CN220741177U - Autonomous mobile device and work robot - Google Patents

Abstract

The embodiment of the utility model provides an autonomous mobile device and an operation robot, wherein the autonomous mobile device is applied to the operation robot and comprises a machine body, a jacking component and an electric control box, the jacking component is arranged on the machine body and is suitable for driving an execution structure of the operation robot to perform pitching movement, the electric control box is arranged on the machine body and is electrically connected with the jacking component, an avoidance space is defined on the lower surface of the electric control box, and at least part of the jacking component is accommodated in the avoidance space. Thus, at least part of the jacking component is accommodated in the avoidance space, so that the space occupied by the jacking component on the machine body is reduced, the integration degree of the machine body is improved, the volume of the machine body is reduced, and the manufacturing cost is reduced. In addition, the electric control box can avoid the jacking component through the avoiding space, so that the risk of collision between the jacking component and the electric control box is reduced, and the smoothness of movement of the jacking component is improved.

Description

Autonomous mobile device and work robot

Technical Field

The utility model relates to the technical field of robots, in particular to an autonomous mobile device and a working robot.

Background

The operation robot can control the movement of the jacking component through the electric control box so as to drive the actuating mechanism of the operation robot to adjust the height, so that the actuating mechanism is at a proper height position during working.

However, the electric control box and the jacking component are large in size, and the electric control box and the jacking component of the operation robot in the related art are mounted on the machine body, so that the electric control box and the jacking component occupy large space of the machine body, and the integration degree of the machine body is low.

Disclosure of Invention

The embodiment of the utility model provides an autonomous mobile device and a working robot, which are used for solving at least one of the problems.

The embodiments of the present utility model achieve the above object by the following technical means.

In a first aspect, an embodiment of the present utility model provides an autonomous mobile apparatus, where the autonomous mobile apparatus is applied to a working robot, and the autonomous mobile apparatus includes a body, a jacking component and an electric control box, where the jacking component is mounted on the body, the jacking component is adapted to drive a pitching motion of an execution structure of the working robot, the electric control box is mounted on the body and electrically connected to the jacking component, a avoidance space is defined on a lower surface of the electric control box, and at least a portion of the jacking component is accommodated in the avoidance space.

In some embodiments, the electronic control box comprises a first avoidance surface and a second avoidance surface which are connected, wherein the first avoidance surface extends along the length direction of the machine body, the second avoidance surface extends along the height direction of the machine body, the first avoidance surface and the second avoidance surface are distributed in an included angle manner, and the first avoidance surface and the second avoidance surface define an avoidance space.

In some embodiments, the second relief surface is disposed obliquely, and the included angle between the first relief surface and the second relief surface is greater than 90 degrees.

In some embodiments, the jacking assembly includes a frame, a jacking member rotatably mounted to the frame, and a linear drive member. The linear driving piece is rotatably arranged on the frame and connected with the jacking piece, the linear driving piece is suitable for driving the jacking piece to perform pitching movement, and the electric control box avoids the linear driving piece through the avoidance space.

In some embodiments, the jacking component comprises a first support body, a second support body and an adapter body, wherein the first support body and the second support body are both rotatably connected to the frame, the adapter body is connected to the first support body and the second support body, and the adapter body, the first support body and the second support body are in an integrated structure.

In some embodiments, the adapter includes a first surface and a second surface opposite to each other, the first support and the second support are both connected to the first surface, the autonomous mobile apparatus further includes a link assembly rotatably connected to the frame and located at one side of the second surface, the linear driving member is connected to the link assembly, and the link assembly is configured to drive the jack member to pitch under the driving of the linear driving member.

In some embodiments, the junction of the first support and the first surface is provided with a reinforcement, and/or the junction of the second support and the first surface is provided with a reinforcement.

In some embodiments, the adapter is provided with a first motor mounting notch and a second motor mounting notch, the first motor mounting notch and the second motor mounting notch being spaced apart.

In some embodiments, the first motor mounting notch is arcuate and the second motor mounting notch is arcuate.

In some embodiments, the frame includes a support beam and a mount, the linear drive is rotatably connected to the support beam, the mount includes a mount body, a first mount body, and a second mount body, the jacking member is rotatably connected to the first mount body, the autonomous mobile apparatus further includes a link assembly, the linear drive is connected to the link assembly, the link assembly is rotatably connected to the second mount body, and the mount body, the first mount body, and the second mount body are integrally formed.

In a second aspect, embodiments of the present utility model also provide a work robot, the work robot including a snow removal device and the autonomous mobile apparatus of any of the above embodiments, the snow removal device including an actuator, the actuator being connected to a jacking assembly.

The autonomous mobile equipment comprises a machine body, a jacking component and an electric control box, wherein the jacking component is arranged on the machine body and is suitable for driving an execution structure of the operation robot to perform pitching movement, the electric control box is arranged on the machine body and is electrically connected with the jacking component, an avoidance space is defined on the lower surface of the electric control box, and at least part of the jacking component is accommodated in the avoidance space. Thus, at least part of the jacking component is accommodated in the avoidance space, so that the space occupied by the jacking component on the machine body is reduced, the integration degree of the machine body is improved, the volume of the machine body is reduced, and the manufacturing cost is reduced. In addition, the electric control box can avoid the jacking component through the avoiding space, so that the risk of collision between the jacking component and the electric control box is reduced, and the smoothness of movement of the jacking component is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a simplified schematic configuration of a work robot according to an embodiment of the present utility model.

Fig. 2 shows a schematic partial structure of an autonomous mobile apparatus according to an embodiment of the present utility model.

Fig. 3 shows a schematic longitudinal cross-sectional view of the jacking assembly and the electronic control box of the autonomous mobile device of fig. 2.

Fig. 4 shows an enlarged schematic view of the jacking assembly and the electronic control box at a of fig. 3.

Fig. 5 shows a schematic structural diagram of a jacking assembly of the autonomous mobile apparatus of fig. 2.

Fig. 6 shows a schematic structural view of the lifting member of the lifting assembly of fig. 5.

Fig. 7 shows a schematic structural view of the jacking assembly of fig. 5 and the first and second motors of the autonomous mobile apparatus.

Reference numerals illustrate:

Detailed Description

In order to make the present utility model better understood by those skilled in the art, the following description of the present utility model will be made in detail with reference to the accompanying drawings in the embodiments of the present utility model. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which a person skilled in the art would obtain without making any inventive effort, are within the scope of the utility model.

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

Referring to fig. 1 and 2 together, the embodiment of the present utility model provides a working robot 1000, wherein the working robot 1000 includes a snow removing apparatus 200 and an autonomous moving apparatus 100, and the snow removing apparatus 200 is mounted on the autonomous moving apparatus 100.

The autonomous mobile apparatus 100 may include a control assembly and a driving assembly, for example, the autonomous mobile apparatus 100 may include a body 20, a structure such as a driving wheel or a driving track may be mounted on the body 20, the control assembly may include a circuit board and the like, and the control assembly may control the driving assembly to move, thereby realizing the movement of the autonomous mobile apparatus 100 on a horizontal plane. As such, the autonomous mobile apparatus 100 can move with the snow removing apparatus 200 mounted thereon to make the snow removing apparatus 200 work within a predetermined area.

In some embodiments, the snow removing device 200 may include the actuator 300, and then the autonomous mobile device 100 may drive the actuator 300 to move, and the autonomous mobile device 100 may adjust the height of the actuator 300 from the ground, so as to help meet the height adjustment requirement of the actuator 300, and help ensure that the actuator 300 works at a proper position.

In some embodiments, the autonomous mobile device 100 includes a jacking component 10 and an electronic control box 30, the jacking component 10 is mounted on the body 20, and the actuator 300 is connected to the jacking component 10, so that the jacking component 10 can drive the actuator 300 to move to adjust the height of the actuator 300 from the ground, which is helpful for meeting the height adjustment requirement of the actuator 300.

In this manner, the autonomous mobile apparatus 100 can satisfy the adjustment of the actuator 300 in the height direction, thereby helping to ensure that the actuator 300 operates in a proper position, and helping to improve the operation efficiency of the operation robot 1000.

Referring to fig. 2 and 3 together, in some embodiments, an electronic control box 30 is mounted on the body 20 and electrically connected to the jacking assembly 10, a lower surface of the electronic control box 30 defines an avoidance space 31, and at least a portion of the jacking assembly 10 is accommodated in the avoidance space 31.

In this way, at least part of the jacking assembly 10 is accommodated in the avoidance space 31, which helps to reduce the space occupied by the jacking assembly 10 by the fuselage 20, and helps to improve the integration degree of the fuselage 20, thereby helping to reduce the volume of the fuselage 20 and reduce the manufacturing cost.

In addition, the electric control box 30 can avoid the jacking assembly 10 through the avoiding space 31, so that the risk of collision between the jacking assembly 10 and the electric control box 30 is reduced, and the smoothness of movement of the jacking assembly 10 is improved.

Illustratively, the jacking assembly 10 and the electric control box 30 may be distributed along the length direction of the body 20, the avoidance space 31 is located on one side of the electric control box 30 facing the jacking assembly 10, and when the jacking assembly 10 moves, at least part of the jacking assembly 10 may be located in the avoidance space 31, so as to help reduce the risk of collision between the jacking assembly 10 and the electric control box 30.

In this way, through arranging the jacking component 10 and the position of the electric control box 30 and setting up the avoidance space 31 on the electric control box 30, the size of the machine body 20 is reduced, the manufacturing cost is reduced, the risk of collision between the jacking component 10 and the electric control box 30 is reduced, and the smoothness of movement of the jacking component 10 is improved.

Referring to fig. 3 and fig. 4 together, in some embodiments, the electric control box 30 may include a first avoidance surface 311 and a second avoidance surface 312 that are connected, where the first avoidance surface 311 extends along a length direction of the fuselage 20, the second avoidance surface 312 extends along a height direction of the fuselage 20, the first avoidance surface 311 and the second avoidance surface 312 are distributed with an included angle, and the first avoidance surface 311 and the second avoidance surface 312 define an avoidance space 31.

In this way, the first avoidance surface 311 extends along the length direction of the machine body 20 to help to increase the area of the first avoidance surface 311, and the second avoidance surface 312 extends along the height direction of the machine body 20 to help to increase the area of the second avoidance surface 312, so that the volume of the avoidance space 31 is increased, the integration degree of the machine body 20 is improved better, and the electric control box 30 can avoid the jacking assembly 10 better.

In some embodiments, the second avoidance surface 312 is disposed obliquely, for example, the second avoidance surface 312 may extend along the height direction of the fuselage 20 and be inclined toward the first avoidance surface 311, and the angle α between the first avoidance surface 311 and the second avoidance surface 312 is greater than 90 degrees.

Illustratively, the included angle α between the first avoidance surface 311 and the second avoidance surface 312 may be 90 degrees, 95 degrees, 100 degrees, 105 degrees, 110 degrees, 115 degrees, 120 degrees, 125 degrees, 130 degrees, 135 degrees, 140 degrees, or other values greater than 90 degrees, which may be specifically set according to the movement path of the jacking assembly 10.

In this way, the adaptation degree of the avoidance space 31 and the jacking assembly 10 is improved, and the compactness of the electric control box 30 and the jacking assembly 10 is improved.

Referring to fig. 3 and fig. 5, in some embodiments, the lifting assembly 10 may include a frame 11, a lifting member 12, and a linear driving member 14, where the lifting member 12 is rotatably mounted on the frame 11. The linear driving member 14 is rotatably mounted on the frame 11 and connected to the jacking member 12, and the linear driving member 14 is adapted to drive the jacking member 12 to perform pitching motion, so that the linear driving member 14 can drive the actuating mechanism 300 to perform movement by driving the jacking member 12, thereby helping to meet the adjustment requirement of the actuating mechanism 300.

Illustratively, the autonomous mobile apparatus 100 may further include a link assembly 13, the link assembly 13 is rotatably connected to the frame 11, and the linear driving member 14 may be connected to the jacking member 12 through the link assembly 13, and the linear driving member 14 may be operated by the link assembly 13 to drive the jacking member 12 to operate.

In some embodiments, the linear driving member 14 may include a housing 142 having an opening 141 and a movable member 143 that moves linearly through the opening 141, and the movable member 143 may have a driving end 1431, where the driving end 1431 is in driving connection with the link assembly 13 to drive the link assembly 13 to move, so as to help meet the adjustment requirement of the actuator 300.

In this way, the linear driving member 14 can drive the connecting rod assembly 13 to move through the driving end 1431 so as to drive the jacking member 12 to move, thereby helping to meet the adjustment requirement of the actuator 300.

The position of the driving end 1431 is always located above the position of the opening 141, or the position of the driving end 1431 is always located at the same height position as the position of the opening 141. This helps to reduce the risk of foreign matters such as dust, silt particles, snow water, etc. entering the housing 142 from outside when the movable member 143 moves to damage the linear driving member 14, and helps to reduce the risk of the snow water entering the housing 142 causing the lubricant and gears inside the linear driving member 14 to freeze in a low temperature environment, thereby helping to ensure the normal operation of the linear driving member 14, and also helping to increase the service life of the linear driving member 14.

In some embodiments, the linear driving member 14 may be a push rod, for example, when the linear driving member 14 is a push rod, the casing of the push rod is a casing 142, the screw rod is a movable member 143, and the motor thereof is used as a driving unit, where the linear driving member 14 may further include a gear assembly, the driving end 1431 of the motor is in driving connection with the gear assembly, and the driving end 1431 of the motor may drive the gear assembly to act, so that the driving end 1431 may drive the screw rod to move relative to the casing of the push rod.

In this way, by limiting the position of the driving end 1431 to be always located above the position of the opening 141 or the position of the driving end 1431 to be always located at the same height as the position of the opening 141, the risk that external impurities such as dust, silt particles, snow water and the like enter the casing 142 to damage the linear driving member 14 when the screw moves is reduced, and the risk that the gear assembly of the push rod is frozen under the low-temperature environment due to the snow water entering the casing 142 is reduced.

In other embodiments, the linear driving member 14 may be an air cylinder, a hydraulic cylinder, a screw machine, or the like, and may be specifically set according to practical situations.

In some embodiments, the electronic control box 30 evacuates the linear drive member 14 through the evacuator space 31. In this way, the electronic control box 30 can avoid the linear driving member 14 through the avoiding space 31, which is helpful for improving the smoothness of the movement of the linear driving member 14, and is helpful for reducing the risk of collision between the linear driving member 14 and the electronic control box 30, so as to help ensure the normal operation of the autonomous mobile apparatus 100.

The linear driving member 14 may have a first limit state and a second limit state, where the movable member 143 of the linear driving member 14 in the first limit state is located in the housing 142, and the movable member 143 does not extend out of the housing 142 and has a minimum stroke, and the movable member 143 of the linear driving member 14 in the second limit state extends out of the housing 142 and the movable member 143 has a maximum stroke.

At least a portion of the housing 142 of the linear drive 14 in the first and second extreme states is always received in the relief space 31, which helps to reduce the space occupied by the linear drive 14 of the jack assembly 10 in the fuselage 20, thereby helping to improve the integrity of the fuselage 20.

Referring to fig. 6, in some embodiments, the jacking member 12 may include a first supporting body 121, a second supporting body 122 and an adapter 123, where the first supporting body 121 and the second supporting body 122 are rotatably connected to the frame 11, the adapter 123 is connected to the first supporting body 121 and the second supporting body 122, and the adapter 123, the first supporting body 121 and the second supporting body 122 are integrally formed, so that the structure of the jacking member 12 is simplified, and manufacturing of the jacking member 12 is facilitated.

Illustratively, the adapter 123, the first support 121, and the second support 122 may be integrated by a die casting process, which helps to simplify the processing process of the jacking member 12, to save manufacturing costs, and to increase the production efficiency of the jacking member 12.

In other embodiments, the adaptor 123, the first support 121 and the second support 122 may be integrated by casting, 3D printing, etc., and may be specifically set according to practical situations.

In this way, the integrally formed structure of the adapter 123, the first supporting body 121, and the second supporting body 122 helps to simplify the structure of the jacking member 12, helps to reduce the number of parts of the jacking member 12, helps to simplify the mounting steps of the jacking member 12, and helps to improve the production efficiency of the jacking member 12.

In some embodiments, the adapter 123 may include first and second opposite surfaces 1231, 1232, with the first and second supports 121, 122 each coupled to the first surface 1231 and the link assembly 13 located on one side of the second surface 1232.

In this way, the first support body 121 and the second support body 122 do not block the movement of the link assembly 13, contributing to an improvement in the smoothness of the movement of the link assembly 13. In this way, by arranging the positions of the first support body 121, the second support body 122, and the link assembly 13, it is facilitated to improve the compactness of the autonomous mobile apparatus 100.

In some embodiments, the junction of the first support 121 and the first surface 1231 is provided with a reinforcement 124, and/or the junction of the second support 122 and the first surface 1231 is provided with a reinforcement 124. In this manner, the reinforcement 124 helps to increase the strength of the lift 12 and helps to increase the stability of the lift 12.

Illustratively, the connection between the first support 121 and the first surface 1231 may be provided with a reinforcement portion 124, and the reinforcement portion 124 helps to improve stability between the first support 121 and the adapter 123, and helps to reduce the risk of deformation due to insufficient strength at the connection between the first support 121 and the adapter 123.

For another example, the connection between the second support 122 and the first surface 1231 may be provided with a reinforcement portion 124, and the reinforcement portion 124 may help to improve stability between the second support 122 and the adapter 123, and may help to reduce the risk of insufficient strength and deformation at the connection between the second support 122 and the adapter 123.

For another example, the connection between the first support 121 and the first surface 1231 may be provided with a reinforcing portion 124, and the connection between the second support 122 and the first surface 1231 may be provided with a reinforcing portion 124, which may help to improve stability between the first support 121 and the adapter 123, and may help to improve stability between the second support 122 and the adapter 123, and may help to improve stability of the entire jacking member 12.

The reinforcing portion 124 may be a reinforcing structure such as a reinforcing rib or a reinforcing plate, and the number of the reinforcing portions 124 may be one or more, for example, in a case where the reinforcing portion 124 is provided at the connection portion between the first support 121 and the first surface 1231, the number of the reinforcing portions 124 may be one, two, three or other numbers, and may be specifically set according to practical situations. When the number of the reinforcing portions 124 is one, the reinforcing portions 124 may have a certain size in the height direction of the jacking member 12 to ensure that the reinforcing portions 124 have sufficient strength.

Referring to fig. 5, 6 and 7, in some embodiments, the adapter 123 may be provided with a first motor mounting notch 1233 and a second motor mounting notch 1234, and the first motor mounting notch 1233 and the second motor mounting notch 1234 are spaced apart. In this manner, the first motor 15 of the autonomous mobile apparatus 100 may be located in the first motor installation gap 1233, and the second motor 16 of the autonomous mobile apparatus 100 may be located in the second motor installation gap 1234, which helps to reduce the risk of collision between the adapter 123 and the first motor 15 and the second motor 16, and helps to improve the smoothness of movement of the adapter 123, thereby helping to ensure normal operation of the autonomous mobile apparatus 100.

In addition, first motor mounting notch 1233 and second motor mounting notch 1234 help reduce the weight of lift 12, helping to save manufacturing costs.

In some embodiments, the first motor mounting notch 1233 is arcuate, which helps reduce stress concentrations at the first motor mounting notch 1233 and helps increase the stiffness of the adapter 123.

The second motor mounting gap 1234 is arcuate, which helps to reduce the concentration of stress at the second motor mounting gap 1234 and to increase the rigidity of the adapter 123.

In this way, the first motor mounting notch 1233 and the second motor mounting notch 1234 help to improve the overall rigidity of the adapter 123 and help to ensure the normal operation of the jacking member 12 while saving the manufacturing cost of the jacking member 12.

In some embodiments, the frame 11 may include a supporting beam 111 and a mounting seat 112, where the linear driving member 14 is rotatably connected to the supporting beam 111, for example, the supporting beam 111 may be installed in the body 20 and connected to one side of the movable member 143 of the linear driving member 14, where, since one side of the movable member 143 is connected to the supporting beam 111, the other side of the movable member 143 may drive the link assembly 13 to act, so that the lifting member 12 may drive the actuator 300 to act, which helps to meet the height adjustment requirement of the actuator 300, so as to help to ensure that the actuator 300 may be in a suitable height position.

In some embodiments, the mounting base 112 includes a mounting base body 1121, a first mounting body 1122, and a second mounting body 1123, the jack 12 is rotatably connected to the first mounting body 1122, the link assembly 13 is rotatably connected to the second mounting body 1123, and the mounting base body 1121, the first mounting body 1122, and the second mounting body 1123 are integrally formed, which helps to simplify the structure of the mounting base 112 and facilitate manufacturing of the mounting base 112.

Illustratively, the mounting base body 1121, the first mounting body 1122, and the second mounting body 1123 may be formed as a single unit through a die casting process, which may help simplify the processing process of the mounting base 112, help save manufacturing costs, and help increase production efficiency of the mounting base 112.

In other embodiments, the mounting base 1121, the first mounting body 1122, and the second mounting body 1123 may be integrally formed by casting, 3D printing, or the like, and may be specifically configured according to actual situations.

In this manner, the integrally formed structure of mount body 1121, first mount body 1122, and second mount body 1123 helps simplify the structure of mount 112, helps reduce the number of parts of mount 112, and helps simplify the mounting steps of mount 112, thereby helping to improve the production efficiency of mount 112.

Referring to fig. 5 and 6, in some embodiments, the first supporting body 121 and the second supporting body 122 are provided with a mounting portion 125, the jack 12 may further include a clamping body 126, the clamping body 126 is detachably mounted on the mounting portion 125, and the actuator 300 is connected to the clamping body 126.

Illustratively, the mounting portion 125 may be a through hole structure, the clamping body 126 may be a hook structure, and the hook of the clamping body 126 is exposed to the mounting portion 125. The number of the clamping bodies 126 may be two, and the two clamping bodies 126 are respectively mounted on the mounting portions 125 of the first supporting body 121 and the second supporting body 122, so that the actuator 300 may be connected to the hooks of the two clamping bodies 126, which is helpful for improving the stability of the actuator 300 connected to the jacking member 12, and thus for improving the stability of the movement of the actuator 300.

The first supporting body 121 may be provided with a plurality of mounting portions 125, for example, the first supporting body 121 may be provided with two, three, four or other number of mounting portions 125, and the second supporting body 122 may be provided with a plurality of mounting portions 125, for example, the second supporting body 122 may be provided with two, three, four or other number of mounting portions 125, which helps to increase the connection area between the actuator 300 and the lifting member 12, thereby helping to better improve the stability of the connection of the actuator 300 to the lifting member 12.

In addition, since the clamping body 126 is detachably mounted on the mounting portion 125, it is beneficial to facilitate the mounting and replacement of the clamping body 126, and to improve the adaptation between the clamping body 126 and the actuator 300. In this way, the corresponding engaging body 126 can be replaced to perform work according to the actual situation, which contributes to improvement of the adaptability of the work robot 1000.

The specific structure of the working robot 1000 refers to the above embodiments, and since the working robot 1000 adopts all the technical solutions of all the embodiments, at least all the beneficial effects caused by the technical solutions of the embodiments are provided, and will not be described in detail herein.

In some embodiments, the work robot 1000 may further include a controller electrically connected to the autonomous mobile apparatus 100 and the actuators 300 to control the actuators 300 to perform height adjustment within a certain range, and to control the autonomous mobile apparatus 100 to move on a given route or within a given area. In this manner, the controller can control the autonomous mobile apparatus 100 to move in a given route or in a given area to control the snow removing mechanism to remove snow in a suitable height range, contributing to an improvement in the intelligence of the work robot 1000 in removing snow and contributing to an improvement in the efficiency of the work robot 1000 in removing snow.

In some embodiments, work robot 1000 may also include an ultrasonic ranging sensor. The working robot 1000 has a path planning function (i.e., obstacle handling capability), and for small obstacles, the working robot 1000 can automatically span, and for medium and large obstacles, the working robot 1000 can avoid timely and clear snow around the obstacles to the maximum extent. The transmitter of the ultrasonic ranging sensor of the operation robot 1000 sends out ultrasonic waves, the ultrasonic waves meet and are reflected by the obstacle, and the distance from the obstacle to the operation robot 1000 can be measured according to the time difference of receiving the ultrasonic waves by the receiver of the ultrasonic ranging sensor, so that the operation robot 1000 makes a plan for avoiding the obstacle in advance, collision with the obstacle is avoided, and the safety performance of the operation robot 1000 is effectively improved. Of course, in other embodiments, work robot 1000 may also utilize infrared ranging sensors or laser ranging sensors for obstacle avoidance.

In summary, according to the autonomous mobile apparatus 100 and the working robot 1000 provided by the embodiments of the present utility model, the autonomous mobile apparatus 100 is applied to the working robot 1000, the autonomous mobile apparatus 100 includes a body 20, a jacking component 10 and an electric control box 30, the jacking component 10 is installed on the body 20, the jacking component 10 is suitable for driving a pitching motion of an execution structure 300 of the working robot 1000, the electric control box 30 is installed on the body 20 and is electrically connected to the jacking component 10, an avoidance space 31 is defined on a lower surface of the electric control box 30, and at least a portion of the jacking component 10 is accommodated in the avoidance space 31. In this way, at least part of the jacking assembly 10 is accommodated in the avoidance space 31, which helps to reduce the space occupied by the jacking assembly 10 by the fuselage 20, and helps to improve the integration degree of the fuselage 20, thereby helping to reduce the volume of the fuselage 20 and reduce the manufacturing cost. In addition, the electric control box 30 can avoid the jacking assembly 10 through the avoiding space 31, so that the risk of collision between the jacking assembly 10 and the electric control box 30 is reduced, and the smoothness of movement of the jacking assembly 10 is improved.

In the present utility model, the terms "mounted," "connected," and the like should be construed broadly unless otherwise specifically indicated or defined. For example, the connection can be fixed connection, detachable connection, integral connection or transmission connection; may be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for understanding as a specific or particular structure. The 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 utility model. In the present utility model, the schematic representations of the above terms are not necessarily for the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples of the present utility model and features of various embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting thereof; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model, and they should be included in the protection scope of the present utility model.

Claims (11)

1. An autonomous mobile apparatus for use with a work robot, comprising:

a body;

the jacking component is arranged on the machine body and is suitable for driving the execution structure of the working robot to perform pitching movement; and

the electric control box is arranged on the machine body and is electrically connected with the jacking assembly, the lower surface of the electric control box defines an avoidance space, and at least part of the jacking assembly is accommodated in the avoidance space.

2. The autonomous mobile device of claim 1, wherein the electrically controlled case comprises a first avoidance surface and a second avoidance surface connected, the first avoidance surface extending along a length direction of the body, the second avoidance surface extending along a height direction of the body, the first avoidance surface and the second avoidance surface being distributed at an included angle, the first avoidance surface and the second avoidance surface defining the avoidance space.

3. The autonomous mobile apparatus of claim 2, wherein the second avoidance surface is disposed at an incline, and an included angle between the first avoidance surface and the second avoidance surface is greater than the degree.

4. The autonomous mobile device of claim 1, wherein the jacking assembly comprises:

a frame;

the jacking piece is rotatably arranged on the frame; and

the linear driving piece is rotatably installed on the frame and connected with the jacking piece, the linear driving piece is suitable for driving the jacking piece to perform pitching movement, and the electric control box avoids the linear driving piece through the avoidance space.

5. The autonomous mobile apparatus of claim 4, wherein the jack comprises a first support, a second support, and an adapter, the first support and the second support each rotatably coupled to the frame, the adapter coupled to the first support and the second support, the adapter, the first support, and the second support being of an integrally formed structure.

6. The autonomous mobile device of claim 5, wherein the adapter body comprises first and second surfaces facing away from each other, the first and second support bodies each being coupled to the first surface, the autonomous mobile device further comprising a link assembly rotatably coupled to the frame and located on a side of the second surface, the linear drive coupled to the link assembly, the link assembly configured to pitch the jack under the drive of the linear drive.

7. The autonomous mobile apparatus of claim 6, wherein a junction of the first support and the first surface is provided with a reinforcement, and/or a junction of the second support and the first surface is provided with a reinforcement.

8. The autonomous mobile apparatus of claim 5, wherein the adapter body is provided with a first motor mounting notch and a second motor mounting notch, the first motor mounting notch and the second motor mounting notch being spaced apart.

9. The autonomous mobile device of claim 8, wherein the first motor mounting notch is arcuate and the second motor mounting notch is arcuate.

10. The autonomous mobile apparatus of claim 4, wherein the frame comprises a support beam and a mount, the linear drive is rotatably coupled to the support beam, the mount comprises a mount body, a first mount body, and a second mount body, the jack is rotatably coupled to the first mount body, the autonomous mobile apparatus further comprises a linkage assembly, the linear drive is coupled to the linkage assembly, the linkage assembly is rotatably coupled to the second mount body, and the mount body, the first mount body, and the second mount body are integrally formed.

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 jacking assembly.