the fuselage 40, reducing operational difficulty.

[0277] In a possible implementation, referring to Figures 25 to 27, the connecting mechanism 42 includes a first link 421 and a second link 422, the first link 421 includes a first end and a second end opposite each other, the first end is pivotally connected to the fuselage 40 around a first axis L1, and the second end is pivotally connected to the working mechanism 41 around a second axis L2; ​​the second link 422 includes a third end and a fourth end opposite each other, the third end is pivotally connected to the fuselage 40 around a third axis L3, and the fourth end is pivotally connected to the working mechanism 41 around a fourth axis L4; the first axis L1, the second axis L2, and the third axis L3 are all parallel to the fourth axis L4; the distance A1 between the first axis L1 and the second axis L2 is equal to the distance A2 between the third axis L3 and the fourth axis L4; the distance B1 between the first axis L1 and the third axis L3 is equal to the distance B2 between the second axis L2 and the fourth axis L4.

[0278] That is to say, the connection relationship between the connecting mechanism 42, the fuselage 40 and the working mechanism 41 can be understood as a parallel four-bar linkage. Such a connection relationship can keep the orientation of the working mechanism 41 and the clamp between the center line of the fuselage 40 always fixed. For example, the working mechanism 41 is a mowing mechanism, and a grass inlet is set in front of the mowing mechanism. The orientation of the grass inlet is parallel to the center line of the fuselage 40. Then, when the first link 421 and the second link 422 pivot synchronously, although the working mechanism 41 pivots relative to the first link 421, the orientation of the grass inlet of the working mechanism 41 remains unchanged. Here, the head and tail of the intelligent walking device can be defined as being distributed along the front-to-back direction, with the head located in the front and the tail located in the back. When the mowing mechanism is used for mowing, the intelligent walking device moves from back to front. The center line of the fuselage extends along the front-to-back direction.

[0279] In addition, in one possible embodiment, the power mechanism 43 is connected between the working mechanism 41 and the first connecting rod 421, and / or between the working mechanism 41 and the second connecting rod 422. When the working mechanism 41 and the first connecting rod 421 pivot relative to each other under the drive of the power mechanism 43, the angle between the working mechanism 41 and the first connecting rod 421 changes. Based on the motion principle of the parallel four-bar linkage, relative pivoting inevitably occurs between the working mechanism 41 and the second connecting rod 422, between the first connecting rod 421 and the body 40, and between the second connecting rod 422 and the body 40. This allows the connecting mechanism 42 to pivot relative to the body 40.

[0280] In one possible embodiment, the power mechanism 43 includes an elastic member 431, which is connected between the connecting mechanism 42 and the fuselage 40, and / or, between the connecting mechanism 42 and the working mechanism 41; the elastic member 431 applies an elastic force to the connecting mechanism 42, which enables the connecting mechanism 42 to drive the working mechanism 41 to pivot from the retracted position to the released position. In this way, when encountering an obstacle, the obstacle can push the working mechanism 41 toward the fuselage 40 to achieve an avoidance effect. Therefore, there is no need to reserve a safe distance between the working mechanism 41 and the boundary of the planning area. The working mechanism 41 can perform corresponding actions on target objects at the edge of the planning area, that is, no blind spots are left, and no manual labor is required to perform corresponding actions on target objects in the blind spots, which can reduce the manual burden.

[0281] In a specific implementation, the elastic member 431 is connected between the body 40 and the first connecting rod 421 . Alternatively, the elastic member 431 may also be connected between the body 40 and the second connecting rod 422 .

[0282] Alternatively, in another specific implementation, the elastic member 431 is connected between the fuselage 40 and the first connecting rod 421 , and / or the elastic member 431 is connected between the fuselage 40 and the second connecting rod 422 .

[0283] In one possible embodiment, the elastic member 431 is a torsion spring including two pins 4311, one pin 4311 being connected to the body 40, and the other pin 4311 being connected to the first connecting rod 421 or the second connecting rod 422. Here, one pin 4311 may be fixed to or abut against the body 40, while the other pin 4311 may be fixed to or abut against the first connecting rod 421; alternatively, the other pin 4311 may be fixed to or abut against the second connecting rod 422.

[0284] In one example, a first receiving hole 432 is provided on one of the first connecting rod 421 and the body 40, and a first rotating shaft 433 is provided on the other. The first rotating shaft 433 is pivotally inserted into the first receiving hole 432 to enable the first connecting rod 421 to pivot relative to the body 40 about the first axis L1. The torsion spring is mounted on the first rotating shaft 433, and the other pin 4311 of the torsion spring is located outside the first receiving hole 432 and connected to the first connecting rod 421. Using the first rotating shaft 433 to mount the torsion spring simplifies the structure and facilitates assembly.

[0285] In another possible embodiment, the connecting mechanism 42 can be a single-rod structure, one end of which is pivotally connected to the fuselage 40 and the other end is connected to the working mechanism 41. The relative position between the working mechanism 41 and the single-rod structure is fixed. The elastic member 431 can be a torsion spring or a coil spring and is connected between the fuselage 40 and the single-rod structure.

[0286] In one example, a second receiving hole is provided on one of the first connecting rod 421 and the working mechanism 41, and a second rotating shaft is provided on the other. The second rotating shaft is pivotally inserted into the second receiving hole to enable the first connecting rod 421 to pivot relative to the working mechanism 41 about the second axis L2. The torsion spring is mounted on the second rotating shaft, and the other pin 4311 of the torsion spring is located outside the second receiving hole and connected to the first connecting rod 421. In this way, using the second rotating shaft to mount the torsion spring can simplify the structure and facilitate assembly.

[0287] In one possible implementation, the power mechanism 43 includes a rotary motor whose output shaft is connected to the connecting mechanism 42, capable of driving the connecting mechanism 42 to move. Specifically, the output shaft of the rotary motor can rotate about its own axis. By connecting the output shaft and the connecting mechanism via a transmission element, the transmission element can be used to convert the output shaft's rotation into pivotal movement of the connecting mechanism relative to the fuselage. The transmission element can include a gear and a rack, with the gear mounted on the output shaft and the rack mounted on the connecting mechanism 42. This will be readily apparent to those skilled in the art and will not be further elaborated here.

[0288] Referring to Figures 24 and 25 , in another possible implementation, the work execution mechanism further includes a limiting mechanism 44, which applies a limiting force to the connecting mechanism 42 to restrain the working mechanism 41 in the retracted position via the connecting mechanism 42. In this way, when the working mechanism 41 is not needed, the limiting mechanism 44 can restrain the working mechanism 41 in the retracted position, thereby concealing the working mechanism 41. This not only reduces the overall size of the intelligent walking device for easier storage, but also reduces the probability of collisions with the working mechanism 41, thereby improving safety.

[0289] In a possible embodiment, referring to Figures 24 to 26, the limiting mechanism 44 includes a limiting member 441, which reciprocates between a relief position and a stop position. When the limiting member 441 is in the relief position, the connecting mechanism 42 is allowed to drive the working mechanism 41 to reciprocate between the release position and the retracted position; when the limiting member 441 is in the stop position, the connecting mechanism 42 is prevented from driving the working mechanism 41 to pivot from the retracted position toward the release position. That is, when the limiting member 441 is in the stop position, the limiting member 441 is located on the pivot path of the connecting mechanism 42, thereby preventing the connecting mechanism 42 from pivoting; when the limiting member 441 is in the release position, the limiting member 441 is not located on the pivot path of the connecting mechanism 42, and the reciprocating movement of the connecting mechanism 42 between the release position and the retracted position is not blocked by the limiting member 441.

[0290] With reference to Figures 24 and 25 , in one example, the limiting mechanism 44 further includes a driving unit 442 that drives the limiting member 441 to rotate about a predetermined axis L5. The limiting member 441 and the predetermined axis L5 are spaced apart, the pivot axis of the connecting mechanism 42 and the body 40 is parallel to the predetermined axis L5, and the limiting member 441 is located on the side of the connecting mechanism 42 that faces the release position. Thus, the pivot paths of the limiting member 441 and the connecting mechanism 42 are both arc-shaped, and the pivot path of the limiting member 441 overlaps with the pivot path of the connecting mechanism 42. When the limiting member 441 is in the stop position, it prevents the connecting mechanism 42 from driving the working mechanism 41 toward the release position. During the process of the limiting member 441 pivoting from the stop position to the avoidance position, the connecting mechanism 42 moves toward the release position under the force of the power mechanism 43.

[0291] In one example, after the connecting mechanism 42 drives the working mechanism 41 to the release position, the stopper 441 continues to rotate for a distance before reaching the avoidance position. In this way, when using the intelligent walking device including the work execution mechanism, the connecting mechanism 42 can be prevented from colliding with the stopper 441 when driving the working mechanism 41 to return to the release position.

[0292] Referring to Figure 28, in one example, the limiting mechanism 44 is an electromagnetic latch lock, and the limiting member 441 is a latch, which reciprocates along its own axis between an avoidance position and a stop position; when the latch is in the avoidance position, it is away from the pivot path of the connecting mechanism 42 to allow the connecting mechanism 42 to drive the working mechanism 41 to pivot toward the release position; when the latch is in the stop position, it prevents the connecting mechanism 42 from driving the working mechanism 41 to pivot from the retracted position toward the release position.

[0293] The axial direction of the latch pin may be perpendicular to the plane of the pivot path of the connecting mechanism 42, or the axial direction of the latch pin may be parallel to the pivot axis of the connecting mechanism 42. Alternatively, the axial direction of the latch pin may be consistent with the distribution direction of the released position and the retracted position.

[0294] In one possible embodiment, the limiting mechanism 44 includes an electromagnet and an electronic control unit. A magnet is provided on the connecting mechanism 42. The electronic control unit controls whether the electromagnet is energized or de-energized. When energized, the electromagnet is magnetic and can attract the magnet to confine the connecting mechanism 42 to the retracted position. When de-energized, the electromagnet is non-magnetic. That is, when it is necessary to confine the working mechanism 41 to the retracted position, the electromagnet can be energized to attract the connecting mechanism 42. When it is necessary to release the connecting mechanism 42, the electromagnet can be de-energized, and the power mechanism 43 can then drive the connecting mechanism 42 to pivot toward the released position.

[0295] The electronic control unit may be provided with a button or key, and by pressing the button or key, the electromagnet can be energized or de-energized. When the working mechanism 41 is not in use, the connecting mechanism 42 can be manually pushed toward the retracted position while the electromagnet is energized, until the electromagnet and the connecting mechanism 42 are attracted to each other.

[0296] In one possible implementation, referring to Figures 25 and 27 , a first position-limiting portion 401 is provided on the body 40. When the connecting mechanism 42 moves to the release position, the force of the power mechanism 43 causes the connecting mechanism 42 to abut against the first position-limiting portion 401. Thus, the first position-limiting portion 401 and the power mechanism 43 act together on the connecting mechanism 42, allowing the connecting mechanism 42 to drive the working mechanism 41 to stably maintain the release position.

[0297] The present application also provides another intelligent walking device, with reference to Figures 29 and 30, the intelligent walking device includes a body 50, a working mechanism 51, a connecting mechanism 52, a power mechanism 54 and a damping member 55; the connecting mechanism 52 includes two opposite ends, one end is pivotally connected to the body 50, and the other end is connected to the working mechanism 51, the connecting mechanism 52 can drive the working mechanism 51 to move back and forth between a retracted position and a released position; the power mechanism 54 is connected to the connecting mechanism 52, and the power mechanism 54 is used to drive the connecting mechanism 52 to pivot relative to the body 50; when the working mechanism 51 is in the retracted position, the center line of the working mechanism 51 and the body 50 is A first distance P1 is separated, and when the working mechanism 51 is located in the release position, the center line of the working mechanism 51 and the fuselage 50 is separated by a second distance P2, and the first distance is smaller than the second distance P2; a first limiting portion 501 is provided on the fuselage 50, and when the connecting mechanism 52 drives the working mechanism 51 to move to the release position or the retracted position, the action force of the power mechanism 54 causes the connecting mechanism 52 to abut against the first limiting portion 501; the damping member 55 is connected to the connecting mechanism 52, and during the process of the connecting mechanism 52 pivoting toward the release position or the retracted position, the damping member 55 applies a damping force opposite to the action force to the connecting mechanism 52.

[0298] The power mechanism 54 can drive the connecting mechanism 52 to pivot, so that the connecting mechanism 52 drives the working mechanism to move toward the released position; and / or the power mechanism 54 can also drive the connecting mechanism to pivot, so that the connecting mechanism 52 drives the working mechanism 51 to move toward the retracted position. The centerline of the body 50 can refer to the centerline of the body in the width or length direction of the intelligent walking device.

[0299] The relative positional relationship between the working mechanism 51 and the fuselage 50 can be:

[0300] When the working mechanism 51 is in the retracted position, at least a portion of the working mechanism 51's projection toward the ground is located within the projection of the body 50 toward the ground. This means that at least a portion of the working mechanism 51's projection toward the ground overlaps with the projection of the body 50 toward the ground. Thus, when the working mechanism 51 is in the retracted position, at least a portion of the working mechanism 51 is hidden in the space between the body 50 and the ground, or at least a portion of the working mechanism 51 is hidden within the body 50. In the ultimate state, the working mechanism 51 is completely hidden in the space between the body 50 and the ground, or hidden within the body 50. This can reduce the size of the intelligent walking device, making it easier to store, and also reduce the risk of the working mechanism 51 being bumped. As shown in FIG. 29 , when the working mechanism 51 is in the retracted position, the entire projection of the working mechanism 51 toward the ground is located within the projection of the body toward the ground, and the distance between the working mechanism 51 and the centerline of the body 50 is P1.

[0301] When the working mechanism 51 is in the released position, the ground projection of the working mechanism 51 may still be within the ground projection of the fuselage 50, or at least a portion of the ground projection of the working mechanism 51 may be outside the ground projection area of ​​the fuselage 50. Regarding at least a portion of the ground projection of the working mechanism 51 being outside the ground projection of the fuselage 50, it can be understood that at least a portion of the ground projection of the working mechanism 51 and the ground projection of the fuselage 50 do not overlap. Thus, when the working mechanism 51 is in the released position, at least a portion of the ground projection of the working mechanism 51 extends outside the fuselage 50 in the width or length direction of the intelligent walking device. In the extreme state, the entire ground projection of the working mechanism 51 is outside the ground projection of the fuselage 50, that is, the working mechanism 51 and the fuselage 50 are spaced apart in the width or length direction of the intelligent walking device. As shown in Figure 30, when the working mechanism 51 is in the released position, the ground projection of the working mechanism 51 is entirely outside the ground projection area of ​​the fuselage, and the distance between the working mechanism 51 and the centerline of the fuselage 50 is P2.

[0302] The projection of the working mechanism 51 toward the ground refers to the projection of the working mechanism 51 toward the ground along the height direction of the intelligent walking device. Similarly, the projection of the fuselage 50 toward the ground refers to the projection of the fuselage 50 toward the ground along the height direction of the intelligent walking device. Regarding the height direction of the intelligent walking device, it can be understood that if the ground is parallel to the horizontal plane, then the height direction of the intelligent walking device is parallel to the direction of gravity; if the ground is an inclined plane, that is, at a preset angle β with the horizontal plane, then the height direction of the intelligent walking device has an angle with the direction of gravity, and this angle is equal to the preset angle β.

[0303] Through the above technical solution, first, under the action of the power mechanism 54, the working mechanism 51 can be moved to the release position to perform the corresponding action on the target object. Then, when the working mechanism 51 encounters an obstacle, the working mechanism 51 and the connecting mechanism 52 can be pushed toward the fuselage 50 under the resistance of the obstacle, thereby achieving the effect of avoiding the obstacle; or, under the driving action of the power mechanism 54, the working mechanism 51 can be moved toward the retracted position to achieve the effect of avoiding the obstacle. In extreme cases, under the resistance of the obstacle or under the driving action of the power mechanism 54, the connecting mechanism 52 can drive the working mechanism 51 to pivot to the retracted position, and in the retracted position, the connecting mechanism 52 can abut against the first limit portion 501. Of course, when the working mechanism 51 is in the release position, the first limit portion 501 and the power mechanism 54 can also act together on the connecting mechanism 52 to ensure that the connecting mechanism 52 drives the working mechanism 51 to remain stably in the release position. Therefore, there is no need to reserve a safety distance between the working mechanism 51 and the boundary of the planning area. The working mechanism 51 can perform corresponding actions on the target objects at the edge of the planning area, that is, there will be no blind spots, and there is no need for manual labor to perform corresponding actions on the target objects in the blind spots, which can reduce the manual burden.

[0304] Secondly, during the process of the working mechanism 51 pivoting toward the release position or the retracted position, the damping force of the damping member 55 can play a buffering role, slowing down the speed of the connecting mechanism 52, and avoiding the situation where the connecting mechanism 52 drives the working mechanism 51 to move to the release position at a high speed and strongly hits the first limit part 501. It can also slow down the movement speed of the working mechanism 51, thereby avoiding the situation where the working mechanism 51 strongly hits the fuselage 50 or other objects.

[0305] 29 and 30 , in one possible embodiment, during the reciprocating motion of the working mechanism 51 between the retracted position and the released position, the operating direction X of the working mechanism 51 remains parallel to the forward direction Y of the fuselage 50. This ensures that the operating direction of the working mechanism 51 is always oriented in the forward direction of the fuselage, making it easier for the user to control the operating direction of the working mechanism 51 by controlling the forward direction of the fuselage 50, thereby reducing operational difficulty.

[0306] In one possible implementation, the connecting mechanism 52 includes a first link 521 and a second link 522, the first link 521 includes a first end and a second end relative to each other, the first end is pivotally connected to the fuselage 50 around a first axis L1, and the second end is pivotally connected to the working mechanism 51 around a second axis L2; ​​the second link 522 includes a third end and a fourth end relative to each other, the third end is pivotally connected to the fuselage 50 around a third axis L3, and the fourth end is pivotally connected to the working mechanism 51 around a fourth axis L4; wherein the damping member 55 is connected to the first link 521 or the second link 522. In this way, the connection relationship between the connecting mechanism 52, the first link 521, the second link 522 and the fuselage 50 can be understood as a four-bar linkage. From the movement characteristics of the four-bar linkage, it can be seen that when the damping member 55 applies a damping force to the first link 521 or the second link 522, the first link 521 and the second link 522 will synchronously slow down the movement speed, thereby slowing down the movement speed of the working mechanism 51.

[0307] In one example, the first axis L1, the second axis L2, and the third axis L3 are all parallel to the fourth axis L4; the distance A1 between the first axis L1 and the second axis L2 is equal to the distance A2 between the third axis L3 and the fourth axis L4; and the distance B1 between the first axis L1 and the third axis L3 is equal to the distance B2 between the second axis L2 and the fourth axis L4. In other words, the connection between the connecting mechanism 52, the body 50, and the working mechanism 51 can be understood as a parallel four-bar linkage. This connection ensures that the orientation of the working mechanism 51 remains fixed relative to the centerline of the body 50. For example, the working mechanism 51 is a mowing mechanism with a grass inlet located in front of it. The grass inlet is oriented parallel to the centerline of the body 50. Therefore, when the first link 521 and the second link 522 pivot synchronously, the working mechanism 51 pivots relative to the first link 521, but the orientation of the grass inlet remains unchanged. Here, the head and tail of the intelligent walking device can be defined as being distributed along the front-to-back direction, with the head located in the front and the tail located in the back. When the mowing mechanism is used to mow the grass, the intelligent walking device moves from the back to the front. The centerline of the body extends along the front-to-back direction.

[0308] In one example, when the working mechanism 51 is in the release position, the first connecting rod 521 abuts against the first limiting portion 501 .

[0309] In an example, the damping member 55 is connected between the fuselage 50 and the first link 521 ; when the first link 521 moves toward the release position, the damping member 55 applies a damping force to the first link 521 .

[0310] Alternatively, in one example, the damping member 55 is connected between the fuselage 50 and the second link 522 ; when the second link 522 moves toward the release position, the damping member 55 applies a damping force to the second link 522 .

[0311] Or, in one example, the damping member 55 is connected between the working mechanism 51 and the first link 521; when the first link 521 moves toward the release position, relative pivoting occurs between the working mechanism 51 and the first link 521, and the damping member 55 can apply a damping force to the first link 521 to slow down the pivoting speed of the first link 521.

[0312] Or, in one example, the damping member 55 is connected between the working mechanism 51 and the second link; when the second link 522 moves toward the release position, relative pivoting occurs between the working mechanism 51 and the second link 522, and the damping member 55 can apply a damping force to the second link 522 to slow down the pivoting speed of the second link 522.

[0313] In one possible implementation, the damping member 55 may be a bidirectional damping mechanism. Thus, whether the connecting mechanism 52 drives the working mechanism 51 toward the release position or the retracted position, the damping member 55 can act as a buffer, thereby preventing strong impacts and improving user comfort.

[0314] In one possible implementation, the damping member 55 includes an inner shell 551, an outer shell 552, and a damping body. The outer shell 552 is sleeved outside the inner shell 551, forming a receiving area between the inner shell 551 and the outer shell 552. The damping body is located in the receiving area and connected between the inner shell 551 and the outer shell 552. The inner shell 551 and the outer shell 552 are capable of relative rotation. One of the inner shell 551 and the outer shell 552 is connected to the connecting mechanism 52, and the other is connected to the body 50. Thus, when the working mechanism 51 pivots from the retracted position to the released position, one of the inner shell 551 and the outer shell 552 pivots synchronously with the connecting mechanism 52 relative to the body 50, while the other remains stationary relative to the body 50. Thus, relative pivoting occurs between the inner shell 551 and the outer shell 552, and the damping body generates a damping force, thereby providing a buffering effect.

[0315] In one example, referring to FIG32 , a fixed shaft is provided on the fuselage 50 , the fixed shaft is inserted into the inner hole of the inner shell 551 and is circumferentially limitedly connected, and the outer shell 552 is circumferentially limitedly connected to the second connecting rod 522 .

[0316] In one possible implementation, referring to Figures 31 and 32 , the connecting mechanism 52 includes a first portion 5201 and a second portion 5202. The first portion 5201 is connected between the working mechanism 51 and the body 50, and the second portion 5202 is connected to the first portion 5201. The first portion 5201 and the second portion 5202 pivot synchronously. One of the first portion 5201 and the second portion 5202 is connected to the damping member 55, and the other is connected to the power mechanism 54. This allows the power mechanism 54 and the damping member 55 to be separated, avoiding mutual interference and facilitating assembly. In one example, when the working mechanism 51 is in the released position, the first portion 5201 abuts against the first stop 501.

[0317] In one example, the distribution direction of the first portion 5201 and the second portion 5202 is consistent with the extension direction of the first portion 5201, and the pivot axis between the connecting mechanism 52 and the fuselage 50 is located between the first portion 5201 and the second portion 5202. Thus, the connecting mechanism 52 acts as a lever, with the fulcrum of the lever being the pivotal connection between the connecting mechanism 52 and the fuselage 50. The power mechanism 54 and the damping element 55 are located on opposite sides of the pivot axis between the connecting mechanism 52 and the fuselage 50, respectively, to facilitate maintaining balance of the connecting mechanism 52 on both sides of the pivot axis. The power mechanism 54 can be connected between the first portion 5201 and the fuselage 50, and the damping element 55 can be connected between the second portion 5202 and the fuselage 50.

[0318] In a possible implementation, referring to Figure 33, the connecting mechanism 52 includes a first rod 531, a second rod 532 and a slider 533, the opposite ends of the first rod 531 are pivotally connected to the fuselage 50 and the second rod 532 respectively, the opposite ends of the second rod 532 are pivotally connected to the first rod 531 and the slider 533 respectively, and the slider 533 is slidably connected to the fuselage 50; the working mechanism 51 is installed on the first rod 531 or the second rod 532, the damping member 55 is connected to the first rod 531 or the second rod 532, the power mechanism 54 is connected between the first rod 531 and the fuselage 50, or the power mechanism 54 is connected between the fuselage 50 and the second rod 532. In this way, the power mechanism 54 can apply elastic force to the first rod 531 or the second rod 532, thereby causing the first rod 531 and the second rod 532 to rotate about the body 50 and the slider 533 to slide on the body 50. The damping member 55 can slow down the movement of the first rod 531 and the second rod 532, thereby slowing down the movement of the working mechanism 51 and preventing the first rod 531 or the second rod 532 from strongly impacting the first limit portion 501. The sliding connection between the slider 533 and the body 50 can act as a limiter, reducing the swing amplitude of the first rod 531 and the second rod 532, thereby improving the stability of the connection mechanism 52 in driving the working mechanism 51 to maintain the released position and the retracted position.

[0319] In an example, when the working mechanism 51 is located at the release position, the first rod 531 abuts against the first limiting portion 501 .

[0320] In one example, the damping member 55 is connected between the first rod 531 and the second rod 532. Based on the motion characteristics of the crank slider 533 mechanism, the damping member 55 can slow down the change in the angle between the first rod 531 and the second rod 532, thereby slowing down the sliding speed of the slider 533 and the pivoting speed of the first rod 531 relative to the body 50. This ultimately slows down the movement of the working mechanism 51 and prevents the working mechanism 51 from strongly impacting the body 50 or other objects.

[0321] In one example, the damping member 55 is connected between the first rod 531 and the body 50. Based on the motion characteristics of the crank slider 533 mechanism, the damping member 55 can slow down the change rate of the angle between the first rod 531 and the body 50, that is, slow down the pivoting speed of the first rod 531 relative to the body 50, thereby slowing down the sliding speed of the slider 533, and ultimately achieving the effect of slowing down the movement speed of the working mechanism 51.

[0322] Alternatively, in one example, the damping member 55 is connected between the second rod 532 and the slider 533. Based on the movement characteristics of the crank slider 533 mechanism, the damping member 55 can slow down the change rate of the angle between the second rod 532 and the slider 533, thereby slowing down the movement speed of the first rod 531 and the second rod 532 relative to the body 50, thereby slowing down the sliding speed of the slider 533, and ultimately achieving the effect of slowing down the movement speed of the working mechanism 51.

[0323] Alternatively, in one example, the damping member 55 is connected between the slider 533 and the body 50. Based on the movement characteristics of the crank slider 533 mechanism, it can be seen that the damping member 55 can slow down the movement speed of the slider relative to the body 50, thereby slowing down the movement speed of the first rod 531 and the second rod 532 relative to the body 50, thereby slowing down the sliding speed of the slider 533, and ultimately achieving the effect of slowing down the movement speed of the working mechanism 51.

[0324] In a specific implementation, referring to FIG32 , the power mechanism 54 includes an elastic member 541, the elastic member 541 being connected between the connecting mechanism 52 and the body 50, and / or the elastic member 541 being connected between the connecting mechanism 52 and the working mechanism 51; the elastic member 541 exerts an elastic force on the connecting mechanism 52 that enables the connecting mechanism 52 to drive the working mechanism 51 to pivot from the retracted position toward the released position. Thus, in the intelligent walking device provided by the present application, on the one hand, when encountering an obstacle, the working mechanism 51 can be pushed by the obstacle and overcome the force of the power mechanism 54 to pivot toward the body 50, or the power mechanism 54 drives the working mechanism 51 to pivot toward the body 50, thereby achieving the effect of avoiding the obstacle. Therefore, there is no need to reserve a safety distance between the working mechanism 51 and the boundary of the planning area, and the working mechanism 51 can perform corresponding actions on the target objects at the edge of the planning area, that is, no blind spots are left, and no manual operation is required to perform corresponding actions on the target objects in the blind spots, thereby reducing the manual burden. On the other hand, the damping member 55 can be used to improve the user comfort when the connecting mechanism 52 drives the working mechanism 51 to move toward the release position.

[0325] In one example, the elastic member 541 is connected between the body 50 and the first connecting rod 521 . Alternatively, the elastic member 541 may also be connected between the body 50 and the second connecting rod 522 .

[0326] Or, in another example, the elastic member 541 is connected between the fuselage 50 and the first connecting rod 521 , and / or the elastic member 541 is connected between the fuselage 50 and the second connecting rod 522 .

[0327] In one possible embodiment, referring to FIG32 , the elastic member 541 is a torsion spring including two pins 542, one of which is connected to the body 50, and the other of which is connected to the first connecting rod 521 or the second connecting rod 522. Here, one of the pins 542 can be fixed to or abut against the body 50, while the other pin 542 can be fixed to or abut against the first connecting rod 521; alternatively, the other pin 542 can be fixed to or abut against the second connecting rod 522.

[0328] The embodiments of the present application provide a working mechanism, which is described in detail below through multiple embodiments.

[0329] This working mechanism is applied to intelligent walking equipment, which can be an automatic lawn mower, a sweeping robot, a snowplow or a cleaning machine, etc. The intelligent walking equipment will perform operations during the automatic walking process. For example, the automatic lawn mower will perform mowing operations during the automatic walking process, and the sweeping robot will perform sweeping operations during the automatic walking process.

[0330] FIG34 is a schematic diagram of a working mechanism of an embodiment of the present application, with the working portion in an extended state. As shown in FIG34 , the working mechanism includes: a connecting portion 62, a fixing seat 64, a working portion 61, an angle detection assembly 66, and a control assembly 67. One end of the connecting portion 62 is connected to the fixing seat 64, and the other end of the connecting portion 62 is connected to the working portion 61, which is used for performing cleaning operations. The connecting portion 62 is configured to rotate relative to the fixing seat 64 to drive the working portion 61 to move relative to the fixing seat 64. The angle detection assembly 66 is configured to detect the rotation angle of the connecting portion 62 relative to the fixing seat 64 and transmit an angle signal indicating the rotation angle to the control assembly 67. The control assembly 67 is configured to control the connecting portion 62 to stop rotating relative to the fixing seat 64 when the rotation angle indicated by the angle signal reaches an angle threshold, so that the angle between the connecting portion 62 and the fixing seat 64 is within a preset angle range.

[0331] In an embodiment of the present application, as shown in Figure 34, the working part 61 is used to perform cleaning operations. In one example, the intelligent walking device is an automatic lawn mower, and the working part 61 is used to perform mowing operations; in another example, if the intelligent walking device is a sweeping robot, the working part 61 is used for sweeping operations.

[0332] FIG35 is a schematic diagram of an intelligent walking device with the working portion in an extended state according to an embodiment of the present application. As shown in FIG1 and FIG35 , a fixing base 64 can be mounted on the body 60 of the intelligent walking device for operation. The fixing base 64 can be plate-shaped. The end of the connecting portion 62 connected to the fixing base 64 can be the head end, and the end of the connecting portion 62 connected to the working portion 61 can be the tail end. The angle between the connecting portion 62 and the fixing base 64 is the angle between a line segment from the head end to the tail end and a ray formed along the length direction of the body 60 starting from the head end. The length direction of the body 60 is the direction from the front to the rear of the body 60 during operation. The angle between the connecting portion 62 and the fixing base 64 can be 0 degrees or an acute angle. For example, in Figure 35, the dotted line a is a line segment from the head end to the tail end, and the dotted line b in Figure 35 is a ray formed along the length direction of the fuselage 60 with the head end as the starting point. The acute angle between the dotted line a and the dotted line b is the angle between the connecting part 62 and the fixing seat 64.

[0333] The control component 67 can be installed on the connecting portion 62, the fixing seat 64 or the body 60, and this embodiment of the present application does not limit this.

[0334] As shown in FIG. 35 , the angle detection component 66 can be used to periodically detect the rotation angle of the connecting portion 62 relative to the fixing seat 64 and send an angle signal indicating the rotation angle to the control component 67 .

[0335] Before using the intelligent walking device, the fixing seat 64 can be installed on the body 60 of the intelligent walking device for cleaning operations. During the use of the intelligent walking device for patrol cleaning operations, if the area near the operation boundary is less likely to cause the intelligent walking device to be trapped or damaged, the connection part 62 can be controlled to rotate relative to the fixing seat 64 manually or automatically. At this time, the working part 61 will move relative to the fixing seat 64, and the angle detection component 66 will detect the rotation angle of the connection part 62 relative to the fixing seat 64, and send an angle signal indicating the rotation angle to the control component 67. The control component 67 receives the rotation angle signal. After the angle signal is sent, if it is determined that the rotation angle indicated by the angle signal reaches the angle threshold, the connecting part 62 will be controlled to stop rotating relative to the fixing seat 64, so that the angle between the connecting part 62 and the fixing seat 64 is within the preset angle range. At this time, the working part 61 is located outside the fuselage 60 and can perform cleaning operations on areas other than the cleaning operations on the fuselage 60, thereby expanding the area where the intelligent walking device performs cleaning operations, so as to optimize the effect of the intelligent walking device in performing cleaning operations on the area near the operation boundary during the border patrol cleaning operation, reduce the possibility of the intelligent walking device performing rework or manual operation, and achieve the purpose of improving the operation efficiency of the intelligent walking device.

[0336] Furthermore, in the embodiment of the present application, by adopting a scheme in which the connecting part 62 is constructed to rotate relative to the fixed seat 64, and the angle detection component 66 and the control component 67 are used in conjunction, the connecting part 62 can stop rotating relative to the fixed seat 64 when the rotation angle of the connecting part 62 relative to the fixed seat 64 reaches an angle threshold, thereby actively controlling the connecting part 62 to stop rotating relative to the fixed seat 64. Compared with passively controlling the connecting part 62 to stop rotating relative to the fixed seat 64 by abutment limiting means when the rotation angle of the connecting part 62 relative to the fixed seat 64 reaches an angle threshold, the possibility of damage to components in the working mechanism can be reduced, thereby extending the service life of the working mechanism.

[0337] In one possible implementation, the control component 67 is used to control the connection part 62 to stop rotating relative to the fixed seat 64 when the rotation angle indicated by the angle signal reaches a first angle threshold, so that the angle between the connection part 62 and the fixed seat 64 is within a first preset angle range, and is also used to control the connection part 62 to stop rotating relative to the fixed seat 64 when the rotation angle indicated by the angle signal reaches a second angle threshold, so that the angle between the connection part 62 and the fixed seat 64 is within a second preset angle range, the first angle threshold is less than the second angle threshold, the minimum angle in the first preset angle range is the same as the minimum angle in the second preset angle range, and the maximum angle in the first preset angle range is less than the maximum angle in the second preset angle range.

[0338] FIG36 is a cross-sectional view of a highlighted angle detection assembly according to an embodiment of the present application. As shown in FIG34 and FIG36 , in a possible implementation, the angle detection assembly 66 includes a magnetic encoder 661 and a magnetic block 662; the end portion of the connecting portion 62 connected to the fixing seat 64 is hinged to the fixing seat 64, and the magnetic encoder 661 and the magnetic block 662 are arranged at the hinge between the connecting portion 62 and the fixing seat 64; the magnetic encoder 661 is opposite to the magnetic block 662, the magnetic block 662 is fixedly connected to the fixing seat 64 and the magnetic encoder 661 is fixedly connected to the connecting portion 62, or the magnetic The encoder 661 is fixedly connected to the fixing seat 64 and the magnet 662 is fixedly connected to the connecting part 62; the magnet 662 is cylindrical, and the axis of the hinge between the connecting part 62 and the fixing seat 64 is the same as the central axis of the magnet 662; the magnetic encoder 661 is used to detect the rotation angle of the magnet 662 relative to the magnetic encoder 661, and generate an angle signal indicating the rotation angle of the magnet 662 relative to the magnetic encoder 661. The angle signal is the angle signal indicating the rotation angle of the connecting part 62 relative to the fixing seat 64, and the angle signal is sent to the control component 67.

[0339] Based on this, as shown in Figures 34 and 36, a specific embodiment may be that the connecting portion 62 is located outside one side of the fixed seat 64, and a first rotating shaft 63 is provided at the end where the connecting portion 62 is connected to the fixed seat 64. The first rotating shaft 63 passes through the fixed seat 64, and the fixed seat 64 is rotatably connected to the first rotating shaft 63 through rotating parts such as bearings. The first rotating shaft 63 includes a first end 631 and a second end 632. The first end 631 is fixedly connected to the connecting portion 62, and the second end 632 is located outside the side of the fixed seat 64 away from the connecting portion 62; the magnetic encoder 661 is opposite to the magnetic block 662, the magnetic block 662 is fixedly connected to the fixed seat 64 and the magnetic encoder 661 is fixedly connected to the second end 632, or the magnetic encoder 661 is fixedly connected to the fixed seat 64 and the magnetic block 662 is fixedly connected to the second end 632.

[0340] In the embodiment of the present application, as shown in FIG. 34 and FIG. 36 , the magnetic block 662 is a cylinder. Specifically, the magnetic block 662 may be in the shape of a pancake.

[0341] Since the magnetic encoder 661 is used to detect the relative rotation angle between the magnetic encoder 661 and the magnetic block 662 to determine the rotation angle of the connecting part 62 relative to the fixed seat 64, the rotation angle of the connecting part 62 relative to the fixed seat 64 can be determined in a contactless and frictionless manner, thereby improving the reliability of the angle detection component 66 and extending the service life of the angle detection component 66.

[0342] Specifically, as shown in Figures 34 and 36, the connecting part 62 includes multiple connecting rods; the multiple connecting rods are of the same length and parallel to each other, one end of the connecting rod is hinged to the fixed seat 64, and the other end of the connecting rod is hinged to the working part 61, the axis of the hinge between the connecting rod and the fixed seat 64 is parallel to the axis of the hinge between the connecting rod and the working part 61, different connecting rods are hinged to the fixed seat 64 with different axes, and different connecting rods are hinged to the working part 61 with different axes; the magnetic encoder 661 and the magnetic block 662 are arranged at the hinge between any connecting rod and the fixed seat 64, the magnetic block 662 is fixedly connected to the fixed seat 64 and the magnetic encoder 661 is fixedly connected to the any connecting rod, or the magnetic encoder 661 is fixedly connected to the fixed seat 64 and the magnetic block 662 is fixedly connected to the any connecting rod, and the axis of the hinge between any connecting rod and the fixed seat 64 is the same as the center axis of the magnetic block 662.

[0343] Based on this, as shown in Figures 35 and 36, a specific implementation method may be that multiple connecting rods are located outside one side of the fixed seat 64, and a first rotating shaft 63 is provided at the end of any connecting rod connected to the fixed seat 64. The first rotating shaft 63 passes through the fixed seat 64, and the fixed seat 64 and the first rotating shaft 63 are rotatably connected by rotating parts such as bearings. The first rotating shaft 63 includes a first end 631 and a second end 632. The first end 631 is fixedly connected to the any connecting rod, and the second end 632 is located outside the side of the fixed seat 64 away from the any connecting rod; the magnetic encoder 661 is opposite to the magnetic block 662, the magnetic block 662 is fixedly connected to the fixed seat 64 and the magnetic encoder 661 is fixedly connected to the second end 632, or the magnetic encoder 661 is fixedly connected to the fixed seat 64 and the magnetic block 662 is fixedly connected to the second end 632. If the connecting portion 62 includes a first connecting rod 621 and a second connecting rod 622 , then any one of the connecting rods is the first connecting rod 621 or the second connecting rod 622 . FIG. 36 shows any one of the connecting rods as the first connecting rod 621 .

[0344] FIG37 is a cross-sectional view of a highlighted angle detection assembly according to another embodiment of the present application. As shown in FIG34 and FIG37 , in another possible implementation, based on the solution that the connecting portion 62 includes multiple connecting rods, a magnetic encoder 661 and a magnetic block 662 are provided at the hinge of any connecting rod and the working portion 61, the magnetic encoder 661 is opposite to the magnetic block 662, the magnetic block 662 is fixedly connected to the working portion 61 and the magnetic encoder 661 is fixedly connected to the any connecting rod, or the magnetic encoder 661 is fixedly connected to the working portion 61. 1 and the magnet 662 is fixedly connected to any of the connecting rods; the magnet 662 is cylindrical, and the axis of the hinge connection between any of the connecting rods and the working part 61 is the same as the central axis of the magnet 662; the magnetic encoder 661 is used to detect the rotation angle of the magnet 662 relative to the magnetic encoder 661, generate an angle signal indicating the rotation angle of the magnet 662 relative to the magnetic encoder 661, and the angle signal is an angle signal indicating the rotation angle of the connecting part 62 relative to the fixed base 64, and send the angle signal to the control component 67. It should be noted that at this time, the angle sensor 60 in Figure 34 should be set at the hinge between the working part 61 and the first connecting rod 621, or at the hinge between the working part 61 and the second connecting rod 622.

[0345] Based on this, as shown in Figures 34 and 37, a specific implementation method can be that the working part 61 is located outside the side of the connecting rod away from the fixed seat 64, and the end of the working part 61 connected to any connecting rod is provided with a second rotating shaft 611, the second rotating shaft 611 passes through the any connecting rod, and the any connecting rod is rotatably connected to the second rotating shaft 611 through rotating parts such as bearings, the second rotating shaft 611 includes a third end 6111 and a fourth end 6112, the third end 6111 is fixedly connected to the working part 61, and the fourth end 6112 is located outside the side of the any connecting rod away from the working part 61; the magnetic encoder 661 is opposite to the magnetic block 662, the magnetic block 662 is fixedly connected to the any connecting rod and the magnetic encoder 661 is fixedly connected to the fourth end 6112, or the magnetic encoder 661 is fixedly connected to the any connecting rod and the magnetic block 662 is fixedly connected to the fourth end 6112. If the connecting portion 62 includes a first connecting rod 621 and a second connecting rod 622 , then any one of the connecting rods is the first connecting rod 621 or the second connecting rod 622 . FIG. 37 shows any one of the connecting rods as the first connecting rod 621 .

[0346] Due to the adoption of a multiple connecting rod solution, the working part 61 will also rotate synchronously relative to the connecting rod during the process of rotating the connecting rod relative to the fixed seat 64, so that the distance between the working part 61 and the fixed seat 64 changes during the process of rotating the connecting rod relative to the fixed seat 64, but the angle between the working part 61 and the fixed seat 64 does not change. For example, if the length direction of the working part 61 is set to be parallel to the length direction of the fuselage 60, the length direction of the working part 61 can basically remain parallel to the length direction of the fuselage 60 during the process of rotating the connecting rod relative to the fixed seat 64, so that the angle at which the object to be cleaned enters the working part 61 is relatively fixed, which can make the structure of the specific components used for cleaning operations such as the mowing disc or sweeping disc in the working part 61 relatively simple, facilitate the production of the working mechanism, and reduce costs.

[0347] Based on the solution in which the connecting portion 62 includes multiple connecting rods, the control assembly 67 may include an elastic reset member 671, a driving portion 672, and a limiting member 673. Based on this, the driving portion 672 may be mounted on the fixing seat 64, the working portion 61, or the connecting rod, as follows:

[0348] FIG38 is a schematic diagram of a working mechanism of an embodiment of the present application in which the working portion is in a retracted state. As shown in FIG34 and FIG38 , in one possible implementation, the driving portion 672 can be mounted on the fixed seat 64: the elastic return member 671 is connected between the connecting rod and the fixed seat 64, or between the connecting rod and the working portion 61, and the elastic return member 671 is in a compressed state. When the angle between the connecting rod and the fixed seat 64 increases, the degree of compression of the elastic return member 671 decreases; the driving portion 672 is a motor, the stator portion of the driving portion 672 is fixedly connected to the fixed seat 64, and the axis of the hinge connection between the fixed seat 64 and any connecting rod is the same as the axis of the output shaft of the driving portion 672; the spacing between the limit member 673 and the rotation axis of the output shaft is greater than zero, the limit member 673 is fixedly connected to the output shaft, and the limit member 673 abuts against any connecting rod, and the limit member 673 is used to prevent the degree of compression of the elastic return member 671 from decreasing.

[0349] As shown in Figures 34 and 38, the drive unit 672 is configured to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a first angle threshold after the output shaft of the drive unit 672 begins to rotate, thereby maintaining the angle between the connecting rod and the fixed seat 64 within a first preset angle range. The drive unit 672 is also configured to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a second angle threshold after the output shaft of the drive unit 672 begins to rotate, thereby maintaining the angle between the connecting rod and the fixed seat 64 within a second preset angle range. The motor in the embodiment of the present application may be a self-locking motor, for example, and controlling the output shaft to stop rotating causes the self-locking motor to initiate self-locking.

[0350] In an embodiment of the present application, as shown in Figures 34 and 38, the connecting portion 62 includes two connecting rods, which are a first connecting rod 621 and a second connecting rod 622; the elastic return member 671 can be arranged between the first connecting rod 621 and the fixed seat 64, or between the second connecting rod 622 and the fixed seat 64, or between the first connecting rod 621 and the working portion 61, or between the second connecting rod 622 and the working portion 61. The embodiment of the present application does not limit this. The following description assumes that the elastic return member 671 is arranged between the first connecting rod 621 and the fixed seat 64.

[0351] As shown in Figures 34 and 38, the elastic return member 671 can be an elastic body, such as a torsion spring, a rubber block, or a spring. Preferably, the elastic return member 671 is a torsion spring, which includes two pins, one of which is fixedly connected to or abuts the first connecting rod 621, and the other of which is fixedly connected to or abuts the fixing seat 64. For example, a first baffle 6211 is fixedly connected to the first connecting rod 621, and a second baffle 643 is fixedly connected to the fixing seat 64. The torsion spring is sleeved on the outside of the first rotating shaft 63, and one of the pins of the torsion spring abuts the first baffle 6211, and the other of which abuts the second baffle 643.

[0352] As shown in Figures 34 and 38, the axis of the hinge between the fixing seat 64 and the second connecting rod 622 is the same as the axis of the output shaft of the driving part 672. A first avoidance hole 65 is provided on the fixing seat 64. The projection of the first avoidance hole 65 on a plane parallel to the fixing seat 64 is an arc shape. The center of the first avoidance hole 65 is on the output shaft of the driving part 672. The limiter 673 is in the shape of a slat. The embodiment of the present application does not limit the specific shapes of the first avoidance hole 65 and the limiter 673. The limiter 673 is parallel to the output shaft of the driving part 672. One end of the limiter 673 is fixedly connected to the output shaft and the distance between the limiter 673 and the output shaft is greater than zero. The other end of the limiter 673 passes through the fixing seat 64 through the first avoidance hole 65 and abuts against the side of the second connecting rod 622 close to the first connecting rod 621.

[0353] The first angle threshold may be greater than or equal to 0 degrees, and the first angle threshold may be less than 90 degrees, the second angle threshold may be greater than 0 degrees and less than 90 degrees, the second angle threshold is greater than the first angle threshold, for example, the first angle threshold is 0 degrees and the second angle threshold is 30 degrees, or, the first angle threshold is 0 degrees and the second angle threshold is 60 degrees, or, the first angle threshold is 20 degrees and the second angle threshold is 60 degrees, etc.

[0354] FIG39 is a schematic diagram of an intelligent walking device with a working portion in a retracted state according to an embodiment of the present application. As shown in FIG38 and FIG39 , when the working portion 61 is in the retracted state, the angle detected by the magnetic encoder 661 is a first angle threshold. To adjust the working portion 61 to the extended state, the output shaft of the driving portion 672 can be controlled to rotate forward to drive the limit member 673 away from the second connecting rod 622. At this time, due to the compression of the torsion spring, the torsion spring pushes the second connecting rod 622 toward the limit member 673. Simultaneously, the angles between the first connecting rod 621 and the fixed seat 64, and between the second connecting rod 622 and the fixed seat 64, gradually increase, causing the working portion 61 to move away from the fixed seat 64. When the rotation angle indicated by the angle signal reaches the second angle threshold, the output shaft of the driving portion 672 stops rotating, and the working portion 61 is now in the extended state.

[0355] As shown in Figures 34 and 35, when the working part 61 is in the extended state, if the working part 61 is to be adjusted to the retracted state, the output shaft of the driving part 672 can be controlled to rotate in the opposite direction to drive the limit member 673 to move in the direction of squeezing the second link 622. At this time, the angle between the first link 621 and the fixed seat 64 and the angle between the second link 622 and the fixed seat 64 will gradually become smaller, so that the working part 61 moves toward the direction close to the fixed seat 64, until the rotation angle indicated by the angle signal reaches the first angle threshold, the output shaft of the driving part 672 stops rotating, and the working part 61 is in the retracted state.

[0356] As shown in Figures 39 and 40, when the working part 61 is in the extended state, the fuselage 60 can move to perform border patrol and cleaning operations. At this time, the fuselage 60 will drive the fixed seat 64 to move in a direction parallel to the moving direction of the fuselage 60, and then drive the working part 61 to move in a direction parallel to the moving direction of the fuselage 60. At this time, even if the distance between the fuselage 60 and the boundary is large, the working part 61 can still clean the area between the fuselage 60 and the boundary, optimize the operating effect of the border patrol and cleaning operation, expand the operating area, reduce the possibility of rework and manual work, and improve operating efficiency.

[0357] The minimum angle of the first angle preset range is the first angle threshold or less than the first angle threshold, the maximum angle of the first angle preset range is the first angle threshold, the minimum angle of the second angle preset range is the same as the minimum angle of the first angle preset range, and the maximum angle of the second angle preset range is the second angle threshold.

[0358] In one example, as shown in Figures 34 and 38 , the hole walls at both ends of the first avoidance hole 65 along the longitudinal direction parallel to the fixing seat 64 are respectively a fifth end 641 and a sixth end 642. When the working portion 61 switches from the retracted state to the extended state, the limiter 673 abuts against the fifth end 641, and when the working portion 61 switches from the extended state to the retracted state, the limiter 673 abuts against the sixth end 642. Based on this, the minimum angle of the first angle preset range is the first angle threshold. For example, if the first angle threshold is 0 degrees, the minimum angle of the first angle preset range is 0 degrees.

[0359] In another example, as shown in Figures 34 and 38 , the hole walls of the first avoidance hole 65 at both ends of a length direction parallel to the fixing seat 64 are respectively a fifth end 641 and a sixth end 642, wherein the length direction is the length direction of the dotted line t in Figure 34 . When the working portion 61 switches from the retracted state to the extended state, the distance between the stopper 673 and the fifth end 641 along the length direction is a first distance, and the distance between the stopper 673 and the sixth end 642 along the length direction is a second distance. When the working portion 61 switches from the extended state to the retracted state, the distance between the stopper 673 and the fifth end 641 along the length direction is a third distance, and the distance between the stopper 673 and the sixth end 642 along the length direction is a fourth distance. The third distance is greater than the first distance, the second distance is greater than the fourth distance, and both the first distance and the fourth distance are greater than 0. Based on this, the minimum angle of the first preset angle range is the rotation angle of the magnet block 662 relative to the magnetic encoder 661 detected by the magnetic sensor when the stopper 673 abuts the fifth end 641. At this time, the minimum angle of the first preset angle range is less than the first angle threshold. For example, if the first angle threshold is 5 degrees, the minimum angle of the first preset angle range is 0 degrees.

[0360] When the working part 61 is in the extended state, the working part 61 moves in a direction parallel to the moving direction of the fuselage 60. If there is an immovable obstacle in front of the working part 61, the fuselage 60 will continue to move forward after the working part 61 touches the obstacle. At this time, the angle between the connecting rod and the fixed seat 64 will become smaller within the second preset angle range, that is, the working part 61 will move in the direction close to the fixed seat 64 due to the thrust of the obstacle until the obstacle does not block the advancement of the working part 61. At this time, the working part 61 can continue to move forward along the obstacle to perform operations, which can reduce the possibility of the intelligent walking device being trapped and damaged during operation.

[0361] When the working part 61 is in the retracted state, if the working part 61 is subjected to a force that reduces the angle between the connecting rod and the fixed seat 64 due to external forces such as collision, the angle between the connecting rod and the fixed seat 64 can be reduced within the first preset angle range until the angle between the connecting rod and the fixed seat 64 reaches the minimum angle within the first preset angle range, thereby reducing the possibility of damage to the working mechanism due to bumps and the like when the working part 61 is in the retracted state.

[0362] In another possible implementation, the driving part 672 can be installed on the working part 61: the elastic return member 671 is connected between the connecting rod and the fixed seat 64, or between the connecting rod and the working part 61, and the elastic return member 671 is in a compressed state. When the angle between the connecting rod and the fixed seat 64 becomes larger, the compression degree of the elastic return member 671 becomes smaller; the driving part 672 is a motor, and the stator part of the driving part 672 is fixedly connected to the working part 61, and the axis of the hinge between the working part 61 and any connecting rod is the same as the axis of the output shaft of the driving part 672; the distance between the limit member 673 and the rotation axis of the output shaft is greater than zero, the limit member 673 is fixedly connected to the output shaft, the limit member 673 abuts against any connecting rod, and the limit member 673 is used to prevent the compression degree of the elastic return member 671 from becoming smaller.

[0363] The driving unit 672 is used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a first angle threshold after the output shaft of the driving unit 672 starts to rotate, so that the angle between the connecting rod and the fixed seat 64 is within a first preset angle range. The driving unit 672 is also used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a second angle threshold after the output shaft of the driving unit 672 starts to rotate, so that the angle between the connecting rod and the fixed seat 64 is within a second preset angle range.

[0364] In the embodiment of the present application, similar to the above-mentioned driving part 672 being installed on the fixing seat 64, the driving part 672 can also be installed on the working part 61. Based on this, if the axis of the hinge between the working part 61 and the first connecting rod 621 is the same as the axis of the output shaft of the driving part 672, the limiting member 673 can abut against the side of the first connecting rod 621 close to the second connecting rod 622. If the axis of the hinge between the working part 61 and the second connecting rod 622 is the same as the axis of the output shaft of the driving part 672, the limiting member 673 can abut against the side of the second connecting rod 622 away from the first connecting rod 621. In addition, the first avoidance hole 65 can be opened on the working part 61.

[0365] In another possible implementation, the driving portion 672 can be installed on the connecting rod: the elastic return member 671 is connected between the connecting rod and the fixed seat 64, or between the connecting rod and the working portion 61, and the elastic return member 671 is in a compressed state. When the angle between the connecting rod and the fixed seat 64 becomes larger, the compression degree of the elastic return member 671 becomes smaller; the driving portion 672 is a motor, the stator part of the driving portion 672 is fixedly connected to any connecting rod, the axis of the hinge between the working portion 61 and any connecting rod is the same as the axis of the output shaft of the driving portion 672, or the axis of the hinge between the fixed seat 64 and any connecting rod is the same as the axis of the output shaft of the driving portion 672; the distance between the limiting member 673 and the rotation axis of the output shaft is greater than zero, the limiting member 673 is fixedly connected to the output shaft, the limiting member 673 abuts against the working portion 61, or the limiting member 673 abuts against the fixed seat 64, and the limiting member 673 is used to prevent the compression degree of the elastic return member 671 from becoming smaller;

[0366] The driving unit 672 is used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a first angle threshold after the output shaft of the driving unit 672 starts to rotate, so that the angle between the connecting rod and the fixed seat 64 is within a first preset angle range. The driving unit 672 is also used to control the output shaft to stop rotating when the rotation angle indicated by the angle signal reaches a second angle threshold after the output shaft of the driving unit 672 starts to rotate, so that the angle between the connecting rod and the fixed seat 64 is within a second preset angle range, the first angle threshold is smaller than the second angle threshold, the minimum angle in the first preset angle range is the same as the minimum angle in the second preset angle range, and the maximum angle in the first preset angle range is smaller than the maximum angle in the second preset angle range.

[0367] In the embodiment of the present application, similar to the above-mentioned installation of the driving portion 672 on the fixing seat 64 and the installation of the driving portion 672 on the working portion 61 , the driving portion 672 can also be installed on the connecting rod.

[0368] Based on this, if the axis at which the working part 61 is hinged to the first connecting rod 621 is the same as the axis at which the output shaft of the driving part 672 is hinged, or the axis at which the fixed seat 64 is hinged to the first connecting rod 621 is the same as the axis at which the output shaft of the driving part 672 is hinged, then the first avoidance hole 65 can be set on the first connecting rod 621; if the axis at which the working part 61 is hinged to the second connecting rod 622 is the same as the axis at which the output shaft of the driving part 672 is hinged, or the axis at which the fixed seat 64 is hinged to the second connecting rod 622 is the same as the axis at which the output shaft of the driving part 672 is hinged, then the first avoidance hole 65 can be set on the second connecting rod 622.

[0369] If the axis at which the working part 61 is hinged to the first connecting rod 621 is the same as the axis of the output shaft of the driving part 672, or the axis at which the working part 61 is hinged to the second connecting rod 622 is the same as the axis of the output shaft of the driving part 672, then the limit member 673 can abut against the working part 61; if the axis at which the fixed seat 64 is hinged to the first connecting rod 621 is the same as the axis of the output shaft of the driving part 672, or the axis at which the fixed seat 64 is hinged to the second connecting rod 622 is the same as the axis of the output shaft of the driving part 672, then the limit member 673 can abut against the fixed seat 64.

[0370] In one possible implementation, the connecting portion 62 may include two connecting rods. For example, as shown in FIG34 , the connecting portion 62 includes a first connecting rod 621 and a second connecting rod 622 . In this case, the number of connecting rods is small, which can improve the production efficiency of the working mechanism and save costs.

[0371] The embodiments of the present application also provide an intelligent walking device, which is described in detail below through multiple embodiments.

[0372] As shown in FIG. 35 and FIG. 39 , the intelligent walking device includes a working mechanism and a body 60 . The working mechanism may be the working mechanism of any embodiment of the present application.

[0373] The working mechanism includes a connecting portion 62, a fixing base 64, a working portion 61, an angle detection assembly 66, and a control assembly 67. The fixing base 64 is fixedly connected to the fuselage 60. One end of the connecting portion 62 is connected to the fixing base 64, and the other end of the connecting portion 62 is connected to the working portion 61. The connecting portion 62 is configured to rotate relative to the fixing base 64 to drive the working portion 61 to move relative to the fixing base 64. The angle detection assembly 66 is used to detect the rotation angle of the connecting portion 62 relative to the fixing base 64 and send an angle signal indicating the rotation angle to the control assembly 67.

[0374] a control assembly 67 for controlling the connection portion 62 to stop rotating relative to the fixing seat 64 when the rotation angle indicated by the angle signal reaches a first angle threshold, so that the angle between the connection portion 62 and the fixing seat 64 is within a first preset angle range; and further for controlling the connection portion 62 to stop rotating relative to the fixing seat 64 when the rotation angle indicated by the angle signal reaches a second angle threshold, so that the angle between the connection portion 62 and the fixing seat 64 is within a second preset angle range, the first angle threshold is less than the second angle threshold, the minimum angle in the first preset angle range is the same as the minimum angle in the second preset angle range, and the maximum angle in the first preset angle range is less than the maximum angle in the second preset angle range;

[0375] When the angle between the connecting portion 62 and the fixing seat 64 is equal to the maximum angle in the first preset angle range, the distance between the working portion 61 and the fuselage 60 is the first distance. When the angle between the connecting portion 62 and the fixing seat 64 is equal to the maximum angle in the second preset angle range, the maximum distance between the working portion 61 and the fuselage 60 is the second distance, and the second distance is greater than the first distance.

[0376] In one possible implementation, the connecting portion 62 includes a plurality of connecting rods, each of which has the same length and is parallel to one another. One end of the connecting rod is hinged to the fixing seat 64, and the other end of the connecting rod is hinged to the working portion 61. The axis of the hinge between the connecting rod and the fixing seat 64 is parallel to the axis of the hinge between the connecting rod and the working portion 61. Different connecting rods are hinged to the fixing seat 64 on different axes, and different connecting rods are hinged to the working portion 61 on different axes. Based on this:

[0377] When the angle between the connecting rod and the fixing seat 64 is equal to the maximum angle in the first preset angle range, the distance between the working part 61 and the fuselage 60 is the first distance. When the angle between the connecting rod and the fixing seat 64 is equal to the maximum angle in the second preset angle range, the maximum distance between the working part 61 and the fuselage 60 is the second distance, and the second distance is greater than the first distance.

[0378] The distance between the working portion 61 and the body 60 can be the distance between the edge of the working portion 61 near the working boundary and the edge of the body 60 near the working boundary, projected onto a target plane during the intelligent walking device's border patrol operation. The target plane is a plane perpendicular to the axis of rotation of the connecting rod relative to the fixed base 64. For example, L in FIG35 represents the distance between the working portion 61 and the body 60. When the working portion 61 is in the retracted state, the distance between the working portion 61 and the body 60 is a first distance. When the working portion 61 is in the extended state, the distance between the working portion 61 and the body 60 is a second distance. The specific values ​​of the first and second distances can be preset based on operational requirements. For example, the first distance can be 0, and the second distance can be 50 cm or the same as the width of the working portion 61. Furthermore, the distance between the working portion 61 and the body 60 can also be the distance between the center point of the working portion 61 and the center point of the body 60, or the distance between the working portion 61 and the body 60, which is not limited in this embodiment of the present application.

[0379] When the maximum distance between the working part 61 and the fuselage 60 is the second distance, that is, when the working part 61 is in the extended state, the fuselage 60 can move to perform edge patrol and cleaning operations. At this time, the fuselage 60 will drive the fixed seat 64 to move in a direction parallel to the moving direction of the fuselage 60, and then drive the working part 61 to move in a direction parallel to the moving direction of the fuselage 60. At this time, even if the distance between the fuselage 60 and the boundary is large, the working part 61 can still clean the area between the fuselage 60 and the boundary, optimize the operating effect of the edge patrol and cleaning operation, expand the operating area, reduce the possibility of rework and manual work, and improve operating efficiency.

[0380] In one possible implementation, as shown in Figures 34, 35 and 39, the control component 67 is used to send an avoidance signal to the fuselage 60 when the rotation angle indicated by the angle signal reaches the second angle threshold and the connecting part 62 stops rotating relative to the fixed seat 64, that is, the output shaft of the driving part 672 is in a stopped rotation state. If an angle signal is received indicating that the indicated rotation angle is less than a third angle threshold, the avoidance signal is sent. The third angle threshold is greater than the first angle threshold and less than the second angle threshold. The avoidance signal is used to instruct the walking mechanism installed on the fuselage 60 to move in a direction away from the working part 61, so as to drive the fuselage 60 to move in a direction away from the working part 61.

[0381] The control component 67 is also used to send a stop avoidance signal to the fuselage 60 after sending an avoidance signal to the fuselage 60. If an angle signal is received indicating that the indicated rotation angle is greater than or equal to a third angle threshold, the stop avoidance signal is used to instruct the walking mechanism to stop moving in a direction away from the working part 61, so that the fuselage 60 stops moving in a direction away from the working part 61.

[0382] In an embodiment of the present application, the control component 67 may be connected to a processor, and the control component 67 may include a movement control. Based on this, when the rotation angle indicated by the angle signal reaches a second angle threshold, and the output shaft of the driving unit 672 is in a stopped rotation state, that is, when the working unit 61 is in an extended state, the working unit 61 moves in a direction parallel to the forward direction of the fuselage 60. If there is an immovable obstacle in front of the working unit 61, the working unit 61 will continue to move forward after touching the obstacle. At this time, the angle between the connecting rod and the fixing seat 64 will become smaller within the second preset angle range. For example, Figure 40 shows the intelligent walking of the working unit when it touches an obstacle in an embodiment of the present application. As shown in FIG40 , a schematic diagram of the device illustrates that the working portion 61 will move toward the fixed base 64 due to the thrust of an obstacle until the magnetic encoder 661 detects an angle signal less than a third angle threshold. At this point, the processor sends a control signal to the mobile control, causing the mobile control to control the walking mechanism to drive the body 60 in a direction away from the working portion, thereby increasing the angle between the connecting rod and the fixed base 64 within a second preset angle range. At this point, the working portion 61 can continue to move forward against the obstacle to perform operations, and the pressure exerted by the obstacle on the working portion 61 is reduced, that is, the friction between the obstacle and the working portion 61 is reduced, thereby reducing the possibility of the intelligent walking device becoming trapped or damaged during operation. The walking mechanism can be a chassis or base including rollers mounted below the body.

[0383] In one possible implementation, the control component 67 is configured to, when the rotation angle indicated by the angle signal reaches the second angle threshold and the connecting portion 62 stops rotating relative to the fixing seat 64, i.e., the output shaft of the driving portion 672 is in a stopped rotation state, send an extension signal to the body 60 if an angle signal indicating a rotation angle greater than a fourth angle threshold is received, the fourth angle threshold being greater than the first angle threshold and less than the second angle threshold. The extension signal is configured to instruct the traveling mechanism mounted on the body 60 to move toward the working portion 61, thereby driving the body 60 to move toward the working portion 61.

[0384] The control component 67 is also used to send a stop expansion signal to the fuselage 60 after sending an expansion signal to the fuselage 60. If an angle signal is received indicating that the indicated rotation angle is less than or equal to the fourth angle threshold, the stop expansion signal is used to instruct the driving walking mechanism to stop moving in the direction approaching the working part 61, so that the fuselage 60 stops moving in the direction approaching the working part 61.

[0385] In an embodiment of the present application, the control component 67 can be connected to a processor, and the fuselage 60 includes a mobile control connected to the walking mechanism. Based on this, when the rotation angle indicated by the angle signal reaches the second angle threshold and the output shaft of the driving part 672 is in a stopped rotation state, that is, when the working part 61 is in an extended state, the working part 61 moves in a direction parallel to the forward direction of the fuselage 60. If there is no obstacle in front of the working part 61 or the obstacle is far away from the fuselage 60, the angle between the connecting rod and the fixed seat 64 is greater than the fourth angle threshold. At this time, the processor will send an expansion signal to the mobile control, and then the mobile control will control the walking mechanism to drive the fuselage 60 to move in a direction close to the working part 61 until the obstacle is removed, that is, the control component 67 receives an angle signal indicating that the indicated rotation angle is less than or equal to the fourth angle threshold; furthermore, in the process of the intelligent walking device performing border patrol and cleaning operations, the cleaning can be expanded outward as much as possible to optimize the effect of cleaning operations near the physical boundary.

[0386] In one possible implementation, the control component 67 is further configured to, after sending the expansion signal to the body 60, send a stop expansion signal to the body 60 if the distance the body 60 moves toward the working portion 61 is greater than a preset distance. The preset distance may be 10 cm, 5 cm, or 20 cm, and the specific value of the preset distance is not limited in this embodiment of the present application.

[0387] In the embodiment of the present application, starting from the moment the mobile control receives the expansion signal and before the control component 67 receives an angle signal indicating a rotation angle less than or equal to the fourth angle threshold, the processor can detect the distance that the body 60 has moved toward the working portion 61 and determine whether the distance is greater than a preset distance. If the distance is greater than the preset distance, the processor can send a stop expansion signal to the walking mechanism via the control component 67. This can reduce the possibility of the body 60 moving too far toward the working portion 61, thereby reducing damage to the intelligent walking device due to falls and other reasons, and ensuring the safety of the intelligent walking device to the greatest extent possible.

[0388] In one possible implementation, the intelligent walking device includes a processor configured to obtain a map of an operating area of ​​the intelligent walking device, and determine a patrol operation path for the intelligent walking device to operate along a boundary of the operating area according to the operating area indicated by the map;

[0389] The processor is also used to correct the operation area map according to the rotation angle and rotation radius of the connecting part 62 relative to the fixing seat 64 when the intelligent walking device is operating according to the border patrol operation path, so as to correct the operation area.

[0390] Before the intelligent walking device performs border patrol and cleaning operations, the intelligent walking device can be manually remotely controlled to move along the boundary of the area to be operated, or the intelligent walking device can be automatically moved along the boundary of the area to be operated using its own recognition function to collect the location information of multiple path points. Based on the collected location information, an operation area map indicating the operation area can be obtained. The operation area map can also be directly obtained from an existing electronic map. The embodiment of the present application does not limit the specific method of obtaining the operation area map.

[0391] After the processor obtains the map of the work area, the processor can determine the border patrol operation path based on the boundary of the work area. For example, the line obtained by shrinking the boundary of the work area inward by half the width of the fuselage 60 is used as the border patrol operation path. The embodiment of the present application does not limit the specific method of determining the border patrol operation path.

[0392] Then, while the intelligent walking device is operating along the patrol path, the processor can modify the work area map based on the rotation angle and rotation radius of the connection portion 62 relative to the fixed base 64 to correct the work area. For example, if the angle detection component 66 detects that the rotation angle of the connection portion 62 relative to the fixed base 64 is small, the position of the boundary of the work area corresponding to the current location of the intelligent walking device is contracted into the work area. If the angle detection component 66 detects that the rotation angle of the connection portion 62 relative to the fixed base 64 is large, the position of the boundary of the work area corresponding to the current location of the intelligent walking device is expanded outside the work area to correct the work area, thereby correcting the work area and thus correcting the work area map.

[0393] In one possible implementation, the processor is further configured to correct the edge patrol operation path based on the rotation angle and rotation radius of the connecting portion 62 relative to the fixing base 64 while the intelligent walking device is operating along the edge patrol operation path. For example, after the processor shrinks a boundary segment of the operation area into the original operation area based on the rotation angle and rotation radius of the connecting portion 62 relative to the fixing base 64, the portion of the edge patrol operation path corresponding to the boundary segment may be shrunk inward to correct the edge patrol operation path.

[0394] The embodiments of the present application also provide a control method, which is described in detail below through multiple embodiments.

[0395] The control method is applied to a working mechanism including a connecting portion 62 and a fixing seat 64, and the working mechanism is applied to an intelligent walking device. Specifically, the working mechanism can be the working mechanism in any embodiment of the present application, and the control method can be applied to the control component 67 included in the working mechanism.

[0396] The control method includes:

[0397] When the rotation angle indicated by the angle signal reaches the angle threshold, the connection part 62 is controlled to stop rotating relative to the fixed seat 64 so that the angle between the connection part 62 and the fixed seat 64 is within the preset angle range, wherein the working mechanism also includes a working part 61 and an angle detection component 66, one end of the connection part 62 is connected to the fixed seat 64, and the other end of the connection part 62 is connected to the working part 61, and the connection part 62 is constructed to rotate relative to the fixed seat 64 to drive the working part 61 to move relative to the fixed seat 64. The rotation angle indicated by the angle signal is the rotation angle of the connection part 62 relative to the fixed seat 64, and the angle detection component 66 is used to detect the rotation angle and generate an angle signal.

[0398] In one possible implementation, when the rotation angle indicated by the angle signal reaches the angle threshold, controlling the connecting portion 62 to stop rotating relative to the fixing base 64 so that the angle between the connecting portion 62 and the fixing base 64 is within a preset angle range includes:

[0399] When the rotation angle indicated by the angle signal reaches a first angle threshold, the connecting portion 62 is controlled to stop rotating relative to the fixing base 64 so that the angle between the connecting portion 62 and the fixing base 64 is within a first preset angle range;

[0400] When the rotation angle indicated by the angle signal reaches a second angle threshold, the connection part 62 is controlled to stop rotating relative to the fixing seat 64 so that the angle between the connection part 62 and the fixing seat 64 is within a second preset angle range, wherein the first angle threshold is smaller than the second angle threshold, the minimum angle in the first preset angle range is the same as the minimum angle in the second preset angle range, and the maximum angle in the first preset angle range is smaller than the maximum angle in the second preset angle range.

[0401] In one possible implementation, when the angle between the connecting portion 62 and the fixing seat 64 is equal to the maximum angle in the first preset angle range, the distance between the working portion 61 and the body 60 included in the intelligent walking device is a first distance; when the angle between the connecting portion 62 and the fixing seat 64 is equal to the maximum angle in the second preset angle range, the maximum distance between the working portion 61 and the body 60 is a second distance, and the second distance is greater than the first distance.

[0402] In a possible implementation, the control method further includes:

[0403] When the rotation angle indicated by the angle signal reaches the second angle threshold and the connecting portion 62 stops rotating relative to the fixing base 64, if an angle signal indicating a rotation angle less than a third angle threshold is received, a avoidance signal is sent to the fuselage 60. The third angle threshold is greater than the first angle threshold and less than the second angle threshold. The avoidance signal is used to instruct the traveling mechanism installed on the fuselage 60 to move in a direction away from the working portion 61, thereby driving the fuselage 60 to move in a direction away from the working portion 61.

[0404] After sending an avoidance signal to the fuselage 60, if an angle signal is received indicating that the indicated rotation angle is greater than or equal to the third angle threshold, a stop avoidance signal is sent to the fuselage 60. The stop avoidance signal is used to instruct the walking mechanism to stop moving in the direction away from the working part 61, so that the fuselage 60 stops moving in the direction away from the working part 61.

[0405] In a possible implementation, the control method further includes:

[0406] When the rotation angle indicated by the angle signal reaches the second angle threshold and the connecting portion 62 stops rotating relative to the fixing base 64, if an angle signal indicating a rotation angle greater than a fourth angle threshold is received, an extension signal is sent to the body 60. The fourth angle threshold is greater than the first angle threshold and less than the second angle threshold. The extension signal is used to instruct the traveling mechanism installed on the body 60 to move in a direction approaching the working portion 61, thereby driving the body 60 to move in a direction approaching the working portion 61.

[0407] After sending an expansion signal to the fuselage 60, if an angle signal is received indicating that the indicated rotation angle is less than or equal to the fourth angle threshold, a stop expansion signal is sent to the fuselage 60. The stop expansion signal is used to instruct the walking mechanism to stop moving in the direction approaching the working part 61, so that the fuselage 60 stops moving in the direction approaching the working part 61.

[0408] In a possible implementation, the control method further includes:

[0409] After the expansion signal is sent to the body 60 , if the distance the body 60 moves toward the working portion 61 is greater than a preset distance, a stop expansion signal is sent to the body 60 .

[0410] 41 to 45 , the present application further provides an intelligent walking device, comprising a body 70, a working mechanism 71, a connecting mechanism 72, a limiter 741, and a position detection mechanism 75; one end of the connecting mechanism 72 is pivotally connected to the body 70, and the other end is connected to the working mechanism 71, and the connecting mechanism 72 can drive the working mechanism 71 to reciprocate between a retracted position and a released position; when the working mechanism 71 is in the retracted position, the centerline of the working mechanism 71 and the body 70 are separated by a first distance P1; when the connecting mechanism 72 is in the released position, the centerline of the working mechanism 71 and the body 70 are separated by a second distance P2, and the first distance P1 is less than the second distance P2;

[0411] The limiting member 741 abuts against the connecting mechanism 72 and can reciprocate between the avoidance position and the stop position. When the limiting member 741 is in the avoidance position, the connecting mechanism 72 is allowed to drive the working mechanism 71 to reciprocate between the release position and the retracted position. During the movement of the limiting member 741 from the avoidance position toward the stop position, the limiting member 741 can drive the connecting mechanism 72 to move so as to drive the working mechanism 71 from the release position to the retracted position; the position detection mechanism 75 can detect the working mechanism 71. Whether the working mechanism 71 reaches the retracted position, when the working mechanism 71 reaches the retracted position, the position detection mechanism 75 generates a first arrival signal, and the limit member 741 stops driving the connecting mechanism according to the first arrival signal and stays at the stop position, and / or, the position detection mechanism 75 can detect whether the working mechanism 71 reaches the release position, when the working mechanism 71 reaches the release position, the position detection mechanism 75 generates a second arrival signal, and the limit member 741 stays at the avoidance position according to the second arrival signal.

[0412] The center line of the body 70 may refer to the center line of the body in the width or length direction of the intelligent walking device.

[0413] The projection of the working mechanism 71 toward the ground refers to the projection of the working mechanism 71 toward the ground along the height direction of the intelligent walking device. Similarly, the projection of the fuselage 70 toward the ground refers to the projection of the fuselage 70 toward the ground along the height direction of the intelligent walking device. Regarding the height direction of the intelligent walking device, it can be understood that if the ground is parallel to the horizontal plane, then the height direction of the intelligent walking device is parallel to the direction of gravity; if the ground is an inclined plane, that is, it has a preset angle β with the horizontal plane, then the height direction of the intelligent walking device has an angle with the direction of gravity, and this angle is equal to the preset angle β.

[0414] The relative positional relationship between the working mechanism 71 and the fuselage 70 can be:

[0415] When the working mechanism 71 is in the retracted position, at least a portion of the projection of the working mechanism 71 toward the ground lies within the projection of the body 70 toward the ground. This means that at least a portion of the projection of the working mechanism 71 toward the ground overlaps with the projection of the body 70 toward the ground. Thus, when the working mechanism 71 is in the retracted position, at least a portion of the working mechanism 71 is hidden in the space between the body 70 and the ground, or at least a portion of the working mechanism 71 is hidden within the body 70. In the ultimate state, the working mechanism 71 is completely hidden in the space between the body 70 and the ground, or hidden within the body 70. This can reduce the overall dimensions of the intelligent walking device, making it easier to store and reducing the risk of the working mechanism 71 being bumped. As shown in Figure 45 , when the working mechanism 71 is in the retracted position, the projection of the working mechanism 71 toward the ground lies entirely within the projection of the body toward the ground, and the distance between the working mechanism 71 and the centerline of the body 70 is P1.

[0416] When the working mechanism 71 is in the release position, the ground projection of the working mechanism 71 may still be within the ground projection of the fuselage 70, or at least a portion of the ground projection of the working mechanism 71 may be outside the ground projection of the fuselage 70. Regarding at least a portion of the ground projection of the working mechanism 71 being outside the ground projection of the fuselage 70, it can be understood that at least a portion of the ground projection of the working mechanism 71 and the ground projection of the fuselage 70 do not overlap. Thus, when the working mechanism 71 is in the release position, at least a portion of the ground projection of the working mechanism 71 extends outside the fuselage 70 in the width or length direction of the intelligent walking device. In the extreme state, the entire ground projection of the working mechanism 71 is outside the ground projection of the fuselage 70, that is, the working mechanism 71 and the fuselage 70 are spaced apart in the width or length direction of the intelligent walking device. As shown in FIG. 42 , when the working mechanism 71 is in the release position, the ground projection of the working mechanism 71 is entirely outside the ground projection area of ​​the fuselage, and the distance between the working mechanism 71 and the centerline of the fuselage 70 is P2.

[0417] Through the above technical solution, first, under the action of the power mechanism 73, the working mechanism 71 can be moved to the release position to perform the corresponding action on the target object. Then, when the working mechanism 71 encounters an obstacle, the working mechanism 71 and the connecting mechanism 72 are pushed against the obstacle, pivoting toward the body 70 together, thereby avoiding the obstacle. Furthermore, the working mechanism 71 can be restrained in the retracted position by the limiter 741 and the connecting mechanism 72, thereby concealing the working mechanism 71. The position detection mechanism 75 can also perform position detection. When the working mechanism 71 is driven to the retracted position by the limiter 741, it can promptly stop driving according to the first arrival signal, thereby preventing damage to the limiter 741 or the connecting mechanism 72 due to the limiter 741 continuing to apply force to the connecting mechanism 72 in the original driving direction. When the working mechanism 71 reaches the release position, the limiter 741 can also promptly stop moving according to the second arrival signal, not only reducing power waste but also preventing damage to the limiter 741 due to continued movement in the original direction.

[0418] In one example, after the working mechanism 71 moves to the release position, the stopper 741 continues to rotate for a distance before reaching the avoidance position. In this way, when using the intelligent walking device including the working mechanism, the connection mechanism 72 can be prevented from colliding with the stopper 741 when returning to the release position.

[0419] In one possible implementation, the position detection mechanism 75 may include a first position sensor 751 and / or a second position sensor 752. The first position sensor 751 is used to detect whether the working mechanism has reached the retracted position and generate a first arrival signal. The second position sensor 752 is used to detect whether the working mechanism has reached the release position and generate a second arrival signal. Based on the second arrival signal, the limit member 741 stays at the release position. In this way, when the working mechanism 71 reaches the release position, the driving unit 742 can stop driving in time based on the second arrival signal, which not only reduces power waste but also prevents the limit member 741 from continuing to move in the original direction and causing damage.

[0420] The first position sensor 751 and the second position sensor 752 may be arranged in various positions:

[0421] In one possible example, the first position sensor 751 and the second position sensor 752 are both disposed on the connecting mechanism 72, and the orientation of the first position sensor 751 is opposite to that of the second position sensor 752. That is, the sensing portion of the first position sensor 751 may be oriented toward the retracted position. When the working mechanism 71 moves to the retracted position, the first position sensor 751 is capable of generating a sense signal and issuing a first arrival signal. The sensing portion of the second position sensor 752 may be oriented toward the released position. When the working mechanism 71 moves to the released position, the second position sensor 752 is capable of generating a sense signal and issuing a second arrival signal.

[0422] In another possible example, the first position sensor 751 and the second position sensor 752 are both disposed on the body 70 and located on opposite sides of the connecting mechanism 72. Specifically, the first position sensor 751 is mounted on the body 70 and is positioned near the connecting mechanism 72 when the working mechanism 71 is in the retracted position. When the working mechanism 71 reaches the retracted position, the first position sensor 751 can sense the connecting mechanism 72, thereby generating a first arrival signal. The second position sensor 752 is mounted on the body and is positioned near the connecting mechanism 72 when the working mechanism 71 is in the released position. When the working mechanism 71 reaches the released position, the second position sensor 752 can sense the connecting mechanism 72, thereby generating a second arrival signal.

[0423] In another possible example, one of the first position sensor 751 and the second position sensor 752 is disposed on the connecting mechanism 72, and the other is disposed on the body 70. For example, the first position sensor 751 is disposed on the body 70, and when the working mechanism 71 reaches the retracted position, the first position sensor 751 is triggered to emit a first arrival signal; the second position sensor 752 is disposed on the connecting mechanism 72, and when the working mechanism 71 reaches the released position, the second position sensor 752 approaches or touches the body 70, and the second position sensor 752 is triggered to emit a second arrival signal.

[0424] In a possible implementation, the first position sensor 751 includes a proximity switch or a micro switch, and the second position sensor 752 includes a proximity switch or a micro switch. The position of the connecting mechanism 72 can be accurately detected by using a proximity switch, a micro switch, or a Hall sensor.

[0425] In a specific embodiment, the connecting mechanism 72 includes a first protrusion 723 extending toward the body 70. The first position sensor 751 and the second position sensor 752 are both disposed on the body 70. When the working mechanism 71 moves to the retracted position, the first position sensor 751 is triggered by the first protrusion 723 to generate the first arrival signal. When the working mechanism 71 moves to the released position, the second position sensor 752 is triggered by the first protrusion 723 to generate the second arrival signal. Thus, by providing the first protrusion 723, the first protrusion 723 is located between the first position sensor 751 and the second position sensor 752, allowing it to contact or approach the first position sensor 751 and the second position sensor 752, thereby accurately detecting the position of the working mechanism 71.

[0426] In a possible embodiment, when the working mechanism 71 reaches the release position, the first protrusion 723 abuts against the body 70. In this way, the connecting mechanism 72, under the stopping action of the body 70, helps to stably drive the working mechanism 71 to remain in the release position.

[0427] In one example, referring to Figures 43 and 44, the fuselage includes a main body 702 and a fixing base 703. The connecting mechanism 72 and the main body 702 are located on opposite sides of the fixing base 703. The fixing base 703 is connected to the main body 702. The connecting mechanism 72 is pivotally connected to the fixing base 703. The first position sensor 751 and the second position sensor 752 are both located on the side of the fixing base 703 facing the main body 702. The first protrusion 723 extends through the fixing base 703 toward the main body 702. With this technical solution, in actual use, the first position sensor 751 and the second position sensor 752 are both located on the side of the fixing base 703 facing away from the ground, which can reduce the adverse effects of flying debris and other debris generated between the working mechanism 71 and the ground during operation on the first position sensor 751 and the second position sensor 752.

[0428] In one example, the fixing seat 703 includes a first avoidance hole 7031, and the intelligent walking device also includes a driving unit 742, which is installed on the side of the fixing seat 703 facing the main body 702. One end of the limiting member 741 is connected to the driving unit 742 in a transmission manner, and the other end is used to pass through the first avoidance hole 7031 to limit the connecting mechanism 72. The limiting member 741 reciprocates between the avoidance position and the release position under the driving action of the driving unit 742, and the driving unit 742 stops driving the limiting member 741 according to the second arrival signal, so that the limiting member 741 stays in the release position. Through this technical solution, on the one hand, when the working mechanism 71 reaches the release position, the driving unit 742 can stop driving in time according to the second arrival signal, which not only reduces power waste, but also avoids the situation where the limiting member 741 continues to move in the original direction and is damaged. On the other hand, in actual use, the driving part 742 is located on the side of the fixing base 703 away from the ground, which can reduce the adverse effects of flying debris and other debris generated between the working mechanism 71 and the ground when the working mechanism 71 is working, and the adverse effects on the driving part 742.

[0429] Among them, the driving part 742 can be electrically connected to the position detection mechanism 75, and can receive the first arrival signal and the second arrival signal, so as to stop driving the limit member 741 in time when the working mechanism...

Claims

1. An auxiliary cutting mechanism, for installation on a lawn mower, characterized in that: include: A cutter disc (91), wherein the transverse center line and the longitudinal center line of the cutter disc (91) jointly divide the cutter disc into four parts, namely, a left front part, a right front part, a left rear part and a right rear part; An upper guard (92) includes a side enclosure (921), wherein the side enclosure (921) surrounds a side portion of the cutter disc (91); A lower guard (93) is disposed at the bottom of the cutter disc (91), and the projection of the lower guard (93) toward the ground covers at least a portion of the left rear portion of the cutter disc (91) projected toward the ground, and covers at least a portion of the right rear portion of the cutter disc (91) projected toward the ground, and covers at least a portion of either the left front portion or the right front portion of the cutter disc (91) projected toward the ground.

2. The auxiliary cutting mechanism according to claim 1, characterized in that: There is a preset distance C between the front end of the lower shield (93) and the front end of the side enclosure (921).

3. The auxiliary cutting mechanism according to claim 1, characterized in that: The lower guard (93) is surrounded by the side enclosure (921), and the gaps between the rear end, the left end and the right end of the lower guard (93) and the side enclosure (921) are smaller than a preset threshold value, so as to prevent fingers or toes from extending into the gaps.

4. The auxiliary cutting mechanism according to claim 1, characterized in that: A plurality of grass inlets (931) distributed at intervals are provided at the left front portion or the right front portion of the lower shield (93), and the grass inlets (931) face the front end of the side enclosure (921).

5. The auxiliary cutting mechanism according to claim 4, characterized in that: The width of the grass inlet (931) is less than or equal to 12 mm.

6. The auxiliary cutting mechanism according to claim 1, characterized in that: The distance between the left front part of the lower guard (93) and the center of the cutter disc (91) is greater than the distance between the left front part of the cutter disc (91) and its own center; or, the distance between the right front part of the lower guard (93) and the center of the cutter disc (91) is greater than the distance between the right front part of the cutter disc (91) and its own center.

7. The auxiliary cutting mechanism according to claim 1, characterized in that: A grass outlet hole (932) is provided on the left rear portion of the lower guard cover (93), and / or a grass outlet hole (932) is provided on the right rear portion of the lower guard cover (93).

8. The auxiliary cutting mechanism according to claim 7, characterized in that: The length direction of the cross section of the grass outlet hole (932) is consistent with the front-to-back direction, and the width of the cross section of the grass outlet hole (932) is less than or equal to 12 mm.

9. The auxiliary cutting mechanism according to claim 1, characterized in that: The rear portion of the side enclosure (921) is provided with a hollow structure (9211).

10. The auxiliary cutting mechanism according to claim 9, characterized in that: The hollow structure (9211) is in the shape of an elongated strip, and the width of the hollow structure (9211) is less than or equal to 12 mm.

11. The auxiliary cutting mechanism according to claim 1, characterized in that: The upper shield (92) further comprises a top cover (922), the edge of the top cover (922) being connected to the side enclosure (921). The auxiliary cutting mechanism further comprises a driving module (94), wherein the driving module (94) is connected to the body (95) of the lawn mower and is connected to the upper side of the blade disc (91) and is surrounded by the side enclosure (921); The top cover (922) covers the driving module (94) and is connected to the driving module (94).

12. The auxiliary cutting mechanism according to claim 11, characterized in that: The top cover (922) includes a first partition (9221) and a second partition (9222), wherein the first partition (9221) covers the driving module (94), and the second partition (9222) is located in front of the first partition (9221) and is higher than the second partition (9222).

13. The auxiliary cutting mechanism according to claim 1, characterized in that: The lower shield (93) is directly connected to the upper shield (92).

14. A lawn mower, characterized in that: The invention comprises a fuselage (95) and an auxiliary cutting mechanism as described in any one of claims 1 to 13, wherein the auxiliary cutting mechanism is connected to the fuselage (95), and the projection of the lower shield (93) toward the ground covers a side of the projection area of ​​the cutter disc (91) toward the ground that is away from the center line of the fuselage (95), and covers a partial area of ​​the projection area of ​​the cutter disc (91) toward the ground that is close to the center line of the fuselage (95).

15. The lawn mower according to claim 14, characterized in that The side enclosure (921) includes an inner side plate and an outer side plate opposite to each other in the left-right direction. The auxiliary cutting mechanism is pivotally connected to the body (95) and includes a retracted position and a released position on the pivot path. When the auxiliary cutting mechanism is in the retracted position, the outer side plate of the side enclosure (921) is close to the fuselage (95), When the auxiliary cutting mechanism is in the released position, the outer side plate of the side enclosure (921) is away from the fuselage (95).

16. The lawn mower according to claim 14, characterized in that The lawn mower further comprises a first connecting rod (961) and a second connecting rod (962), wherein the first connecting rod (961) comprises a first end and a second end opposite to each other, wherein the first end is pivotally connected to the body (95) around a first axis (L1), and the second end is pivotally connected to the auxiliary cutting mechanism around a second axis (L2). The second connecting rod (962) includes a third end and a fourth end opposite to each other, the third end being pivotally connected to the body (95) around a third axis (L3), and the fourth end being pivotally connected to the auxiliary cutting mechanism around a fourth axis (L4). The first axis (L1), the second axis (L2), and the third axis (L3) are all parallel to the fourth axis (L4); The distance A1 between the first axis (L1) and the second axis (L2) is equal to the distance A2 between the third axis (L3) and the fourth axis (L4); A distance B1 between the first axis (L1) and the third axis (L3) is equal to a distance B2 between the second axis (L2) and the fourth axis (L4).

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