Mobile equipment, universal wheel assembly, auxiliary supporting assembly and brake control method

Abstract

The invention discloses mobile equipment, a universal wheel assembly, an auxiliary supporting assembly and a brake control method. The mobile equipment at least comprises a machine body, the universal wheel assembly and a driving wheel assembly, wherein the universal wheel assembly and the driving wheel assembly are mounted at the bottom of the machine body; the universal wheel assembly comprises a driving part, a brake part and a universal wheel part. The driving part is used for driving the brake part to be switched between a first position and a second position. When the brake piece is located at the first position, the brake piece is separated from a walking wheel of the universal wheel component, and when the brake piece is located at the second position, the brake piece makes contact with the walking wheel so as to stop the walking wheel from rotating. According to the technical scheme, the universal wheels can be used for auxiliary braking, and the braking distance is shortened.

Description

Technical Field

[0001] The present application relates to the field of mobile equipment, and in particular to a mobile equipment, a universal wheel assembly, an auxiliary support assembly and a brake control method. Background Art

[0002] Traditional mobile equipment usually contacts the ground through driving wheels and universal wheels. The driving wheels are used for driving and braking, while the universal wheels mainly provide support to ensure the stability of the mobile equipment.

[0003] However, in some special scenarios, such as when a pedestrian suddenly appears in front, the road surface is dusty or has residual water droplets and is slippery, and emergency braking of the mobile equipment is required, the existing drive wheel brakes cannot meet the safe braking distance due to insufficient friction provided by the drive wheels. Summary of the invention

[0004] The purpose of the present application is to provide a mobile device, a universal wheel assembly, an auxiliary support assembly and a brake control method, which can utilize the universal wheel for auxiliary braking and shorten the braking distance.

[0005] To achieve the above-mentioned purpose, the present application provides a mobile device on the one hand, which includes at least a body, and a universal wheel assembly and a driving wheel assembly installed at the bottom of the body; the universal wheel assembly includes a driving component, a brake component and a universal wheel component, and the driving component is used to drive the brake component to switch between a first position and a second position; when the brake component is in the first position, the brake component is disengaged from the walking wheel of the universal wheel component to release the walking wheel; when the brake component is in the second position, the brake component is in contact with the walking wheel to prevent the walking wheel from rotating.

[0006] To achieve the above object, the present application further provides a brake control method, which is applied to a mobile device, wherein a left driving wheel and a left universal wheel with a braking function are provided on the left side of the mobile device, and a right driving wheel and a right universal wheel with a braking function are provided on the right side of the mobile device, and the method comprises:

[0007] Controlling the brakes of the left driving wheel and the right driving wheel;

[0008] When the friction between the left driving wheel and the ground is less than a preset value, the left universal wheel is controlled to perform auxiliary braking;

[0009] When the friction between the right driving wheel and the ground is less than a preset value, the right universal wheel is controlled to perform auxiliary braking.

[0010] To achieve the above object, on the other hand, the present application further provides a caster assembly, which at least includes a caster component, a driving component and a braking member; the caster component includes a fixed seat, a connecting frame and a traveling wheel, the connecting frame is rotatably connected to the fixed seat along a first rotation axis, the traveling wheel is rotatably connected to the connecting frame along a second rotation axis, and the first rotation axis passes through the traveling wheel; the driving component is connected to the fixed seat, and the driving component drives the braking member to switch between a first position and a second position along the first rotation axis; when the braking member is in the first position, the braking member is separated from the traveling wheel, and when the braking member is in the second position, the braking member contacts the traveling wheel to block the rotation of the traveling wheel.

[0011] To achieve the above object, on the other hand, the present application further provides an auxiliary support assembly, which includes a support frame, a first swing arm and a locking component; one end of the first swing arm is hinged to the support frame, and a support wheel is connected to the other end of the first swing arm; the locking component is connected between the support frame and the first swing arm, and the locking component is used to lock and release the first swing arm; when the locking component locks the first swing arm, the first swing arm is fixed to the support frame; when the locking component releases the first swing arm, the support wheel can be turned upward through the first swing arm.

[0012] It can be seen that in the technical solution provided by the present application, the caster assembly of the mobile device includes a driving component, a braking member and a caster component, and the driving component can drive the braking member to move to the second position to contact the traveling wheel of the caster component to brake the traveling wheel. In other words, the caster assembly of the mobile device also has a braking function. In this way, when the mobile device cannot meet the safe braking distance by relying on the braking of the driving wheel assembly, the caster assembly can be controlled for auxiliary braking, so that the caster assembly and the driving wheel assembly brake together, thereby increasing the friction between the mobile device and the ground, shortening the braking distance, solving the problem that the existing mobile device only relies on the driving wheel for braking resulting in a long braking distance, and improving the use safety of the mobile device. Moreover, the driving component can also drive the braking member to return from the second position to the first position, so that the mobile device can resume normal walking ability and ensure the stable operation of the mobile device after braking. Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a schematic structural diagram of a mobile device in an implementation manner provided by this application;

[0015] Figure 2 It is a schematic principle diagram of a universal wheel assembly when the brake member is in the first position in an implementation manner provided by this application;

[0016] Figure 3 It is a schematic principle diagram of a universal wheel assembly when the brake member is in the second position in an implementation manner provided by this application;

[0017] Figure 4 It is an exploded structural diagram of a universal wheel assembly in an implementation manner provided by this application;

[0018] Figure 5 It is a partial sectional view of a universal wheel assembly in an implementation manner provided by this application;

[0019] Figure 6 It is a half-sectional structural diagram of a universal wheel assembly in an implementation manner provided by this application;

[0020] Figure 7 It is a half-sectional structural diagram of a universal wheel assembly in another implementation manner provided by this application;

[0021] Figure 8 is Figure 7 an enlarged schematic view of part A;

[0022] Figure 9 It is a schematic structural diagram of a brake member in an implementation manner provided by this application;

[0023] Figure 10 It is a schematic structural diagram of a mobile device in another implementation manner provided by this application;

[0024] Figure 11 It is a schematic structural diagram of a mobile device in another implementation manner provided by this application;

[0025] Figure 12 It is a schematic structural diagram of a mobile device in another implementation manner provided by this application;

[0026] Figure 13 It is an axonometric structural diagram of a mobile device in another implementation manner provided by this application;

[0027] Figure 14 It is an axonometric schematic diagram of an auxiliary support assembly in an implementation manner provided by this application;

[0028] Figure 15 It is a half-sectional structural diagram of an auxiliary support assembly in an implementation manner provided by this application;

[0029] Figure 16 It is the front view schematic diagram of an auxiliary support component in an implementation manner provided by this application;

[0030] Figure 17 It is the schematic diagram of a braking control method in an implementation manner provided by this application. Specific implementation manners

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the implementation manners of this application in detail with reference to the accompanying drawings. Terms indicating relative spatial positions used in this application, such as "upper", "above", "lower", "below", "first end", "second end", "one end", "the other end", etc., are for the purpose of facilitating description to describe the relationship of one unit or feature relative to another unit or feature as shown in the accompanying drawings. The terms of relative spatial positions may be intended to include different orientations of the device in use or operation other than the orientation shown in the figures. For example, if the device in the figure is flipped, the unit described as being "below" or "beneath" other units or features will be located "above" other units or features. Therefore, the exemplary term "below" can encompass both the upper and lower orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatially related descriptive terms used herein can be interpreted accordingly.

[0032] In addition, terms such as "installed", "set up", "provided with", "connected", "slidably connected", "fixed", "socketed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there can be internal communication between two devices, components, or constituent parts. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] With the improvement of people's living standards, in more and more scenarios, mobile devices with auxiliary functions can be used for auxiliary operations to reduce the labor intensity of users. For example, users use automatic lawn mowers for mowing, food delivery robots for delivering food, or floor sweeping robots for mopping the floor, etc.

[0034] Existing mobile devices usually contact the ground through drive wheels and caster wheels. The drive wheels are used for driving and braking, while the caster wheels mainly provide a supporting role to ensure the stability of the operation of the mobile device.

[0035] However, in some special scenarios, such as when a pedestrian suddenly appears in front, the road surface is dusty or has residual water droplets and is slippery, and emergency braking of the mobile equipment is required, the friction provided by the drive wheels is insufficient, resulting in the drive wheel braking alone not being able to meet the safe braking distance, thus creating a danger.

[0036] Furthermore, when the smoothness of the ground contacted by the driving wheels on both sides of the mobile device is different, for example, there are water droplets on the ground contacted by the driving wheels on one side of the mobile device, while the ground contacted by the driving wheels on the other side of the mobile device is dry, that is, the friction between the driving wheels on both sides and the ground is different, at this time, the mobile device will have a problem of insufficient friction on one side when braking, so that the entire mobile device is prone to serious skidding and loss of control, and may eventually hit pedestrians or surrounding objects.

[0037] In addition, the inventors of the present application discovered in the process of realizing the present invention that by adjusting the sensitivity of the driving wheel rubber cover to dust and water, that is, adjusting the material pattern of the tire and reducing the attenuation of the friction coefficient of the tire on dust and wet ground, although the braking distance can be shortened to a certain extent, the braking distance cannot reach the required safe braking distance, and this solution cannot solve the side slip problem caused by insufficient friction of the unilateral driving wheel.

[0038] Therefore, how to improve the structure of existing mobile equipment, thereby further shortening the braking distance of the mobile equipment and improving the safety of use has become a problem that needs to be solved urgently in this field.

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in this application are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0040] Please also see Figures 1 to 3 In an achievable implementation, the mobile device may at least include a body 100, and a universal wheel assembly 200 and a driving wheel assembly 300 installed at the bottom of the body 100. The body 100 serves as the basic carrier of the mobile device, and plays a role in bearing and protecting other components of the mobile device. The driving wheel assembly 300 integrates a driving function and a braking function, which uses the driving function to push the mobile device to move, and uses the braking function to brake the mobile device. Among them, a mobile device refers to a device with a mobile function. The mobile device can be a robot with a service function, such as a sweeping robot, a food delivery robot, and a delivery robot; the mobile device can also be a mobile chassis used in combination with other functional modules, which serves as a basic moving component to bear the motion performance of the entire machine, and this application does not make specific limitations on this.

[0041] It should be noted that the specific structure of the braking function of the driving wheel assembly 300 can refer to the prior art. For example, the driving wheel assembly 300 can use a brake to clamp the brake disc or brake drum of the driving wheel to achieve braking of the mobile device. Of course, the braking function of the driving wheel assembly 300 can also use the motor to decelerate or stop rotating for braking. Taking the mobile device as a sweeping robot as an example, the driving wheel assembly 300 of the sweeping robot usually brakes through the built-in motor and sensors. When the sensor detects that the sweeping robot needs to stop or decelerate, the motor will decelerate or stop rotating, thereby braking the mobile device.

[0042] In this embodiment, the universal wheel assembly 200 can not only assist in supporting the movement of the mobile device, but also integrate a braking function, which can assist in braking the mobile device when the mobile device brakes, so as to shorten the braking distance of the mobile device. Specifically, the universal wheel assembly 200 can include a driving component 210, a braking member 220, and a universal wheel component 230. The universal wheel component 230 is used to provide support for the body 100, and the driving component 210 is used to drive the braking member 220 to switch between a first position and a second position. When the braking member 220 is in the first position, as Figure 2 shown, the braking member 220 is disengaged from the running wheel 231 of the universal wheel component 230 to release the running wheel 231, so as not to affect the normal driving of the mobile device. When the braking member 220 is in the second position, as Figure 3 shown, the braking member 220 contacts the running wheel 231 to block the rotation of the running wheel 231, thereby braking the mobile device.

[0043] It is worth mentioning that the present application precisely drives the braking member 220 to move to the first position to contact the running wheel 231 to brake the mobile device. In this way, when the mobile device cannot meet the safe braking distance by relying on the braking of the driving wheel assembly 300, the universal wheel assembly 200 can be controlled to assist in braking, so that the universal wheel assembly 200 and the driving wheel assembly 300 brake together, thereby increasing the friction between the mobile device and the ground, so that the mobile device can stop within a very short distance, solving the problem that the existing mobile device only relies on the driving wheel for braking resulting in a long braking distance, and improving the use safety of the mobile device. Moreover, the driving component 210 can also drive the braking member 220 to return from the second position to the first position, so that the mobile device resumes its normal walking ability and ensures the stable operation of the mobile device after braking. At the same time, it can be understood that the auxiliary braking of the mobile device is integrated in the universal wheel assembly 200, that is to say, during installation, the auxiliary braking can be installed on the mobile device together with the universal wheel assembly 200, thus eliminating the need for additional installation steps, simplifying the process, and reducing the production cost.

[0044] The above-mentioned driving component 210 can drive the braking component 220 to switch between a first position and a second position in a flipping manner. The above-mentioned driving component 210 can also drive the braking component 220 to switch between a first position and a second position in a telescopic manner. In this application, it is preferably adopted that the driving component 210 drives the braking component 220 to switch between a first position and a second position in a telescopic manner, and the following description will also be based on this.

[0045] Please refer to Figures 4 to 6 , in an implementable embodiment, the caster wheel component 230 may further include a fixed seat 232 and a connecting frame 233. The fixed seat 232 is connected to the body 100, and the connecting frame 233 extends along a first rotation axis L 1 is rotatably connected to the fixed seat 232, and the traveling wheel 231 extends along a second rotation axis L 2 is rotatably connected to the connecting frame 233, and the first rotation axis L 1 is perpendicular to the second rotation axis L 2 . In this way, under the rotational action of the connecting frame 233 and the fixed seat 232 and the rotational action of the traveling wheel 231 and the connecting frame 233, the traveling wheel 231 can freely rotate in any direction, making the mobile device more flexible and easier to control. Correspondingly, the driving component 210 should be connected to the fixed seat 232 to ensure that the driving component 210 remains stationary relative to the body 100, thereby avoiding entanglement of the wire harness (such as a power cord or a signal line, etc.) connected to the driving component 210 and ensuring the operation reliability of the caster wheel assembly 200.

[0046] In this embodiment, as Figure 4 shown, the caster wheel component 230 may further include a first bearing 234 and two bearing seats 235. The first bearing 234 is connected between the fixed seat 232 and the connecting frame 233, thereby reducing the friction between the fixed seat 232 and the connecting frame 233 by the first bearing 234, making the connecting frame 233 rotate around the fixed seat 232 more flexibly. The two bearing seats 235 are installed on the connecting frame 233, and the traveling wheel 231 is connected to the two bearing seats 235 through a pin shaft, thereby reducing the friction between the traveling wheel 231 and the connecting frame 233 by the two bearing seats 235, making the traveling wheel 231 rotate around the connecting frame 233 more flexibly.

[0047] In practical applications, the fixed seat 232 can be composed of a first bracket 2322 and a first cover 2323, and the connecting frame 233 can be composed of a second bracket 2335 and a second cover 2336. When assembling the universal wheel component 230, first, the first bracket 2322 is sleeved on the second bracket 2335, and then the first bearing 234 is placed between the first bracket 2322 and the second bracket 2335. The inner ring bottom of the first bearing 234 is supported by the second bracket 2335, and the outer side surface of the inner ring of the first bearing 234 is in interference connection with the second bracket 2335. Then, the second cover 2336 is connected to the second bracket 2335, and the second cover 2336 abuts against the top of the inner ring of the first bearing 234. Finally, the first cover 2323 is in interference connection with the outer wall of the outer ring of the first bearing 234 and abuts against the top of the outer ring of the first bearing 234, and the first cover 2323 is connected to the first bracket 2322 so that the first bracket 2322 supports the bottom of the outer ring of the first bearing 234.

[0048] In this embodiment, the first rotation axis L 1 should pass through the walking wheel 231, that is to say, the walking wheel 231 should be at least partially located on the first rotation axis L 1 above. And, the driving component 210 drives the braking component 220 to expand and contract along the first rotation axis L 1 direction. In this way, no matter how the walking wheel 231 rotates, when the braking component 220 extends to the second position along the first rotation axis L 1 the braking component 220 will surely be able to contact the walking wheel 231 to block the rotation of the walking wheel 231, thereby assisting in braking the mobile device, and further solving the problem that when the walking wheel 231 rotates to a certain position, the braking component 220 cannot brake the walking wheel 231.

[0049] Regarding the specific structure of the driving component 210, this application provides two implementable embodiments for reference.

[0050] Embodiment 1: As Figure 6 shown, the driving component 210 can include a telescopic mechanism 211. The telescopic mechanism 211 is connected to the fixed seat 232, and the telescopic end of the telescopic mechanism 211 is connected to the braking component 220. The braking component 220 moves telescopically under the traction of the telescopic end of the telescopic mechanism 211. In this way, the braking component 220 follows the telescopic mechanism 211 and remains stationary relative to the body 100. Correspondingly, a relief hole 2331 should be provided on the connecting frame 233 to make way for the braking component 220, so that during the rotation of the connecting frame 233, the braking component 220 does not interfere with the connecting frame 233, thereby preventing the braking component 220 from affecting the normal rotation of the connecting frame 233.

[0051] In this embodiment, the telescopic end of the telescopic mechanism 211 should extend along the first rotation axis L 1 so that the brake member 220 connected to the telescopic end of the telescopic mechanism 211 can extend along the first rotation axis L 1 for the purpose of extension. Moreover, precisely because the brake member 220 extends along the first rotation axis L 1 the relief hole 2331 can be made as small as possible to achieve the miniaturization of the caster assembly 200.

[0052] Embodiment 2: As shown in Figure 2 、 Figure 3 、 Figure 7 and Figure 8 , the driving component 210 may include a telescopic mechanism 211, a connecting rod 212, and a first elastic member 213. A first accommodation groove 2332 is formed at the top of the connecting frame 233, and a second accommodation groove 2333 for accommodating the brake member 220 is formed at the bottom of the connecting frame 233. The first accommodation groove 2332 communicates with the second accommodation groove 2333 through a guiding hole 2334. The connecting rod 212 has a crossbar section 2121 and a longitudinal rod section 2122. The crossbar section 2121 is located in the first accommodation groove 2332. One end of the longitudinal rod section 2122 is connected to the crossbar section 2121, and the other end of the longitudinal rod section 2122 passes through the guiding hole 2334 and is connected to the brake member 220. The telescopic mechanism 211 is connected to the fixed seat 232, and the telescopic end of the telescopic mechanism 211 is located directly above the crossbar section 2121. The first elastic member 213 is sleeved on the longitudinal rod section 2122, and the first elastic member 213 is located between the bottom of the first accommodation groove 2332 and the crossbar section 2121. Among them, the first elastic member 213 can be a spring or an elastic block, etc.

[0053] When the telescopic end of the telescopic mechanism 211 extends, the telescopic end of the telescopic mechanism 211 can squeeze the crossbar section 2121 to move the crossbar section 2121 downward, thereby compressing the first elastic member 213 and driving the brake member 220 to move downward through the longitudinal rod section 2122 to contact the traveling wheel 231, so as to brake the caster assembly 200. When the telescopic end of the telescopic mechanism 211 retracts, the pressure on the crossbar section 2121 disappears, and the first elastic member 213 returns to its original shape to drive the crossbar section 2121 to move upward, and then drives the brake member 220 to move upward through the longitudinal rod section 2122 to disengage from the traveling wheel 231, restoring the normal operation of the traveling wheel 231.

[0054] In this embodiment, the axis of the guiding hole 2334 should coincide with the first rotation axis L 1 so that the connecting rod 212 sliding along the guiding hole 2334 extends along the first rotation axis L 1 and further the brake member 220 can extend along the first rotation axis L 1The purpose of telescoping. And, since the connecting rod 212 is located on the axis of rotation of the connecting frame 233, during the rotation of the connecting frame 233, the relative position between the connecting rod 212 and the fixed seat 232 remains unchanged, so that no matter how the connecting frame 233 rotates, the crossbar section 2121 is always directly below the telescopic end of the telescoping mechanism 211. Thus, no matter how the connecting frame 233 rotates, the telescopic end of the telescoping mechanism 211 can drive the crossbar section 2121 to move downward.

[0055] And, it is worth mentioning that in this embodiment, the brake member 220 rotates together with the connecting frame 233. In this way, when the brake member 220 brakes the traveling wheel 231, no matter where the connecting frame 233 rotates to, the plane and contact area of the brake member 220 for contacting the traveling wheel 231 always remain the same. This ensures that the braking effect of the brake member 220 on the traveling wheel 231 is as consistent as possible each time, thus facilitating the control of the braking distance of the mobile device.

[0056] In practical applications, the cross-section of the second receiving groove 2333 and the cross-section of the brake member 220 are non-circular, and the cross-section of the second receiving groove 2333 can cooperate with the cross-section of the brake member 220. In this way, the brake member 220 can slide along the second receiving groove 2333, and the inner wall of the second receiving groove 2333 can also limit the rotation of the brake member 220 in the second receiving groove 2333, thus avoiding the problem that the contact area between the brake member 220 and the traveling wheel 231 is inconsistent due to the brake member 220 moving around in the second receiving groove 2333.

[0057] Preferably, the brake member 220 has a braking surface 221. The braking surface 221 cooperates with the wheel surface of the traveling wheel 231, so that when the brake member 220 contacts the traveling wheel 231, the braking surface 221 fits the wheel surface of the traveling wheel 231, thereby increasing the contact area between the brake member 220 and the traveling wheel 231 and improving the braking effect. In practical applications, the wheel surface of the traveling wheel 231 is circular, and the corresponding braking surface 221 of the brake member 220 should be arc-shaped, and the arc radius of the braking surface 221 is the same as the wheel surface radius of the traveling wheel 231.

[0058] The above telescoping mechanism 211 can adopt a linear moving mechanism such as an electric cylinder, a pneumatic cylinder, an oil cylinder or a push-pull solenoid valve. Considering that the reaction speed of the push-pull solenoid valve is relatively fast and can control the brake member 220 to brake the traveling wheel 231 in a timely manner, the telescoping mechanism 211 of this application preferably adopts a push-pull solenoid valve.

[0059] To facilitate understanding of the specific connection manner between the telescoping mechanism 211 and the fixed seat 232, the following takes the telescoping mechanism 211 as a push-pull solenoid valve as an example for illustration. In an implementable embodiment, please refer to again Figure 4 andFigure 7 As shown, a connecting portion 2111 is formed on the push-pull solenoid valve. The connecting portion 2111 has an external thread. The connecting portion 2111 and the telescopic end of the push-pull solenoid valve are respectively located at both ends of the push-pull solenoid valve. A through hole 2321 is formed on the fixed seat 232. The connecting portion 2111 passes through the through hole 2321 and is threadedly connected with a nut 2112, so that the push-pull solenoid valve is locked on the fixed seat 232 through the nut 2112.

[0060] Regarding the specific arrangement manner of the universal wheel assembly 200 and the drive wheel assembly 300 at the bottom of the machine body 100, the present application provides three feasible embodiments for reference.

[0061] Embodiment 1: As Figure 10 shown, the universal wheel assembly 200 has one, and the drive wheel assembly 300 has two. In the moving direction of the mobile device, the universal wheel assembly 200 is located in front of the two drive wheel assemblies 300, so that one universal wheel assembly 200 provides auxiliary support and auxiliary braking for the mobile device.

[0062] In this embodiment, the two drive wheel assemblies 300 should be located on both sides of the mobile device, which is beneficial to balancing the center of gravity of the mobile device and reducing the situations of rollover and instability. The universal wheel assembly 200 is located on the symmetry plane of the two drive wheel assemblies 300, which can make the mobile device more stable when turning.

[0063] Embodiment 2: As Figure 11 shown, the universal wheel assembly 200 has two, and the drive wheel assembly 300 has two. The two universal wheel assemblies 200 and the two drive wheel assemblies 300 are located at the four corners of the machine body 100, and in the moving direction of the mobile device, the two universal wheel assemblies 200 are located in front of the two drive wheel assemblies 300.

[0064] In this embodiment, the two drive wheel assemblies 300 should be located on both sides of the mobile device, and the two universal wheel assemblies 200 are also located on both sides of the mobile device, so as to be beneficial to balancing the center of gravity of the mobile device and reducing the situations of rollover and instability.

[0065] In practical applications, the two caster wheel assemblies 200 can be braked separately. When the mobile device brakes, the two caster wheel assemblies 200 can brake simultaneously to cooperate with the drive wheel assembly 300 to shorten the braking distance of the mobile device. When the frictions between the two drive wheel assemblies 300 and the ground are different in the braking state, one of the two caster wheel assemblies 200 can also be selected to brake first. For example, for the convenience of description, the two caster wheel assemblies 200 are respectively defined as the left caster wheel assembly and the right caster wheel assembly, and the two drive wheel assemblies are respectively defined as the left drive wheel assembly and the right drive wheel assembly. When the two drive wheel assemblies 300 brake, it is recognized that the friction between the left drive wheel assembly and the ground is relatively low, while the friction between the right drive wheel assembly and the ground is normal. At this time, the braking function of the left caster wheel assembly can be started first so that the frictions on both sides of the mobile device with the ground tend to be balanced, thereby preventing the mobile device from skidding out of control.

[0066] Embodiment 3: As Figure 1 shown, there are four caster wheel assemblies 200 and two drive wheel assemblies 300. The four caster wheel assemblies 200 are located at the four corners of the body 100. One of the drive wheel assemblies 300 is located between the two caster wheel assemblies 200 on one side of the body 100, and the other drive wheel assembly 300 is located between the two caster wheel assemblies 200 on the other side of the body 100, and the four caster wheel assemblies 200 can be braked separately.

[0067] In practical applications, when the mobile device brakes, the four caster wheel assemblies 200 can brake simultaneously to cooperate with the drive wheel assembly 300 to further shorten the braking distance of the mobile device. At the same time, when the frictions between the two drive wheel assemblies 300 and the ground are different in the braking state, one or two caster wheel assemblies 200 on the same side as the drive wheel assembly 300 with lower friction can be started to brake first, so that the frictions on both sides of the mobile device with the ground tend to be balanced, thereby preventing the mobile device from skidding out of control.

[0068] Of course, in order to reduce the overall production cost, only the first two caster wheel assemblies 200 or the last two caster wheel assemblies 200 in the four caster wheel assemblies 200 in Embodiment 3 can be integrated with braking functions, and the remaining two caster wheel assemblies 200 only use caster wheels with universal rotation functions. Although it has a certain impact on the braking distance, the above-mentioned function of preventing skidding can still be achieved.

[0069] The following describes the arrangement of the caster wheel assembly 200 and the drive wheel assembly 300 at the bottom of the body 100 in Embodiment 3 only for the need of discussion and is not limited thereby.

[0070] In practical applications, when the mobile device moves forward and backward, the contact points of the universal wheel assembly 200 with the ground are different. When the mobile device moves backward, the contact point of the universal wheel assembly 200 with the ground moves forward compared to the contact point of the universal wheel assembly 200 with the ground when the mobile device moves forward. At this time, the center of gravity of the entire mobile device moves backward relative to the contact point, that is, the center of gravity of the mobile device is biased backward, affecting the stability of the mobile device.

[0071] In order to make the driving of the mobile device more stable and improve the use safety of the mobile device, in an implementable embodiment, please also refer to Figure 12 and Figure 13 , the mobile device may further include an auxiliary support assembly 400. The auxiliary support assembly 400 is installed at the bottom of the body 100, and the auxiliary support assembly 400 is located behind the body 100 along the moving direction of the mobile device. It should be noted that the moving direction of the mobile device defined in this application refers to the direction in which the mobile device moves forward, rather than the direction in which the mobile device moves backward.

[0072] In this embodiment, when the mobile device moves backward, the center of gravity of the mobile device is biased backward. At this time, the auxiliary support assembly 400 can provide auxiliary support for the mobile device, so as to meet obstacle crossing safety, slope anti-tipping, etc., making the driving of the mobile device more stable and improving the use safety of the mobile device.

[0073] In practical applications, when the mobile device is driving normally, the auxiliary support assembly 400 can contact the ground to provide a supporting effect for the mobile device. Of course, when the mobile device is driving normally, a certain distance can be reserved between the auxiliary support assembly 400 and the ground, and the auxiliary support assembly 400 does not play a supporting role. When the mobile device tilts backward, for example, when going uphill, as the mobile device tilts backward until the auxiliary support assembly 400 contacts the ground, the auxiliary support assembly 400 blocks the mobile device from tilting backward, thereby reducing the tilt angle of the mobile device and preventing the mobile device from tipping over. The auxiliary support assembly 400 should be located on the symmetry plane of the two drive wheel assemblies 300. In this way, it can be ensured that the overall center of gravity of the mobile device is on the center line, avoiding the problem that the center of gravity of the mobile device shifts to one side of the mobile device, resulting in the mobile device tipping over, thereby further improving the driving safety of the mobile device.

[0074] Given that the ground traversed by the mobile device is not entirely hard ground, there are also some soft grounds, such as the ground covered with carpets with soft substrates, shag carpets, etc. When the mobile device moves onto the soft ground, the auxiliary support assembly 400 will sink into the ground to a certain depth, resulting in a sharp increase in the walking resistance of the mobile device. As a result, the heat generated by the drive wheel assembly 300 during the operation of the mobile device increases, triggering the motor temperature protection mechanism. Therefore, how to reduce the resistance brought by the auxiliary support assembly 400 on the soft ground has become an urgent problem to be solved.

[0075] To solve the above problems, please refer to Figures 14 to 16 , in an achievable implementation, the auxiliary support assembly 400 may include a support frame 410, a first swing arm 420, and a locking component 430. Among them, the support frame 410 is connected to the body 100 to be fixed on the body 100. One end of the first swing arm 420 is hinged to the support frame 410, and a support wheel 440 is connected to the other end of the first swing arm 420. The support wheel 440 is lifted and lowered by swinging around the support frame 410 through the first swing arm 420. The locking component 430 is connected between the support frame 410 and the first swing arm 420, and the locking component 430 is used to lock and release the first swing arm 420. When the locking component 430 locks the first swing arm 420, the first swing arm 420 is fixed to the support frame 410, so that the first swing arm 420 supports the body 100 and plays an auxiliary support role for the body 100. When the locking component 430 releases the first swing arm 420, the support wheel 440 can flip upward through the first swing arm 420, thus canceling the support effect of the support wheel 440.

[0076] In other words, the locking component 430 can control the support wheel 440 to play a support role or cancel the support effect by locking and releasing the first swing arm 420. In this way, when the mobile device moves onto the hard ground, the locking component 430 can lock the first swing arm 420, so that the support wheel 440 supports the body 100, reducing the tilt angle of the mobile device and preventing the mobile device from tipping over. When the mobile device moves onto the soft ground, the locking component 430 can release the first swing arm 420, so that the support wheel 440 can float upward under the action of the soft ground, reducing the walking resistance between the support wheel 440 and the soft ground and reducing the performance requirements for the drive wheel assembly 300.

[0077] In practical applications, the locking component 430 can be an electric telescopic component. The mobile device can pre-judge whether the ground to be traveled is a hard ground or a soft ground through visual recognition or other means. When it is recognized that the ground to be traveled is a hard ground, the locking component 430 can extend to the rotation path of the first swing arm 420 to prevent the first swing arm 420 from flipping upward, thereby locking the first swing arm 420. When it is recognized that the ground to be traveled is a soft ground, the locking component 430 can retract from the rotation path of the first swing arm 420, so that the first swing arm 420 can flip upward, thereby releasing the first swing arm 420.

[0078] Of course, the locking component 430 can also include a second swing arm 431 and a latch 432. The middle of the second swing arm 431 is hinged to the first swing arm 420, so that both ends of the second swing arm 431 can flip around the connection between the first swing arm 420 and the second swing arm 431. A slot 4311 is provided at one end of the second swing arm 431, a trigger wheel 433 is connected to the other end of the second swing arm 431, and the latch 432 is provided on the support frame 410. The latch 432 is used to be inserted into the slot 4311 to lock the first swing arm 420. Among them, in the moving direction of the mobile device, the slot 4311 is located behind the latch 432, the trigger wheel 433 is located in front of the support wheel 440, and the trigger wheel 433 is higher than the support wheel 440.

[0079] In this way, when the mobile device travels on a hard ground, since the trigger wheel 433 is higher than the support wheel 440, the trigger wheel 433 is not affected by external forces. At this time, the second swing arm 431 is locked with the support frame 410 through the cooperation of the slot 4311 and the latch 432, thereby fixing the first swing arm 420 on the support frame 410, and further enabling the support wheel 440 to contact the ground and support the body 100. When the mobile device travels to a soft ground, the support wheel 440 sinks into the ground to a certain depth. At this time, the trigger wheel 433 contacts the ground and generates frictional force. Under the action of this frictional force, the trigger wheel 433 moves toward the support wheel 440 direction, thereby driving the second swing arm 431 to flip. One end of the second swing arm 431 flips away from the latch 432, so that the latch 432 is separated from the slot 4311, releasing the first swing arm 420, so that the first swing arm 420 can flip upward, thereby reducing the walking resistance between the support wheel 440 and the soft ground.

[0080] It is worth mentioning that compared with the visual recognition electronic control method, this embodiment utilizes the characteristic that the support wheel 440 will sink into the ground when walking on a soft ground, and releases the first swing arm 420 by the method of driving the second swing arm 431 to flip when the trigger wheel 433 contacts the ground. It does not require program control, adopts pure mechanical control, does not rely on electronic components, has higher reliability, and is low-cost and easy to maintain.

[0081] In practical applications, there may be two of the above-mentioned first swing arms 420 and two support wheels 440. One end of each of the two first swing arms 420 is hinged to the support frame 410 through a first pin shaft 450, and the other ends of the two first swing arms 420 are connected through a second pin shaft 460, and the two support wheels 440 are connected to the second pin shaft 460. The middle part of the second swing arm 431 is hinged to the two first swing arms 420 through a third pin shaft 470. In this way, the body 100 can be supported by the two support wheels 440, improving the support effect of the auxiliary support assembly 400 on the body 100. Of course, two second swing arms 431 can also be provided, and the middle parts of the two second swing arms 431 are both hinged to the two first swing arms 420 through a third pin shaft 470, so that the two second swing arms 431 lock the first swing arms 420, improving the locking effect.

[0082] In an implementable embodiment, the auxiliary support assembly 400 may further include a second elastic member 480 and a third elastic member 490. The second elastic member 480 is used to apply a force to the first swing arm 420 to cause the first swing arm 420 to turn downward. The third elastic member 490 is used to apply a force to the second swing arm 431 to cause one end of the second swing arm 431 to turn toward the direction of the latch 432. In this way, when the mobile device drives out from the soft ground, the second elastic member 480 can drive the first swing arm 420 to turn downward. At the same time, the third elastic member 490 drives one end of the second swing arm 431 to turn toward the direction of the latch 432, so that the support wheel 440 returns to the support position, and the latch 432 is inserted into the card slot 4311 again, thereby locking the second swing arm 431. In this way, the auxiliary support assembly 400 can automatically switch between the support state and the non-support state, so that it can not only provide sufficient support on the hard ground, but also on the soft ground, the auxiliary support assembly 400 can mechanically adaptively reduce the walking resistance, greatly reducing the problem that the drive wheel assembly 300 is prone to overheat protection on the soft ground.

[0083] Based on the same inventive concept, as Figure 17 shown, the present application also provides a brake control method. This method is applied to a mobile device. A left drive wheel and a left universal wheel with a braking function may be provided on the left side of the mobile device, and a right drive wheel and a right universal wheel with a braking function are provided on the right side of the mobile device. The method includes:

[0084] Controlling the left drive wheel and the right drive wheel to brake;

[0085] When the friction force between the left drive wheel and the ground is less than a preset value, controlling the left universal wheel to assist in braking;

[0086] When the friction force between the right drive wheel and the ground is less than a preset value, controlling the right universal wheel to assist in braking.

[0087] In this embodiment, detection devices such as collision sensors, infrared sensors, or cameras are usually installed on the mobile device to detect obstacles and other situations that require braking. When the control end of the mobile device receives the braking signal sent by the sensor, the control end simultaneously controls the left driving wheel and the right driving wheel to brake.

[0088] However, in the actual application process, due to the different smoothness of the ground contacted by the left driving wheel and the right driving wheel during braking. For example, there are water droplets on the ground contacted by the left driving wheel, while the ground contacted by the right driving wheel is dry. At this time, the friction forces between the left driving wheel and the ground and between the right driving wheel and the ground are different. When the mobile device brakes, there will be insufficient friction on one side, resulting in the whole mobile device being prone to serious side-slip and losing control, and finally may hit pedestrians or surrounding objects. To solve the above problems, in this application, when the left driving wheel and the right driving wheel brake, the friction force between the left driving wheel and the ground and the friction force between the right driving wheel and the ground are detected. When the friction force between the left driving wheel and the ground is less than the preset value, the left universal wheel is controlled to assist in braking, thereby increasing the friction force value between the left side of the mobile device and the ground, and then balancing the friction forces between the left and right sides of the mobile device and the ground to avoid side-slip problems. Correspondingly, when the friction force between the right driving wheel and the ground is less than the preset value, the right universal wheel is controlled to assist in braking, thereby increasing the friction force value between the right side of the mobile device and the ground, and then balancing the friction forces between the left and right sides of the mobile device and the ground to avoid side-slip problems. Wherein, the preset value refers to the friction force value between the driving wheel and the ground when the mobile device brakes under normal circumstances.

[0089] It should be noted that for the specific structure of the mobile device applicable to this method, reference can be made to Figure 1 and Figure 11 as shown and the content described in the above embodiment, which will not be elaborated here.

[0090] In this embodiment, by comparing the magnitude of the busbar current value of the driving wheel with the preset current, the magnitude of the friction force between the driving wheel and the ground and the preset value can be judged.

[0091] Specifically, before controlling the left universal wheel to assist in braking when the friction force between the left driving wheel and the ground is less than the preset value, it further includes: obtaining the busbar current value of the left driving wheel; when the busbar current value of the left driving wheel is less than the preset current, it is determined that the friction force between the left driving wheel and the ground is less than the preset current. Before controlling the right universal wheel to assist in braking when the friction force between the right driving wheel and the ground is less than the preset value, it further includes: obtaining the busbar current value of the right driving wheel; when the busbar current value of the right driving wheel is less than the preset current, it is determined that the friction force between the right driving wheel and the ground is less than the preset current. Wherein, the preset current refers to the busbar current value measured when the mobile device brakes normally.

[0092] In an implementable embodiment, the above method may further include: when the friction between the left driving wheel and the ground is greater than or equal to a preset value, delaying t1 to control the left universal wheel to assist in braking; when the friction between the right driving wheel and the ground is greater than or equal to a preset value, delaying t1 to control the right universal wheel to assist in braking;

[0093] Correspondingly, when the friction between the left driving wheel and the ground is less than the preset value, controlling the left universal wheel to assist in braking; when the friction between the right driving wheel and the ground is less than the preset value, controlling the right universal wheel to assist in braking, includes: when the friction between the left driving wheel and the ground is less than the preset value, delaying t2 to control the left universal wheel to assist in braking; when the friction between the right driving wheel and the ground is less than the preset value, delaying t2 to control the right universal wheel to assist in braking, where t1 is greater than t2.

[0094] In this embodiment, when the friction between the left driving wheel and the right driving wheel and the ground is greater than or equal to the preset value, it indicates that the braking conditions of the left driving wheel and the right driving wheel on the ground are good. At this time, delaying the t1 time period to control the left universal wheel and the right universal wheel to assist in braking can increase the friction between the entire mobile device and the ground, thereby further shortening the braking distance. It is worth mentioning that the reason for delaying the t1 time period to control the left universal wheel and the right universal wheel to assist in braking instead of immediately is to avoid the problem of side slip caused by all the wheels in contact with the ground of the mobile device being locked at the same time. Among them, t1 is usually determined according to the overall machine mass and driving speed of the mobile device. Taking a sweeping robot as an example, t1 can be 100ms or 200ms, etc.

[0095] When the friction between the left driving wheel and the ground is less than the preset value, or the friction between the right driving wheel and the ground is less than the preset value, it indicates that the mobile device and the ground are in an unstable state of slipping. At this time, the left universal wheel and the right universal wheel need to immediately perform auxiliary braking intervention to restore the mobile device to a controllable state and further shorten the braking distance. Among them, t2 can be understood as an extremely short time period, or it can be understood as no delay.

[0096] Regarding the specific structures of the left universal wheel and the right universal wheel, reference may be made to the specific structure of the universal wheel assembly 200 detailed in the above embodiment, which will not be elaborated here.

[0097] Based on the same inventive concept, the present application also provides a universal wheel assembly 200, which can be independent of the mobile device. The universal wheel assembly 200 can be used as an overall system and can be detachably assembled with the mobile device. Specifically, the universal wheel assembly 200 can be integrally assembled into the mobile device or integrally disassembled from the mobile device.

[0098] The universal wheel assembly 200 can at least include a driving component 210, a braking component 220, and a universal wheel component 230. The universal wheel component 230 includes a traveling wheel 231, a fixed seat 232, and a connecting frame 233. The connecting frame 233 is rotatably connected to the fixed seat 232 along a first rotation axis L1, and the first rotation axis L1 passes through the traveling wheel 231. The driving component 210 is connected to the fixed seat 232, and the driving component 210 drives the braking component 220 to switch between a first position and a second position along the first rotation axis L1. When the braking component 220 is in the first position, the braking component 220 is disengaged from the traveling wheel 231 of the universal wheel component 230. When the braking component 220 is in the second position, the braking component 220 contacts the traveling wheel 231 to block the rotation of the traveling wheel 231.

[0099] Further, the driving component 210 can include a telescopic mechanism 211, a connecting rod 212, and a first elastic member 213. A first accommodation groove 2332 is formed at the top of the connecting frame 233, and a second accommodation groove 2333 for accommodating the braking component 220 is formed at the bottom of the connecting frame 233. The first accommodation groove 2332 communicates with the second accommodation groove 2333 through a guiding hole 2334. The connecting rod 212 has a cross-bar section 2121 and a longitudinal-bar section 2122. The cross-bar section 2121 is located in the first accommodation groove 2332. One end of the longitudinal-bar section 2122 is connected to the cross-bar section 2121, and the other end of the longitudinal-bar section 2122 passes through the guiding hole 2334 and is connected to the braking component 220. The telescopic mechanism 211 is connected to the fixed seat 232, and the telescopic end of the telescopic mechanism 211 is located directly above the cross-bar section 2121. The first elastic member 213 is sleeved on the longitudinal-bar section 2122, and the first elastic member 213 is located between the bottom of the first accommodation groove 2332 and the cross-bar section 2121.

[0100] Regarding the driving component 210, the braking component 220, and the universal wheel component 230, reference can be made to the content detailed in the above embodiments, and details will not be repeated here.

[0101] Based on the same inventive concept, the present application also provides an auxiliary support assembly 400. The auxiliary support assembly 400 can be independent of the mobile device. The auxiliary support assembly 400 can be used as an integral system and can be detachably assembled with the mobile device. Specifically, the auxiliary support assembly 400 can be integrally assembled into the mobile device or integrally disassembled from the mobile device.

[0102] The auxiliary support assembly 400 may include a support frame 410, a first swing arm 420, and a locking member 430. One end of the first swing arm 420 is hinged to the support frame 410, and a support wheel 440 is connected to the other end of the first swing arm 420. The locking member 430 is connected between the support frame 410 and the first swing arm 420, and the locking member 430 is used to lock and release the first swing arm 420. When the locking member 430 locks the first swing arm 420, the first swing arm 420 is fixed to the support frame 410. When the locking member 430 releases the first swing arm 420, the support wheel 440 can be turned upward through the first swing arm 420.

[0103] Further, the locking member 430 may also include a second swing arm 431 and a latch 432. The middle of the second swing arm 431 is hinged to the first swing arm 420. A slot 4311 is provided at one end of the second swing arm 431, and a trigger wheel 433 is connected to the other end of the second swing arm 431, and the trigger wheel 433 is higher than the support wheel 440. The latch 432 is provided on the support frame 410, and the latch 432 is used to be inserted into the slot 4311 to lock the first swing arm 420. Wherein, when the trigger wheel 433 moves towards the support wheel 440, the trigger wheel 433 drives the second swing arm 431 to turn over, so that the latch 432 and the slot 4311 are separated, thereby releasing the first swing arm 420.

[0104] Further, the auxiliary support assembly 400 may further include a second elastic member 480 and a third elastic member 490. The second elastic member 480 is used to apply a force to the first swing arm 420 to make the first swing arm 420 turn downward. The third elastic member 490 is used to apply a force to the second swing arm 431 to make one end of the second swing arm 431 turn towards the latch 432.

[0105] Regarding the support frame 410, the first swing arm 420, and the locking member 430, reference may be made to the content already described in detail in the above embodiments, and details are not repeated here.

[0106] The following will be described in detail in combination with a specific application scenario, taking a mobile device as a food delivery robot as an example.

[0107] Application Scenario 1

[0108] The food delivery robot shuttles between the kitchen and the dining table, and is used to quickly deliver the newly cooked food in the kitchen to the user's dining table in time for the customer to taste and drink.

[0109] When the food delivery robot quickly returns to the kitchen, a customer suddenly appears and blocks the route where the food delivery robot is about to travel. Fortunately, the food delivery robot adopts an advanced braking system, and the driving wheels and driven wheels at the bottom of the food delivery robot brake together, greatly shortening the braking distance and stopping in front of the user in time, avoiding potential dangers and protecting the safety of the customer.

[0110] When one driving wheel of the food delivery robot is driving on a water-stained ground and the other driving wheel is driving on a dry ground, and the food delivery robot needs to brake in an emergency, the food delivery robot detects that the driving wheel on one side is slipping through the bus current of the driving wheel on that side. At this time, the food delivery robot controls the universal wheel on that side to perform emergency braking to balance the friction on both sides of the food delivery robot in time, restore the food delivery robot to a controllable state, prevent the food delivery robot from slipping and colliding with surrounding tables, chairs or guests, and improve the safety of the food delivery robot.

[0111] Application scenario 2

[0112] Due to the small space in the kitchen, there are some areas where the food delivery robot needs to reverse in order to drive out of the kitchen. When the food delivery robot reverses, the contact point between the universal wheel and the ground moves forward, and accordingly, the center of gravity of the food delivery robot moves backward. If the chefs place the dishes to the rear of the food delivery robot, the possibility of the food delivery robot tipping over will increase. Fortunately, the food delivery robot is equipped with an auxiliary support component at the rear end to support the rear end of the food delivery robot, reducing the possibility of the food delivery robot tipping over, and further ensuring the safety of the food delivery robot.

[0113] There are also some carpeted areas in the customer dining area. When delivering food to some tables, the food delivery robot needs to pass through the carpeted area. When the food delivery robot passes through the carpeted area, the support wheel will sink into the carpet to a certain depth. At this time, the trigger wheel contacts the ground and generates friction. Under the action of this friction, the trigger wheel moves toward the support wheel, thereby driving the second swing arm to flip. One end of the second swing arm flips away from the card block, so that the card block is separated from the card slot, and then the first swing arm is released, so that the support wheel can flip upward through the first swing arm, reducing the walking resistance between the support wheel and the carpet, and ensuring that the food delivery robot is delivered to the customer's table within the preset time.

[0114] It can be seen that in the technical solution provided by this application, the universal wheel assembly of the mobile device includes a driving component, a braking component, and a universal wheel component, and the driving component can drive the braking component to contact the traveling wheel of the universal wheel component to brake the traveling wheel. In other words, the universal wheel assembly of the mobile device also has a braking function. In this way, when the mobile device cannot meet the safe braking distance by relying on the braking of the driving wheel assembly, the universal wheel assembly can be controlled for auxiliary braking, so that the universal wheel assembly and the driving wheel assembly brake together, thereby increasing the friction between the mobile device and the ground and shortening the braking distance, solving the problem that the existing mobile device relies only on the driving wheel for braking, resulting in a long braking distance, and improving the use safety of the mobile device. Moreover, the driving component can also drive the braking component to return from the second position to the first position, so that the mobile device resumes its normal traveling ability and ensures the stable operation of the mobile device after braking.

[0115] Furthermore, at least a part of the traveling wheel is located on the first rotation axis, and the driving component drives the braking component to expand and contract along the direction of the first rotation axis. In this way, no matter how the traveling wheel rotates, when the braking component extends along the first rotation axis to the second position, the braking component will surely be able to contact the traveling wheel to block its rotation, thereby performing auxiliary braking on the mobile device, and further solving the problem that when the traveling wheel rotates to a certain position, the braking component cannot brake the traveling wheel, ensuring the reliability of the auxiliary braking through the traveling wheel.

[0116] Furthermore, the braking component is connected to the connecting frame through a connecting rod, and the braking component rotates together with the connecting frame. In this way, when the braking component brakes the traveling wheel, no matter where the connecting frame rotates to, the plane and area of the braking component used to contact the traveling wheel always remain the same. This also ensures that the friction force between the braking component and the traveling wheel is as consistent as possible each time they contact, that is, the braking effect of the braking component on the traveling wheel is as consistent as possible each time, thus facilitating the control of the braking distance of the mobile device.

[0117] Furthermore, there is at least one driving wheel assembly and one universal wheel assembly on each side of the mobile device, and multiple universal wheel assemblies can be respectively controlled for braking. In this way, when facing different frictions between the driving wheel assemblies on both sides and the ground in the braking state, it is possible to choose to brake the universal wheel assembly with lower friction with the ground first, so that the frictions between both sides of the mobile device and the ground tend to be balanced, thereby avoiding the situation of side slip and loss of control caused by a large deviation in the frictions on both sides of the mobile device and ensuring the driving safety of the mobile device.

[0118] Furthermore, an auxiliary support assembly is provided at the rear of the body along the moving direction of the mobile device, so that the rear of the mobile device is supported by the auxiliary support assembly, so that when the center of gravity of the mobile device is biased backward, the auxiliary support assembly can provide auxiliary support to the rear of the mobile device, thereby reducing the inclination angle of the mobile device when it is tilted, making the travel of the mobile device more stable and improving the safety of the use of the mobile device.

[0119] Furthermore, the locking component in the auxiliary support assembly can control the support wheel to play a supporting role or cancel the supporting effect by locking and releasing the first swing arm. In this way, the mobile device can control the support wheels to support the mobile device when driving on hard ground, and allow the support wheels to float upward when driving on soft ground, thereby reducing the walking resistance between the auxiliary support assembly and the ground, thereby reducing the performance requirements for the drive wheel assembly.

[0120] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A mobile device, characterized in that, the mobile device at least includes a body, as well as a universal wheel assembly and a driving wheel assembly installed at the bottom of the body; the universal wheel assembly includes a driving component, a braking component and a universal wheel component, and the driving component is used to drive the braking component to switch between a first position and a second position; when the braking component is in the first position, the braking component is disengaged from the traveling wheel of the universal wheel component to release the traveling wheel; when the braking component is in the second position, the braking component is in contact with the traveling wheel to block the rotation of the traveling wheel.

2. The mobile device according to claim 1, characterized in that, the driving component drives the braking component to switch between the first position and the second position in a telescopic manner.

3. The mobile device according to claim 1, characterized in that, the driving component drives the braking component to switch between the first position and the second position in a flipping manner.

4. The mobile device according to claim 2, characterized in that, the universal wheel component further includes a fixed seat and a connecting frame; the fixed seat is connected to the body, the connecting frame is rotatably connected to the fixed seat along a first rotation axis, the traveling wheel is rotatably connected to the connecting frame along a second rotation axis, the first rotation axis is perpendicular to the second rotation axis, and the first rotation axis passes through the traveling wheel; the driving component is connected to the fixed seat, and the driving component drives the braking component to telescopically move along the first rotation axis.

5. The mobile device according to claim 4, characterized in that, the driving component includes a telescopic mechanism; the telescopic mechanism is connected to the fixed seat, and the telescopic end of the telescopic mechanism is connected to the braking component; a relief hole is provided on the connecting frame for relieving the braking component.

6. The mobile device according to claim 4, characterized in that, the driving component includes a telescopic mechanism, a connecting rod and a first elastic member; a first accommodation groove is provided at the top of the connecting frame, a second accommodation groove for accommodating the braking component is provided at the bottom of the connecting frame, and the first accommodation groove is communicated with the second accommodation groove through a guiding hole; the connecting rod has a cross bar section and a longitudinal bar section, the cross bar section is located in the first accommodation groove, one end of the longitudinal bar section is connected to the cross bar section, and the other end of the longitudinal bar section passes through the guiding hole and is connected to the braking component; the telescopic mechanism is connected to the fixed seat, and the telescopic end of the telescopic mechanism is located directly above the cross bar section; the first elastic member is sleeved on the longitudinal bar section, and the first elastic member is located between the bottom of the first accommodation groove and the cross bar section.

7. The mobile device according to claim 6, characterized in that, the braking component has a braking surface; the braking surface cooperates with the wheel surface of the traveling wheel so that when the braking component is in contact with the traveling wheel, the braking surface fits with the wheel surface of the traveling wheel.

8. The mobile device according to claim 7, characterized in that, the telescopic mechanism is a push-pull type solenoid valve; A connecting portion is formed on the push-pull solenoid valve, and the connecting portion and the telescopic end of the push-pull solenoid valve are respectively located at both ends of the push-pull solenoid valve; A through hole is formed in the fixed seat, and the connecting portion passes through the through hole and is threadedly connected with a nut, so as to lock the push-pull solenoid valve on the fixed seat through the nut.

9. The mobile device according to any one of claims 1 to 8, characterized in that there are four universal wheel assemblies, and the four universal wheel assemblies are located at the four corners of the body; there are two drive wheel assemblies, one of the drive wheel assemblies is located between the two universal wheel assemblies on one side of the body, and the other drive wheel assembly is located between the two universal wheel assemblies on the other side of the body, and the four universal wheel assemblies can be respectively braked.

10. The mobile device according to claim 9, characterized in that the mobile device further includes an auxiliary support assembly; The auxiliary support assembly is installed at the bottom of the body, the auxiliary support assembly is located behind the body along the moving direction of the mobile device, and the auxiliary support assembly is located on the symmetry plane of the two drive wheel assemblies.

11. The mobile device according to claim 10, characterized in that the auxiliary support assembly includes a support frame, a first swing arm and a locking component; The support frame is connected to the body, one end of the first swing arm is hinged to the support frame, and a support wheel is connected to the other end of the first swing arm; The locking component is connected between the support frame and the first swing arm, and the locking component is used to lock and release the first swing arm; When the locking component locks the first swing arm, the first swing arm is fixed to the support frame, so that the support wheel supports the body; When the locking component releases the first swing arm, the support wheel can be turned upward through the first swing arm.

12. The mobile device according to claim 11, characterized in that the locking component includes a second swing arm and a clamping block; The middle part of the second swing arm is hinged to the first swing arm, a clamping groove is arranged at one end of the second swing arm, a trigger wheel is connected to the other end of the second swing arm, and the trigger wheel is higher than the support wheel; The clamping block is arranged on the support frame, and the clamping block is used to be inserted into the clamping groove to lock the first swing arm; Wherein, in the moving direction of the mobile device, the trigger wheel is located in front of the support wheel, and the clamping groove is located behind the clamping block. When the trigger wheel moves towards the support wheel, the trigger wheel drives the second swing arm to turn over, and the clamping block is separated from the clamping groove to release the first swing arm.

13. The mobile device according to claim 12, characterized in that there are two first swing arms and two support wheels; One ends of the two first swing arms are respectively hinged to the support frame through a first pin shaft, the other ends of the two first swing arms are connected through a second pin shaft, and the two support wheels are connected to the second pin shaft; The middle part of the second swing arm is hinged to the two first swing arms through a third pin shaft.

14. The mobile device according to claim 13, wherein, the auxiliary support assembly further includes a second elastic member and a third elastic member; the second elastic member is used to apply a force to the first swing arm so that the first swing arm flips downward; the third elastic member is used to apply a force to the second swing arm so that one end of the second swing arm flips toward the latch.

15. A brake control method, wherein, the method is applied to a mobile device, a left drive wheel and a left universal wheel with a braking function are provided on the left side of the mobile device, a right drive wheel and a right universal wheel with a braking function are provided on the right side of the mobile device, and the method includes: controlling the left drive wheel and the right drive wheel to brake; when the friction between the left drive wheel and the ground is less than a preset value, controlling the left universal wheel to assist in braking; when the friction between the right drive wheel and the ground is less than a preset value, controlling the right universal wheel to assist in braking.

16. The method according to claim 15, wherein, before controlling the left universal wheel to assist in braking when the friction between the left drive wheel and the ground is less than a preset value, further includes: acquiring the bus bar current value of the left drive wheel; when the bus bar current value of the left drive wheel is less than a preset current, determining that the friction between the left drive wheel and the ground is less than the preset current; before controlling the right universal wheel to assist in braking when the friction between the right drive wheel and the ground is less than a preset value, further includes: acquiring the bus bar current value of the right drive wheel; when the bus bar current value of the right drive wheel is less than a preset current, determining that the friction between the right drive wheel and the ground is less than the preset current.

17. The method according to claim 15, wherein, the method further includes: when the friction between the left drive wheel and the ground is greater than or equal to a preset value, delaying for t1 to control the left universal wheel to assist in braking; when the friction between the right drive wheel and the ground is greater than or equal to a preset value, delaying for t1 to control the right universal wheel to assist in braking; the controlling the left universal wheel to assist in braking when the friction between the left drive wheel and the ground is less than a preset value; and controlling the right universal wheel to assist in braking when the friction between the right drive wheel and the ground is less than a preset value, includes: when the friction between the left drive wheel and the ground is less than a preset value, delaying for t2 to control the left universal wheel to assist in braking; when the friction between the right drive wheel and the ground is less than a preset value, delaying for t2 to control the right universal wheel to assist in braking, where t1 is greater than t2.

18. A universal wheel assembly, wherein, the universal wheel assembly at least includes a universal wheel component, a driving component and a braking member; the universal wheel component includes a fixed seat, a connecting frame and a traveling wheel, the connecting frame is rotatably connected to the fixed seat along a first rotation axis, the traveling wheel is rotatably connected to the connecting frame along a second rotation axis, and the first rotation axis passes through the traveling wheel; the driving component is connected to the fixed seat, and the driving component drives the braking member to switch between a first position and a second position along the first rotation axis; When the braking member is in the first position, the braking member is disengaged from the traveling wheel. When the braking member is in the second position, the braking member contacts the traveling wheel to block the rotation of the traveling wheel.

19. The caster assembly according to claim 18, wherein, the driving member includes a telescopic mechanism, a connecting rod, and a first elastic member; a first accommodation groove is formed at the top of the connecting frame, and a second accommodation groove for accommodating the braking member is formed at the bottom of the connecting frame. The first accommodation groove communicates with the second accommodation groove through a guiding hole; the connecting rod has a cross-bar section and a longitudinal-bar section. The cross-bar section is located in the first accommodation groove. One end of the longitudinal-bar section is connected to the cross-bar section, and the other end of the longitudinal-bar section passes through the guiding hole and is connected to the braking member; the telescopic mechanism is connected to the fixed seat, and the telescopic end of the telescopic mechanism is located directly above the cross-bar section; the first elastic member is sleeved on the longitudinal-bar section, and the first elastic member is located between the bottom of the first accommodation groove and the cross-bar section.

20. An auxiliary support assembly, wherein, the auxiliary support assembly includes a support frame, a first swing arm, and a locking member; one end of the first swing arm is hinged to the support frame, and a support wheel is connected to the other end of the first swing arm; the locking member is connected between the support frame and the first swing arm, and the locking member is used to lock and release the first swing arm; when the locking member locks the first swing arm, the first swing arm is fixed to the support frame; when the locking member releases the first swing arm, the support wheel can be turned upward through the first swing arm.

21. The auxiliary support assembly according to claim 20, wherein, the locking member includes a second swing arm and a clamping block; the middle of the second swing arm is hinged to the first swing arm. A clamping groove is provided at one end of the second swing arm, and a trigger wheel is connected to the other end of the second swing arm, and the trigger wheel is higher than the support wheel; the clamping block is provided on the support frame, and the clamping block is used to be inserted into the clamping groove to lock the first swing arm; wherein, when the trigger wheel moves towards the support wheel, the trigger wheel drives the second swing arm to turn over, and the clamping block is separated from the clamping groove to release the first swing arm.

22. The auxiliary support assembly according to claim 21, wherein, the auxiliary support assembly further includes a second elastic member and a third elastic member; the second elastic member is used to apply a force to the first swing arm to cause the first swing arm to turn downward; the third elastic member is used to apply a force to the second swing arm to cause one end of the second swing arm to turn towards the clamping block.

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