A stowable wheel assembly and robot

Abstract

The application discloses a storable wheel assembly and a robot. The output shaft of a first power member drives a first rotatable shell to rotate in a first direction, so that a second power member fixedly connected to the inner side of the first rotatable shell rotates to lift up or rotate to put down, and a second rotatable shell hinged to the inner side of the first rotatable shell rotates in a second direction, so that the second rotatable shell covers or exposes the opening of the first rotatable shell, and the wheel assembly is shielded or exposed. The application solves the technical problem that the tire part of some robots which frequently interact with users in a contact mode directly contacts the users, which easily causes the users to be dirty, and the exposed tire and the executing device of the robot are often damaged by external force when the robot is not working or is in a static state. Meanwhile, the storable wheel assembly of the application has the functions of driving, sensing and controlling, and has high modularity.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a retractable wheel assembly and a robot. Background Technology

[0002] For wheeled mobile robots (AMRs), the drive wheels are a crucial actuation component.

[0003] Because drive wheel assemblies frequently move on the ground, tire wear, cleaning, and protection significantly impact their application scenarios. For robot types that frequently interact with users, such as pet robots and companion robots, direct contact between the tires and the user can easily lead to dirt accumulation. Furthermore, when the robot is not in operation or stationary, its exposed tires and actuators are often at risk of aging and damage from external forces.

[0004] Currently, most electric vehicles and wheeled mobile robots use a common internal rotor cogging motor + gearbox + transmission mechanism for the power output of the drive wheel components. The solution is mature but has a low degree of integration, making it difficult to adapt to the increasingly compact chassis layout requirements.

[0005] In recent years, with the maturity of motor design and electronic control solutions, wheel-side motors and wheel hub motors have been used more and more widely.

[0006] Wheel-side motors transmit power to the drive wheels via wheel-side reducers, offering high efficiency and low cost, but they cannot be used on small-diameter drive wheels.

[0007] Hub motors are divided into direct-drive hub motors and geared hub motors. Direct-drive hub motors have the hub itself as their outer rotor, eliminating the need for a transmission structure and resulting in high efficiency. However, the direct-drive approach has relatively low thrust-to-weight ratio, which is detrimental to system lightweighting. Furthermore, the motor and drive operating speeds need to be compatible across the low-speed range, posing a development challenge. Geared hub motors use an external or internal rotor motor combined with a gearbox, reducing the complexity of low-speed design and control. However, most geared hub motors are currently quite large, making them unsuitable for small and lightweight robot applications.

[0008] Meanwhile, the robot's perception capabilities are crucial, with obstacle avoidance and fall prevention requiring high real-time performance and accuracy. However, most wheeled mobile robots do not integrate their sensors with the drive wheel components, necessitating coordinated control from the chassis controller, resulting in a low degree of modularity.

[0009] For different chassis types, the sensor layout needs to balance the requirements of sensing range and accuracy, while the wheel system layout needs to be implemented based on the overall degrees of freedom of the chassis, static and dynamic stability, and suspension structure. Both parts need to be designed separately and considered comprehensively. Summary of the Invention

[0010] This application provides a retractable wheel assembly and a robot, which solves the technical problems of the tires of some robot types that frequently interact with users, which are prone to getting dirty due to direct contact with the user, and the exposed tires and actuators of the robot often facing the risk of aging and damage from external forces when the robot is not working or in a stationary state.

[0011] In view of this, the first aspect of this application provides a retractable wheel assembly, comprising:

[0012] First power component;

[0013] A first rotatable housing is hinged to the output shaft of the first power component via a first bearing of a support bracket. The support bracket is also provided with a first gear. The first rotatable housing is provided with an opening that exposes the wheel assembly.

[0014] The wheel assembly includes a second power component and a fixed housing, wherein the second power component is fixedly connected to the inner side of the first rotatable housing through the fixed housing;

[0015] A second rotatable housing is hinged to the inner side of the first rotatable housing via a second bearing and a second gear. The second gear and the first gear form a planetary gear train. The shape of the second rotatable housing matches the shape of the opening. The second rotatable housing is disposed on the outside of the wheel assembly.

[0016] When the output shaft of the first power component drives the first rotatable housing to rotate in the first direction, the second power component, which is fixedly connected to the inner side of the first rotatable housing, rotates to lift or lower in the first direction, and the second rotatable housing, which is hinged to the inner side of the first rotatable housing, rotates in the second direction, so that the second rotatable housing covers or exposes the opening, wherein the first direction is opposite to the second direction.

[0017] Optionally, the second power component specifically includes:

[0018] Outer hub, hub motor, planetary gear set, and third rotatable housing;

[0019] The outer hub is hinged to the planetary gears of the planetary gear set via a third bearing;

[0020] The output shaft of the hub motor is fixedly connected to the central gear of the planetary gear set;

[0021] The third rotatable housing is fixedly connected to the outer hub, and the outer hub is hinged to the gear ring of the planetary gear set and the fixed housing respectively through the fourth bearing.

[0022] Optionally, the first rotatable housing includes an inner housing and an outer housing;

[0023] The inner shell and the outer shell are detachably connected;

[0024] The inner housing and the output shaft of the first power component are hinged together by the first bearing of the support bracket.

[0025] Optionally, it also includes obstacle avoidance sensors;

[0026] The obstacle avoidance sensor is fixedly mounted on the outside of the first rotatable housing.

[0027] Optionally, a drop sensor may also be included;

[0028] The anti-fall sensor is fixedly mounted on the outside of the first rotatable housing.

[0029] Optionally, the hub motor is specifically a brushless external rotor type motor.

[0030] Optionally, the hub motor has a built-in tachometer.

[0031] Optionally, the obstacle avoidance sensor is communicatively connected to the second power component and the chassis controller, respectively.

[0032] Optionally, the anti-fall sensor is communicatively connected to the second power component and the chassis controller, respectively.

[0033] The second aspect of this application provides a robot, the robot comprising: the retractable wheel assembly as described in any one of the first aspects of this application.

[0034] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0035] This application provides a retractable wheel assembly and a robot. The output shaft of a first power component drives a first rotatable housing to rotate in a first direction, causing a second power component fixedly connected to the inner side of the first rotatable housing to rotate and lift or lower in the first direction. The second rotatable housing, hinged to the inner side of the first rotatable housing, rotates in a second direction, allowing the second rotatable housing to cover or expose the opening of the first rotatable housing, thus concealing or exposing the wheel assembly. This solves the technical problem that for some robot types that frequently interact with users, the direct contact between the tires and the user can easily cause dirt and grime. Furthermore, when the robot is not working or is stationary, its exposed tires and actuators often face the risk of aging and damage from external forces. Attached Figure Description

[0036] Figure 1This is a first-view structural diagram of a retractable wheel assembly according to an embodiment of this application;

[0037] Figure 2 This is a second-view structural diagram of a retractable wheel assembly according to an embodiment of this application;

[0038] Figure 3 This is an exploded view of a retractable wheel assembly according to an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of the structure of the second power component and the fixed housing in the embodiments of this application;

[0040] Figure 5 This is a schematic diagram of the first process for storing the wheel assembly in an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of the second process for storing the wheel assembly in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the electrical structure of the robot in the embodiments of this application;

[0043] Figure 8 This is a waveform comparison diagram of an example of using 120-degree distributed Hall effect switches for speed acquisition in the embodiments of this application.

[0044] The attached figures are labeled as follows:

[0045] 1. First power component; 1-2. First bearing; 1-3. Support bracket; 1-4. First gear; 2. First rotatable housing; 2-1. Inner housing; 2-2. Outer housing; 3. Obstacle avoidance sensor; 4. Fall protection sensor; 5. Second rotatable housing; 5-2. Second gear; 5-3. Second bearing; 6. Wheel assembly; 6-1. Outer hub; 6-2. Planetary gear; 6-3. Gear ring; 6-4. Third rotatable housing; 6-5. Fixed housing; 6-6. Center wheel; 6-7. Hub motor. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0047] This application designs a retractable wheel assembly and robot, which solves the technical problems of the tires of some robot types that frequently interact with users, which are prone to getting dirty due to direct contact with the user, and the exposed tires and actuators of the robot often facing the risk of aging and damage from external forces when the robot is not working or in a stationary state.

[0048] For easier understanding, please refer to Figures 1 to 4 , Figure 1 This is a first-view structural diagram of a retractable wheel assembly according to an embodiment of this application. Figure 2 This is a second-view structural diagram of a retractable wheel assembly according to an embodiment of this application. Figure 3 This is an exploded view of a retractable wheel assembly according to an embodiment of this application. Figure 4 This is a schematic diagram of the structure of the second power component and the fixed housing in the embodiments of this application, as shown below. Figures 1 to 4 As shown, specifically:

[0049] First power component (1);

[0050] The first rotatable housing (2) is hinged to the output shaft of the first power unit (1) via the first bearing (1-2) of the support bracket (1-3). The support bracket (1-3) is also provided with a first gear (1-4). The first rotatable housing (2) is provided with an opening that exposes the wheel assembly (6).

[0051] The wheel assembly (6) includes a second power component and a fixed housing (6-5). The second power component is fixedly connected to the inner side of the first rotatable housing (2) through the fixed housing (6-5).

[0052] The second rotatable housing (5) is hinged to the inner side of the first rotatable housing (2) via the second bearing (5-3) and the second gear (5-2). The second gear (5-2) and the first gear (1-4) form a planetary gear train. The shape of the second rotatable housing (5) matches the shape of the opening. The second rotatable housing (5) is located on the outside of the wheel assembly (6).

[0053] When the output shaft of the first power member (1) drives the first rotatable housing (2) to rotate in the first direction, the second power member fixedly connected to the inner side of the first rotatable housing (2) rotates and lifts or rotates and lowers in the first direction, and the second rotatable housing (5) hinged to the inner side of the first rotatable housing (2) rotates in the second direction, so that the second rotatable housing (5) covers the opening or exposes the opening, wherein the first direction is opposite to the second direction.

[0054] It should be noted that the retractable wheel assembly of this application embodiment has the functions of storing and protecting the wheel assembly. In the walking state, the wheel assembly is lowered and the opening of the first rotatable housing (2) is exposed, so that the wheel assembly contacts the ground and achieves normal walking. In the stored state, the wheel assembly is lifted and the wheel assembly is covered by the second rotatable housing (5), which plays a protective role for the wheel assembly and prevents the tire from getting dirty when the user comes into contact with the robot.

[0055] like Figure 5 and Figure 6 As shown, Figure 5 This is a schematic diagram of the first process for storing the wheel assembly in an embodiment of this application. Figure 6 This is a schematic diagram of the second process of storing the wheel assembly in the embodiment of this application. Taking the process of storing the wheel assembly (6) as an example, when the output shaft of the first power member (1) drives the first rotatable housing (2) to rotate in "direction one", the wheel assembly (6) is lifted. Since the second gear (5-2) and the first gear (1-4) form a planetary gear system, during the rotation of the first rotatable housing (2), the first gear (1-4) remains fixed, and the second gear (5-2) hinged to the first rotatable housing (2) rotates in direction two and drives the second rotatable housing (5) to rotate together, so that the second rotatable housing (5) covers the opening of the first rotatable housing (2) and the wheel assembly (6).

[0056] Furthermore, the second power component specifically includes:

[0057] Outer hub (6-1), hub motor (6-7), planetary gear set and third rotatable housing (6-4);

[0058] The outer hub (6-1) is hinged to the planetary gear (6-2) of the planetary gear set via a third bearing;

[0059] The output shaft of the hub motor (6-7) is fixedly connected to the central gear (6-6) of the planetary gear set;

[0060] The third rotatable housing (6-4) is fixedly connected to the outer hub (6-1), and the outer hub (6-1) is hinged to the gear ring (6-3) of the planetary gear set and the fixed housing (6-5) respectively through the fourth bearing.

[0061] It should be noted that when the output shaft of the hub motor (6-7) rotates, the center wheel (6-6) rotates accordingly, the gear ring (6-3) remains stationary, and the outer hub (6-1) rotates as a planetary carrier according to the corresponding transmission ratio.

[0062] The outer hub (6-1) has a tire attached, which contacts the ground and generates driving force.

[0063] It is understandable that the planetary gears (6-2), the ring gear (6-3), and the center gear (6-6) must have the same module and pressure angle.

[0064] When the number of teeth on the center gear (6-6) is Z1 and the number of teeth on the gear ring (6-3) is Z3, the speed of the hub motor (6-7) is reduced according to the transmission ratio i = 1 + Z3 / Z1 through the transmission of the planetary gear train; the output torque is amplified according to the corresponding proportional relationship and transmission efficiency. Therefore, the hub motor (6-7) is particularly suitable for low-speed, high-torque applications.

[0065] Furthermore, the first rotatable housing (2) includes an inner housing (2-1) and an outer housing (2-2);

[0066] The inner shell (2-1) and the outer shell (2-2) are detachably connected;

[0067] The inner housing (2-1) and the output shaft of the first power component (1) are hinged through the first bearing (1-2) of the support bracket (1-3).

[0068] Furthermore, it also includes obstacle avoidance sensors (3);

[0069] The obstacle avoidance sensor (3) is fixedly mounted on the outside of the first rotatable housing (2).

[0070] It should be noted that the obstacle avoidance sensor (3) is used to identify obstacles within a certain angle range in front of the drive wheel assembly. It can be a line laser sensor or a 3D-TOF sensor (corresponding to the requirements of 2D and 3D obstacle avoidance, respectively).

[0071] Furthermore, the center normal of the obstacle avoidance sensor (3) is coplanar with the tangent of the grounding point of the wheel assembly (6), and the detection range of the obstacle avoidance sensor (3) can completely cover the motion path of the drive wheel assembly. Since the wheelbase of the wheel assembly (6) is generally the widest dimension corresponding to the AMR chassis, the obstacle avoidance sensor (3) integrated on the wheel assembly (6) can maximize the detection range of the robot.

[0072] Furthermore, it also includes a drop sensor (4);

[0073] The anti-fall sensor (4) is fixedly installed on the outside of the first rotatable housing (2).

[0074] It should be noted that the anti-fall sensor (4) generally uses a 1d-TOF sensor, which can identify terrain features such as steps and ditches by detecting the height difference between the ground in contact with the drive wheel and the ground directly in front of the drive wheel.

[0075] Furthermore, the center normal of the anti-fall sensor (4) is coplanar with the tangent of the grounding point of the wheel assembly (6), and the detection range of the anti-fall sensor (4) can completely cover the motion path of the drive wheel assembly. Since the wheel track of the wheel assembly (6) is generally the widest dimension corresponding to the AMR chassis, the anti-fall sensor (4) integrated on the wheel assembly (6) can maximize the detection range of the robot.

[0076] Furthermore, the hub motor (6-7) is specifically a brushless external rotor type motor.

[0077] It should be noted that the hub motor (6-7) adopts a brushless external rotor design, which makes the overall size of the hub motor (6-7) more compact, and the speed corresponding to the motor's maximum efficiency point is also lower. Due to the torque amplification effect of the reducer, the torque requirement of the motor is reduced, the motor weight is lighter, and the reducer itself can be made of lightweight materials. Therefore, compared with a direct-drive hub motor, this drive wheel assembly has a higher thrust-to-weight ratio.

[0078] Furthermore, the hub motor (6-7) has a built-in tachometer.

[0079] It should be noted that the hub motor (6-7) has a built-in tachometer. Depending on the control accuracy and cost requirements, the tachometer can take different forms, such as a switch Hall effect sensor, a linear Hall effect sensor, or an encoder. Encoder-type wheel speed meters offer simple signal acquisition and control, and high accuracy, but require a certain amount of installation space and are relatively expensive. In this solution, because the reducer increases the angular resolution per wheel revolution, a lower-cost and easier-to-assemble switch Hall effect sensor or linear Hall effect sensor can be used for speed acquisition.

[0080] like Figure 8 As shown, when using a switch Hall effect sensor for speed acquisition, a three-Hall feedback configuration with a 60° or 120° distribution is generally adopted. Figure 8 The example shown is a 120-degree distribution. Within one electrical angle cycle, Hall 1, Hall 2, and Hall 3 correspond to 6 state changes (0 / 0 / 1), (0 / 1 / 1), (0 / 1 / 0), (1 / 1 / 0), (1 / 0 / 0), and (1 / 0 / 1), respectively. For a motor with N pairs of magnetic poles, the angular resolution of the motor output is 360° / (6N). The angular resolution of the hub motor (6-7) output is 360° / (6iN).

[0081] When using linear Hall effect sensors for speed acquisition, since the output signal of a linear Hall effect sensor is an analog quantity, its waveform is a sine wave within one electrical angle period. Therefore, the periodic signal of each Hall effect sensor can be further subdivided according to the change in signal amplitude. Taking Hall effect sensor 1 as an example, after a 6-fold subdivision, the state changes are (-1), (-2), (-3), (-3), (-2), (-1), (1), (2), (3), (3), (2), (1). Within the entire electrical angle period, Hall effect sensor 1, Hall effect sensor 2, and Hall effect sensor 3 correspond to 12 state changes (-1 / 3 / -2), (-2 / 3 / -1), (-3 / 2 / 1), (-3 / 1 / 2), (-2 / -1 / 3), (-1 / -2 / 3), (1 / -3 / 2), (2 / -3 / 1), (3 / -2 / -1), (3 / -1 / -2), (2 / 1 / -3), (1 / 2 / -3), the angular resolution corresponding to the output of the hub motor (6-7) is 360° / (12iN); generally, for linear Hall wheel speed meters, after 3n times subdivision, the angular resolution corresponding to the output of the hub motor (6-7) can reach 360° / (6niN).

[0082] Depending on the requirements of the control chip's capabilities, feedback accuracy, and cost, different forms of drive control can be adopted, such as square wave drive, sensor-based FOC, and sensorless FOC. Each algorithm is relatively mature and commonly used, so they will not be elaborated here.

[0083] Compared to direct-drive motors, hub motors (6-7), through the combination of a drive motor and a reducer, offer better torque output in the low-speed range, while being more compact and having a higher thrust-to-weight ratio. The reducer improves the wheel's angular resolution, making low-cost switching Hall effect and linear Hall effect feedback methods more suitable.

[0084] Furthermore, the obstacle avoidance sensor (3) is connected in communication with the second power unit and the chassis controller, respectively.

[0085] Furthermore, the anti-fall sensor (4) is communicatively connected to the second power component and the chassis controller, respectively.

[0086] It should be noted that the obstacle avoidance sensor (3) and the anti-fall sensor (4) can output signals to the driver of the second power component. When the sensor detection state is triggered (for example, the detection distance of the obstacle directly in front is less than its set threshold or the detection distance of the anti-fall sensor is greater than or less than its set threshold), the hub motor (6-7) performs a braking action to ensure the safety and real-time performance of the movement. The signals from the obstacle avoidance sensor (3) and the anti-fall sensor (4) can also be simultaneously uploaded to the chassis controller, which will then control the subsequent movement of the drive wheel assembly based on the sensor information and the overall operating status of the robot.

[0087] This application also provides another robot, such as... Figure 7 As shown, for ease of explanation, only the parts related to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of this application. The terminal can be any terminal device, including pet robots, sweeping robots, mopping robots, etc. Taking a pet robot as an example:

[0088] Figure 7 This diagram illustrates a partial structure of a pet robot related to the terminal provided in an embodiment of this application. (Reference) Figure 7 The pet robot includes components such as: a radio frequency (RF) circuit 1010, a memory 1020, an input unit 1030, a display unit 1040, a sensor 1050, an audio circuit 1060, a wireless fidelity (WiFi) module 1070, a controller 1080, and a power supply 1090. Those skilled in the art will understand that... Figure 7 The pet robot structure shown does not constitute a limitation on the pet robot and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0089] The following is combined Figure 7 A detailed introduction to each component of a pet robot:

[0090] The RF circuit 1010 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink information from the base station and processes it with the controller 1080; additionally, it transmits uplink data to the base station. Typically, the RF circuit 1010 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), a duplexer, etc. Furthermore, the RF circuit 1010 can also communicate wirelessly with networks and other devices. The aforementioned wireless communications may use any communication standard or protocol, including but not limited to Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, and Short Messaging Service (SMS).

[0091] The memory 1020 can be used to store software programs and modules. The controller 1080 executes various functional applications and data processing of the pet robot by running the software programs and modules stored in the memory 1020. The memory 1020 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the pet robot (such as audio data, phone book, etc.). In addition, the memory 1020 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0092] The input unit 1030 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the pet robot. Specifically, the input unit 1030 may include a touch panel 1031 and other input devices 1032. The touch panel 1031, also known as a touch screen, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel 1031), and drive the corresponding connection devices according to a pre-set program. Optionally, the touch panel 1031 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the controller 1080, and can also receive and execute commands sent by the controller 1080. In addition, the touch panel 1031 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 1031, the input unit 1030 may also include other input devices 1032. Specifically, other input devices 1032 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0093] The display unit 1040 can be used to display information input by the user or information provided to the user, as well as various menus for the pet robot. The display unit 1040 may include a display panel 1041, which may optionally be configured as a Liquid Crystal Display (LCD), Organic Light-Emitting Diode (OLED), or similar display panel. Furthermore, a touch panel 1031 may cover the display panel 1041. When the touch panel 1031 detects a touch operation on or near it, it transmits the information to the controller 1080 to determine the type of touch event. Subsequently, the controller 1080 provides corresponding visual output on the display panel 1041 based on the type of touch event. Although in Figure 7 In this embodiment, the touch panel 1031 and the display panel 1041 are two separate components to realize the input and output functions of the pet robot. However, in some embodiments, the touch panel 1031 and the display panel 1041 can be integrated to realize the input and output functions of the pet robot.

[0094] The pet robot may also include at least one sensor 1050, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display panel 1041 according to the ambient light level, and the proximity sensor can turn off the display panel 1041 and / or backlight when the pet robot moves to its ear. As a type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used for applications that identify the pet robot's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition-related functions (such as pedometer, tapping), etc. Other sensors that the pet robot may be equipped with, such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, will not be described in detail here.

[0095] Audio circuit 1060, speaker 1061, and microphone 1062 provide an audio interface between the user and the pet robot. Audio circuit 1060 converts received audio data into electrical signals and transmits them to speaker 1061, where speaker 1061 converts them into sound signals for output. On the other hand, microphone 1062 converts collected sound signals into electrical signals, which are received by audio circuit 1060, converted into audio data, processed by audio data output controller 1080, and then transmitted via RF circuit 1010 to, for example, another pet robot, or the audio data is output to memory 1020 for further processing.

[0096] WiFi is a short-range wireless transmission technology. The pet robot, through its WiFi module 1070, can help users send and receive emails, browse web pages, and access streaming media, providing users with wireless broadband internet access. Although Figure 7 The WiFi module 1070 is shown, but it is understood that it is not a necessary component of the pet robot and can be omitted as needed without changing the nature of the invention.

[0097] The controller 1080 is the control center of the pet robot. It connects various parts of the pet robot via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 1020, and by calling data stored in the memory 1020, it performs various functions and processes data, thereby providing overall monitoring of the pet robot. Optionally, the controller 1080 may include one or more processing units; preferably, the controller 1080 may integrate an application controller and a modem controller, wherein the application controller mainly handles the operating system, user interface, and applications, while the modem controller mainly handles wireless communication. It is understood that the modem controller may not be integrated into the controller 1080.

[0098] The pet robot also includes a power supply 1090 (such as a battery) that powers the various components. Preferably, the power supply can be logically connected to the controller 1080 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.

[0099] Although not shown, pet robots may also include cameras, Bluetooth modules, etc., which will not be elaborated here.

[0100] The robot provided in this application embodiment also includes the retractable wheel assembly described in the above embodiments of this application.

[0101] In this embodiment, a retractable wheel assembly and a robot are provided. The output shaft of the first power component drives the first rotatable housing to rotate in a first direction, causing the second power component, which is fixedly connected to the inner side of the first rotatable housing, to rotate and lift or lower in the first direction. The second rotatable housing, which is hinged to the inner side of the first rotatable housing, rotates in a second direction, so that the second rotatable housing covers or exposes the opening of the first rotatable housing, thus concealing or exposing the wheel assembly. This solves the technical problem that for some robot types that frequently interact with users, the direct contact between the tires and the user can easily cause dirt problems, and when the robot is not working or in a stationary state, its exposed tires and actuators often face the risk of aging and damage from external forces.

[0102] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A retractable wheel assembly, characterized in that, include: First power component; A first rotatable housing is hinged to the output shaft of the first power component via a first bearing of a support bracket. The support bracket is also provided with a first gear. The first rotatable housing is provided with an opening that exposes the wheel assembly. The wheel assembly includes a second power component and a fixed housing, wherein the second power component is fixedly connected to the inner side of the first rotatable housing through the fixed housing; A second rotatable housing is hinged to the inner side of the first rotatable housing via a second bearing and a second gear. The second gear and the first gear form a planetary gear train. The shape of the second rotatable housing matches the shape of the opening. The second rotatable housing is disposed on the outside of the wheel assembly. When the output shaft of the first power component drives the first rotatable housing to rotate in the first direction, the second power component, which is fixedly connected to the inner side of the first rotatable housing, rotates to lift or lower in the first direction, and the second rotatable housing, which is hinged to the inner side of the first rotatable housing, rotates in the second direction, so that the second rotatable housing covers the opening or exposes the opening, wherein the first direction is opposite to the second direction; The second power component specifically includes: Outer hub, hub motor, planetary gear set, and third rotatable housing; The outer hub is hinged to the planetary gears of the planetary gear set via a third bearing; The output shaft of the hub motor is fixedly connected to the central gear of the planetary gear set; The third rotatable housing is fixedly connected to the outer hub, and the outer hub is hinged to the gear ring of the planetary gear set and the fixed housing respectively through the fourth bearing; The first rotatable housing includes an inner housing and an outer housing; The inner shell and the outer shell are detachably connected; The inner housing and the output shaft of the first power component are hinged together by the first bearing of the support bracket.

2. The retractable wheel assembly according to claim 1, characterized in that, It also includes obstacle avoidance sensors; The obstacle avoidance sensor is fixedly mounted on the outside of the first rotatable housing.

3. The retractable wheel assembly according to claim 1, characterized in that, It also includes a drop sensor; The anti-fall sensor is fixedly mounted on the outside of the first rotatable housing.

4. The retractable wheel assembly according to claim 1, characterized in that, The hub motor is specifically a brushless external rotor type motor.

5. The retractable wheel assembly according to claim 1, characterized in that, The hub motor has a built-in tachometer.

6. The retractable wheel assembly according to claim 2, characterized in that, The obstacle avoidance sensor is communicatively connected to the second power component and the chassis controller, respectively.

7. The retractable wheel assembly according to claim 3, characterized in that, The anti-fall sensor is communicatively connected to the second power component and the chassis controller, respectively.

8. A robot, characterized in that, Includes the retractable wheel assembly as described in any one of claims 1 to 7.

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