76results about How to "Improve obstacle performance" patented technology

The utility model relates to the technical field of spherical tank surface weld joint detection, in particular to a magnetic attraction type spherical tank weld joint detection robot which comprises a crawler crawling device, a weld joint detection device and a surface polishing device, and the crawler crawling device is used for providing walking power and adsorbing a climbing wall; the welding seam detection device is composed of a detection part and an imaging part, and the imaging part is composed of laser imaging equipment and infrared imaging equipment and used for scanning the interior and exterior of the spherical tank in the detection process and determining coordinate distribution of a welding seam; the detection part consists of a mechanical arm and flaw detection equipment and is used for detecting a welding seam; the surface grinding device is composed of a grinding wheel grinding machine and a sliding support. According to the spherical tank robot, the obstacle crossing capacity for the surface of the spherical tank is improved through the magnet, foreign matter on the welding seam and the surface of the spherical tank is removed through the grinding wheel polisher on the premise that the surface of the spherical tank is not damaged, the welding seam detection precision is improved, and nondestructive detection on the welding seam on the surface of the spherical tank is achieved through the welding seam detection device.

The invention discloses a waist steering wheel-foot composite chassis and a control method thereof.The chassis comprises a first chassis frame, the first chassis frame is hinged to a second chassis frame through a waist steering mechanism, and the waist steering mechanism drives the first chassis frame and the second chassis frame to rotate relatively through a telescopic driving mechanism; left frame plates and right frame plates are arranged on the left sides and the right sides of the first chassis frame and the second chassis frame respectively, chassis connecting frames are hinged to the middles of the left frame plates and the middles of the right frame plates through supports respectively, yaw oil cylinders for driving the chassis connecting frames to swing left and right are arranged on the inner sides of the lower half portions of the chassis connecting frames, and the wheel-foot composite assemblies are hinged to the chassis connecting frames. The chassis efficiency and the obstacle crossing performance can be remarkably improved, seamless switching between a wheel driving mode and a walking mode can be achieved according to road conditions, the passing performance is guaranteed, the steering function in the wheel driving mode is achieved through waist steering, the wheel edge structure is simplified, and the reliability of the wheel edge is improved.

A high-altitude operation construction vehicle with hoisting and cross arm assisting functions comprises a crane system, a caterpillar band chassis, a swing mechanism, a telescopic arm, a fly arm, a quick change device, a working platform and a cross arm assisting tool, the swing mechanism is installed on the caterpillar band chassis, the fixed end of the telescopic arm is hinged to the swing mechanism, the crane system is installed on the telescopic arm, and the fly arm is installed on the cross arm assisting tool. The flying arm is installed on the telescopic arm through a conversion device, the flying arm can be converted between a storage state and a working state through the conversion device, the flying arm is fixed to the fixed end of the telescopic arm in the storage state, the flying arm is fixed to the telescopic end of the telescopic arm in the working state, and the working platform is detachably connected with the flying arm through a quick change device. The cross arm auxiliary tool is installed on the working platform. The crane can be used as a crane and can also be connected with the working platform through the fly jib, and the cross arm is mounted through the cross arm auxiliary tool on the working platform, so that the operation intensity and risk of workers are greatly reduced, and the construction cost is reduced.

The invention relates to the technical field of household cleaning equipment, in particular to an active obstacle crossing type driving wheel and a robot thereof. The active obstacle crossing type driving wheel is mainly applied to the cleaning robot, a front wheel is arranged on the front side of the bottom of the cleaning robot, the active obstacle crossing type driving wheel comprises a power source, a main wheel and an auxiliary wheel, the main wheel and the auxiliary wheel are arranged at the bottom of the cleaning robot and share power output of the power source, and the main wheel is located on the rear side of the gravity center of the cleaning robot. The auxiliary wheels are located on the front side of the gravity center of the cleaning robot. According to the active obstacle crossing type driving wheel and the robot thereof, the main wheel and the auxiliary wheel are distributed on the two sides of the gravity center of the cleaning robot, when the cleaning robot faces an obstacle, the supporting position of the cleaning robot is changed, so that the whole cleaning robot inclines backwards, and the height of the front side of the cleaning robot is increased due to inclination; therefore, the obstacle higher than the chassis can be climbed over, and the obstacle crossing ability of the cleaning robot is improved.

The present invention belongs to the field of bipedal robots, and specifically relates to a bipedal robot adopting a wheel-track deformable wheel system and a working method thereof, wherein the bipedal robot adopting the wheel-track deformable wheel system comprises a robot body and mechanical legs arranged on both sides of the robot body, and the mechanical legs comprise a rotating arm I, a rotating arm II and a wheel-track deformable wheel system. The bipedal robot adopting the wheel-track deformable wheel system provided by the present invention has a wheel-track deformable wheel system arranged at the end of the rotating arm II, so that the wheel-track deformable wheel is well integrated with the bipedal robot's bipedal feet, and can be switched among five working modes: a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a brake mode and a leg drive mode.

The embodiment of the present application provides a self-moving robot and a walking method thereof, wherein the self-moving robot includes a body, a driving wheel assembly and an obstacle crossing assembly; the driving wheel assembly is rotatably arranged on the body through a first rotating shaft; the driving wheel assembly includes a driving wheel; during the process of the driving wheel moving from a first position to a second position relative to the body, the obstacle crossing assembly applies force to the driving wheel assembly, and the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to a set threshold. In the technical solution provided by the present application, when the self-moving robot encounters an obstacle and the body is lifted up or walks to a pit, the driving wheel assembly is subjected to the force exerted by the obstacle crossing assembly in addition to its own gravity; under the joint action of these forces, the amplitude of the positive pressure change between the driving wheel and the traveling surface is less than or equal to the set threshold, which helps to increase the friction between the driving wheel and the traveling surface and improve the obstacle crossing ability of the self-moving robot.

The utility model relates to the technical field of rescue vehicles, in particular to a multifunctional amphibious rescue vehicle. The utility model provides a multifunctional amphibious rescue vehicle, which can realize quick rescue, and comprises a vehicle body, lifting mechanisms, outboard engine mechanisms, a chassis edge frame and a front axle mechanism, the lifting mechanisms are arranged on both sides of the rear part of the vehicle body, the two lifting mechanisms are respectively provided with one outboard engine mechanism, the chassis edge frame is arranged at the bottom of the vehicle body, and the front axle mechanism is arranged on the chassis edge frame. Front axle mechanisms are arranged on the two sides of the chassis edge frame. Through the arrangement of the planetary gear type transfer mechanism, power is transmitted to the four tires through the rear universal output shaft, the front universal output shaft, the steering knuckle arm and other parts, low-speed or high-speed driving of the four wheels of a vehicle body is achieved, the position utilization rate of a vehicle chassis and the transmission efficiency of the vehicle are improved, energy loss is reduced, and the service life of the vehicle is prolonged. Therefore, the power performance of the vehicle is improved.

The invention discloses a high-smoothness self-adaptive closed-chain multi-foot walking platform. The high-smoothness self-adaptive closed-chain multi-foot walking platform is composed of a, b, c and d four-foot units (A, B, C and D) and a connecting frame (E), wherein the four-foot units (A, B, C and D) are completely identical. Each four-foot unit is driven by a single motor to walk, the platform compensates displacement fluctuation in the vertical direction and speed fluctuation in the walking direction when the platform moves through the transmission design of non-circular gears in gear boxes in the four-foot units, and high smoothness and high stability of walking of the platform are achieved. A cam system is designed, a leg mechanism self-adaptive reconstruction module is built, and the platform is endowed with passive obstacle crossing ability. The high-smoothness self-adaptive closed-chain multi-legged walking platform can realize detection and exploration tasks on complex road surfaces such as mountainous regions, and is richer in walking gaits and higher in terrain adaptability.

The invention provides a walking obstacle crossing device of a wheel type inspection robot, and belongs to the technical field of wheel type robots, the walking obstacle crossing device comprises a frame component, a wheel body assembly, a double-position rotary driving assembly, a synchronous steering assembly and an obstacle crossing transmission assembly, a bottom transverse plate is in sliding connection with the outside of a hexagonal sliding column, so that active position raising work can be formed when a wheel faces an obstacle, meanwhile, a follow-up sliding seat and an inclined guide column can form matched transmission, and a wheel bevel gear and a normal bevel gear are switched and moved to a position meshed with a torque increasing bevel gear in a meshed state; therefore, when the wheels move upwards, the torque increasing bevel gears and the wheel bevel gears are synchronously driven to form matched transmission, and the obstacle crossing ability of the wheels facing obstacles is doubly improved. And the outer fixed rotating component is in transmission connection between the hexagonal inserting shaft and the inner rotating shaft, so that the transmission stability of the inner rotating shaft and the hexagonal inserting shaft can be improved bidirectionally.

A flying / climbing amphibious variant robot based on bionic adhesion comprises a robot body, the four corners of the robot body are connected with robot arms, the lower portions of the robot arms are connected with mechanical legs through connecting pieces, the mechanical legs are connected with an air pump through hoses, and the air pump is installed on the robot body; the fuselage is connected with a flight control unit, an air pump / steering engine control unit and a lithium battery which are matched with the arms and the mechanical legs to realize flight and climbing functions; in the flying state, the machine arms are wings of the robot, and in the climbing state, the machine arms are swing arms of the robot; the quadrotor unmanned aerial vehicle and the quadruped robot are organically combined, meanwhile, the climbing function is achieved through bionic adhesion, and the robot adapts to various complex terrains, can flexibly fly and vertically take off and land, can be switched between the flying mode and the climbing mode, can be close to a target for reconnaissance, is long in endurance, and has the advantages of being good in obstacle crossing performance and capable of being rapidly transferred.

The invention provides a grass collecting device and walking equipment. The grass collecting device comprises a main body, a collecting part and a supporting part, and the collecting part is rotatably connected with the main body through a first pivot; the supporting part is rotatably connected with the collecting part through a second pivot; when the grass collecting device moves in the first direction, the collecting component and the supporting component can synchronously rotate around the first pivot within a preset angle range; when the grass collecting device moves in the second direction, the supporting component can rotate around the second pivot, and the first direction is opposite to the second direction. By the adoption of the grass collecting device, the situation that in the backward or forward process of the grass collecting device, when the supporting component is clamped by the lawn, backward or forward resistance of the grass collecting device is increased easily, and the lawn is damaged is avoided.

The application discloses a robot chassis and a robot, and the robot chassis comprises a vehicle frame, swing arms arranged on opposite sides of the vehicle frame, different-speed rotation between the swing arms, rudders connected with the swing arms, synchronous rotation between the rudders, hub motors connected with the swing arms through the rudders, rotation of the hub motors according to a preset speed ratio, and a connecting rod mechanism arranged on the vehicle frame, connected with the swing arms, and matched with the swing arms to enable the different-speed rotation between the swing arms. The hub motors are connected with the swing arms through the rudders, the rudders of front and rear wheels are synchronously rotated, the front and rear wheels are deflected by a certain angle, the hub motors can rotate according to a certain speed ratio, and the whole machine is driven to turn during movement and turn in place. Meanwhile, the connecting rod mechanism is matched with the different-speed rotation between left and right swing arms, the pitch angle of the chassis is at the middle value of the inclination angles of the left and right swing arms, and the obstacle crossing ability and the anti-rollover ability of the chassis are effectively improved.

The utility model provides a traction device and a bundling machine. The traction device comprises a traction input shaft, a hitching plate assembly, a front traction connecting frame welding part, a traction middle shaft, a rear traction connecting frame welding part, a traction output shaft, a pair of traction beams and a limiting mechanism, the traction input shaft is connected with the traction middle shaft, the traction middle shaft is connected with the traction output shaft, and the traction output shaft is connected with the hitching plate assembly. The hitching plate assembly is installed on the front traction connecting frame welding part, the front traction connecting frame welding part is rotationally connected with the rear traction connecting frame welding part, and the traction middle shaft is rotationally installed in the front traction connecting frame welding part and the rear traction connecting frame welding part. The pair of traction beams is connected with the rear traction connecting frame welding part, and the limiting mechanism is installed at the connecting position of the front traction connecting frame welding part and the rear traction connecting frame welding part.

The invention belongs to the field of wheel bodies, and particularly relates to a power driving mechanism for a wheel-track deformation wheel, a driving method and a wheel-track deformation wheel system.The power driving mechanism for the wheel-track deformation wheel comprises a wheel carrier driving part and an input end driving part of an autorotation synchronous belt wheel set; the power driving mechanism for the wheel-track deformation wheels is used for driving the wheel-track deformation wheels, and running can be carried out in a deformation wheel rim revolution driving mode, a track driving mode and a self-adaptive driving mode. According to the invention, through one rotary driving mechanism, two kinds of driving such as crawler traveling driving and deformation rim revolution driving can be realized, and a self-adaptive driving mode of a deformation rim revolution driving mode and a crawler driving mode can also be realized, so that the possibility that the wheel-crawler deformation wheel is stuck when encountering an obstacle is reduced; and the obstacle crossing capability of the wheel-track deformation wheel can be greatly improved.

The wheel-foot conversion multi-legged robot comprises a body, the side surface of the body is provided with a plurality of driving parts distributed in the circumferential direction, a multi-joint leg, the proximal end of the multi-joint leg is hinged to the driving part, the multi-joint leg comprises a plurality of joint arms arranged in a straight line and hinged in sequence, wherein the two ends of the joint arm farthest from the proximal end are respectively provided with a walking wheel and a gripping foot, both can support and drive the wheel-foot conversion multi-legged robot, and the robot realizes wheel running and foot running mode conversion by switching the use of the walking wheel and the gripping foot of the multi-joint leg. The multi-legged robot designed by the utility model can be switched between the use of the walking wheel and the gripping foot, and then the wheel running and foot running mode conversion is realized, and the innovative design significantly enhances the obstacle crossing ability of the robot.

The utility model provides an electric track engineering forklift, which belongs to the technical field of track engineering forklifts and comprises a forklift body, the forklift body is provided with an operation board, a safety column is arranged on the forklift body, a supporting column is arranged on the safety column, and a tire disc is arranged on the forklift body. Goods are forked or placed through operation of the electric crawler forklift, the problems that a wheel train bridge type differential wheel train vehicle is poor in trafficability, stable in walking, high in obstacle crossing capacity, high in flexibility, small in turning radius and free of special requirements for the terrain during turning are solved in the running process, the motor drives the vehicle to walk, soft starting and soft stopping can be achieved, the driving feeling is smooth in the starting process, and the driving safety is high. When the fork forks goods, a sideslip and toppling prevention device is additionally arranged, the inclination angle is increased, electro-hydraulic proportional valve control is adopted, differential control over steering wheels and differential control over inner and outer side wheel trains during in-situ rotation are achieved, a traditional hydraulic rod operation mode is omitted, and valve clamping is avoided to a certain extent.

The application is suitable for the technical field of cleaning equipment, and provides a tire, a walking wheel, a cleaning equipment and a cleaning system. The tire is used for at least the cleaning equipment. A plurality of protruding parts are arranged on the outer peripheral side wall of the tire. The plurality of protruding parts are arranged at intervals along the circumferential direction of the tire. At least one side of the tire in the axial direction is concavely provided with a blind groove structure. The number of the blind groove structures is the same as that of the protruding parts and is arranged one by one. Any one of the blind groove structures comprises at least two hollowed-out grooves arranged along the circumferential direction of the tire. The tire provided by the application has the advantage of good walking stability.

The invention provides a semi-floating type mineral collecting device, and belongs to the technical field of ocean mining. Comprising a semi-floating type carrier, an ore collecting device arranged at the abdomen of the semi-floating type carrier and a supporting structure arranged below the semi-floating type carrier, and buoyancy blocks used for adjusting buoyancy are detachably arranged above and inside the semi-floating type carrier. The weight of the mining vehicle in water is slightly larger than the buoyancy of the mining vehicle, and the difference value between the gravity and the buoyancy is determined by the maximum interference load of the hose (connecting the mining vehicle with the relay station) on the mining vehicle in the operation process and is not smaller than the maximum interference load of the hose. The difference may be achieved by a buoyancy block configuration of the semi-floating carrier.

The utility model discloses an auxiliary device for communication engineering construction, which relates to the field of communication engineering and comprises a supporting unit, the supporting unit comprises two supporting frames and a supporting column, the two supporting frames are coaxially arranged, and the supporting column is connected between the two supporting frames. The supporting columns are distributed in a circumferential array shape and fixedly installed between the two supporting frames through welding or bolts. The device further comprises a driving unit which is arranged on the outer side of the supporting frame, the driving unit comprises a plurality of mounting blocks distributed in the circumferential direction of the supporting frame, a mounting groove is formed in the top of each mounting block, and a supporting shaft is fixedly mounted in each mounting groove through a bearing. According to the auxiliary device for communication engineering construction, dynamic pressing of the rolling wheels on a transmission line is achieved through cooperation of the protection columns and the arc-shaped limiting grooves, efficient power transmission is ensured through combination of belt driving and bevel gear transmission, and the obstacle crossing capacity of the device is enhanced through cooperative adjustment of the tension springs and the tensioning wheels.

The present invention provides an intelligent sweeping and cleaning device, which can automatically move along a working direction to clean the ground. The intelligent sweeping and cleaning device includes a housing, running wheels mounted on the housing, and a cleaning unit mounted on the housing, wherein the cleaning unit is movably mounted on the housing, and the intelligent sweeping and cleaning device can control the cleaning unit to move relative to the housing to adjust its position. Compared with the prior art, the intelligent sweeping and cleaning device of the present invention movably mounts the cleaning unit on the housing, and when the working environment of the intelligent sweeping and cleaning device changes, the cleaning unit can move relative to the housing to adjust to a suitable working position, thereby having a strong obstacle-crossing capability and being able to adapt to complex and changeable ground environments.

This utility model belongs to the field of coal mine inspection technology, specifically an inspection robot lifting platform. It includes a chassis with a liftable lifting platform mounted on top. An electric rotating gimbal is mounted on the upper surface of the lifting platform, which drives the gimbal to move up and down. A robotic arm is mounted on the upper surface of the electric rotating gimbal. This inspection robot lifting platform, with its tracks on the chassis, increases the stability and obstacle-crossing performance of the inspection robot, thus adapting to various complex underground road environments, especially better handling uneven and potholed road sections. The liftable platform on top of the chassis, using a hydraulic pump station to drive hydraulic cylinders, allows for flexible adjustment of the inspection robot's height, adapting to different underground environments, enhancing passability, and providing different viewing angles.

The double-ring deformable wheel mechanism is composed of a first flip rod (A-1), a second flip rod (A-2), a third flip rod (A-3), a fourth flip rod (A-4), a fifth flip rod (A-5), a steering gear arm 1 (A-6), a steering gear bracket 1 (A-7), a steering gear 1 (A-8), a sixth flip rod (B-1), a seventh flip rod (B-2), an eighth flip rod (B-3), a ninth flip rod (B-4), a tenth flip rod (B-5), a steering gear arm 2 (B-6), a steering gear bracket 2 (B-7), a steering gear 2 (B-8), and a frame rod (C-1). The folding and unfolding of the wheel body are controlled by the forward and reverse rotation of the motor. When folded, it is in a round wheel mode, which can have the stability of a wheel type, and when unfolded, it is in a special-shaped mode, which has a stronger obstacle-crossing performance. Moreover, after the double-ring deformable wheel mechanism of the present invention is deformed, a larger obstacle-crossing radius can be obtained, and it has a better obstacle-crossing ability, and can be well applied in the fields of education, entertainment, and military.

The utility model discloses a visual management and control integrated device for a rail transit engineering site. The visual management and control integrated device comprises a box body, a box cover is arranged on the top of the box body, two obstacle crossing structures are arranged on the two sides of the bottom of the box body respectively, a lifting structure is arranged in the box body, a visual management and control body is arranged on the top of the lifting structure, and sliding grooves are formed in the two sides of the interior of a handle of the box body respectively. Through the cooperation of the lifting structure, the box body and the box cover, the visual management and control body can be conveniently stored in the box body after use, so that the visual management and control body is prevented from being exposed outside all the time, the possibility that fine particles such as dust enter the device is reduced, the maintenance workload of workers is reduced, and the maintenance efficiency is improved. The service life of the obstacle crossing mechanism is prolonged, the obstacle crossing structure can cross obstacles with large heights, the connecting frames are matched with the first connecting rods, so that the moving wheels can change according to changes of terrains, the wheels make contact with the ground all the time, the harm of rollover is avoided, and the moving stability and the obstacle crossing capacity of the obstacle crossing mechanism are improved.

The invention provides a cleaning module and cleaning equipment. The cleaning module comprises a mounting body, a cleaning mechanism and a driving mechanism. The cleaning mechanism is movably mounted on the mounting body. The driving mechanism comprises a driving piece, a rotating piece and an idle stroke assembly. The driving piece is installed on the installation body and is in transmission connection with the rotating piece. The idle stroke assembly is rotationally connected with the rotating piece and is in transmission connection with the cleaning mechanism. The rotating piece is provided with a first transmission part. The idle stroke assembly is provided with a second transmission part. The second transmission part and the first transmission part abut against and are matched in the circumferential direction of the rotating piece. According to the cleaning equipment, in the process of cleaning an uneven to-be-cleaned surface or crossing obstacles, the cleaning mechanism is subjected to upward external force, and due to the fact that the first transmission part and the second transmission part are in one-way abutting fit, the first transmission part cannot hinder the second transmission part from rotating towards the side away from the first transmission part; the cleaning mechanism can freely float and lift to adapt to the height change of the to-be-cleaned surface, and the obstacle crossing performance of the cleaning equipment is improved.

The utility model discloses a fire-fighting material transfer cart which comprises a cart body, a traction handle (11) and a crawler walking mechanism assembly, one end of the crawler walking mechanism assembly is hinged to the cart body, a movable support (41) is arranged between the crawler walking mechanism assembly and the cart body, and the movable support (41) enables the crawler walking mechanism assembly and the cart body to be in different angle states. Compared with the prior art, under the condition that the gradient is large, materials on the transfer cart can be kept relatively balanced by learning to adjust the cart body, and the obstacle crossing ability is high.

The present invention discloses a suspension device and a chassis and a robot having the suspension device. The chassis comprises: an elastic member, a first end of which can be connected to a bottom plate of the chassis; and a swing arm, which can be rotatably arranged on the bottom plate, a first end of which is connected to a second end of the elastic member, and a second end of which can be connected to a driving wheel of the chassis, wherein the elastic member is in a deformed state so that the elastic member can apply a downward force to the driving wheel through the swing arm. By utilizing the suspension device according to an embodiment of the present invention, the chassis including the suspension device can have advantages such as strong obstacle surmounting capability.

This utility model belongs to the field of intelligent cleaning equipment technology, and in particular to an underwater robot swimming pool cleaning device. The detachable upper and lower cover structure facilitates maintenance of the filter and impeller, and is linked with the sensor bracket and through-hole installation method. During assembly and disassembly, the sensor bracket automatically separates, simplifying assembly and ensuring connection stability. The guide wheel system, through the precise fit between the wheel groove and the caster shaft, significantly improves the device's stability and obstacle-crossing ability on the pool bottom. The dual-motor drive, combined with the concentrically designed drainage barrier, creates a highly efficient vortex, ensuring cleaning capability even in the event of a single motor failure, while greatly improving the efficiency of removing fine impurities. In terms of user-friendly design, details such as the aligned maintenance solution between the operating port and the fixed base, the swingable and detachable soft rubber scraper, and the waterproof switch work together. The overall structure, through the organic cooperation between its components, achieves a comprehensive improvement in cleaning efficiency, operational reliability, and maintenance convenience.

The invention discloses an omni-directional movement chassis capable of moving ridges, which is characterized by comprising a frame and four groups of walking components, the walking assembly comprises an upper mounting plate and a lower mounting plate, the upper mounting plate and the lower mounting plate are fixedly connected with a lead screw and a guide rod respectively, and the upper mounting plate and the lower mounting plate are connected with a transmission shaft through bearings respectively; the lower mounting plate is fixedly connected with a bevel gear box, the lower end of the transmission shaft is fixedly connected with an input shaft of the bevel gear box, and an output shaft of the bevel gear box is fixedly connected with symmetrical wheels. The invention relates to the field of agricultural equipment, in particular to an omni-directional movement chassis capable of moving ridges. The technical problem to be solved by the invention is to provide the omni-directional moving chassis capable of moving ridges, so that ridge moving is conveniently realized, and green seedlings are prevented from being rolled.

This utility model provides a vehicle suspension structure, belonging to the field of garden equipment technology. The vehicle suspension structure includes a cantilever and an elastic element. This utility model rotatably mounts one end of the cantilever on each side of the chassis, with a wheel mounted on the other end of the cantilever. An elastic element is provided between the wheel-mounting end of the cantilever and the chassis. Furthermore, the drive motor is mounted inside the chassis at the cantilever connection point, achieving motor mounting on the chassis, reducing wheel weight. The cantilever and elastic element together form a wheel suspension structure, which is not only simple in structure but also reduces manufacturing costs. When traversing uneven ground, the deflection of the cantilever and the tension of the elastic element maintain the wheel's contact with the ground, preventing loss of traction and improving the vehicle's obstacle-crossing ability, thus facilitating lawnmower operations.

The embodiment of the utility model relates to the technical field of life electric appliances, and particularly discloses a sweeping robot which comprises a robot body, a front wheel and a rear wheel assembly. The front wheels are rotationally arranged at the front end of the robot body. The rear wheel assembly comprises a connecting arm, a rear wheel and an elastic assembly, the connecting arm is rotationally connected to the rear end of the robot body, the rear wheel is rotationally connected to the connecting arm, and the elastic assembly is connected with the robot body and the connecting arm. When the front end of the robot body ascends relative to the rear end of the robot body, the robot body moves relative to the connecting arm, so that the elastic assembly deforms, and the deformed elastic assembly increases the downward pressure of the rear wheels. By means of the mode, the obstacle crossing ability of the sweeping robot can be improved.