Intelligent robots

Abstract

The present application provides an intelligent robot, which includes a robot body and a drive wheel module. The robot body is provided with a wheel groove at the bottom. The drive wheel module includes a housing, a running wheel, a brushless motor and a transmission assembly. The housing is rotatably connected to the robot body and is at least partially accommodated in the wheel groove. The running wheel and the brushless motor are mounted side by side on the housing. The running wheel is rotatably connected to the housing and extends out of the wheel groove. The transmission assembly is connected to the brushless motor and the running wheel. The brushless motor is provided with an electrical connection portion. The electrical connection portion is convexly arranged on the side of the brushless motor away from the running wheel and is arranged near the bottom of the wheel groove. The electrical connection portion is used to access the conductive portion to electrically connect to the main circuit board of the intelligent robot through the conductive portion. The above structure avoids the electrical connection portion from further increasing the width of the drive wheel module, and the position of the electrical connection portion is convenient for accessing the conductive portion. The structure is simple and compact, and easy to install.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to an intelligent robot. Background Art

[0002] Current intelligent robots, such as sweeping, scrubbing, and mopping robots, are capable of autonomous navigation to perform cleaning tasks. These robots typically have a drive wheel module mounted on their underside to propel them. However, these drive wheel modules typically utilize brushed motors, resulting in a large overall structural footprint. In particular, the motors occupy a significant width, significantly impacting the layout of other components within the robot. Summary of the Invention

[0003] The embodiment of the present application provides an intelligent robot to solve the technical problem that the driving wheel module is too large, especially the width occupied by the motor is too large, which takes up too much space in the intelligent robot.

[0004] An embodiment of the present application provides an intelligent robot, which includes a robot body and a driving wheel module. The robot body is provided with a wheel groove at the bottom. The driving wheel module includes a shell, a walking wheel, a brushless motor and a transmission assembly. The shell is rotatably connected to the robot body and is at least partially accommodated in the wheel groove. The walking wheel and the brushless motor are installed side by side on the shell. The walking wheel is rotatably connected to the shell and extends out of the wheel groove. The transmission assembly is transmission-connected to the brushless motor and the walking wheel. The brushless motor is provided with an electrical connection part. The electrical connection part is protruding from the side of the brushless motor away from the walking wheel and is arranged near the bottom of the wheel groove. The electrical connection part is used to access the conductive part to electrically connect to the main circuit board of the intelligent robot through the conductive part.

[0005] Different from the prior art, the above-mentioned intelligent robot is rotatably connected to the robot body through the shell and is at least partially accommodated in the wheel slot. The walking wheel is rotatably connected to the shell and extends out of the wheel slot. The walking wheel and the brushless motor are installed side by side on the shell. The volume of the brushless motor is much smaller than that of the conventional brushed motor, so that the width dimension of the overall structure composed of the walking wheel, the brushless motor and the shell is greatly reduced. The electrical connection part is protruding on the side of the brushless motor away from the walking wheel, which can avoid the electrical connection part from further increasing the width dimension of the drive wheel module. The position of the electrical connection part is convenient for accessing the conductive part, thereby resulting in a significant reduction in the assembly structure volume of the corresponding drive wheel module on the intelligent robot, a simple and compact structure, and easy installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0007] Figure 1 This is a schematic diagram of a longitudinal cross-sectional structure of an intelligent robot provided in an embodiment of the present application;

[0008] Figure 2 yes Figure 1 Schematic diagram of the intelligent robot provided Figure 1 ;

[0009] Figure 3 yes Figure 2 A in the middle is an enlarged schematic diagram;

[0010] Figure 4 yes Figure 1 Schematic diagram of the intelligent robot provided Figure 2 ;

[0011] Figure 5 This is a schematic diagram of the local structure of an intelligent robot provided in an embodiment of the present application. Figure 1 ;

[0012] Figure 6 This is a schematic diagram of the local structure of an intelligent robot provided in an embodiment of the present application. Figure 2 ;

[0013] Figure 7 yes Figure 5 The enlarged schematic diagram of point B in the middle;

[0014] Figure 8 This is a schematic diagram of the assembly of the drive wheel module and the wheel cover provided in an embodiment of the present application;

[0015] Figure 9 is an exploded schematic diagram of a drive wheel module provided in an embodiment of the present application;

[0016] Figure 10 is a schematic cross-sectional structural diagram of a drive wheel module provided in an embodiment of the present application;

[0017] Figure 11 yes Figure 10 Schematic diagram of the local cross-section structure;

[0018] Figure 12 yes Figure 1 An enlarged schematic diagram of the local cross-sectional structure. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish between the same items or similar items with basically the same functions and effects.

[0021] See also Figures 1 to 4 The present invention provides an intelligent robot 200 in accordance with an embodiment of the present invention. The intelligent robot 200 includes a robot body 300 and a drive wheel module 100. The robot body 300 is provided with a wheel well 50 at the bottom. The drive wheel module 100 includes a housing 10, a running wheel 20, a brushless motor 30, and a transmission assembly 40. The housing 10 is rotatably connected to the robot body 300 and is at least partially housed within the wheel well 50. The running wheel 20 and the brushless motor 30 are mounted side by side on the housing 10. The running wheel 20 is rotatably connected to the housing 10 and extends out of the wheel well 50. The transmission assembly 40 provides transmission connection between the brushless motor 30 and the running wheel 20. The brushless motor 30 is provided with an electrical connection portion 35, which is protruding from the side of the brushless motor 30 away from the running wheel 20 and is located near the bottom of the wheel well 50. The electrical connection portion 35 is used to connect to a conductive portion to electrically connect to the main circuit board 59 of the intelligent robot 200 via the conductive portion.

[0022] Different from the prior art, the above-mentioned intelligent robot 200 is rotatably connected to the robot body 300 through the shell 10 and is at least partially accommodated in the wheel groove 50. The walking wheel 20 is rotatably connected to the shell 10 and extends out of the wheel groove 50. The walking wheel 20 and the brushless motor 30 are installed side by side on the shell 10. The volume of the brushless motor 30 is much smaller than that of a conventional brushed motor, so that the width dimension of the assembly structure composed of the walking wheel 20, the brushless motor 30 and the shell 10 is greatly reduced; and the electrical connection part 35 is protruding on the side of the brushless motor 30 away from the walking wheel 20, so that the electrical connection part 35 can be avoided from further increasing the width dimension of the drive wheel module 100, and the position of the electrical connection part 35 is convenient for accessing the conductive part, thereby resulting in a significant reduction in the volume of the assembly structure corresponding to the drive wheel module 100 on the intelligent robot 200, a simple and compact structure, and easy installation.

[0023] It is understood that the intelligent robot 200 may be a cleaning robot, for example, a sweeping robot, a sweeping and mopping robot, a mopping robot, or a floor scrubbing robot; the intelligent robot 200 may also be a food delivery robot, a logistics robot, a household housekeeping robot, or an AGV robot. Of course, the specific type of the intelligent robot 200 is not limited to the above examples.

[0024] This embodiment is described by taking the intelligent robot 200 as a sweeping robot as an example. The cleaning robot 100 can be designed to autonomously plan a path on the ground, or it can be designed to move on the ground in response to remote control commands. The cleaning robot 100 can navigate by using one or a combination of a gyroscope, an accelerometer, a camera, a GPS positioning and / or a laser radar. For example, the cleaning robot 100 can be provided with a laser radar protruding from the top surface, and the laser radar can be used to scan the surrounding environment to collect obstacle data, and an environmental map can be established based on the obstacle data. Real-time positioning can be performed based on the environmental map to facilitate planning of the cleaning path.

[0025] The robot body 300 is the main part of the intelligent robot 200. The robot body 300 can be any shape, such as circular, rectangular, or D-shaped, and is not limited here. In an alternative embodiment, the robot body 300 can also have other design structures, for example, the robot body 300 can be an integrally formed structure or a structure with left and right separate parts. The embodiment of the present invention does not limit the material, shape, structure, etc. of the body.

[0026] The robot body 300 may include a chassis 51 and an upper cover assembly 52. ​​The upper cover assembly 52 is removably mounted on the chassis 51 to protect the various functional components within the intelligent robot 200 from damage caused by violent impacts or accidental spillage of liquid during use. The chassis 51 and / or upper cover assembly 52 are used to carry and support the various functional components. The surface of the upper cover assembly 52 facing away from the chassis 51 forms an exterior surface, which can enhance the overall appearance of the intelligent robot 200. Buttons can be provided on the exterior surface to facilitate user operation of the intelligent robot 200. The chassis 51 and the upper cover assembly 52 form an installation cavity, which is used to provide space for arranging the internal components of the intelligent robot 200. The intelligent robot 200 can arrange a vacuum pump, circuit board, ground detection sensor, collision detection sensor, wall sensor, etc. in the installation cavity.

[0027] The intelligent robot 200 may include at least one middle sweeping brush, which may be arranged in a receiving groove opened at the bottom of the chassis 51. A dust suction port is opened in the receiving groove, and the dust suction port is connected to the dust box and the dust suction fan, so that when the middle sweeping brush rotates, the dust and garbage on the ground are stirred up, and the dust suction fan generates suction force to suck the dust and garbage into the dust box from the dust suction port.

[0028] The chassis 51 forms the bottom of the robot body 300, and the wheel well 50 is provided through the chassis 51. The robot body 300 also includes a wheel cover 54 connected to the chassis 51. The wheel cover 54 is provided above the drive wheel module 100 to protect the drive wheel module 100. In other embodiments, the robot body 300 may not be provided with the wheel cover 54.

[0029] The number of wheel covers 54 is the same as the number of wheel wells 50, and the number of drive wheel modules 100 is the same as the number of wheel wells 50. In this embodiment, the number of each of the wheel covers 54, wheel wells 50, and drive wheel modules 100 is two. In other embodiments, the number of each of the wheel covers 54, wheel wells 50, and drive wheel modules 100 can be one or more than two.

[0030] The inner cavity of the wheel cover 54 forms at least a portion of the wheel well 50. The chassis 51 is provided with a hollowed-out area 55 for the drive wheel module 100 to pass through. The wheel cover 54 is disposed opposite the hollowed-out area 55. One end of the wheel cover 54, which is adjacent to the hollowed-out area 55, forms an open end, such that the inner cavity of the wheel cover 54 communicates with the hollowed-out area 55 through the open end. The inner cavity of the wheel cover 54 and the hollowed-out area 55 of the chassis 51 thus constitute the wheel well 50. In other embodiments, the inner cavity of the wheel cover 54 completely forms the wheel well 50.

[0031] The wheel cover 54 may be fixedly connected to the chassis 51 by screws or the like, or the wheel cover 54 and the chassis 51 may be integrally injection-molded.

[0032] The housing 10 of the driving wheel module 100 can be rotatably connected to the chassis 51 or the wheel cover 54 via a rotating shaft. The housing 10 of the driving wheel module 100 is provided with an axial hole, and the rotating shaft can be installed at the axial hole. The rotating shaft can be installed on the chassis 51 or the wheel cover 54. There are many ways to install it. For example, a rotating shaft bracket is installed on the chassis 51, and the rotating shaft bracket is provided with a through hole aligned with the axial hole. The end of the rotating shaft can be embedded in the through hole, so that the housing 10 is assembled with the chassis 51 and the rotating shaft bracket through the rotating shaft; or the wheel cover 54 is provided with a through hole aligned with the axial hole. The end of the rotating shaft can be embedded in the through hole, so that the housing 10 is assembled with the wheel cover 54 through the rotating shaft.

[0033] The rotation axis X of the housing 10, the rotation axis Y of the brushless motor 30, and the rotation axis Z of the walking wheel 20 are parallel to each other. The distance between the rotation axis X of the housing 10 and the rotation axis Y of the brushless motor 30 is a first distance, and the distance between the rotation axis X of the housing 10 and the rotation axis Z of the walking wheel 20 is a second distance. If the first distance is smaller than the second distance, the rotation axis Y of the brushless motor 30 is relatively close to the rotation axis X of the housing 10, and the brushless motor 30 is hidden in the wheel groove 50. The active space occupied by the brushless motor 30 is relatively small, which is conducive to minimizing the volume of the wheel groove 50. Among them, the brushless motor 30 and the walking wheel 20 are both circular, the diameter of the brushless motor 30 is smaller than the diameter of the walking wheel 20, the rotation axis Y of the brushless motor 30 coincides with the center of the brushless motor 30, and the rotation axis Z of the walking wheel 20 coincides with the center of the walking wheel 20; the rotation axis X of the shell 10 is the center line of the rotating shaft 331 of the shell 10 rotating relative to the robot body 300, the rotation axis Y of the brushless motor 30 is the center line of the rotating shaft 331 of the rotor of the brushless motor 30 rotating, and the rotation axis Z of the walking wheel 20 is the center line of the rotating shaft 331 of the walking wheel 20 rotating relative to the shell 10.

[0034] The running wheel 20 is set through the hollow area 55 of the chassis 51 to extend out of the wheel groove 50. The part of the running wheel 20 extending out of the wheel groove 50 can contact the ground, thereby supporting the robot body 300.

[0035] The transmission assembly 40 may include multiple gears, including an input gear 56, an output gear 57, and at least one transmission gear 58. The input gear 56 is fixedly connected to the rotation center of the rotor of the brushless motor 30, and the output gear 57 is fixedly connected to the rotation center of the travel wheel 20. The at least one transmission gear 58 is rotationally connected to the housing 10 and transmission-connected to the input gear 56 and the output gear 57, such that the input gear 56 is interlocked with the output gear 57 via the at least one transmission gear 58. The input gear 56 is configured to receive the torque input from the brushless motor 30. When driven by the brushless motor 30, the input gear 56 drives the output gear 57 to rotate via the at least one transmission gear 58, thereby driving the travel wheel 20 to rotate. The number of transmission gears 58 may be one, two, or more. In other embodiments, the transmission assembly 40 is not limited to the above example and may also include a combination of a pulley and a transmission belt.

[0036] Please continue reading Figure 1 、 Figure 3 、 Figure 9 and Figure 11 The main body of the brushless motor 30 is roughly circular, and the brushless motor 30 has a circumferential side surface, which is arranged around the central axis of the brushless motor 30. The extension direction of the electrical connection part 35 is arranged to intersect with the circumferential side surface of the brushless motor 30, so that the electrical connection part 35 does not need to occupy the axial dimension of the brushless motor 30, which is beneficial to reducing the width dimension of the second shell 12 occupied by the brushless motor 30, thereby making the overall structure of the driving device 100 compact and small in size.

[0037] The brushless motor 30 includes a rotating cover 33, which is provided with the circumferential side surface. The rotating cover 33 is rotatably connected to the second housing 12 and is transmission-connected to the transmission assembly 40 to drive the rotating member 20 via the transmission assembly 40. The electrical connection portion 35 is disposed adjacent to the rotating cover 33. The electrical connection portion 35 and the rotating cover 33 are arranged in a direction perpendicular to the rotation axis Y of the brushless motor 30. A movable gap is provided between the electrical connection portion 35 and the rotating cover 33 so that the electrical connection portion 35 and the rotating cover 33 do not interfere with each other. In other embodiments, the electrical connection portion 35 is protruding from the side of the brushless motor 30 facing away from the second housing 12.

[0038] The electrical connection portion 35 is configured to receive a conductive portion, thereby electrically connecting the brushless motor 30 to the main circuit board 59 of the intelligent robot 200 via the conductive portion. The conductive portion may be a wire, a flexible circuit board, or another type of conductor. The main circuit board 59 of the intelligent robot 200 is secured to the chassis 51. The main circuit board 59 can transmit control signals to the brushless motor 30 via the conductive portion and the electrical connection portion 35, thereby controlling the brushless motor 30 to start, stop, accelerate, or decelerate.

[0039] See also Figures 5 to 8 Furthermore, the wheel cover 54 is provided with an opening 60 communicating with the wheel groove 50 , and the electrical connection portion 35 can rotate with the housing 10 relative to the robot body 300 to a position passing through the opening 60 .

[0040] Usually, the driving motor of the driving wheel module 100 is a conventional brushed motor, which is relatively large and cannot be accommodated in the wheel groove 50. As a result, a part of the driving motor of the driving wheel module 100 needs to pass through the wheel cover 54 to be exposed to the outside, resulting in a relatively large volume of the overall structure. The driving motor also needs to occupy a large activity space when moving outside, and the part of the driving motor of the driving wheel module 100 that passes through the wheel cover 54 is welded with a conductive part. The conductive part follows the motor to move outside and is prone to interfere with or entangle with other devices. In addition, the position of the conductive part needs to be arranged during disassembly and assembly, resulting in cumbersome disassembly and assembly steps of the above-mentioned assembly structure.

[0041] In this embodiment, the wheel cover 54 has a top 61 facing away from the hollowed-out area 55. The opening 60 extends through the top 61 and communicates with the inner cavity of the wheel cover 54, thereby communicating with the wheel well 50. The opening 60 corresponds to the electrical connector 35 on the drive wheel module 100. The electrical connector 35 is movable between a first preset position and a second preset position as the drive wheel module 100 rotates relative to the robot body 300. When the drive wheel module 100 rotates relative to the robot body 300 to an extended position, the electrical connector 35 moves to the first preset position; when the drive wheel module 100 rotates relative to the robot body 300 to a retracted position, the electrical connector 35 moves to the second preset position. The electrical connector is housed within the inner cavity of the wheel cover 54 in the first preset position; and is disposed through the opening 60 in the second preset position. In other embodiments, the electrical connector is disposed through the opening 60 in the first preset position. In other embodiments, the electrical connection portion 35 is received in the inner cavity of the wheel cover 54 at a second predetermined position and is disposed adjacent to the opening 60 .

[0042] The main body of the brushless motor 30 is accommodated in the wheel groove 50, so that the brushless motor 30 and the walking wheel 20 only occupy the space of the wheel groove 50 for movement, and the overall assembly structure is compact and occupies a small space; and the electrical connection part 35 can be rotated with the shell 10 relative to the robot body 300 to a position passing through the opening 60. The electrical connection part 35 is provided with a port 37, and the conductive part is detachably connected to the port 37 of the electrical connection part 35. When the electrical connection part 35 passes through the position of the opening 60, it is convenient to install or remove the conductive part on the electrical connection part 35, and the convenience of disassembly and assembly is significantly improved, which is conducive to simplifying the disassembly and assembly steps. In addition, the conductive part moves at the opening 60 following the electrical connection part 35, and the movable range of the conductive part is small, and it is not easy to interfere with or entangle with other devices.

[0043] See also Figures 5 to 8 Furthermore, the housing 10 is provided with a limiting portion 62 adjacent to the electrical connection portion 35 , and the limiting portion 62 is provided through the opening 60 , and the limiting portion 62 separates the electrical connection portion 35 from the edge of the opening 60 .

[0044] In this embodiment, the stopper 62 is spaced apart from the electrical connection portion 35 in a predetermined direction, wherein the predetermined direction is perpendicular to the rotation axis of the housing 10 relative to the robot body 300. The stopper 62 separates the electrical connection portion 35 from the edge of the opening 60, thereby preventing the electrical connection portion 35 from colliding with the edge of the opening 60 and causing damage, thereby ensuring the operating performance of the electrical connection portion 35 and increasing its service life.

[0045] See also Figures 5 to 8 ,as well as Figure 12 Furthermore, the intelligent robot 200 also includes an elastic member 63, which elastically connects the wheel cover 54 and the shell 10 to provide an elastic restoring force for the drive wheel module 100 to extend relative to the chassis 51, and the limiting portion 62 contacts the preset edge position 66 of the opening 60 as the drive wheel module 100 rotates and extends relative to the chassis 51; the line connecting the limiting portion 62 and the rotation center of the shell 10 is a first line L, and the line connecting the electrical connection portion 35 and the rotation center of the shell 10 is a second line N, the second line N is set at an acute angle to the first line L, and the second line N is away from the preset edge position of the opening 60 relative to the first line L.

[0046] In this embodiment, the elastic member 63 may be a spring, one end of which is connected to the wheel cover 54 and the other end of which is connected to the housing 10. The elastic member 63 provides an elastic force to rotate and extend the drive wheel module 100 relative to the robot body 300. When an external force is applied to the drive wheel module 100, the drive wheel module 100 can overcome the elastic action of the elastic member 63 and rotate relative to the robot body 300 to a retracted position within the robot body 300, where the drive wheel module 100 is partially accommodated within the wheel groove 50 and partially extends from the wheel groove 50. When the force is removed, the drive wheel module 100 rotates relative to the robot body 300 to an extended position relative to the robot body 300 under the elastic recovery action of the elastic member 63, where the drive wheel module 100 is partially accommodated within the wheel groove 50 and partially extends from the wheel groove 50, and the extent to which the drive wheel module 100 extends from the wheel groove 50 is significantly increased. In other embodiments, the type of the elastic member 63 is not limited to a spring. The elastic member 63 may also be a metal elastic member 63, a rubber elastic member 63, or a torsion spring.

[0047] In this embodiment, the elastic member 63 is located outside the wheel cover 54. The housing 10 is provided with a first connecting portion 64 adjacent to the limiting portion 62. The first connecting portion 64 extends through the top 61 of the wheel cover 54. The wheel cover 54 is provided with a second connecting portion 65 at the top 61. The second connecting portion 65 and the first connecting portion 64 are adjacent to the running wheel 20 and the brushless motor 30, respectively. The relative direction between the second connecting portion 65 and the first connecting portion 64 is perpendicular to the rotation axis of the housing 10. The first connecting portion 64 moves closer to or further away from the second connecting portion 65 as the driving wheel module 100 rotates relative to the robot body 300. The two ends of the elastic member 63 are connected to the first connecting portion 64 and the second connecting portion 65, respectively. The first connecting portion 64 and the limiting portion 62 can be continuously provided to form a single unit, or they can be discontinuous. In other embodiments, the elastic member 63 can also be housed within the inner cavity of the wheel cover 54.

[0048] The preset edge position 66 is located on a side of the opening 60 near the second connection portion 65. When the driving wheel module 100 rotates relative to the robot body 300 to a position extending relative to the robot body 300 under the elastic recovery action of the elastic member 63, the limiting portion 62 can abut against the preset edge position 66 of the opening 60. The limiting portion 62 separates the electrical connection portion 35 from the preset edge position 66 of the opening 60, thereby preventing the electrical connection portion 35 from colliding with the preset edge position 66 of the opening 60, thereby ensuring the working performance of the electrical connection portion 35 and improving its service life.

[0049] The line connecting the limiting portion 62 and the rotation center of the shell 10 is the first line L, and the line connecting the electrical connection portion 35 and the rotation center of the shell 10 is the second line N. The second line N is set at an acute angle to the first line L, and the second line N is away from the preset edge position 66 of the opening 60 relative to the first line L, so that the limiting portion 62 can separate the electrical connection portion 35 from the preset edge position 66 of the opening 60. When the limiting portion 62 contacts the preset edge position 66 of the opening 60, the electrical connection portion 35 is spaced apart from the preset edge position 66 of the opening 60.

[0050] See also Figures 5 to 8 ,as well as Figure 12 Furthermore, the intelligent robot 200 further includes a detection switch 67, which is fixed to the wheel cover 54 and located on the side of the limiter 62 away from the electrical connection portion 35. The limiter 62 can rotate relative to the robot body 300 with the housing 10 to a position that triggers or moves away from the detection switch 67. In this embodiment, the detection switch 67 can be electrically connected to the main circuit board 59 of the intelligent robot 200 via a conductive portion. The detection switch 67 can be a contact switch, which is triggered when the limiter 62 contacts the detection switch 67 and is not triggered when the limiter 62 moves away from the detection switch 67. The detection switch 67 can also be a non-contact switch, which is triggered when the limiter 62 approaches the detection switch 67 and is not triggered when the limiter 62 moves away from the detection switch 67.

[0051] When the driving wheel module 100 is extended relative to the robot body 300, the limit portion 62 can move to a position that triggers the detection switch 67, so that the intelligent robot 200 can determine whether the driving wheel module 100 is extended relative to the robot body 300 based on the trigger signal of the detection switch 67, and further determine whether the intelligent robot 200 is in a suspended state.

[0052] Furthermore, the limiting portion 62 includes a limiting rod spaced apart from the electrical connection portion 35 ; or, the limiting portion 62 includes a baffle covering a circumference of the electrical connection portion 35 .

[0053] In the first embodiment, the limiting portion 62 includes a limiting rod spaced apart from the electrical connection portion 35 , and the limiting rod is integrally injection-molded with the housing 10 .

[0054] In the second embodiment, the position-limiting portion 62 includes a baffle covering the periphery of the electrical connection portion 35. In this embodiment, the position-limiting portion 62 includes a baffle covering the periphery of the electrical connection portion 35. The baffle is formed with a wire hole for passing the conductive portion connected to the electrical connection portion 35. The driving wheel module 100 also includes a seal 69 that seals the wire hole to prevent moisture from invading the electrical connection portion 35. The seal 69 can be a waterproof colloid, a rubber seal, or a silicone seal.

[0055] See also Figure 3 and Figure 9 Furthermore, the housing 10 includes a first housing 11 and a second housing 12 disposed opposite each other. The first housing 11 is fixedly connected to the second housing 12. The first housing 11 and the second housing 12 cover each other. The first housing 11 and the second housing 12 enclose a receiving cavity 13 for accommodating the transmission assembly 40. The second housing 12 is provided with a first mounting groove 126 and a second mounting groove 127 on a side facing away from the first housing 11. The brushless motor 30 and the travel wheel 20 are mounted in the first mounting groove 126 and the second mounting groove 127, respectively. The first housing 11 can be fixedly connected to the second housing 12 by screw connection, snap connection, latch connection, or glue bonding.

[0056] In this embodiment, the brushless motor 30 is at least partially housed within the first mounting slot 126, and the travel wheel 20 is at least partially housed within the second mounting slot 127. The first mounting slot 126 is a circular slot, and the main body of the brushless motor 30 is completely housed within the first mounting slot 126. The housing 10 can protect the brushless motor 30, eliminating the need for an additional protective housing. The rotating member 20 is partially housed within the second mounting slot 127, and partially extends out of the second mounting slot 127.

[0057] The first mounting groove 126 has a clearance opening formed on the side facing away from the receiving cavity 13. The housing 10 further includes an end cap 70, which is fixedly connected to the second housing 12 and seals the clearance opening. A rib structure is formed on the side of the second housing 12 facing away from the first housing 11. The rib structure extends generally in an annular shape, enclosing the first mounting groove 126. The annular shape can be any of a circular ring, a square ring, or a shaped ring, without limitation. The rib structure is cylindrical with one end open, i.e., it has an open end facing away from the first housing 11, and the clearance opening is formed at this open end. The brushless motor 30 can be mounted in the first mounting groove 126 through the clearance opening. The end cap 70 can be fixedly connected to the second housing 12 by screws, snaps, pins, or glue. The shape and dimensions of the end cap 70 match those of the clearance opening, facilitating its sealing. The end cover 70 can play a dustproof role, preventing external dust or hair from falling into the first mounting groove 126 through the clearance opening, thereby preventing dust or hair from accumulating in the first mounting groove 126 and hindering the normal operation of the brushless motor 30.

[0058] The brushless motor 30 and the walking wheel 20 are respectively installed in the first installation groove 126 and the second installation groove 127, that is, the brushless motor 30 and the walking wheel 20 are installed on the same side of the shell 10, and the brushless motor 30 and the walking wheel 20 are at least partially overlapped in the relative directions of the second shell 12 and the first shell 11, so that the width dimension of the driving wheel module 100 is significantly reduced, thereby reducing the installation space occupied by the robot body 300.

[0059] See also Figure 3 and Figure 9 Furthermore, the second housing 12 is provided with a through-opening 128 on its side wall that communicates with the first mounting slot 126, and the electrical connection portion 35 is disposed through the through-opening 128. In this embodiment, the brushless motor 30 is generally circular, and the first mounting slot 126 is generally circular. The shape and size of the brushless motor 30 match those of the first mounting slot 126, and a clearance is reserved between the brushless motor 30 and the peripheral sidewalls of the first mounting slot 126 to facilitate free rotation of the rotor of the brushless motor 30. The through-opening 128 is provided through the peripheral sidewalls of the first mounting slot 126, and the electrical connection portion 35 is provided through the through-opening 128, that is, the electrical connection portion 35 extends to the outside. Therefore, the electrical connection portion 35 does not need to occupy the space in the first mounting slot 126, and the assembly structure of the brushless motor 30 and the housing 10 is compact and small in size.

[0060] See also Figure 3 and Figure 9 Furthermore, the housing 10 further includes an end cap 70, which covers the first mounting groove 126, and an extension portion 71 is provided on the side of the end cap 70 close to the electrical connection portion 35, and the extension portion 71 abuts against the electrical connection portion 35. In this embodiment, the end cap 70 can prevent external dust from entering the first mounting groove 126 and thereby hindering the normal operation of the brushless motor 30. The end cap 70 is provided with an array of heat dissipation holes. The electrical connection portion 35 occupies a portion of the through-opening 128, and the extension portion 71 covers the remaining portion of the through-opening 128. The end cap 70 can be fixedly connected to the housing 10 by screw connection, pin connection, snap connection or glue bonding. By abutting the electrical connection portion 35 with the extension portion 71, the electrical connection portion 35 and the end cap 70 are relatively fixed, which can improve structural stability and improve the performance of the electrical connection portion 35 in resisting external impact or collision.

[0061] See also Figure 3 、 Figure 9 、 Figure 10 and Figure 11 Furthermore, the brushless motor 30 includes an electric control board 36, a stator 32, a rotating cover 33 and a port 37. The electric control board 36 is at least partially accommodated in the first mounting groove 126. The electric control board 36 is provided with a protrusion 361 extending from the through-opening 128. The stator 32 and the rotating cover 33 are both completely accommodated in the first mounting groove 126. The stator 32 is fixedly connected to the housing 10 and electrically connected to the electric control board 36. The rotating cover 33 is covered on the stator 32 and rotatably cooperates with the stator 32. The rotating cover 33 is connected to the housing 10 and the transmission assembly 40. The port 37 is fixedly connected and electrically connected to the protrusion 361. The port 37 and the protrusion 361 constitute the electrical connection portion 35.

[0062] In this embodiment, the portion of the electronic control board 36 excluding the protrusion 361 constitutes the main body of the electronic control board 36. The main body of the electronic control board 36 is received within the first mounting slot 126, and the electronic control board 36 is fixed to the bottom of the first mounting slot 126. The protrusion 361 supports the port 37 and provides power to the port 37. The port 37 is welded to the protrusion 361 and is connected to a conductive portion. Thus, the electronic control board 36 and the main circuit board 59 can exchange electrical signals through the conductive portion and the port 37 to control the walking wheel 20 module.

[0063] The port 37 is provided with a plurality of pins, and the plurality of pins of the port 37 are welded to the protrusion 361 of the electric control board 36 to achieve electrical connection of the plurality of pins to the protrusion 361 of the electric control board 36 , thereby facilitating the input and output of multiple electrical signals.

[0064] The second housing 12 is provided with a protruding shaft portion 121 extending through the electronic control board 36. The protruding shaft portion 121 is rotatably connected to the rotating shaft 331 of the rotating cover 33. The stator 32 is generally annular and is disposed around the protruding shaft portion 121. The stator 32 includes an annular support and a plurality of coil windings. The annular support is disposed around the protruding shaft portion 121, and the plurality of coil windings are fixed to the circumference of the annular support at intervals. The plurality of coil windings are electrically connected to the electronic control board 36.

[0065] The rotating cover 33 is disposed on the stator 32. The rotating cover 33 is disposed opposite to the electric control board 36, and a movable gap is reserved between the rotating cover 33 and the electric control board 36 to facilitate the rotation of the rotating cover 33 relative to the electric control board 36. The rotating cover 33 is formed with a cavity on the side close to the electric control board 36, and the cavity at least partially accommodates the stator 32. The rotating cover 33 is provided with an annular magnet 334 on the inner wall of the cavity. The annular magnet 334 is disposed around the convex shaft portion 121, and the annular magnet 334 is disposed opposite to the multiple coil windings of the stator 32. The multiple coil windings of the stator 32 can receive electrical signals and generate electromagnetic fields, so as to drive the rotating cover 33 to rotate relative to the stator 32 through the interaction of the magnetic fields, and then drive the rotating member 20 to rotate through the transmission assembly 40.

[0066] The rotating cover 33 is circular and has a rotating shaft 331 at its center. The rotating shaft 331 is rotatably connected to the housing 10. The rotating shaft 331 is rotatably connected to the second housing 12. The rotating shaft 331 passes through the second housing 12. One end of the rotating shaft 331 is located in the first mounting groove 126. The other end of the rotating shaft 331 is located in the receiving cavity 13 between the second housing 12 and the first housing 11, and is in driving connection with the transmission assembly 40.

[0067] The convex shaft portion 121 passes through the electric control board 36 and extends into the cavity of the rotating cover 33. The convex shaft portion 121 can provide positioning and support for the rotating cover 33. The assembly structure of the brushless motor 30 and the second shell 12 is compact enough and has high structural stability, so that there is no need to set a positioning bracket and bearing on the brushless motor 30, and the rotating cover 33 can be close enough to the bottom of the first mounting groove 126, thereby further reducing the width dimension occupied by the brushless motor 30 on the shell 10, so that the volume of the drive device 100 is small enough.

[0068] See also Figure 3 、 Figure 9 、 Figure 10 and Figure 11 Furthermore, the convex shaft portion 121 includes a plastic portion 122 and a metal portion 123. The plastic portion 122 is integrally provided with the second shell 12. The plastic portion 122 is provided with a through hole connected to the accommodating cavity 13. The metal portion 123 is embedded in the through hole. The metal portion 123 is provided with the shaft hole.

[0069] In this embodiment, the plastic part 122 is roughly columnar. The plastic part 122 and the second shell 12 are integrally injection molded. The extension direction of the through hole is roughly parallel to the extension direction of the plastic part 122. The metal part 123 is columnar, and the metal part 123 extends along the through hole. The axial hole extends along the axial direction of the metal part 123. The rotating shaft 331 of the rotating cover 33 is loosely matched with the axial hole of the metal part 123. The wear resistance of the metal part 123 is relatively good, and the friction coefficient is small, which is beneficial to reduce the friction force of the rotating shaft 331 of the rotating cover 33 relative to the convex shaft part 121, and at the same time reduce the wear on the convex shaft part 121. The plastic part 122 is arranged to cover the metal part 123. The insulation performance of the plastic part 122 is excellent, which can isolate the electric control board 36 and the metal part 123, and avoid the generation of static electricity between the electric control board 36 and the metal part 123.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the idea of ​​the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of this application.

Claims

1. An intelligent robot, characterized in that: The intelligent robot includes a robot body and a driving wheel module, wherein the robot body is provided with a wheel groove at the bottom, and the driving wheel module includes a shell, a walking wheel, a brushless motor and a transmission assembly, wherein the shell is rotatably connected to the robot body through a rotating shaft and is at least partially accommodated in the wheel groove, the walking wheel and the brushless motor are mounted side by side on the shell, the walking wheel is rotatably connected to the shell and extends out of the wheel groove, the transmission assembly is transmission-connected to the brushless motor and the walking wheel, the brushless motor is provided with an electrical connection part, the electrical connection part is protruded on the side of the brushless motor away from the walking wheel, the electrical connection part is used to connect to the conductive part to electrically connect to the main circuit board of the intelligent robot, the robot body includes a wheel cover, the inner cavity of the wheel cover forms at least a part of the wheel groove, the wheel cover is provided with an opening connected to the wheel groove, and the electrical connection part can rotate with the shell relative to the robot body to a position passing through the opening; The shell is provided with a limiting portion adjacent to the electrical connection portion, the limiting portion is arranged through the opening, the limiting portion separates the electrical connection portion from the edge of the opening, the line connecting the limiting portion and the rotation center of the shell is a first line, the line connecting the electrical connection portion and the rotation center of the shell is a second line, the second line is arranged at an acute angle to the first line, and the second line is away from a preset edge position of the opening relative to the first line.

2. The intelligent robot according to claim 1, wherein: The robot body further includes a chassis forming the bottom of the robot body, and the wheel cover is connected to the chassis.

3. The intelligent robot according to claim 2, wherein: The intelligent robot also includes an elastic member, which elastically connects the wheel cover and the shell to provide an elastic restoring force for the driving wheel module to extend relative to the chassis. The limiting portion contacts the preset edge position of the opening as the driving wheel module rotates and extends relative to the chassis.

4. The intelligent robot according to claim 2, wherein: The intelligent robot also includes a detection switch, which is fixed on the wheel cover. The detection switch is located on the side of the limit part away from the electrical connection part. The limit part can rotate with the shell relative to the robot body to a position that triggers or moves away from the detection switch.

5. The intelligent robot according to claim 2, characterized in that: The limiting portion includes a limiting rod spaced apart from the electrical connection portion; or, the limiting portion includes a baffle covering a peripheral side of the electrical connection portion.

6. The intelligent robot according to claim 5, characterized in that: The limiting portion includes a baffle covering the peripheral side of the electrical connection portion, the baffle is formed with a wire passing hole, the wire passing hole is used to pass the conductive portion connected to the electrical connection portion, the driving wheel module also includes a seal, the seal is sealed at the wire passing hole to prevent water vapor from invading the electrical connection portion.

7. The intelligent robot according to claim 1, wherein: The rotation axis of the shell, the rotation axis of the brushless motor and the rotation axis of the walking wheel are parallel to each other, the distance between the rotation axis of the shell and the rotation axis of the brushless motor is a first distance, and the distance between the rotation axis of the shell and the rotation axis of the walking wheel is a second distance, wherein the first distance is smaller than the second distance.

8. The intelligent robot according to claim 1, wherein: The shell includes a first shell and a second shell arranged opposite to each other, the first shell is fixedly connected to the second shell, the first shell and the second shell are surrounded by a receiving cavity for accommodating the transmission assembly, and the second shell is provided with a first mounting groove and a second mounting groove on the side facing away from the first shell, and the brushless motor and the walking wheel are respectively installed in the first mounting groove and the second mounting groove.

9. The intelligent robot according to claim 8, characterized in that: The second shell is provided with a through opening on the side wall thereof, which is connected to the first mounting groove, and the electrical connection portion is provided through the through opening.

10. The intelligent robot according to claim 9, characterized in that: The housing further includes an end cover, the end cover covers the first installation slot, and an extension portion is provided on a side of the end cover close to the electrical connection portion, the extension portion abuts against the electrical connection portion.

11. The intelligent robot according to claim 9, characterized in that: The brushless motor includes an electric control board, a stator, a rotating cover and a port. The electric control board is at least partially accommodated in the first mounting groove. The electric control board is provided with a protrusion extending from the through-hole. The stator and the rotating cover are both completely accommodated in the first mounting groove. The stator is fixedly connected to the housing and electrically connected to the electric control board. The rotating cover is provided on the stator and rotates with the stator. The rotating cover is connected to the housing and the transmission assembly. The port is fixedly connected and electrically connected to the protrusion. The port and the protrusion constitute the electrical connection part.

12. The intelligent robot according to any one of claims 1 to 11, characterized in that: The brushless motor includes a rotating cover, which is rotatably connected to the housing and transmission-connected to the transmission assembly. The rotating cover can rotate around the central axis of the brushless motor, and the electrical connection portion and the rotating cover are arranged side by side in a direction perpendicular to the central axis of the brushless motor.

13. The intelligent robot according to any one of claims 1 to 11, characterized in that: The brushless motor has a peripheral side surface, which is arranged around the central axis of the brushless motor. The extension direction of the electrical connection portion intersects with the peripheral side surface of the brushless motor.

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