CN220741177U - Autonomous mobile device and work robot - Google Patents

Abstract

The embodiment of the utility model provides an autonomous mobile device and a working robot. The autonomous mobile device is applied to the working robot. The autonomous mobile device includes a fuselage, a lifting assembly and an electric control box. The lifting assembly is installed on the fuselage. The lifting assembly is suitable for driving the pitching movement of the execution structure of the working robot. The electric control box is installed on the fuselage and electrically connected to the lifting assembly. The lower surface of the electric control box defines an avoidance space, and at least part of the lifting assembly is accommodated in the avoidance space. In this way, at least part of the lifting assembly is accommodated in the avoidance space, which helps to reduce the space occupied by the lifting assembly in the fuselage, helps to improve the integration of the fuselage, thereby helping to reduce the volume of the fuselage and reduce manufacturing costs. In addition, the electric control box can avoid the lifting assembly through the avoidance space, which helps to reduce the risk of collision between the lifting assembly and the electric control box, thereby helping to improve the smoothness of the movement of the lifting assembly.

Description

Autonomous mobile equipment and operation robots

Technical Field

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

Background technique

The operating robot can control the movement of the lifting assembly through the electric control box to drive the operating robot's actuator to adjust the height to ensure that the actuator is at a suitable height position when working.

However, the electric control box and the lifting assembly are relatively large in size. The electric control box and the lifting assembly of the operating robot in the related art are both installed on the fuselage. The electric control box and the lifting assembly occupy a large space of the fuselage, resulting in a low degree of integration of the fuselage.

Utility Model Content

The embodiments of the present invention provide an autonomous mobile device and a working robot to improve at least one of the above problems.

The implementation method of the utility model achieves the above-mentioned purpose through the following technical solutions.

In the first aspect, an embodiment of the utility model provides an autonomous mobile device, which is applied to a working robot. The autonomous mobile device includes a fuselage, a lifting assembly and an electrical control box. The lifting assembly is installed on the fuselage, and the lifting assembly is suitable for driving the pitch movement of the execution structure of the working robot. The electrical control box is installed on the fuselage and electrically connected to the lifting assembly. The lower surface of the electrical control box defines an avoidance space, and at least a portion of the lifting assembly is accommodated in the avoidance space.

In some embodiments, the electrical control box includes a first avoidance surface and a second avoidance surface connected to each other, the first avoidance surface extends along the length direction of the fuselage, the second avoidance surface extends along the height direction of the fuselage, the first avoidance surface and the second avoidance surface are distributed at an angle, and the first avoidance surface and the second avoidance surface define an avoidance space.

In some embodiments, the second avoidance surface is inclined, and an included angle between the first avoidance surface and the second avoidance surface is greater than 90 degrees.

In some embodiments, the lifting assembly includes a frame, a lifting member, and a linear drive member, wherein the lifting member is rotatably mounted on the frame, the linear drive member is rotatably mounted on the frame and connected to the lifting member, the linear drive member is suitable for driving the lifting member to pitch, and the electric control box avoids the linear drive member through the avoidance space.

In some embodiments, the lifting member includes a first supporting body, a second supporting body and a connecting body, the first supporting body and the second supporting body are both rotatably connected to the frame, the connecting body is connected to the first supporting body and the second supporting body, and the connecting body, the first supporting body and the second supporting body are an integrally formed structure.

In some embodiments, the adapter includes a first surface and a second surface opposite to each other, the first support body and the second support body are both connected to the first surface, the autonomous mobile device also includes a connecting rod assembly, the connecting rod assembly is rotatably connected to the frame and is located on one side of the second surface, the linear drive member is connected to the connecting rod assembly, and the connecting rod assembly is configured to drive the lifting member to pitch under the drive of the linear drive member.

In some embodiments, a reinforcement portion is provided at a connection between the first support and the first surface, and/or a reinforcement portion is provided at a connection between the second support and the first surface.

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

In some embodiments, the first motor installation notch is arc-shaped, and the second motor installation notch is arc-shaped.

In some embodiments, the frame includes a supporting beam and a mounting seat, the linear drive member is rotatably connected to the supporting beam, the mounting seat includes a mounting seat body, a first mounting body and a second mounting body, the lifting member is rotatably connected to the first mounting body, the autonomous mobile device also includes a connecting rod assembly, the linear drive member is connected to the connecting rod assembly, the connecting rod assembly is rotatably connected to the second mounting body, and the mounting seat body, the first mounting body and the second mounting body are an integrally formed structure.

In a second aspect, an embodiment of the utility model further provides a working robot, which includes a snow removal device and an autonomous mobile device of any of the above embodiments, wherein the snow removal device includes an actuator, and the actuator is connected to a lifting assembly.

The autonomous mobile device and the working robot provided by the embodiment of the utility model are applied to the working robot. The autonomous mobile device includes a fuselage, a lifting assembly and an electric control box. The lifting assembly is installed on the fuselage. The lifting assembly is suitable for driving the pitching movement of the execution structure of the working robot. The electric control box is installed on the fuselage and electrically connected to the lifting assembly. The lower surface of the electric control box defines an avoidance space, and at least part of the lifting assembly is accommodated in the avoidance space. In this way, at least part of the lifting assembly is accommodated in the avoidance space, which helps to reduce the space occupied by the lifting assembly in the fuselage, helps to improve the integration of the fuselage, thereby helping to reduce the volume of the fuselage and reduce manufacturing costs. In addition, the electric control box can avoid the lifting assembly through the avoidance space, which helps to reduce the risk of collision between the lifting assembly and the electric control box, thereby helping to improve the smoothness of the movement of the lifting assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

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

FIG1 shows a simplified schematic diagram of the structure of a working robot provided in an embodiment of the present utility model.

FIG2 shows a partial structural schematic diagram of an autonomous mobile device provided in an embodiment of the utility model.

FIG. 3 shows a schematic longitudinal cross-sectional view of the lifting assembly and the electric control box of the autonomous mobile device of FIG. 2 .

FIG. 4 is an enlarged schematic diagram of the structure of the lifting assembly and the electric control box at A in FIG. 3 .

FIG. 5 shows a schematic structural diagram of a lifting assembly of the autonomous mobile device of FIG. 2 .

FIG. 6 shows a schematic structural diagram of a jacking member of the jacking assembly of FIG. 5 .

FIG. 7 shows a schematic structural diagram of the lifting assembly of FIG. 5 and the first motor and the second motor of the autonomous mobile device.

Description of Figure Numbers:

Detailed ways

In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is only a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

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

Please refer to FIG. 1 and FIG. 2 together. An embodiment of the utility model provides a working robot 1000 . The working robot 1000 includes a snow removal device 200 and an autonomous mobile device 100 . The snow removal device 200 is installed on the autonomous mobile device 100 .

The autonomous mobile device 100 may include a control component and a drive component. For example, the autonomous mobile device 100 may include a fuselage 20, on which a drive component such as a drive wheel or a drive track may be installed. The control component may include components such as a circuit board, and the control component may control the movement of the drive component to achieve the movement of the autonomous mobile device 100 on a horizontal plane. In this way, the autonomous mobile device 100 may carry the snow removal device 200 to move so that the snow removal device 200 operates in a predetermined area.

In some embodiments, the snow removal equipment 200 may include an actuator 300, and the autonomous mobile device 100 may drive the actuator 300 to move. The autonomous mobile device 100 may adjust the height of the actuator 300 from the ground, which helps to meet the height adjustment requirements of the actuator 300 and helps to ensure that the actuator 300 operates in a suitable position.

In some embodiments, the autonomous mobile device 100 includes a lifting assembly 10 and an electrical control box 30. The lifting assembly 10 is installed on the fuselage 20, and the actuator 300 is connected to the lifting assembly 10. The lifting assembly 10 can drive the actuator 300 to move to adjust the height of the actuator 300 from the ground, which helps to meet the height adjustment requirements of the actuator 300.

In this way, the autonomous mobile device 100 can meet the adjustment requirements of the actuator 300 in the height direction, thereby helping to ensure that the actuator 300 operates at a suitable position and helping to improve the operating efficiency of the operating robot 1000 .

Please refer to Figures 2 and 3 together. In some embodiments, the electric control box 30 is installed on the fuselage 20 and electrically connected to the lifting assembly 10. The lower surface of the electric control box 30 defines an escape space 31, and at least a portion of the lifting assembly 10 is accommodated in the escape space 31.

In this way, at least a portion of the lifting assembly 10 is accommodated in the avoidance space 31, which helps to reduce the space occupied by the lifting assembly 10 in the fuselage 20, helps to improve the integration of the fuselage 20, and thus helps to reduce the volume of the fuselage 20 and reduce manufacturing costs.

In addition, the electric control box 30 can avoid the lifting assembly 10 through the avoidance space 31, which helps to reduce the risk of collision between the lifting assembly 10 and the electric control box 30, thereby helping to improve the smoothness of movement of the lifting assembly 10.

Exemplarily, the lifting assembly 10 and the electrical control box 30 can be distributed along the length direction of the fuselage 20, and the avoidance space 31 is located on the side of the electrical control box 30 facing the lifting assembly 10. Then, when the lifting assembly 10 moves, at least part of the lifting assembly 10 can be located in the avoidance space 31, thereby helping to reduce the risk of collision between the lifting assembly 10 and the electrical control box 30.

In this way, by arranging the positions of the lifting assembly 10 and the electrical control box 30 and providing an avoidance space 31 on the electrical control box 30, it helps to reduce the volume of the fuselage 20, reduce manufacturing costs, and also help reduce the risk of collision between the lifting assembly 10 and the electrical control box 30, thereby helping to improve the smoothness of the movement of the lifting assembly 10.

Please refer to Figures 3 and 4 together. In some embodiments, the electrical control box 30 may include a first avoidance surface 311 and a second avoidance surface 312 connected to each other. The first avoidance surface 311 extends along the length direction of the fuselage 20, and the second avoidance surface 312 extends along the height direction of the fuselage 20. The first avoidance surface 311 and the second avoidance surface 312 are distributed at an 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 extending along the length direction of the fuselage 20 helps to increase the area of the first avoidance surface 311, and the second avoidance surface 312 extending along the height direction of the fuselage 20 helps to increase the area of the second avoidance surface 312, thereby helping to increase the volume of the avoidance space 31, helping to better improve the integration of the fuselage 20, and also helping the electrical control box 30 to better avoid the jacking assembly 10.

In some embodiments, the second avoidance surface 312 is inclined. 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 . The angle α between the first avoidance surface 311 and the second avoidance surface 312 is greater than 90 degrees.

Exemplarily, the angle α between the first avoidance surface 311 and the second avoidance surface 312 can 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, and can be set specifically according to the moving path of the jacking assembly 10.

This helps to improve the compatibility between the avoidance space 31 and the lifting assembly 10 , and helps to better improve the compactness of the structure of the electric control box 30 and the lifting assembly 10 .

Please refer to FIG. 3 and FIG. 5 together. In some embodiments, the lifting assembly 10 may include a frame 11, a lifting member 12, and a linear drive member 14. The lifting member 12 is rotatably mounted on the frame 11. The linear drive member 14 is rotatably mounted on the frame 11 and connected to the lifting member 12. The linear drive member 14 is suitable for driving the lifting member 12 to move in pitch. The linear drive member 14 can drive the lifting member 12 to move, so as to drive the actuator 300 to move, thereby helping to meet the adjustment requirements of the actuator 300.

Exemplarily, the autonomous mobile device 100 may further include a connecting rod assembly 13, which is rotatably connected to the frame 11, and the linear drive member 14 may be connected to the lifting member 12 through the connecting rod assembly 13, and the linear drive member 14 may be moved by the connecting rod assembly 13 to drive the lifting member 12 to move.

In some embodiments, the linear drive member 14 may include a shell 142 having an opening 141 and a movable member 143 that moves linearly through the opening 141. The movable member 143 may have a driving end 1431, and the driving end 1431 is transmission-connected to the connecting rod assembly 13 to drive the connecting rod assembly 13 to move, thereby helping to meet the adjustment requirements of the actuator 300.

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

The driving end 1431 is always located above the opening 141, or the driving end 1431 is always at the same height as the opening 141. This helps reduce the risk of external debris such as dust, sand particles, snow water, etc. entering the housing 142 and damaging the linear drive 14 when the movable part 143 moves, and helps reduce the risk of snow water entering the housing 142 causing the lubricating oil and gears inside the linear drive 14 to freeze in a low temperature environment, thereby helping to ensure the normal operation of the linear drive 14 and also helping to increase the service life of the linear drive 14.

In some embodiments, the linear drive member 14 can be a push rod. For example, when the linear drive member 14 is a push rod, the outer shell of the push rod is the shell 142, the screw rod is the movable part 143, and its motor serves as a driving unit. At this time, the linear drive member 14 can also include a gear assembly, and the drive of the motor is connected to the gear assembly, and the driving end 1431 is connected to the gear assembly. At this time, the drive of the motor can drive the gear assembly to move, so that the driving end 1431 can drive the screw rod to move relative to the outer shell of the push rod.

In this way, by limiting the position of the driving end 1431 to always be above the position of the opening 141 or the position of the driving end 1431 to always be at the same height as the position of the opening 141, it helps to reduce the risk of external debris such as dust, mud particles, snow water, etc. entering the shell 142 and damaging the linear drive component 14 when the screw moves, and helps to reduce the risk of snow water entering the shell 142 causing the gear assembly of the push rod to freeze in a low temperature environment.

In other embodiments, the linear drive member 14 may also be a cylinder, a hydraulic cylinder, a screw machine, etc., and may be specifically configured according to actual conditions.

In some embodiments, the electric control box 30 avoids the linear drive member 14 through the avoidance space 31. In this way, the electric control box 30 can avoid the linear drive member 14 through the avoidance space 31, which helps to improve the smoothness of the movement of the linear drive member 14 and helps to reduce the risk of collision between the linear drive member 14 and the electric control box 30, thereby helping to ensure the normal operation of the autonomous mobile device 100.

Among them, the linear drive member 14 can have a first extreme state and a second extreme state. The movable part 143 of the linear drive member 14 in the first extreme state is located in the shell 142, at this time the movable part 143 does not extend out of the shell 142 and has a minimum stroke. The movable part 143 of the linear drive member 14 in the second extreme state extends out of the shell 142 and the movable part 143 has a maximum stroke.

At least a portion of the shell 142 of the linear drive component 14 in the first extreme state and the second extreme state is always accommodated in the avoidance space 31. This helps to reduce the space occupied by the linear drive component 14 of the jacking assembly 10 in the fuselage 20, thereby helping to improve the integration of the fuselage 20.

Please refer to Figure 6. In some embodiments, the lifting member 12 may include a first supporting body 121, a second supporting body 122 and a connecting body 123. The first supporting body 121 and the second supporting body 122 are both rotatably connected to the frame 11. The connecting body 123 is connected to the first supporting body 121 and the second supporting body 122. The connecting body 123, the first supporting body 121 and the second supporting body 122 are an integrally formed structure, which helps to simplify the structure of the lifting member 12 and facilitate the manufacture of the lifting member 12.

For example, the adapter body 123 , the first supporting body 121 and the second supporting body 122 can be integrated into one piece through a die-casting process, which helps to simplify the processing technology of the lifting member 12 , helps to save manufacturing costs, and helps to improve the production efficiency of the lifting member 12 .

In other embodiments, the adapter 123, the first support body 121 and the second support body 122 may also be integrated into a whole through casting, 3D printing and other processes, and the specific configuration may be based on actual conditions.

In this way, the adapter body 123, the first supporting body 121 and the second supporting body 122 are an integrally formed structure, which helps to simplify the structure of the lifting member 12, helps to reduce the number of parts of the lifting member 12, helps to simplify the installation steps of the lifting member 12, and thus helps to improve the production efficiency of the lifting member 12.

In some embodiments, the adapter 123 may include a first surface 1231 and a second surface 1232 that are opposite to each other, the first support body 121 and the second support body 122 are both connected to the first surface 1231 , and the connecting rod assembly 13 is located on one side of the second surface 1232 .

In this way, the first support body 121 and the second support body 122 will not block the movement of the connecting rod assembly 13, which helps to improve the smoothness of the movement of the connecting rod assembly 13. In this way, by arranging the positions of the first support body 121, the second support body 122 and the connecting rod assembly 13, it helps to improve the compactness of the autonomous mobile device 100.

In some embodiments, a reinforcing portion 124 is provided at the connection between the first support 121 and the first surface 1231, and/or a reinforcing portion 124 is provided at the connection between the second support 122 and the first surface 1231. In this way, the reinforcing portion 124 helps to improve the strength of the lifting member 12 and helps to improve the stability of the lifting member 12.

Exemplarily, a reinforcing portion 124 may be provided at the connection between the first supporting body 121 and the first surface 1231 , and the reinforcing portion 124 helps to improve the stability between the first supporting body 121 and the adapter 123 , and helps to reduce the risk of deformation due to insufficient strength at the connection between the first supporting body 121 and the adapter 123 .

For another example, a reinforcing portion 124 may be provided at the connection between the second supporting body 122 and the first surface 1231 , and the reinforcing portion 124 helps to improve the stability between the second supporting body 122 and the adapter 123 , and helps to reduce the risk of deformation due to insufficient strength at the connection between the second supporting body 122 and the adapter 123 .

For another example, a reinforcement portion 124 may be provided at the connection between the first supporting body 121 and the first surface 1231, and a reinforcement portion 124 may also be provided at the connection between the second supporting body 122 and the first surface 1231. This helps to improve the stability between the first supporting body 121 and the adapter body 123, helps to improve the stability between the second supporting body 122 and the adapter body 123, and thus helps to improve the overall stability of the lifting member 12.

The reinforcing part 124 may be a reinforcing structure such as a reinforcing rib or a reinforcing plate, and the number of the reinforcing part 124 may be one or more. For example, when a reinforcing part 124 is provided at the connection between the first supporting body 121 and the first surface 1231, the number of the reinforcing part 124 may be one, two, three or other numbers, which may be set according to actual conditions. When the number of the reinforcing part 124 is one, the reinforcing part 124 may have a certain size along the height direction of the lifting member 12 to ensure that the reinforcing part 124 has sufficient strength.

Please refer to FIG. 5, FIG. 6 and FIG. 7 together. In some embodiments, the adapter 123 may be provided with a first motor installation notch 1233 and a second motor installation notch 1234, and the first motor installation notch 1233 and the second motor installation notch 1234 are spaced apart. In this way, the first motor 15 of the autonomous mobile device 100 may be located in the first motor installation notch 1233, and the second motor 16 of the autonomous mobile device 100 may be located in the second motor installation notch 1234, which helps to reduce the risk of collision between the adapter 123 and the first motor 15 and the second motor 16, helps to improve the smoothness of movement of the adapter 123, and thus helps to ensure the normal operation of the autonomous mobile device 100.

In addition, the first motor installation notch 1233 and the second motor installation notch 1234 help to reduce the weight of the lifting member 12, which helps to save manufacturing costs.

In some embodiments, the first motor installation notch 1233 is arc-shaped, which helps to reduce the stress concentration at the first motor installation notch 1233 and helps to improve the rigidity of the adapter 123 .

The second motor installation notch 1234 is arc-shaped, which helps to reduce the stress concentration at the second motor installation notch 1234 and helps to improve the rigidity of the adapter 123 .

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

In some embodiments, the frame 11 may include a supporting beam 111 and a mounting seat 112, and the linear drive member 14 may be rotatably connected to the supporting beam 111. For example, the supporting beam 111 may be installed in the fuselage 20 and connected to one side of a movable member 143 of the linear drive member 14. Since one side of the movable member 143 is connected to the supporting beam 111, the other side of the movable member 143 can drive the connecting rod assembly 13 to move, so that the lifting member 12 can drive the actuator 300 to move, which helps to meet the height adjustment requirements of the actuator 300, thereby helping to ensure that the actuator 300 can be at a suitable height position.

In some embodiments, the mounting seat 112 includes a mounting seat body 1121, a first mounting body 1122 and a second mounting body 1123, the lifting member 12 is rotatably connected to the first mounting body 1122, the connecting rod assembly 13 is rotatably connected to the second mounting body 1123, and the mounting seat body 1121, the first mounting body 1122 and the second mounting body 1123 are an integrally molded structure, which helps to simplify the structure of the mounting seat 112 and facilitates the manufacture of the mounting seat 112.

Exemplarily, the mounting seat body 1121 , the first mounting body 1122 and the second mounting body 1123 can be formed into a whole through a die-casting process, which helps to simplify the processing technology of the mounting seat 112 , helps to save manufacturing costs, and helps to improve the production efficiency of the mounting seat 112 .

In other embodiments, the mounting seat body 1121, the first mounting body 1122 and the second mounting body 1123 may also be integrated into a whole through casting, 3D printing and other processes, and the specific configuration may be based on actual conditions.

In this way, the mounting seat body 1121, the first mounting body 1122 and the second mounting body 1123 are an integrally formed structure, which helps to simplify the structure of the mounting seat 112, helps to reduce the number of parts of the mounting seat 112, helps to simplify the installation steps of the mounting seat 112, and thus helps to improve the production efficiency of the mounting seat 112.

Please refer to Figures 5 and 6. In some embodiments, the first supporting body 121 and the second supporting body 122 are both provided with a mounting portion 125. The lifting member 12 may further include a snap-on body 126. The snap-on body 126 is detachably mounted on the mounting portion 125. The actuator 300 is connected to the snap-on body 126.

For example, the mounting portion 125 may be a through-hole structure, and the clamping body 126 may be a hook structure, with the hook of the clamping body 126 exposed on the mounting portion 125. There may be two clamping bodies 126, 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, and the actuator 300 may be connected to the hooks of the two clamping bodies 126, which helps to improve the stability of the actuator 300 connected to the lifting member 12, thereby helping to improve the stability of the movement of the actuator 300.

Among them, the first supporting body 121 can be provided with multiple mounting parts 125, for example, the first supporting body 121 can be provided with two, three, four or other number of mounting parts 125, and the second supporting body 122 can be provided with multiple mounting parts 125, for example, the second supporting body 122 can be provided with two, three, four or other number of mounting parts 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 actuator 300 connected to the lifting member 12.

In addition, since the card body 126 is detachably mounted on the mounting portion 125, it is convenient to install and replace the card body 126, and it is helpful to improve the compatibility of the card body 126 and the actuator 300. In this way, the corresponding card body 126 can be replaced according to actual conditions to work, which helps to improve the adaptability of the working robot 1000.

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

In some embodiments, the working robot 1000 may further include a controller, which is electrically connected to the autonomous mobile device 100 and the actuator 300 to control the actuator 300 to adjust the height within a certain range, and control the autonomous mobile device 100 to move along a predetermined route or within a predetermined area. In this way, the controller can control the autonomous mobile device 100 to move along 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 snow removal of the working robot 1000 and helps to improve the efficiency of the snow removal of the working robot 1000.

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

In summary, the autonomous mobile device 100 and the working robot 1000 provided by the embodiment of the utility model are applied to the working robot 1000. The autonomous mobile device 100 includes a fuselage 20, a lifting assembly 10 and an electric control box 30. The lifting assembly 10 is installed on the fuselage 20. The lifting assembly 10 is suitable for driving the execution structure 300 of the working robot 1000 to pitch. The electric control box 30 is installed on the fuselage 20 and is electrically connected to the lifting assembly 10. The lower surface of the electric control box 30 defines an avoidance space 31. At least part of the lifting assembly 10 is accommodated in the avoidance space 31. In this way, at least part of the lifting assembly 10 is accommodated in the avoidance space 31, which helps to reduce the space occupied by the lifting assembly 10 in the fuselage 20, helps to improve the integration of the fuselage 20, and thus helps to reduce the volume of the fuselage 20 and reduce the manufacturing cost. In addition, the electric control box 30 can avoid the lifting assembly 10 through the avoidance space 31, which helps to reduce the risk of collision between the lifting assembly 10 and the electric control box 30, thereby helping to improve the smoothness of movement of the lifting assembly 10.

In this utility model, unless otherwise clearly specified or limited, the terms "installation", "connection" and the like 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 ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as specific or special structures. The description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the present utility model, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present utility model and the features of different embodiments or examples without contradiction.

The above implementation modes are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned implementation modes, a person skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various implementation modes of the present invention, and should all be included in the protection scope of the present invention.

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.