Wheel assembly and mobile electronic device

Abstract

The invention discloses a wheel assembly and a mobile electronic device. The wheel assembly comprises a frame body, a moving wheel and a guide wheel. The frame body comprises a base and a supporting piece which are connected. The moving wheel is rotatably arranged on the supporting piece, and the moving wheel is provided with a first end edge relatively far away from the base. The guide wheel is rotatably arranged on the supporting piece, and the guide wheel is provided with a second end edge relatively far away from the base. The second end edge of the guide wheel is closer to the base than the first end edge of the moving wheel.

Description

Technical Field

[0001] The present invention relates to a wheel assembly and a mobile electronic device. Background Art

[0002] Service robots such as autonomous mobile robots or automated guided vehicles need to walk in narrow environments. Therefore, during design, it is desired that the volume is delicate so as not to cause a sense of oppression easily.

[0003] However, if it is desired that the service robot is lightweight, the chassis size needs to be reduced. A small chassis means that the turning radius of the driven wheel needs to be reduced so as not to interfere with the surrounding mechanisms during turning. Among them, the turning radius of the driven wheel depends on its own outer diameter and the distance of its center from the rotation axis. Therefore, basically, the smaller the outer diameter of the driven wheel of the service robot, the more beneficial it is to reduce the overall volume. However, reducing the outer diameter of the driven wheel will make the force application point close to the center of the driven wheel when touching an obstacle, and the lifting force that can be obtained will become smaller. Therefore, how to enable the driven wheel to still have excellent obstacle climbing ability when it has a smaller outer diameter for the lightweight of the service robot is one of the key points for R & D personnel in this field to research and develop. Summary of the Invention

[0004] The present invention aims to provide a wheel assembly and a mobile electronic device, which can ensure that the driven wheel still has excellent obstacle climbing ability even if it has a smaller outer diameter due to the lightweight of the service robot.

[0005] A wheel assembly disclosed in an embodiment of the present invention includes a frame body, a moving wheel, and a guide wheel. The frame body includes a base and a support member connected to each other. The moving wheel is rotatably disposed on the support member, and the moving wheel has a first edge relatively far from the base. The guide wheel is rotatably disposed on the support member, and the guide wheel has a second edge relatively far from the base. The second edge of the guide wheel is closer to the base than the first edge of the moving wheel.

[0006] A mobile electronic device disclosed in another embodiment of the present invention includes a main body and a plurality of wheel assemblies. These wheel assemblies are respectively disposed at different positions of the main body, and each includes a frame body, a moving wheel, and a guide wheel. The frame body includes a base and a support member connected to each other, and the base is assembled to the main body. The moving wheel is rotatably disposed on the support member, and the moving wheel has a first edge relatively far from the base. The guide wheel is rotatably disposed on the support member, and the guide wheel has a second edge relatively far from the base. The second edge of the guide wheel is closer to the base than the first edge of the moving wheel.

[0007] Another mobile electronic device disclosed in another embodiment of the present invention includes a main body, a power source, a driving wheel, and a plurality of wheel assemblies. The power source is disposed in the main body. The driving wheel is connected to the power source. These wheel assemblies are respectively disposed at different positions of the main body, and each includes a frame, a moving wheel, and a guide wheel. The frame includes a base and a support member connected to each other, and the base is assembled to the main body. The moving wheel is rotatably disposed on the support member, and the moving wheel has a first edge relatively far from the base. The guide wheel is rotatably disposed on the support member, and the guide wheel has a second edge relatively far from the base. The second edge of the guide wheel is closer to the base than the first edge of the moving wheel. The power source is adapted to drive the driving wheel to move the main body, and cause these wheel assemblies to rotate passively.

[0008] According to the wheel assembly and the mobile electronic device disclosed in the above embodiment, by rotatably disposing the guide wheel and the moving wheel on the support member of the frame, and the configuration that the second edge of the guide wheel is closer to the base of the frame than the first edge of the moving wheel, before the moving wheel encounters an obstacle, the guide wheel can encounter the obstacle first to pre-lift the entire mobile electronic device, so that the moving wheel that subsequently touches the obstacle can obtain a greater lifting force, and help the moving wheel easily climb over the obstacle. Therefore, through the setting of the guide wheel, it can be ensured that even if the moving wheel has a smaller outer diameter due to the lightweight of the mobile electronic device, it still has excellent ability to climb over obstacles.

[0009] The above description of the content of the present invention and the following description of the embodiments are used to demonstrate and explain the principles of the present invention, and provide a further explanation of the scope of the patent application of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A perspective schematic view of the mobile electronic device disclosed in the first embodiment of the present invention;

[0011] Figure 2 For Figure 1 a perspective schematic view of the wheel assembly;

[0012] Figure 3 For Figure 2 a side view schematic view of the wheel assembly;

[0013] Figure 4 For Figure 2 a top view schematic view of the wheel assembly;

[0014] Figure 5 For Figure 1 a side view schematic view of the mobile electronic device encountering an obstacle;

[0015] Figure 6 For Figure 5 an enlarged schematic view of the guide wheel of the wheel assembly encountering an obstacle;

[0016] Figure 7 For Figure 6 Side view schematic diagram of the moving wheel of the wheel assembly hitting an obstacle;

[0017] Figure 8 For Figure 2 Graph of the relationship between the outer diameter of the guide wheel and the ratio of the lifting force and the reaction force;

[0018] Figure 9 Planar schematic diagram of the guide wheel of the wheel assembly disclosed in the second embodiment of the present invention hitting an obstacle;

[0019] Figure 10 For Figure 9 Graph of the relationship between the outer diameter of the guide wheel and the ratio of the lifting force and the reaction force;

[0020] Figure 11 Planar schematic diagram of the guide wheel of the wheel assembly disclosed in the third embodiment of the present invention hitting an obstacle;

[0021] Figure 12 For Figure 11 Graph of the relationship between the outer diameter of the guide wheel and the ratio of the lifting force and the reaction force;

[0022] Figure 13 Stereoscopic schematic diagram of the wheel assembly disclosed in the fourth embodiment of the present invention;

[0023] Figure 14 Stereoscopic schematic diagram of the wheel assembly disclosed in the fifth embodiment of the present invention.

[0024] Symbol description

[0025] 1: Mobile electronic device

[0026] 10: Main body

[0027] 11: Housing

[0028] 20, 20a, 20b, 20c, 20d: Wheel assembly

[0029] 21: Frame

[0030] 211, 211a, 211b: Base

[0031] 212, 212c: Support member

[0032] 2121: Base portion

[0033] 2122: Support arm portion

[0034] 22, 22a, 22b, 22c, 22d: Moving wheel

[0035] 221: First edge

[0036] 222: Outer edge

[0037] 23, 23a, 23b, 23c, 23d: Guide wheel

[0038] 231: Second end edge

[0039] 232: Outer edge

[0040] 24: First pivot

[0041] 25: Second pivot

[0042] 30: Driving wheel

[0043] 40: Power source

[0044] P: Axis of rotation

[0045] P1, P2: Pivot axis

[0046] T1, T2, T3, T4: Distance

[0047] R: Range of rotation

[0048] D1, D2: Outer diameter

[0049] RP: Reference point[[ID=4l]]

[0050] L1, L2: Connecting line

[0051] θ: Angle

[0052] f, fy, fx: Arrow

[0053] O: Obstacle

[0054] H: Height Detailed implementation manners

[0055] Please refer to Figure 1 , Figure 1 which is a three - dimensional schematic diagram of a mobile electronic device disclosed according to the first embodiment of the present invention

[0056] In this embodiment, the mobile electronic device 1 is, for example, a service robot, such as an autonomous mobile robot or an automated guided vehicle. The mobile electronic device 1 includes a main body 10 and a plurality of wheel assemblies 20. In addition, the mobile electronic device 1 may further include a plurality of driving wheels 30 and a plurality of power sources 40

[0057] The main body 10 includes a housing 11 and a plurality of electronic components located within the housing 11, such as a circuit board and a battery, etc. The number of these wheel assemblies 20 is, for example but not limited to, four. These wheel assemblies 20 are respectively disposed at the four corners of the bottom of the housing 11, and a part of the wheel assembly 20 is exposed from the housing 11. The number of these drive wheels 30 is, for example but not limited to, two. One of the drive wheels 30 is located between two of the wheel assemblies 20, and the other drive wheel 30 is located between the other two wheel assemblies 20. These power sources 40 are, for example, motors, and the number thereof is, for example but not limited to, two. These power sources 40 are disposed at the bottom of the housing 11 and are respectively connected to the two drive wheels 30 to drive the two drive wheels 30 to rotate relative to the housing 11, thereby driving the entire mobile electronic device 1 to move. In an embodiment, the number of the power source and the drive wheel may be only one, and the power source and the drive wheel may be centrally disposed in the housing.

[0058] In this embodiment, these wheel assemblies 20 have the same structure, so only one of them will be introduced in detail below. Please refer to Figures 1 to 4 。 Figure 2 For Figure 1 the perspective schematic view of the wheel assembly. Figure 3 For Figure 2 the side view schematic view of the wheel assembly. Figure 4 For Figure 2 the top view schematic view of the wheel assembly.

[0059] The wheel assembly 20 includes a frame body 21, two moving wheels 22 and a guide wheel 23. In addition, the wheel assembly 20 may further include a first pivot 24 and a second pivot 25. The frame body 21 includes a base 211 and a support member 212. The base 211 is disposed inside the housing 11. The support member 212 includes a base portion 2121 and two support arm portions 2122. The base portion 2121 of the support member 212 is rotatably disposed on the base 211, and the two support arm portions 2122 protrude from the base portion 2121 and are spaced apart from each other by a distance. The two moving wheels 22 are coaxially pivoted to the two support arm portions 2122 through the first pivot 24. The guide wheel 23 is pivoted to the two support arm portions 2122 through the second pivot 25. The pivot axis P1 of the two moving wheels 22 (i.e., the central axis of the first pivot 24) and the pivot axis P2 of the guide wheel 23 (i.e., the central axis of the second pivot 25) are perpendicular to the rotation axis P of the base portion 2121 of the support member 212 relative to the base 211. The pivot axis P1 of the two moving wheels 22 is parallel to the pivot axis P2 of the guide wheel 23, and the pivot axis P1 of the two moving wheels 22 does not overlap with the pivot axis P2 of the guide wheel 23, and the pivot axis P1 of the guide wheel 23 is closer to the base 211 than the pivot axis P2 of the two moving wheels 22. That is to say, the distance T2 from the pivot axis P2 of the guide wheel 23 to the base 211 is less than the distance T1 from the pivot axis P1 of the two moving wheels 22 to the base 211.

[0060] In this embodiment, the guide wheel 23 is partially located between the two moving wheels 22 but does not contact the two moving wheels 22, and the guide wheel 23 is located within a rotation range R formed by the relative rotation of the two moving wheels 22 with respect to the base 211 through the support member 212. In the direction parallel to the pivot axis P1 of the two moving wheels 22 (i.e., from Figure 3 the perspective view), the two moving wheels 22 partially overlap the guide wheel 23. In addition, the outer diameter D1 of the two moving wheels 22 is, for example but not limited to, greater than the outer diameter D2 of the guide wheel 23. Each of the two moving wheels 22 has a first end edge 221 relatively far from the base 211. In each moving wheel 22, the first end edge 221 is located at the place where the outer edge 222 of the moving wheel 22 is farthest from the base 211. The guide wheel 23 has a second end edge 231 relatively far from the base 211, and the second end edge 231 is located at the place where the outer edge 232 of the guide wheel 23 is farthest from the base 211. The second end edge 231 of the guide wheel 23 is closer to the base 211 than the first end edge 221 of the two moving wheels 22. The distance T3 from the second end edge 231 of the guide wheel 23 to the base 211 is greater than the distance T1 from the pivot axis P1 of the two moving wheels 22 to the base 211. In addition, a reference point RP located on the outer edge 222 of the moving wheel 22 is defined. The reference point RP is farther from the base 211 than the pivot axis P1 of the moving wheel 22 and closer to the base 211 than the first end edge 221. The connecting line L1 between the reference point RP and the pivot axis P1 of the moving wheel 22 and the connecting line L2 between the first end edge 221 and the pivot axis P1 of the moving wheel 22 form an angle θ of 45 degrees. The distance T3 from the second end edge 231 of the guide wheel 23 to the base 211 is less than the distance T4 from the reference point RP to the base 211.

[0061] Next, please refer to Figures 5 to 7 . Figure 5 For Figure 1 the side view schematic diagram of the mobile electronic device hitting an obstacle. Figure 6 For Figure 5 the enlarged schematic diagram of the guide wheel of the wheel assembly hitting an obstacle. Figure 7 For Figure 6 the side view schematic diagram of the moving wheel of the wheel assembly hitting an obstacle.

[0062] When the mobile electronic device 1 encounters an obstacle O during walking, the guide wheel 23 in the wheel assembly 20 on the front side of the mobile electronic device 1 will touch the obstacle O earlier than the moving wheel 22. At this time, the acting force of the guide wheel 23 against the obstacle O will generate a reaction force acting on the guide wheel 23, and this reaction force (as shown by the arrow f) is composed of a lifting force in the vertical direction (as shown by the arrow fy) and a reaction thrust in the horizontal direction (as shown by the arrow fx). In the power source 40 (such as Figure 1Under the continuous operation as shown, guided by the guide wheel 23, the aforementioned lifting force will lift the entire mobile electronic device 1, causing the guide wheel 23 to climb onto the obstacle O, and then the moving wheel 22 touches the obstacle O. In this way, the moving wheel 22 that touches the obstacle O can obtain a larger lifting force, which helps the moving wheel 22 easily climb onto the obstacle O. Therefore, through the setting of the guide wheel 23, it can be ensured that even if the moving wheel 22 has a smaller outer diameter D1 due to the lightweight of the mobile electronic device 1, it still has excellent ability to climb onto the obstacle O.

[0063] In this embodiment, when the distance T3 from the second end edge 231 of the guide wheel 23 to the base 211 is greater than the distance T1 from the pivot axis P1 of the two moving wheels 22 to the base 211, the distance T3 from the second end edge 231 of the guide wheel 23 to the base 211 is less than the distance T4 from the reference point RP to the base 211, and the pivot axis P2 of the guide wheel 23 is closer to the base 211 than the pivot axis P1 of the two moving wheels 22, the effect that the guide wheel 23 helps the moving wheel 22 climb onto the obstacle O more significantly can be achieved.

[0064] Specifically, due to the additional setting of the guide wheel 23 in the wheel assembly 20, there are two cases to analyze. One is the case where the guide wheel 23 touches the obstacle O (as shown in Figure 6 ), and the other is the case where the moving wheel 22 touches the obstacle O (as shown in Figure 7 ). Taking the case where the guide wheel 23 touches the obstacle O as an example, assuming that the maximum force F provided by the power source 40 for the forward movement of the entire mobile electronic device 1 without slipping, the outer diameter D1 of the moving wheel 22 is 38.1 mm, the height H of the obstacle O is 25 mm, the difference between the distance T2 from the pivot axis P2 of the guide wheel 23 to the base 211 and the distance T1 from the pivot axis P1 of the two moving wheels 22 to the base 211 is 4 mm, and the outer diameter D2 of the guide wheel 23 is r, then the lifting force of the guide wheel 23 can be obtained from the formula . It can be seen from this that the smaller the outer diameter D2 of the guide wheel 23, the greater the lifting force it obtains. On the other hand, taking the case where the moving wheel 22 touches the obstacle O as an example, the guide wheel 23 can pre-lift the entire mobile electronic device 1 to the height calculated by the formula (r - 4) + 25 - 38.1 = r - 17.1. Therefore, the lifting force that the moving wheel 22 can obtain with the help of the guide wheel 23 can be obtained from the formula . It can be seen from this that the effect of the guide wheel 23 obtaining the lifting force itself is opposite to the effect of the lifting force obtained by the moving wheel 22 with the help of the guide wheel 23. In other words, the lifting force obtained by the guide wheel 23 itself increases as the outer diameter D2 of the guide wheel 23 becomes smaller, while the lifting force obtained by the moving wheel 22 with the help of the guide wheel 23 increases as the outer diameter D2 of the guide wheel 23 becomes larger. The aforementioned two relationships can be seen in Figure 8 , Figure 8 isFigure 2 Graph showing the relationship between the outer diameter of the guide wheel and the ratio of the lifting force to the thrust force. From Figure 8 it can be seen that the lines plotted for the two relationships do not intersect. Therefore, the lifting force obtained by the moving wheel 22 with the help of the guide wheel 23 is the main design consideration. So, when designing, it is necessary to mainly increase the outer diameter D2 of the guide wheel 23 as much as possible. Assuming that the outer diameter D2 of the guide wheel 23 can be set to a maximum of 23 mm without the guide wheel 23 exceeding the rotation range R formed by the two moving wheels 22 rotating relative to the base 211 through the support member 212. In this way, the lifting force of the moving wheel 22 can reach approximately 0.58F. Therefore, compared with the lifting force of 0.37F calculated by the moving wheel in the wheel assembly without a guide wheel from the formula , the guide wheel 23 in this embodiment can help the moving wheel 22 to increase the obtained lifting force by about 55%.

[0065] In this embodiment, the configuration of the guide wheel 23 within the rotation range R formed by the two moving wheels 22 rotating relative to the base 211 through the support member 212 can prevent the guide wheel 23 from interfering with the surrounding components. It should be noted that if there is no such problem mentioned above, the guide wheel can be partially located outside the rotation range formed by the two moving wheels rotating relative to the base through the support member.

[0066] On the other hand, in the direction parallel to the pivot axis P1 of the two moving wheels 22, the two moving wheels 22 are not limited to partially overlapping the guide wheel 23. In other embodiments, in the direction parallel to the pivot axis of the two moving wheels, the two moving wheels may not overlap the guide wheel.

[0067] Next, please refer to Figure 9 and Figure 10 , Figure 9 which is a schematic plan view of the guide wheel of the wheel assembly disclosed according to the second embodiment of the present invention hitting an obstacle. Figure 10 is Figure 9 a graph showing the relationship between the outer diameter of the guide wheel and the ratio of the lifting force to the thrust force.

[0068] The wheel assembly 20a of this embodiment is similar to the wheel assembly 20 of the foregoing embodiment. The main difference between the two lies in the position of the guide wheel. Therefore, the following mainly describes this difference, and the same parts between the two will not be elaborated.

[0069] In this embodiment, the pivot axis P1 of the moving wheel 22a is not closer to or farther from the base 211a than the pivot axis P2 of the guide wheel 23a. That is to say, the distance T2 from the pivot axis P2 of the guide wheel 23 to the base 211 is equal to the distance T1 from the pivot axis P1 of the two moving wheels 22 to the base 211. In this configuration, assuming that other parameters are the same as those assumed in the foregoing embodiment, the relationship between the lifting force obtained by the guide wheel 23a itself and the outer diameter D2 of the guide wheel 23a, and the relationship between the lifting force obtained by the moving wheel 22a with the help of the guide wheel 23a and the outer diameter D2 of the guide wheel 23a can be seen in Figure 10 . From Figure 10 it can be known that the lines drawn for the two relationships have an intersection point, which is approximately at the point corresponding to the outer diameter D2 of the guide wheel 23a being 22.4 mm. When the outer diameter D2 of the guide wheel 23a is 22.4 mm, the lifting force of the moving wheel 22a can reach about 0.72F. Therefore, compared with the lifting force of 0.37F obtained by the moving wheel in the wheel assembly without a guide wheel, the guide wheel 23a in this embodiment can help the lifting force obtained by the moving wheel 22a to increase by about 95%.

[0070] Next, please refer to Figure 11 and Figure 12 , Figure 11 which is a schematic plan view of the guide wheel of the wheel assembly disclosed according to the third embodiment of the present invention hitting an obstacle. Figure 12 It is Figure 11 a graph showing the relationship between the outer diameter of the guide wheel and the ratio of the lifting force and the thrust force.

[0071] The wheel assembly 20b of this embodiment is similar to the wheel assembly 20 of the foregoing embodiment. The main difference between the two lies in the position of the guide wheel. Therefore, the following mainly describes this difference, and the same parts between the two will not be elaborated.

[0072] In this embodiment, the pivot axis P2 of the guide wheel 23b is farther from the base 211b than the pivot axis P1 of the moving wheel 22b. The distance T2 from the pivot axis P2 of the guide wheel 23 to the base 211 is greater than the distance T1 from the pivot axis P1 of the two moving wheels 22 to the base 211. In this configuration, assuming that the difference between the distance T2 from the pivot axis P2 of the guide wheel 23b to the base 211a and the distance T1 from the pivot axis P1 of the two moving wheels 22b to the base 211a is 4 mm, and other parameters are the same as those assumed in the foregoing embodiment, the relationship between the lifting force obtained by the guide wheel 23b itself and the outer diameter D2 of the guide wheel 23b, and the relationship between the lifting force obtained by the moving wheel 22 with the help of the guide wheel 23 and the outer diameter D2 of the guide wheel 23 can be seen in Figure 11 . From Figure 11It can be seen that the lines drawn for the two relationships intersect, roughly at the point corresponding to the outer diameter D2 of the guide wheel 23b being 16.8 mm. When the outer diameter D2 of the guide wheel 23b is 16.8 mm, the lifting force of the moving wheel 22b can reach approximately 0.64F. Therefore, compared with the lifting force of 0.37F obtained by the moving wheel in the wheel assembly without a guide wheel, the guide wheel 23b in this embodiment can help the lifting force obtained by the moving wheel 22b to increase by approximately 73%.

[0073] In the above embodiment, the selected guide wheel radii are 23 mm, 22.4 mm, and 16.8 mm when the pivot axis of the guide wheel is closer to the base than the pivot axis of the moving wheel, the distances from the two to the base are equal, and the pivot axis of the guide wheel is farther from the base than the pivot axis of the moving wheel. From this, it can be seen that the distance from the pivot axis of the guide wheel to the base is negatively correlated with the outer diameter of the guide wheel. That is to say, in the design consideration of the guide wheel, the farther the guide wheel is from the base, the smaller its outer diameter needs to be.

[0074] Next, please refer to Figure 13 , Figure 13 which is a three-dimensional schematic diagram of the wheel assembly disclosed according to the fourth embodiment of the present invention.

[0075] The wheel assembly 20c of this embodiment is similar to the wheel assembly 20 of the foregoing embodiment. The main difference between the two lies in the number of moving wheels and guide wheels. Therefore, the following mainly describes this difference, and the same parts between the two will not be elaborated.

[0076] In this embodiment, the number of moving wheels 22c is one, and the number of guide wheels 23c is two. The two guide wheels 23c are pivotally provided on the support member 212c coaxially, and the moving wheel 22c is partially located between the two guide wheels 23c.

[0077] Next, please refer to Figure 14 , Figure 14 which is a three-dimensional schematic diagram of the wheel assembly disclosed according to the fifth embodiment of the present invention.

[0078] The wheel assembly 20d of this embodiment is similar to the wheel assembly 20 of the foregoing embodiment. The main difference between the two lies in the number of moving wheels and guide wheels. Therefore, the following mainly describes this difference, and the same parts between the two will not be elaborated.

[0079] In this embodiment, the number of moving wheels 22d is one, and the number of guide wheels 23d is also one.

[0080] According to the wheel assembly and the mobile electronic device disclosed in the above embodiments, the guide wheel and the moving wheel are rotatably arranged on the support member of the frame body, and the second edge of the guide wheel is closer to the base of the frame body than the first edge of the moving wheel. Before the moving wheel encounters an obstacle, the guide wheel can encounter the obstacle first to pre-lift the entire mobile electronic device. Therefore, the moving wheel that subsequently touches the obstacle can obtain a greater lifting force, which helps the moving wheel easily climb over the obstacle. Therefore, by arranging the guide wheel, it can be ensured that even if the moving wheel has a smaller outer diameter due to the lightweight of the mobile electronic device, it still has excellent ability to climb over obstacles.

[0081] In addition, the guide wheel is arranged within the rotation range formed by the relative rotation of the moving wheel with respect to the base through the support member, which can prevent the guide wheel from interfering with surrounding components.

[0082] Although the present invention is disclosed above with the foregoing preferred embodiments, it is not intended to limit the present invention. Any person skilled in the relevant art can make some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the patent protection scope of the present invention should be defined by the claims appended to this specification.

Claims

1. A wheel assembly, comprising: A frame body, comprising a connected base and a support member; A moving wheel rotatably disposed on the support member, the moving wheel having a first edge relatively far from the base; and A guide wheel rotatably disposed on the support member, the guide wheel having a second edge relatively far from the base, the second edge of the guide wheel being closer to the base than the first edge of the moving wheel.

2. The wheel assembly according to claim 1, wherein the distance from the second edge of the guide wheel to the base is greater than the distance from the pivot axis of the moving wheel to the base.

3. The wheel assembly according to claim 2, wherein the pivot axis of the guide wheel is closer to the base than the pivot axis of the moving wheel.

4. The wheel assembly according to claim 2, wherein the distance from the pivot axis of the moving wheel to the base is substantially equal to the distance from the pivot axis of the guide wheel to the base.

5. The wheel assembly according to claim 2, wherein the pivot axis of the guide wheel is farther from the base than the pivot axis of the moving wheel.

6. The wheel assembly according to claim 2, wherein the moving wheel has an outer edge, the first edge being at the farthest position of the outer edge from the base, defining a reference point on the outer edge, the reference point being farther from the base than the pivot axis of the moving wheel and closer to the base than the first edge, the line connecting the reference point to the pivot axis of the moving wheel and the line connecting the first edge to the pivot axis of the moving wheel forming an angle of 45 degrees, and the distance from the second edge of the guide wheel to the base is less than the distance from the reference point to the base.

7. The wheel assembly according to claim 1, wherein the pivot axis of the moving wheel is parallel to the pivot axis of the guide wheel, and the pivot axis of the moving wheel does not overlap with the pivot axis of the guide wheel.

8. The wheel assembly according to claim 7, wherein in a direction parallel to the pivot axis of the moving wheel, the moving wheel partially overlaps the guide wheel.

9. The wheel assembly according to claim 1, wherein the wheel assembly comprises two of the moving wheels, the two moving wheels being coaxially pivoted on the support member, and the guide wheel is partially located between the two moving wheels.

10. The wheel assembly according to claim 1, wherein the wheel assembly comprises two of the guide wheels, the two guide wheels being coaxially pivoted on the support member, and the moving wheel is partially located between the two guide wheels.

11. The wheel assembly according to claim 1, wherein the outer diameter of the moving wheel is greater than the outer diameter of the guide wheel.

12. A mobile electronic device, comprising: A main body; and A plurality of wheel assemblies respectively disposed at different positions of the main body, and each comprising: A frame body, comprising a connected base and a support member, the base being assembled to the main body; A moving wheel rotatably disposed on the support member, the moving wheel having a first edge relatively far from the base; and A guide wheel rotatably disposed on the support member, the guide wheel having a second edge relatively far from the base, the second edge of the guide wheel being closer to the base than the first edge of the moving wheel.

13. The mobile electronic device according to claim 12, wherein the support member is rotatably disposed on the base, and the guide wheel is located within the rotation range formed by the relative rotation of the moving wheel with respect to the base through the support member.

14. The mobile electronic device as claimed in claim 12 further includes a plurality of drive wheels and a plurality of power sources. The drive wheels are rotatably disposed at different locations of the main body, and the power sources are disposed in the main body and are respectively connected to the drive wheels.

15. The mobile electronic device as claimed in claim 14, wherein the number of the drive wheels and the number of the power sources are two, the number of the wheel assemblies is four, the four wheel assemblies are respectively disposed at four corners of the main body, the two drive wheels are opposite to each other, one of the drive wheels is located between two of the wheel assemblies, and the other drive wheel is located between the other two of the wheel assemblies.

16. The mobile electronic device as claimed in claim 12, wherein the distance from the second edge of the guide wheel to the base is greater than the distance from the pivot axis of the moving wheel to the base.

17. The mobile electronic device as claimed in claim 16, wherein the pivot axis of the guide wheel is closer to the base than the pivot axis of the moving wheel.

18. The mobile electronic device as claimed in claim 16, wherein the distance from the pivot axis of the moving wheel to the base is substantially equal to the distance from the pivot axis of the guide wheel to the base.

19. The mobile electronic device as claimed in claim 16, wherein the pivot axis of the guide wheel is farther from the base than the pivot axis of the moving wheel.

20. A mobile electronic device, comprising: a main body; a power source disposed in the main body; a drive wheel connected to the power source; and a plurality of wheel assemblies respectively disposed at different locations of the main body, and each comprising: a frame body including a connected base and a support member, the base being assembled to the main body; a moving wheel rotatably disposed on the support member, the moving wheel having a first edge relatively far from the base; and a guide wheel rotatably disposed on the support member, the guide wheel having a second edge relatively far from the base, the second edge of the guide wheel being closer to the base than the first edge of the moving wheel; Among them, the power source is adapted to drive the drive wheel to move the main body, and to make the plurality of wheel assemblies follow.

Images