CN117140586A - Autonomous mobile equipment and work robots - Google Patents

Abstract

The embodiment of the invention provides an autonomous mobile device and a working robot. The connecting rod assembly is arranged on the frame, the driving end is in transmission connection with the connecting rod assembly so as to drive the connecting rod assembly to move, the connecting rod assembly is connected with the actuating mechanism, and the connecting rod assembly is configured to drive the actuating mechanism to perform pitching movement under the driving of the driving end. The driving end is located above the opening, so that the risk that foreign matters such as dust, silt particles, snow water and the like outside the movable part enter the shell to damage the linear driving assembly is reduced, normal operation of the linear driving assembly is guaranteed, and the service life of the linear driving assembly is prolonged.

Description

Autonomous mobile equipment and work robots

Technical field

The present invention relates to the field of robotic technology, and specifically to an autonomous mobile device and a working robot.

Background technique

The autonomous mobile equipment of the work robot can drive the actuator of the work robot to adjust the height to ensure that the actuator is at the appropriate height position when working.

Related technology autonomous mobile devices achieve height adjustment via linear drive components. However, the movable parts of the linear drive assembly continue to expand and contract in low-temperature and humid environments. There is a risk of bringing external debris such as snow, water, sediment particles, etc. into the linear drive assembly and damaging the linear drive assembly. There is a risk of entering the interior of the linear drive assembly. Snow water causes the risk of the lubricating oil and gears inside the linear drive components freezing in low temperature environments.

Contents of the invention

An embodiment of the present invention proposes an autonomous mobile device and a working robot to improve at least one of the above problems.

The embodiments of the present invention achieve the above objects through the following technical solutions.

In a first aspect, embodiments of the present invention provide an autonomous mobile device. The autonomous mobile device includes a frame, a linear drive assembly and a connecting rod assembly. The linear drive assembly is rotatably connected to the frame. The linear drive assembly includes a housing with an opening and a connecting rod assembly. The movable part moves linearly through the opening, and the movable part has a driving end. The connecting rod assembly is installed on the frame, and the driving end is connected to the connecting rod assembly to drive the connecting rod assembly to move. The connecting rod assembly is connected to the actuator. The connecting rod assembly is configured to drive the actuator to move in pitch direction under the drive of the driving end. Wherein, the position of the driving end is always located above the position of the opening.

In some embodiments, the autonomous mobile device includes a frame, a linear drive assembly, and a connecting rod assembly. The linear drive assembly is rotatably connected to the frame. The linear drive assembly includes a housing with an opening and a movable part that moves linearly through the opening. The components have opposite drive ends and connection ends. The connecting rod assembly is installed on the frame, and the connecting end is connected to the connecting rod assembly to drive the connecting rod assembly to move. The connecting rod assembly is connected to the actuator. The connecting rod assembly is configured to drive the actuator to pitch through the connecting end driven by the driving end. Activity. Wherein, the position of the driving end is always located above the position of the opening.

In some embodiments, the autonomous mobile device includes a frame, a linear drive assembly, and a connecting rod assembly. The linear drive assembly is rotatably connected to the frame. The linear drive assembly includes a housing with an opening and a movable part that moves linearly through the opening. The components have opposite drive ends and connection ends. The connecting rod assembly is installed on the frame, and the connecting end is connected to the connecting rod assembly to drive the connecting rod assembly to move. The connecting rod assembly is connected to the actuator. The connecting rod assembly is configured to drive the actuator to pitch through the connecting end driven by the driving end. Activity. Wherein, the position of the driving end is always at the same height as the position of the opening.

In some embodiments, the angle between the movable component and the horizontal plane is 25 degrees to 35 degrees.

In some embodiments, the frame includes a support beam and a mounting base, the movable member is rotatably connected to the support beam, the link assembly is rotatably connected to the mounting base, the housing includes a mounting end, the movable member includes a connecting end, and a driving end It is located between the mounting end and the connecting end, the connecting end is connected to the supporting beam, and the mounting end is connected to the side of the connecting rod assembly away from the mounting base.

In some embodiments, the connecting rod assembly includes an adapter body, a first connecting rod, a synchronizing rod and a second connecting rod, the mounting end is connected to the synchronizing rod, the adapter body is rotatably connected to the mounting base, and the first connecting rod One end is connected to the side of the adapter body away from the mounting base, the other end of the first connecting rod is connected to the synchronizing rod and is spaced from the mounting end, and one end of the second connecting rod is connected to the synchronizing rod and is spaced from the first connecting rod and the mounting end. , the other end of the second connecting rod is connected to the side of the mounting base away from the adapter body.

In some embodiments, the housing includes a mounting end, the frame includes a support beam and a mounting base, the movable member is rotatably connected to the support beam, and the link assembly is rotatably connected to the mounting end. base, the driving end is located between the mounting end and the connecting end, the mounting end is connected to the support beam, and the connecting end is connected to the side of the connecting rod assembly away from the mounting base.

In some embodiments, the connecting rod assembly includes an adapter body, a first connecting rod, a synchronizing rod and a second connecting rod, the connecting end is connected to the synchronizing rod, the adapter body is rotatably connected to the mounting base, and the first connecting rod One end is connected to the side of the adapter body away from the mounting base, the other end of the first connecting rod is connected to the synchronizing rod and is spaced from the connecting end, and one end of the second connecting rod is connected to the synchronizing rod and is spaced from the first connecting rod and the connecting end. , the other end of the second connecting rod is connected to the side of the mounting base away from the adapter body.

In some embodiments, the linear drive member is one of a push rod, a pneumatic cylinder, a hydraulic cylinder, or a screw machine. When the linear driving part is a push rod, the outer casing is a housing and the screw is a movable part; when the linear driving part is a cylinder, the cylinder is a shell and the piston rod is a movable part; when the linear driving part is a hydraulic cylinder, The cylinder is the shell and the piston rod is the movable part; when the linear drive part is a screw machine, the outer shell is the shell and the screw is the movable part.

In some embodiments, the linear drive has a drive unit. When the linear drive member is a push rod, its motor serves as the drive unit; when the linear drive member is a cylinder, its compressed air serves as the drive unit; when the linear drive member is a hydraulic cylinder, its fluid serves as the drive unit; when the linear drive member is a hydraulic cylinder, its fluid serves as the drive unit; When the machine is a screw machine, its motor serves as the drive unit.

In a second aspect, embodiments of the present invention also provide a work robot. The work robot includes snow removal equipment and an autonomous mobile device. The snow removal equipment includes an actuator, and the actuator is installed on the autonomous mobile device.

In some embodiments, the autonomous mobile device includes an adapter body, a mounting portion is provided on a side of the adapter body away from the linear drive assembly, and the actuator is mounted on the mounting portion.

In some embodiments, the actuator is removably mounted on the mounting portion.

The autonomous mobile equipment and working robot provided by the embodiment of the present invention. The autonomous mobile equipment includes a frame, a linear drive assembly and a connecting rod assembly. The linear drive assembly is rotatably connected to the frame. The linear drive assembly includes a shell with an opening and a connecting rod assembly through the opening. A movable part that moves in a straight line and has a driving end. The connecting rod assembly is installed on the frame, and the driving end is connected to the connecting rod assembly to drive the connecting rod assembly to move. The connecting rod assembly is connected to the actuator. The connecting rod assembly is configured to drive the actuator to move in pitch, driven by the driving end. Then the linear drive component can drive the connecting rod component to move through the driving end to drive the actuator to move, which helps to meet the adjustment needs of the actuator. Among them, the position of the driving end is always above the position of the opening, which helps to reduce the risk of external debris such as dust, sand particles, snow, etc. entering the housing and damaging the linear drive assembly when the movable part moves. It reduces the risk of snow water entering the housing causing the lubricating oil and gears inside the linear drive components to freeze in low temperature environments, thereby helping to ensure the normal operation of the linear drive components and also helping to increase the service life of the linear drive components.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 shows a schematic structural diagram of a work robot provided by an embodiment of the present invention.

FIG. 2 shows a partial structural diagram of the work robot in FIG. 1 .

Figure 3 shows a schematic structural diagram of an autonomous mobile device installed on a vehicle body according to an embodiment of the present invention.

FIG. 4 shows a schematic structural diagram of the autonomous mobile device of FIG. 3 .

FIG. 5 shows a schematic structural diagram of the autonomous mobile device of FIG. 4 from another perspective.

Figure 6 shows a schematic structural diagram of an autonomous mobile device provided by another embodiment of the present invention.

Explanation of reference numbers:

Detailed ways

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

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

Please refer to Figures 1 and 2 together. An embodiment of the present invention provides a work robot 1000. The work robot 1000 includes a snow removal device 100 and an autonomous mobile device 10. The snow removal device 100 is installed on the autonomous mobile device 10.

The autonomous mobile device 10 may include a control component and a driving component. For example, the autonomous mobile device 10 may include a frame, and a driving component such as a driving wheel or a driving track may be installed on the frame. The control component may include components such as a circuit board. The control component The drive assembly can be controlled to move, thereby enabling the autonomous mobile device 10 to move on a horizontal plane. In this way, the autonomous mobile device 10 can carry the snow removal equipment 100 and move so that the snow removal equipment 100 operates within a predetermined area.

In some embodiments, the snow removal equipment 100 includes an actuator 200, and the autonomous mobile device 10 can drive the actuator 200 to move. The autonomous mobile device 10 can adjust the height of the actuator 200 from the ground, which helps to meet the requirements for the height of the actuator 200. Adjusting the demand helps ensure that the actuator 200 operates at the appropriate position.

Please refer to Figures 3, 4 and 5 together. In some embodiments, the autonomous mobile device 10 includes a frame 12, a linear drive assembly 13 and a connecting rod assembly 122. The linear drive assembly 13 is rotatably connected to the frame 12. The linear drive assembly 13 is also connected to the link assembly 122. In this way, the rotation of the linear drive assembly 13 relative to the frame 12 can drive the link assembly 122 to move to meet the adjustment requirements of the autonomous mobile device 10.

The linear drive assembly 13 includes a housing 135 with an opening 134 and a movable member 131 that moves linearly through the opening 134. The movable member 131 has a driving end 1312. The connecting rod assembly 122 is installed on the frame 12. The driving end 1312 transmits with the connecting rod assembly 122. Connected to drive the linkage assembly 122 to move, the linkage assembly 122 is connected to the actuator 200, and the linkage assembly 122 is configured to drive the actuator 200 to pitch movement driven by the driving end 1312.

In this way, the linear drive assembly 13 can drive the connecting rod assembly 122 to move through the driving end 1312 to drive the actuator 200 to move, which helps to meet the adjustment requirements of the actuator 200.

Wherein, the position of the driving end 1312 is always located above the position of the opening 134 . This helps to reduce the risk of external debris such as dust, sand particles, snow water, etc. entering the housing 135 and damaging the linear drive assembly 13 when the movable part 131 moves, and helps reduce the risk of snow water entering the housing 135 causing damage. There is a risk that the lubricating oil and gears inside the linear drive assembly 13 will freeze in a low-temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13 and also helping to increase the service life of the linear drive assembly 13 .

Please refer to Figure 6. In some embodiments, the movable member 131 has a connecting end 1311. The connecting end 1311 is connected to the connecting rod assembly 122 to drive the connecting rod assembly 122 to move. The connecting rod assembly 122 is connected to the actuator 200. The connecting rod assembly 122 is connected to the actuator 200. 122 is configured to be driven by the driving end 1312 and drive the actuator 200 to pitch through the connecting end 1311 .

In this way, the linear drive assembly 13 can drive the connecting rod assembly 122 to move through the connecting end 1311 to drive the actuator 200 to move, which helps to meet the adjustment requirements of the actuator 200.

Among them, the position of the driving end 1312 is always above the position of the opening 134, which helps to reduce external debris such as dust, sand particles, snow, etc. from entering the housing 135 and damaging the linear drive when the movable part 131 moves. The risk of assembly 13 helps to reduce the risk that snow water entering the housing 135 will cause the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low-temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13, and at the same time It also helps to increase the service life of the linear drive assembly 13.

In some embodiments, the position of the driving end 1311 is always at the same height as the position of the opening 134. At this time, the movable member 131 is approximately parallel to the horizontal plane, that is, the angle between the movable member 131 and the horizontal plane is 0 degrees. Debris such as dust, sand particles, snow, etc. will not easily enter the driving end 1312 along the direction from the connecting end 1311 to the driving end 1312. This will help reduce the expansion and contraction movement of the movable member 131 and drive external debris into the linear drive assembly 13 risk, helping to ensure the normal operation of the linear drive assembly 13.

Please refer to FIGS. 5 and 6 together. In some embodiments, when the position of the driving end 1312 is always above the position of the opening 134 , the angle α between the movable member 131 and the horizontal plane may be 25 to 35 degrees. , which helps ensure that the movable component 131 has a suitable angle adjustment range, and helps ensure that the actuator 200 can be within a suitable height adjustment range.

For example, the angle α between the movable member 131 and the horizontal plane may be 25 degrees, 27 degrees, 29 degrees, 30.5 degrees, 31 degrees, 33 degrees, 34 degrees, 35 degrees, or any value between the two adjacent values mentioned above. , which can be set according to the actual situation.

In this way, the angle α between the movable component 131 and the horizontal plane has a suitable range, which helps to reduce the risk that the actuator 200 will be too far away from the ground and unable to work properly if the angle α between the movable component 131 and the horizontal plane is too large.

Please refer to FIGS. 4 and 5 together. In some embodiments, the frame 12 may include a support beam 121 and a mounting base 123. For example, the support beam 121 may be installed in the vehicle body 20 and connected to one side of the movable member 131. Since one side of the movable member 131 is connected to the support beam 121, the other side of the movable member 131 can drive the link assembly 122 to move, thereby driving the actuator 200 to move, which helps to meet the height adjustment requirements of the actuator 200. This helps ensure that the actuator 200 can be at a proper height position.

In some embodiments, the movable member 131 is rotatably connected to the support beam 121 , and the link assembly 122 is rotatably connected to the mounting base 123 .

For example, the support beam 121 can be provided with a rotating shaft, and the movable member 131 can be connected to the rotating shaft, so that the movable member 131 can rotate relative to the supporting beam 121, which helps to improve the action of the linear drive assembly 13 in driving the link assembly 122. flexibility.

The mounting base 123 can be provided with a rotating shaft, and the connecting rod assembly 122 can be connected to the rotating shaft, so that the connecting rod assembly 122 can rotate relative to the mounting base 123, which helps to improve the flexibility of the connecting rod assembly 122 relative to the mounting base 123. sex.

In some embodiments, the housing 135 may include a mounting end 1313, the movable member 131 includes a connecting end 1311, the driving end 1312 is located between the mounting end 1313 and the connecting end 1311, the connecting end 1311 is connected to the support beam 121, and the mounting end 1313 is connected to On the side of the connecting rod assembly 122 away from the mounting base 123, in this way, the movement of the driving mounting end 1313 of the linear drive assembly 13 can drive the connecting rod assembly 122 to rotate relative to the mounting base 123 to ensure the normal operation of the autonomous mobile device 10.

When the connecting end 1311 is connected to the supporting beam 121, the height of the driving end 1312 is higher than the height of the connecting end 1311. In this way, it helps to reduce the risk of external debris such as dust, sand particles, snow water, etc. entering the housing 135 and damaging the linear drive assembly 13 , and helps reduce the risk of snow water entering the housing 135 causing damage to the linear drive assembly 13 . The risk of lubricating oil and gears freezing in low-temperature environments helps to ensure the normal operation of the linear drive assembly 13 and also helps to increase the service life of the linear drive assembly 13 .

For example, when the height of the driving end 1312 is higher than the height of the connecting end 1311, then the movable member 131 can form a certain angle with the horizontal plane, so that external debris such as dust, sand particles, snow water, etc. will not easily move along the The connecting end 1311 flows counter-flow into the driving end 1312 in the direction of the driving end 1312, which helps to reduce the risk of external debris entering the interior of the housing 135 due to the telescopic movement of the movable member 131, and helps ensure the normal operation of the linear drive assembly 13 .

In addition, when the movable member 131 expands and contracts, it is unavoidable to bring external debris into the interior of the housing 135. Since the height of the driving end 1312 is higher than the height of the connecting end 1311, the debris can be driven along the driving direction under the action of gravity. The end 1312 flows out of the interior of the housing 135 in the direction of the connecting end 1311 .

In some embodiments, the link assembly 122 may include an adapter body 1221, a first link 1222, a synchronizing rod 1223, and a second link 1224. The mounting end 1313 is connected to the synchronizing rod 1223, and the adapter body 1221 is rotatably connected. On the mounting base 123, the actuator 200 can be installed on the autonomous mobile device 10 through the adapter 1221, which helps to improve the compactness of the structure of the work robot 1000.

One end of the first connecting rod 1222 can be connected to the side of the adapter body 1221 away from the mounting base 123 , the other end of the first connecting rod 1222 is connected to the synchronizing rod 1223 and spaced apart from the mounting end 1313 , and one end of the second connecting rod 1224 is connected to The other end of the second connecting rod 1224 is connected to the side of the mounting base 123 away from the adapter 1221 and is spaced from the synchronizing rod 1223 and the first connecting rod 1222 and the mounting end 1313 . In this way, the movement of the driving installation end 1313 of the linear drive assembly 13 can drive the rotation of the connecting rod assembly 122, which helps to improve the rotation stability of the linear drive assembly 13 driving the adapter body 1221.

In this way, the linear drive assembly 13 does not need to be directly connected to the adapter body 1221 in transmission, and the flexibility of the first link 1222, the synchronization rod 1223 and the second link 1224 is used to help reduce the movable drive structure of the adapter body 1221. Design complexity. In this way, the linear motion of the linear drive assembly 13 is converted into the circular motion of the adapter body 1221, so that the autonomous mobile device 10 can only design the linear drive assembly 13, which helps to simplify the structure of the autonomous mobile device 10 and facilitate manufacturing.

Please refer to FIG. 6 . In some embodiments, the mounting end 1313 is connected to the supporting beam 121 , and the connecting end 1311 is connected to a side of the connecting rod assembly 122 away from the mounting base 123 . In this way, the movement of the driving connection end 1311 of the linear drive assembly 13 can drive the connecting rod assembly 122 to rotate relative to the mounting base 123 to ensure the normal operation of the autonomous mobile device 10 .

When the installation end 1313 is connected to the support beam 121, the height of the driving end 1312 can be higher than the height of the connecting end 1311, and the height of the driving end 1312 can also be equal to the height of the connecting end 1311. At this time, the linear drive assembly 13 has the effect and connection The effect of connecting the end 1311 to the supporting beam 121 is the same and will not be described again here.

In some embodiments, the connecting end 1311 is connected to the synchronization rod 1223, and the adapter body 1221 is rotatably connected to the mounting base 123. Then the actuator 200 can be installed on the autonomous mobile device 10 through the adapter body 1221, which helps to improve the operation. The robot 1000 is compact in structure.

One end of the first connecting rod 1222 is connected to the side of the adapter body 1221 away from the mounting base 123 , the other end of the first connecting rod 1222 is connected to the synchronizing rod 1223 and spaced apart from the connecting end 1311 , and one end of the second connecting rod 1224 is connected to The synchronizing rod 1223 is spaced apart from the first connecting rod 1222 and the connecting end 1311 . The other end of the second connecting rod 1224 is connected to the side of the mounting base 123 away from the adapter 1221 . In this way, the linear drive assembly 13 can drive the connecting rod assembly 122 to rotate through the movement of the connecting end 1311, which helps to improve the stability of the rotation of the linear drive assembly 13 in driving the adapter body 1221.

In this way, the linear drive assembly 13 does not need to be directly connected to the adapter body 1221 in transmission, and the flexibility of the first link 1222, the synchronization rod 1223 and the second link 1224 is used to help reduce the movable drive structure of the adapter body 1221. Design complexity. In this way, the linear motion of the linear drive assembly 13 is converted into the circular motion of the adapter body 1221, so that the autonomous mobile device 10 can only design the linear drive assembly 13, which helps to simplify the structure of the autonomous mobile device 10 and facilitate manufacturing.

In some embodiments, the number of first connecting rods 1222 may be two, and the number of second connecting rods 1224 may be two. The two first connecting rods 1222 are both connected to the synchronization rod 1223 and the adapter body 1221. Each second connecting rod 1224 is connected to the synchronizing rod 1223 and the mounting base 123 . In this way, when the linear drive assembly 13 drives the link assembly 122 to move, the two first links 1222 and the two second links 1224 help to improve the stability of the adapter body 1221, thereby helping to improve the connection. On the stability of the operation of the actuator 200.

In some embodiments, the linear driving member 13 can be one of a push rod, a cylinder, a hydraulic cylinder or a screw machine. For example, when the linear driving member 13 is a push rod, the outer shell of the push rod is the housing 135 and the screw is The motor of the movable part 131 serves as the driving unit. At this time, the linear drive part 13 can also include a gear assembly. The drive of the motor is connected to the gear assembly. The driving end 1312 is connected to the gear assembly. At this time, the drive of the motor can drive the gear assembly. So that the driving end 1312 can drive the screw to move relative to the housing of the push rod.

In this way, by limiting the position of the driving end 1312 to always be above the position of the opening 134 or the position of the driving end 1311 to always be at the same height as the position of the opening 134, it helps to reduce external debris when the screw moves, such as The risk of dust, sand particles, snow water, etc. entering the housing 135 and damaging the linear drive assembly 13 helps to reduce the risk of the snow water entering the housing 135 causing the gear assembly of the push rod to freeze in a low temperature environment.

For another example, when the linear driving member is a cylinder, the cylinder body of the cylinder is the housing 135, the piston rod is the movable member 131, and the compressed air serves as the driving unit. The driving end 1312 can be the side of the piston rod close to the driving unit, then the compression Air drives the piston rod. This helps to reduce the risk of external debris such as dust, sand particles, snow water, etc. entering the housing 135 and damaging the linear drive assembly 13 when the piston rod moves.

For another example, when the linear driving component is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is the housing 135, the piston rod is the movable part 131, and its fluid serves as the driving unit, and the driving end 1312 can be the side of the piston rod close to the driving unit, then Fluid drives the piston rod. This helps to reduce the risk of external debris such as dust, sand particles, snow water, etc. entering the housing 135 and damaging the linear drive assembly 13 when the piston rod moves.

For another example, when the linear drive component is a screw machine, the outer casing is the housing 135, the screw is the movable component 131, and the motor serves as the driving unit. The linear drive component 13 can also include a nut, and the drive of the motor is connected to the screw drive. The driving end 1312 can be the side of the screw rod close to the motor. At this time, the driving of the motor can drive the screw rod to rotate, thereby driving the nut to move so that the screw rod can move relative to the housing of the screw rod. This helps to reduce the risk of external debris such as dust, sand particles, snow water, etc. entering the housing 135 and damaging the linear drive assembly 13 when the screw rod moves.

Please refer again to FIG. 1 , FIG. 2 and FIG. 5 . In some embodiments, a mounting part 133 is provided on the side of the adapter body 1221 away from the linear drive assembly 13 , and the actuator 200 is mounted on the mounting part 133 . In this way, the autonomous mobile device 10 can satisfy the adjustment of the actuator 200 in the height direction, thereby helping to ensure that the actuator 200 operates at an appropriate position and improving the operating efficiency of the work robot 1000 .

In some embodiments, the actuator 200 is detachably mounted on the mounting portion 133 . For example, the actuator 200 can be detachably connected to the installation part 133 through snap connection, magnetic attraction, or fastener connection, which helps to facilitate the installation and replacement of the actuator 200 . In this way, the corresponding actuator 200 can be replaced according to the actual situation, which helps to improve the adaptability of the work robot 1000.

The specific structure of the work robot 1000 refers to the above-mentioned embodiments. Since the work robot 1000 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not be described again here. .

In some embodiments, the work robot 1000 may also include a controller, which is electrically connected to the autonomous mobile device 10 and the actuator 200 to control the actuator 200 to adjust the height within a certain range, and control the autonomous mobile device 10 to adjust the height within a certain range. Route movement or movement within a defined area. In this way, the controller can control the autonomous mobile device 10 to move on a predetermined route or within a predetermined area and control the snow removal mechanism to remove snow within a suitable height range, which helps to improve the intelligence of the work robot 1000 for snow removal and helps to improve the work robot 1000. Snow removal efficiency.

In some embodiments, the work robot 1000 may further include an ultrasonic ranging sensor. The work robot 1000 has a path planning function (ie, obstacle handling capability). For small obstacles, the work robot 1000 can automatically cross them. For medium and large obstacles, the work robot 1000 can avoid them in time and clean up the surroundings of the obstacles to the maximum extent. of snow. The transmitter of the ultrasonic ranging sensor of the working robot 1000 emits ultrasonic waves. The ultrasonic waves meet the obstacles and are reflected. The receiver of the ultrasonic ranging sensor can measure the distance from the obstacle to the working robot 1000 based on the time difference between receiving the ultrasonic waves. This enables the work robot 1000 to plan in advance to avoid obstacles, avoid collisions with obstacles, and effectively improve the safety performance of the work robot 1000. Of course, in other embodiments, the working robot 1000 may also use an infrared ranging sensor or a laser ranging sensor to avoid obstacles.

In summary, the autonomous mobile equipment 10 and the working robot 1000 provided by the embodiment of the present invention include the autonomous mobile equipment 10 including a frame 12, a linear drive assembly 13 and a connecting rod assembly 122. The linear drive assembly 13 is rotatably connected to the frame 12, and the linear drive assembly 13 is rotatably connected to the frame 12. The driving assembly 13 includes a housing 135 having an opening 134 and a movable part 131 that moves linearly through the opening 134. The movable part 131 has a driving end 1312. The connecting rod assembly 122 is installed on the frame 12 . The driving end 1312 is connected to the connecting rod assembly 122 to drive the connecting rod assembly 122 to move. The connecting rod assembly 122 is connected to the actuator 200 . The connecting rod assembly 122 is configured at the driving end 1312 Driven by the actuator 200 to move in pitch, the linear drive assembly 13 can drive the connecting rod assembly 122 to move through the driving end 1312 to drive the actuator 200 to move, which helps to meet the adjustment needs of the actuator 200. Among them, the position of the driving end 1312 is always above the position of the opening 134, which helps to reduce external debris such as dust, sand particles, snow, etc. from entering the housing 135 and damaging the linear drive assembly when the movable member 131 moves. 13, it helps to reduce the risk that snow water entering the housing 135 will cause the lubricating oil and gears inside the linear drive assembly 13 to freeze in a low-temperature environment, thereby helping to ensure the normal operation of the linear drive assembly 13, and at the same time Helps improve the service life of the linear drive assembly 13.

In the present invention, unless otherwise expressly specified or limited, terms such as "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, or a transmission connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In addition, the terms "first", "second", etc. are only used to differentiate the description and cannot be understood as specific designations or special structures. Description of the term "some embodiments" means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the present invention, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in the present invention and the features of the different embodiments or examples unless they are inconsistent with each other.

The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention, and shall be included in the present invention. within the scope of protection.

Claims (13)

1. An autonomous mobile device, comprising:

a frame;

the linear driving assembly is rotatably connected with the frame and comprises a shell with an opening and a movable piece which moves linearly through the opening, and the movable piece is provided with a driving end; and

the connecting rod assembly is arranged on the frame, the driving end is in transmission connection with the connecting rod assembly so as to drive the connecting rod assembly to move, the connecting rod assembly is connected with the executing mechanism, and the connecting rod assembly is configured to drive the executing mechanism to perform pitching movement under the driving of the driving end;

the position of the driving end is always located above the position of the opening.

2. An autonomous mobile device, comprising:

a frame;

the linear driving assembly is rotatably connected with the frame and comprises a shell with an opening and a movable piece which moves linearly through the opening, and the movable piece is provided with a driving end and a connecting end which are opposite; and

the connecting end is connected with the connecting rod assembly so as to drive the connecting rod assembly to move, the connecting rod assembly is connected with the actuating mechanism, and the connecting rod assembly is configured to drive the actuating mechanism to perform pitching movement through the connecting end under the drive of the driving end;

the position of the driving end is always located above the position of the opening.

3. An autonomous mobile device, comprising:

a frame;

the linear driving assembly is rotatably connected with the frame and comprises a shell with an opening and a movable piece which moves linearly through the opening, and the movable piece is provided with a driving end and a connecting end which are opposite; and

the connecting end is connected with the connecting rod assembly so as to drive the connecting rod assembly to move, the connecting rod assembly is connected with the actuating mechanism, and the connecting rod assembly is configured to drive the actuating mechanism to perform pitching movement through the connecting end under the drive of the driving end;

the position of the driving end is always at the same height as the position of the opening.

4. Autonomous mobile apparatus as claimed in claim 1 or 2, characterized by the fact that the angle of the movable element with respect to the horizontal is 25 to 35 degrees.

5. The autonomous mobile apparatus of claim 1, wherein the frame comprises a support beam and a mount, the moveable member is rotatably coupled to the support beam, the linkage assembly is rotatably coupled to the mount, the housing comprises a mounting end, the moveable member comprises a connecting end, the driving end is positioned between the mounting end and the connecting end, the connecting end is coupled to the support beam, and the mounting end is coupled to a side of the linkage assembly facing away from the mount.

6. The autonomous mobile apparatus of claim 5, wherein the link assembly comprises an adapter, a first link, a synchronizing bar, and a second link, the mounting end is connected to the synchronizing bar, the adapter is rotatably connected to the mount, one end of the first link is connected to a side of the adapter facing away from the mount, the other end of the first link is connected to the synchronizing bar and spaced from the mounting end, one end of the second link is connected to the synchronizing bar and spaced from the first link and the mounting end, and the other end of the second link is connected to a side of the mount facing away from the adapter.

7. An autonomous mobile apparatus as claimed in claim 2 or 3, wherein the housing comprises a support beam and a mounting base, the moveable member being rotatably connected to the support beam, the linkage assembly being rotatably connected to the mounting base, the housing comprising a mounting end, the driving end being located between the mounting end and the connecting end, the mounting end being connected to the support beam, the connecting end being connected to a side of the linkage assembly facing away from the mounting base.

8. The autonomous mobile apparatus of claim 7, wherein the link assembly comprises an adapter, a first link, a synchronizing bar, and a second link, the connection end being connected to the synchronizing bar, the adapter being rotatably connected to the mount, one end of the first link being connected to a side of the adapter facing away from the mount, the other end of the first link being connected to the synchronizing bar and spaced from the connection end, one end of the second link being connected to the synchronizing bar and spaced from the first link and the connection end, the other end of the second link being connected to a side of the mount facing away from the adapter.

9. An autonomous mobile apparatus as claimed in any of claims 1 to 3, wherein the linear drive is one of a push rod, a cylinder, a hydraulic cylinder or a screw machine;

when the linear driving piece is a push rod, the shell of the push rod is the shell, and the screw rod is the movable piece;

when the linear driving piece is a cylinder, the cylinder body of the cylinder is the shell, and the piston rod is the movable piece;

when the linear driving piece is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is the shell, and the piston rod is the movable piece;

when the linear driving piece is a screw machine, the shell of the screw machine is the shell, and the screw is the movable piece.

10. The autonomous mobile device of claim 9, wherein the linear drive has a drive unit;

when the linear driving piece is a push rod, a motor of the linear driving piece is used as a driving unit;

when the linear driving piece is a cylinder, compressed air is used as a driving unit;

when the linear driving piece is a hydraulic cylinder, fluid is used as a driving unit;

when the linear driving piece is a screw machine, a motor thereof is used as a driving unit.

11. A work robot, the work robot comprising:

a snow removal apparatus comprising an actuator; and

the autonomous mobile device of any of claims 1-10, the actuator mounted to the autonomous mobile device.

12. The work robot of claim 11, wherein the autonomous mobile apparatus includes an adapter body having a mounting portion on a side thereof facing away from the linear drive assembly, the actuator being mounted to the mounting portion.

13. The work robot of claim 12, wherein said actuator is detachably mounted to said mounting portion.