Walking mechanism, robot provided with same and self-walking grass cutter

Abstract

The invention provides a walking mechanism. The walking mechanism comprises a walking wheel group, the walking wheel group comprises two front wheels arranged at the front and two opposite rear wheels in the advancing direction of the walking mechanism, and the front wheels and the rear wheels located on the same side are arranged as synchronous rotation; each walking wheel in the walking wheel group comprises a wheel outer tire which can be supported on the ground, each wheel outer tire comprises a tread outer side which makes contact with the ground during walking, tread patterns which are distributed in the circumferential direction of the wheel outer tire are arranged on the tread outer side, and the tread pattern structure is a plurality of pattern strips; and a pattern ditch is formed between adjacent two pattern strips, and the tread patterns of the four walking wheels is in an outward radiate shape from centers of the four walking wheels. The invention further provides a robot provided with the walking mechanism and a self-walking grass cutter. The walking mechanism and the robot provided with the walking mechanism can effectively adapt to various uneven grounds.

Description

technical field [0001] The invention relates to a walking mechanism, a robot with the walking mechanism and a self-propelled lawnmower, in particular to a walking mechanism with four wheels, a robot with the walking mechanism and a self-propelled lawnmower. Background technique [0002] At present, the self-positioning of the robot mower we use is to determine the position of the laser emission source through laser emission and reception (the laser emission and reception positions coincide), and then calculate the blade according to the positional relationship between the laser emission source and the blade rotation center. When the machine rotates, the calculation of the position of the laser emission source changes, so that the entire computing system is quite complicated. If the center of rotation of the fuselage, the center of the laser emission source, and the center of rotation of the turntable are designed on the same vertical axis, the calculation of the system is gr...

AI Technical Summary

Problems solved by technology

If the friction force of the wheel tread is too small, it may slip sideways when going straight

[0004] In addition, the robot lawn mower travels to various uneven ground, such as continuously changing uneven ground, caused by long-term wear and tear; small steps, small ground steps caused by ground decoration, the general height difference is smaller than the radius of the wheel roller; local depressions or protrusions; slope boundaries; at the boundary of entrance passage slopes or barrier-free passages and the ground, the walking mechanism of the robot lawn mower cannot adapt well, resulting in slipping or shaking when walking, etc.

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