Walking mechanism and self-walking robot

Abstract

The utility model relates to the field of robots, in particular to a walking mechanism and a self-walking robot, a fixing assembly comprises a fixing seat and a rotating shaft connected with the fixing seat, the rotating shaft is used for enabling the fixing seat to horizontally rotate, a walking wheel assembly comprises a first rolling wheel and a second rolling wheel, and the first rolling wheel and the second rolling wheel are both arranged on the fixing seat in a rolling mode; the first rolling wheels and the second rolling wheels are distributed at intervals in the advancing direction of the walking wheel assembly; the first rolling wheel can rotate around the rotating shaft and has a preset rotating radius, and on an orthographic projection plane perpendicular to the central axis of the rotating shaft, the second rolling wheel is located in a rotating plane limited by the preset rotating radius, so that the second rolling wheel and the first rolling wheel are both located in the rotating plane during rotation. And motion interference with other structures of the self-walking robot is avoided.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a walking mechanism and a self-propelled robot. Background Art

[0002] Adding auxiliary wheels to the driven wheels set in front of self-propelled robots such as lawn mowing robots can, for example, increase the obstacle crossing height. Adding auxiliary wheels to the front of the driven wheels increases the space required for the driven wheels and the auxiliary wheels when rotating, which may cause motion interference with other structural parts of the self-propelled robot, such as the blade guard. Therefore, how to add auxiliary wheels to the driven wheels without causing motion interference with other structures of the self-propelled robot has become a technical problem that needs to be solved. Utility Model Content

[0003] The main purpose of the present application is to propose a walking mechanism and a self-propelled robot to solve the technical problem that the existing self-propelled robot adds auxiliary wheels at the front end of the driven wheels, which may cause motion interference with other structures of the self-propelled robot.

[0004] To achieve the above purpose, an embodiment of the present application provides a walking mechanism, comprising:

[0005] A fixing assembly, comprising a fixing seat and a rotating shaft connected thereto, wherein the rotating shaft is used to make the fixing seat rotate horizontally;

[0006] A travel wheel assembly, comprising a first rolling wheel and a second rolling wheel, wherein the first rolling wheel and the second rolling wheel are both rollingly disposed on the fixing seat, and the first rolling wheel and the second rolling wheel are spaced apart in the traveling direction of the travel wheel assembly;

[0007] The first rolling wheel can rotate around the rotation axis and has a preset rotation radius. On an orthographic projection plane perpendicular to the central axis of the rotation axis, the second rolling wheel is located in a rotation plane defined by the preset rotation radius.

[0008] A walking mechanism provided in an embodiment of the present application comprises a fixed assembly including a fixed seat and a rotating shaft connected thereto, wherein the rotating shaft is used to make the fixed seat rotate horizontally, and a walking wheel assembly including a first rolling wheel and a second rolling wheel, wherein the first rolling wheel and the second rolling wheel are both rollingly arranged on the fixed seat, and the first rolling wheel and the second rolling wheel are spaced apart in the travel direction of the walking wheel assembly; the first rolling wheel can rotate around the rotating shaft and has a preset rotation radius, and on an orthographic projection plane perpendicular to the central axis of the rotating shaft, the second rolling wheel is located in a rotation plane defined by the preset rotation radius, so that the second rolling wheel and the first rolling wheel are both located in the rotation plane when rotating, which effectively solves the problem that an auxiliary wheel is added to the front end of a driven wheel of a self-propelled robot, which may cause motion interference with other structures of the self-propelled robot.

[0009] In an optional embodiment, the first scroll wheel and the second scroll wheel have a partial overlapping area on the orthographic projection plane parallel to the traveling direction.

[0010] In an optional embodiment, the first rolling wheel includes a contact portion and rolling portions located on both sides of the contact portion, the two rolling portions are recessed relative to the contact portion to form a receiving space, and the second rolling wheel is partially located in the receiving space in the traveling direction.

[0011] In an optional embodiment, the second rolling wheels include two, the two second rolling wheels are spaced apart along the width direction of the first rolling wheel, and the two second rolling wheels are respectively partially located in the two receiving spaces in the traveling direction of the walking mechanism.

[0012] In an optional embodiment, the second rolling wheels include two, the two second rolling wheels are spaced apart along the width direction of the first rolling wheel, and the maximum axial distance between the two second rolling wheels is smaller than the width of the first rolling wheel.

[0013] In an optional embodiment, the distance between the center of the second rolling wheel and the central axis of the rotating shaft is a first value, and the ratio of the diameter of the second rolling wheel to the first value is 0.5-2.5.

[0014] In an optional embodiment, on the orthographic projection plane perpendicular to the extension direction of the central axis of the first scroll wheel, an angle between a tangent line of the first scroll wheel and the second scroll wheel near the bottom and a horizontal line is 0-35°.

[0015] In an optional embodiment, the wheel centers of the first rolling wheel and the second rolling wheel are not at the same height, the height difference between the wheel centers of the first rolling wheel and the second rolling wheel is a second value, the ratio of the diameter of the first rolling wheel to the second value is 40-75, and the ratio of the diameter of the second rolling wheel to the second value is 20-30.

[0016] In an optional embodiment, the wheel diameter of the first rolling wheel is larger than the wheel diameter of the second rolling wheel, the diameter of the first rolling wheel is 80-150 mm, and the diameter of the second rolling wheel is 25-75 mm.

[0017] In an optional embodiment, the fixed seat includes a connecting portion, a first mounting portion bent on both sides thereof, and a second mounting portion connected to the first mounting portion, both of the second mounting portions extend along the traveling direction of the walking mechanism, the first rolling wheel is located between the two first mounting portions, and the second rolling wheel is located between the two second mounting portions.

[0018] In an optional embodiment, the lowest end of the second rolling wheel is higher than the lowest end of the first rolling wheel, the first rolling wheel is used to drive the walking mechanism to move along the travel direction, and the second rolling wheel is used to assist the first rolling wheel to cross the obstacle when encountering an obstacle.

[0019] In a second aspect, an embodiment of the present application provides a self-propelled robot, comprising a chassis and the walking mechanism, wherein the walking mechanism is rotatably connected to the chassis via the rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0021] Figure 1 is a structural schematic diagram of a self-propelled robot provided in an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of the structure of the self-propelled robot provided in the embodiment of the present application in the forward state.

[0023] Figure 3 This is a three-dimensional structure diagram of a walking mechanism provided in an embodiment of the present application. Figure 1 ;

[0024] Figure 4 This is a schematic diagram of the local structure of a walking mechanism provided in an embodiment of the present application. Figure 1 ;

[0025] Figure 5 This is a side view of a walking mechanism provided in an embodiment of the present application. Figure 1 ;

[0026] Figure 6 This is a three-dimensional structure diagram of a walking mechanism provided in an embodiment of the present application. Figure 2

[0027] Figure 7 This is a top view of a walking mechanism provided in an embodiment of the present application. Figure 1 ;

[0028] Figure 8 This is a side view of a walking mechanism provided in an embodiment of the present application. Figure 2 ;

[0029] Fig. 9 This is a simple side view of a walking mechanism provided in an embodiment of the present application. Figure 1 ;

[0030] Fig.10 This is a bottom view of a walking mechanism provided in an embodiment of the present application. Figure 1 ;

[0031] Fig.11 Another walking mechanism provided in the present application is shown in FIG. Figure 1 ;

[0032] Fig.12 This is a side view of a walking mechanism provided in an embodiment of the present application. Figure 3 ;

[0033] Fig.13 This is a side view of a walking mechanism provided in an embodiment of the present application. Figure 4 ;

[0034] Fig.14 This is a simple side view of a walking mechanism provided in an embodiment of the present application. Figure 2 ;

[0035] Fig.15 This is a simple side view of a walking mechanism provided in an embodiment of the present application. Figure 3 ;

[0036] Fig.16 This is a schematic diagram of the local structure of a walking mechanism provided in an embodiment of the present application. Figure 2 ;

[0037] Fig.17 This is a side view of a walking mechanism provided in an embodiment of the present application. Figure 5 .

[0038] Description of Figure Numbers:

[0039] Self-propelled robot 1000; chassis 200; walking mechanism 100; cutter disc assembly 300; cutter disc guard 400; fixing assembly 20; walking wheel assembly 30; fixing seat 21; rotating shaft 22; first rolling wheel 31; second rolling wheel 32; first rolling shaft 311; first wheel center O1; second rolling shaft 321; second wheel center O2; first rotation radius R1; rotation plane S1; rotating shaft 22; center axis L1; second rotation radius R2; interference distance h1; contact portion 312; rolling portion 313; receiving space 314; first receiving space 314a; second receiving space 314b; first value N1; diameter D2 of the second rolling wheel; angle θ1; tangent line L2; horizontal line L3; second value N2; diameter D1 of the first rolling wheel; connecting portion 211; first mounting portion 212; second mounting portion 213. DETAILED DESCRIPTION

[0040] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0041] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0042] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0043] See also Figure 1 and Figure 2, an embodiment of the present application provides a self-propelled robot 1000. The self-propelled robot 1000 includes a chassis 200 and a walking mechanism 100. The chassis 200 is used to carry the main structure of the self-propelled robot 1000, for example, batteries, circuit boards and other functional components. The walking mechanism 100 is arranged at the bottom of the chassis 200 to achieve walking. Optionally, when the self-propelled robot 1000 is a lawn mowing robot, a blade disc assembly 300 and a blade disc guard 400 covering the blade disc assembly 300 are also provided below the chassis 200. The blade disc guard 400 occupies a relatively large space below the chassis 200, and a certain interference distance h1 (safety distance) needs to be reserved between the blade disc guard 400 and the activity space of the walking mechanism 100. Therefore, it is necessary to carry out the structural design of the walking mechanism 100 to reduce the movement interference between the walking mechanism 100 and other structures below the chassis 200, such as the blade disc guard 400.

[0044] See also Figure 3 , an embodiment of the present application provides a walking mechanism 100 . The walking mechanism 100 includes a fixing assembly 20 and a walking wheel assembly 30 .

[0045] See also Figure 2 and Figure 3 The fixing assembly 20 includes a fixing seat 21 and a rotating shaft 22 connected to the fixing seat 21. The rotating shaft 22 is arranged in a direction perpendicular to the chassis 200, and is also arranged in the height direction of the self-propelled robot 1000. The rotating shaft 22 can rotate freely relative to the chassis 200 and the fixing seat 21. In other words, the walking mechanism 100 is rotatably connected to the chassis 200 through the rotating shaft 22. The rotating shaft 22 is used to make the fixing seat 21 rotate horizontally. In other words, the fixing seat 21 is driven to rotate horizontally during the rotation of the rotating shaft 22.

[0046] See also Figure 3 The walking wheel assembly 30 includes a first rolling wheel 31 and a second rolling wheel 32 . Figure 3 In the embodiment, the number of the second rolling wheels 32 is two. In other embodiments, the number of the second rolling wheels 32 can also be one.

[0047] For ease of description, see Figure 4 and Figure 5, define the rolling axis of the first rolling wheel 31 as the first rolling axis 311. The first rolling axis 311 is connected to the wheel center position of the first rolling wheel 31 in the side view. The wheel center of the first rolling wheel 31 is the first wheel center O1. The first wheel center O1 is the center position of the outer contour circle of the first rolling wheel 31 in the side view. The rolling axis of the second rolling wheel 32 is the second rolling axis 321. The second rolling axis 321 is connected to the wheel center position of the second rolling wheel 32 in the side view. The wheel center of the second rolling wheel 32 is the second wheel center O2. The second wheel center O2 is the center position of the outer contour circle of the second rolling wheel 32 in the side view. The first rolling wheel 31 can freely rotate around the first rolling axis 311. The second rolling wheel 32 can freely rotate around the second rolling axis 321. Figure 4 In the embodiment, the second rolling axes 321 of the two second rolling wheels 32 are the same. In other embodiments, the second rolling axes 321 of the two second rolling wheels 32 may be different.

[0048] See also Figure 6 , the first rolling wheel 31 and the second rolling wheel 32 are both rollingly arranged on the fixing seat 21. Specifically, the fixing seat 21 can extend a mounting portion in a direction away from the chassis 200, and the first rolling wheel 31 and the second rolling wheel 32 can be mounted on the same or different mounting portions. The first rolling wheel 31 and the second rolling wheel 32 have two rotational degrees of freedom, one of which is that the first rolling wheel 31 and the second rolling wheel 32 can rotate horizontally with the fixing seat 21 ( Figure 6 The arrow around the rotation axis 22 is one of the directions of rotation, and the reverse rotation is also possible. The other degree of rotational freedom is that the first rolling wheel 31 and the second rolling wheel 32 can roll relative to the fixed seat 21. Figure 6 The arrow around the first rolling axis 311 indicates one of the directions, and the reverse rotation is also possible. Figure 6 The arrow around the second rolling axis 321 is one of the directions, and the reverse rotation is also possible. The rolling axes of the first rolling wheel 31 and the second rolling wheel 32 are all in the horizontal direction. The first rolling wheel 31 and the second rolling wheel 32 can form a universal wheel assembly. Figure 1 and Figure 2 It is a schematic diagram of the state when the first rolling wheel 31 and the second rolling wheel 32 are horizontally rotated to different positions.

[0049] See also Figure 2 , Figure 4 and Figure 5, the first rolling wheel 31 and the second rolling wheel 32 are spaced apart in the traveling direction F1 of the walking wheel assembly 30. In other words, the first rolling axis 311 of the first rolling wheel 31 is parallel to the second rolling axis 321 of the second rolling wheel 32. The section of the first rolling wheel 31 perpendicular to the first rolling axis 311 is parallel or coplanar with the section of the second rolling wheel 32 perpendicular to the second rolling axis 321. The first rolling axis 311 and the second rolling axis 321 are spaced apart in the traveling direction F1 of the walking wheel assembly 30.

[0050] See also Figure 7 , wherein the first rolling wheel 31 can rotate around the rotating shaft 22 and has a preset first rotating radius R1. In the perpendicular midplane of the rotating shaft 22 passing through the first wheel center O1 of the first rolling wheel 31, the maximum distance between the rotating shaft 22 and the outer contour of the first rolling wheel 31 is the first rotating radius R1 that the first rolling wheel 31 can rotate around the rotating shaft 22. The circle defined by the first rotating radius R1 is the rotating plane S1.

[0051] On the orthographic projection plane perpendicular to the central axis of the rotation shaft 22, the second rolling wheel 32 is located in the rotation plane S1 defined by the preset first rotation radius R1. In other words, the orthographic projection of the second rolling wheel 32 on the orthographic projection plane perpendicular to the central axis of the rotation shaft 22 is located in the rotation plane S1 defined by the preset first rotation radius R1 (the circle defined by the first rotation radius R1).

[0052] See also Figure 8 Taking the side view of the first rolling wheel 31 and the second rolling wheel 32 as an example, the central axis L1 of the rotating shaft 22 extends in the vertical direction. In the horizontal direction, the longest horizontal connection line between the contour edge line of the first rolling wheel 31 and the central axis L1 of the rotating shaft 22 is the first rotation radius R1 of the first rolling wheel 31 that can rotate around the rotating shaft 22.

[0053] See also Figure 8 In the horizontal direction, the longest horizontal connection line between the contour edge line of the second rolling wheel 32 and the central axis L1 of the rotating shaft 22 is the second rotating radius R2. The second rotating radius R2 is less than or equal to the first rotating radius R1 mentioned above. That is, the orthographic projection of the second rolling wheel 32 on the orthographic projection plane perpendicular to the central axis of the rotating shaft 22 is located in the rotating plane S1 defined by the preset first rotating radius R1 (the circle defined by the first rotating radius R1).

[0054] In other words, the circle formed when the first rolling wheel 31 rotates around the rotation axis 22 has a first rotation radius R1, and the circle formed when the second rolling wheel 32 rotates around the rotation axis 22 has a second rotation radius R2, and the second rotation radius R2 is less than or equal to the first rotation radius R1. In other words, the radius of the second rolling wheel 32 is smaller than the radius of the first rolling wheel 31. That is, the first rolling wheel 31 is a large wheel, and the second rolling wheel 32 is a small wheel. The first rolling wheel 31 is used to drive the walking mechanism 100 to move along the travel direction F1, and the setting of the second rolling wheel 32 can increase the projection area of ​​the walking wheel assembly 30. The larger the projection area of ​​the walking wheel assembly 30, the less likely the walking mechanism 100 is to fall into the pit, thereby preventing it from falling into the pit.

[0055] A walking mechanism 100 provided in an embodiment of the present application comprises a fixing assembly 20 including a fixing seat 21 and a rotating shaft 22 connected thereto, wherein the rotating shaft 22 is used to make the fixing seat 21 rotate horizontally, and a walking wheel assembly 30 including a first rolling wheel 31 and a second rolling wheel 32, wherein the first rolling wheel 31 and the second rolling wheel 32 are both rollingly arranged on the fixing seat 21, and the first rolling wheel 31 and the second rolling wheel 32 are spaced apart in the travel direction F1 of the walking wheel assembly 30, the first rolling wheel 31 is used to contact the ground and roll to drive the walking mechanism 100 to walk, and the arrangement of the second rolling wheel 32 can increase the projection area of ​​the walking wheel assembly 30, and the larger the projection area of ​​the walking wheel assembly 30, the larger the walking mechanism 100 The less likely it is to fall into the pit, thereby preventing the walking mechanism 100 from falling into the pit; the first rolling wheel 31 can rotate around the rotating axis 22 and has a preset first rotation radius R1, and on the orthographic projection plane perpendicular to the central axis of the rotating axis 22, the second rolling wheel 32 is located in the rotating plane S1 defined by the preset first rotation radius R1. In this way, the second rolling wheel 32 and the first rolling wheel 31 are both located in the rotating plane S1 when rotating, and by arranging other structures of the self-propelled robot 1000 and the rotating space formed by the first rolling wheel 31 around the rotating axis 22 to have a certain interference distance h1, the walking mechanism 100 and other structures of the self-propelled robot 1000 (such as the cutter head assembly 300) can be effectively prevented from forming motion interference.

[0056] In an optional embodiment, the height difference between the second rolling wheel 32 and the first rolling wheel 31 is less than 1 / 5 of the diameter of the first rolling wheel 31. Specifically, the height difference between the second rolling wheel 32 and the first rolling wheel 31 is the distance in the height direction between the bottom end of the first rolling wheel 31 and the bottom end of the second rolling wheel 32. When the first rolling wheel 31 is set on the ground, the height difference between the second rolling wheel 32 and the first rolling wheel 31 is the height of the second rolling wheel 32 from the ground.

[0057] For example, the lowest points of the first rolling wheel 31 and the second rolling wheel 32 are at the same height. The provision of the second rolling wheel 32 can increase the projection area of ​​the walking wheel assembly 30 and can also increase the contact area with the ground. When the walking mechanism 100 passes through a pit of a certain size (for example, the pit size is larger than the radial size of the first rolling wheel 31 and smaller than the sum of the radial sizes of the first rolling wheel 31 and the second rolling wheel 32), if the walking wheel assembly 30 is not provided with the second rolling wheel 32, the walking wheel assembly 30 is easy to fall into the pit of the certain size. However, the present application designs the walking wheel assembly 30 to include the first rolling wheel 31 and the second rolling wheel 32. Since the projection area of ​​the walking wheel assembly 30 is larger than the area of ​​the above-mentioned pit of the certain size, the first rolling wheel 31 and the second rolling wheel 32 are easy to directly cross the small-sized pit, thereby preventing the walking mechanism 100 from falling into the pit and being unable to walk.

[0058] In another optional embodiment, the height difference between the second rolling wheel 32 and the first rolling wheel 31 is greater than or equal to 1 / 5 of the diameter of the first rolling wheel 31 and less than or equal to 1 / 3 of the diameter of the first rolling wheel 31. When the first rolling wheel 31 is set on the ground, the height of the second rolling wheel 32 from the ground is greater than 1 / 5 of the diameter of the first rolling wheel 31 and less than 1 / 3 of the diameter of the first rolling wheel 31.

[0059] It should be noted that, generally, considering the gripping ability, when the first rolling wheel 31 is a driven wheel, the gripping ability of the first rolling wheel 31 is weaker than that of the driving wheel. Alternatively, the center of gravity of the self-propelled robot 1000 or the walking mechanism 100 is biased toward the end away from the walking wheel assembly 30. For example, when the self-propelled robot 1000 is a device with a center of gravity that is biased to the rear (because heavier structures such as motors, cutter discs, batteries, etc. are all arranged at the rear side of the self-propelled robot 1000), since the center of gravity of the self-propelled robot 1000 is biased to the rear, the weight borne by the first rolling wheel 31 as the front wheel is relatively small, so that the gripping force (friction between the first rolling wheel 31 and the ground) is relatively small. Considering that the gripping force (friction between the ground) of the rolling wheel is relatively small, the maximum height of the obstacle that the rolling wheel can easily cross is one-fifth of the diameter of the rolling wheel. The maximum height of the obstacle that the rolling wheel can cross is 1 / 3 of the diameter of the rolling wheel.

[0060] As can be seen from the above, the maximum height of the obstacle that the first rolling wheel 31 can easily cross is 1 / 5 of the diameter D1 of the first rolling wheel 31. The maximum height of the obstacle that the first rolling wheel 31 can easily cross is 1 / 3 of the diameter D1 of the first rolling wheel 31.

[0061] When the height of the obstacle is greater than or equal to 1 / 5 of the diameter D1 of the first rolling wheel 31 and less than or equal to 1 / 3 of the diameter D1 of the first rolling wheel 31, although the first rolling wheel 31 can overcome the obstacle alone, its passability is relatively poor, and there may be jamming or setbacks during the obstacle-overcoming process.

[0062] In addition, if the difference between the lowest end of the second rolling wheel 32 and the lowest end of the first rolling wheel 31 is greater than 1 / 3 of the diameter D1 of the first rolling wheel 31, the height of the second rolling wheel 32 is not connected (continuous) with the height at which the first rolling wheel 31 can overcome obstacles, so the second rolling wheel 32 cannot drive the first rolling wheel 31 to overcome obstacles together.

[0063] In the embodiment of the present application, the difference between the lowest end of the second rolling wheel 32 and the lowest end of the first rolling wheel 31 is designed to be less than or equal to the maximum height of an obstacle that the first rolling wheel 31 can cross (i.e., 1 / 3 of the diameter D1 of the first rolling wheel 31), and greater than or equal to the maximum height of an obstacle that the first rolling wheel 31 can easily cross (i.e., 1 / 5 of the diameter D1 of the first rolling wheel 31), so as to ensure that when the first rolling wheel 31 encounters an obstacle with a height between 1 / 5 of the diameter D1 of the first rolling wheel 31 and 1 / 3 of the diameter D1 of the first rolling wheel 31, the first rolling wheel 31 can use the second rolling wheel 32 to assist it in easily crossing the obstacle, so that the first rolling wheel 31 can pass the obstacle more smoothly without any jamming or stuttering, thereby improving the passability of the first rolling wheel 31.

[0064] In addition, providing the second rolling wheel 32 can increase the maximum height of the obstacle that the walking mechanism 100 can cross, for example, from the position of 1 / 3 of the diameter of the first rolling wheel 31 (i.e., 1 / 3D1) to the position of the sum of the lowest end height of the second rolling wheel 32 and 1 / 3 of the diameter of the second rolling wheel 32 (i.e., 1 / 3D1+1 / 3D2). In this way, at an obstacle height greater than or equal to 1 / 3D1 and less than or equal to (1 / 3D1+1 / 3D2), the first rolling wheel 31 can overcome the obstacle with the help of the second rolling wheel 32, thereby increasing the obstacle crossing height of the walking mechanism 100.

[0065] In an alternative embodiment, see Fig. 9 The first rolling wheel 31 and the second rolling wheel 32 have a partially overlapping area on the orthographic projection plane parallel to the traveling direction F1. The orthographic projection plane parallel to the traveling direction F1 is a plane perpendicular to the first rolling axis 311 and the second rolling axis 321.

[0066] Optional, see Fig. 9Taking the side view of the first rolling wheel 31 and the second rolling wheel 32 as an example, the orthographic projection of the first rolling wheel 31 in the direction in which the first rolling axis 311 extends and the orthographic projection of the second rolling wheel 32 in the direction in which the second rolling axis 321 extends have a partially overlapping area. In this way, the first rolling wheel 31 and the second rolling wheel 32 are arranged close to each other in the forward direction. For example, the first rolling wheel 31 has a certain space in the width direction, and the second rolling wheel 32 can be arranged in the space in the width direction of the first rolling wheel 31, so that the addition of the second rolling wheel 32 will not increase the original rotation space of the first rolling wheel 31, and thus will not form motion interference with other structures of the self-propelled robot 1000 (such as the cutter disc assembly 300), and there is no need to set up other structures of the self-propelled robot 1000 (such as the cutter disc assembly 300) to avoid it. At the same time, by setting the second rolling wheel 32, the second rolling wheel 32 can assist the first rolling wheel 31 in rotating. Especially when surmounting obstacles, the second rolling wheel 32 can increase the obstacle surmounting height of the walking mechanism 100, so as to increase the overall obstacle surmounting height of the walking mechanism 100, so that the self-propelled robot 1000 has better obstacle surmounting ability.

[0067] In an alternative embodiment, see Fig.10 The first rolling wheel 31 includes a contact portion 312 and two rolling portions 313 located on both sides of the contact portion 312. Both rolling portions 313 are recessed relative to the contact portion 312 to form a receiving space. The second rolling wheel 32 is partially located in the receiving space in the travel direction F1.

[0068] Optionally, the contact portion 312 is used to contact the ground. The contact portion 312 is located at the center of the first rolling wheel 31, and the rolling portions 313 are located on both sides of the axial direction of the contact portion 312 (the extension direction of the first rolling shaft 311). The two rolling portions 313 can be symmetrically arranged on both sides of the contact portion 312.

[0069] See also Fig.10, the contact portion 312 and the rolling portion 313 are both in annular shape. The diameter of the contact portion 312 is relatively large, so it contacts the ground. At least part of the diameter of the rolling portion 313 is smaller than the diameter of the contact portion 312, so both rolling portions 313 have a portion that is concave relative to the contact portion 312 and forms a receiving space 314, and the second rolling wheel 32 is partially located in the receiving space 314 in the travel direction F1. In this way, the first rolling wheel 31 and the second rolling wheel 32 have a partial overlapping area on the orthographic projection plane parallel to the travel direction F1. The provision of the second rolling wheel 32 does not increase the original rotation space of the first rolling wheel 31, and thus does not form motion interference with other structures of the self-propelled robot 1000 (such as the cutter disc assembly 300). There is no need to set up other structures of the self-propelled robot 1000 (such as the cutter disc assembly 300) to avoid it. At the same time, by setting up the second rolling wheel 32, the second rolling wheel 32 can assist the first rolling wheel 31 in rotating. Especially when surmounting obstacles, the second rolling wheel 32 can not only increase the obstacle surmounting height of the walking mechanism 100, so as to increase the overall obstacle surmounting height of the walking mechanism 100 and enable the self-propelled robot 1000 to have better obstacle surmounting ability, but also can ensure that when the first rolling wheel 31 encounters an obstacle with a height between 1 / 5 of the diameter D1 of the first rolling wheel 31 and 1 / 3 of the diameter D1 of the first rolling wheel 31, the first rolling wheel 31 can use the second rolling wheel 32 to assist it in easily surmounting the obstacle, thereby improving the passability of the first rolling wheel 31. On the other hand, the first rolling wheel 31 and the second rolling wheel 32 are compactly arranged in the forward direction, thereby reducing the overall size of the first rolling wheel 31 and the second rolling wheel 32 in the forward direction, thereby reducing the size of the walking mechanism 100 in the forward direction, and reducing the rotating space formed by the walking mechanism 100 when rotating, thereby avoiding interference with other structures of the self-propelled robot 1000 (such as the cutter disc assembly 300).

[0070] In an alternative embodiment, see Fig.10 The second rolling wheels 32 include two. The two second rolling wheels 32 are spaced apart along the width direction of the first rolling wheel 31. The two second rolling wheels 32 are respectively partially located in the two receiving spaces 314 in the traveling direction F1 of the walking mechanism 100.

[0071] Optional, see Fig.10, the width direction of the first rolling wheel 31 is also the extension direction of the first rolling axis 311. One rolling portion 313 is concave relative to the contact portion 312 and forms a first receiving space 314a on one side of the contact portion 312, and the other rolling portion 313 is concave relative to the contact portion 312 and forms a second receiving space 314b on the other side of the contact portion 312. Parts of the two second rolling wheels 32 can be respectively arranged in the first receiving space 314a and the second receiving space 314b. That is, along the extension direction of the first rolling axis 311, a part of one second rolling wheel 32, the contact portion 312 and a part of the other second rolling wheel 32 are arranged in sequence.

[0072] Optional, see Fig.10 The outer contour surface of the rolling portion 313 is a conical surface. The diameter of the rolling portion 313 increases uniformly along the axial direction.

[0073] For optional reference, see Fig.11 , the outer contour surface of the rolling portion 313 is a concave curved surface. The diameter of the rolling portion 313 increases non-uniformly along the axial direction. In this way, the space of the first receiving space 314a and the second receiving space 314b is larger, and the gap between the rolling portion 313 and the second rolling wheel 32 is increased, which can reduce the problem of grass being entangled in the gap between the rolling portion 313 and the second rolling wheel 32 when the self-propelled robot is used as a lawn mowing robot, causing the first rolling wheel 31 and the second rolling wheel 32 to get stuck or jammed.

[0074] In an alternative embodiment, see Fig.10 and Fig.11 , the second rolling wheels 32 include two. The two second rolling wheels 32 are arranged at intervals along the width direction of the first rolling wheel 31 (the extension direction of the first rolling axis 311). Optionally, the two second rolling wheels 32 are coaxially arranged, in other words, the second rolling axes 321 of the two second rolling wheels 32 are colinear or the same.

[0075] See also Fig.10 and Fig.11 , the maximum axial distance (along the extension direction of the second rolling axis 321) between the two second rolling wheels 32 is smaller than the width of the first rolling wheel 31. In other words, the width of the first rolling wheel 31 is larger than the maximum axial distance between the two second rolling wheels 32. In this embodiment, the provision of the two second rolling wheels 32 does not increase the width of the first rolling wheel 31.

[0076] In an alternative embodiment, see Fig.12 The distance between the wheel center O2 of the second rolling wheel 32 and the center axis L1 of the rotating shaft 22 is a first value N1. The ratio of the diameter D2 of the second rolling wheel 32 to the first value N1 is 0.5-2.5.

[0077] It can be understood that the second rolling wheel 32 is an eccentric wheel. The distance between the wheel center O2 of the second rolling wheel 32 and the center axis L1 of the rotating shaft 22 can be understood as the eccentricity of the second rolling wheel 32 mentioned above.

[0078] For example, the ratio of the diameter D2 of the second rolling wheel 32 to the first value N1 is 0.5, or 0.6, or 0.7, or 0.8, or 0.9, or 1, or 1.1, or 1.2, or 1.3, or 1.4, or 1.5, or 1.6, or 1.7, or 1.8, or 1.9, or 2, or 2.1, or 2.2, or 2.3, or 2.4, or 2.5. It can be understood that the ratio of the diameter D2 of the second rolling wheel 32 to the first value N1 can also be other values ​​in addition to the above values, as long as the ratio of the diameter D2 of the second rolling wheel 32 to the first value N1 is 0.5-2.5. When the ratio of the diameter D2 of the second rolling wheel 32 to the first value N1 is less than 0.5, the second rolling wheel 32 and the first rolling shaft 311 of the first rolling wheel 31 will form motion interference. When the ratio of the diameter D2 of the second rolling wheel 32 to the first value N1 is greater than 2.5, the distance between the second rolling wheel 32 and the first rolling axis 311 of the first rolling wheel 31 is relatively large, which in turn causes the size of the second rolling wheel 32 and the first rolling wheel 31 to increase in the forward direction, and the rotation space of the walking mechanism 100 is relatively large. The present application reasonably sets the size of the eccentricity of the second rolling wheel 32 so that the second rolling wheel 32 and the first rolling axis 311 of the first rolling wheel 31 do not form motion interference, and can also make the size of the second rolling wheel 32 and the first rolling wheel 31 in the forward direction relatively small, and the rotation space of the walking mechanism 100 is relatively small, thereby avoiding motion interference with the structure near the walking mechanism 100 in the self-propelled robot 1000.

[0079] In an alternative embodiment, see Fig.13 On the orthographic projection plane perpendicular to the extension direction of the central axis of the first rolling wheel 31 (the central axis of the first rolling wheel 31 is the central axis of the first rolling shaft 311), the angle θ1 between the tangent line L2 near the bottom of the first rolling wheel 31 and the second rolling wheel 32 and the horizontal line L3 is 0-35°.

[0080] Optionally, taking the side view of the first rolling wheel 31 and the second rolling wheel 32 as an example, an angle θ1 between a bottom tangent line L2 of the first rolling wheel 31 and the second rolling wheel 32 and a horizontal line L3 is 0-35°.

[0081] For example, the angle θ1 between the bottom tangent line L2 of the first scroll wheel 31 and the second scroll wheel 32 and the horizontal line L3 is 0°, 5°, 10°, 15°, 20°, 25°, 30°, or 35°. It can be understood that the angle θ1 between the bottom tangent line L2 of the first scroll wheel 31 and the second scroll wheel 32 and the horizontal line L3 can also be other values ​​besides the above values, as long as the angle θ1 between the bottom tangent line L2 of the first scroll wheel 31 and the second scroll wheel 32 and the horizontal line L3 is 0-35°. Since the first rotation radius R1 formed when the first rolling wheel 31 rotates around the rotation axis 22 is greater than or equal to the second rotation radius R2 formed when the second rolling wheel 32 rotates around the rotation axis 22, the angle θ1 between the bottom tangent line L2 of the first rolling wheel 31 and the second rolling wheel 32 and the horizontal line L3 is greater than or equal to 0, and the bottom of the second rolling wheel 32 can be suspended, which is conducive to the subsequent obstacle crossing height of the second rolling wheel 32 being higher than the obstacle crossing height of the first rolling wheel 31, thereby improving the obstacle crossing effect of the second rolling wheel 32. When the angle θ1 between the bottom tangent line L2 of the first rolling wheel 31 and the second rolling wheel 32 and the horizontal line L3 is greater than 35°, the height difference between the bottom of the second rolling wheel 32 and the bottom of the first rolling wheel 31 is too large, which causes the bottom of the second rolling wheel 32 to be too high compared to the first rolling wheel 31, and the auxiliary obstacle crossing effect cannot be achieved or the auxiliary obstacle crossing effect is poor.

[0082] The present application reasonably sets the angle θ1 between the bottom tangent line L2 of the first rolling wheel 31 and the second rolling wheel 32 and the horizontal line L3, so as to achieve the obstacle crossing effect of the second rolling wheel 32 and increase the obstacle crossing height of the walking mechanism 100.

[0083] In an alternative embodiment, see Fig.14 , the wheel centers O2 of the first rolling wheel 31 and the second rolling wheel 32 are not at the same height. The height difference between the wheel centers O2 of the first rolling wheel 31 and the second rolling wheel 32 is a second value N2. The ratio of the diameter of the first rolling wheel 31 to the second value N2 is 40-75. The ratio of the diameter D2 of the second rolling wheel 32 to the second value N2 is 20-30.

[0084] Optionally, the height of the wheel center of the first rolling wheel 31 is higher or lower than the height of the wheel center O2 of the second rolling wheel 32 .

[0085] For example, the ratio of the diameter D2 of the first rolling wheel 31 to the second value N2 is 40, 45, 50, 55, 60, 65, 70, or 75. For example, the ratio of the diameter D2 of the second rolling wheel 32 to the second value N2 is 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, or 30.

[0086] It can be understood that the ratio of the diameter of the first rolling wheel 31 to the second value N2 can also be other values ​​besides the above values, as long as the ratio of the diameter of the first rolling wheel 31 to the second value N2 is 40-75. The ratio of the diameter D2 of the second rolling wheel 32 to the second value N2 can also be other values ​​besides the above values, as long as the ratio of the diameter D2 of the second rolling wheel 32 to the second value N2 is 20-30.

[0087] By reasonably setting the ratio of the diameter of the first rolling wheel 31 to the second value N2, and the ratio of the diameter D2 of the second rolling wheel 32 to the second value N2, the obstacle crossing height of the walking mechanism 100 can be increased, and the movement of the walking mechanism 100 when crossing over obstacles can be more gentle, and the bumps to which the walking mechanism 100 is subjected can also be reduced.

[0088] In an alternative embodiment, see Fig.15 The wheel diameter (diameter) of the first rolling wheel 31 is greater than the wheel diameter (diameter) of the second rolling wheel 32. The diameter D1 of the first rolling wheel 31 is 80-150 mm. The diameter D2 of the second rolling wheel 32 is 25-75 mm.

[0089] For example, the diameter D1 of the first rolling wheel 31 is 80 mm, or 90 mm, or 100 mm, or 110 mm, or 120 mm, or 130 mm, or 140 mm, or 150 mm, or 160 mm, or 170 mm, or 180 mm. For example, the diameter D2 of the second rolling wheel 32 is 25 mm, or 30 mm, or 35 mm, or 40 mm, or 45 mm, or 55 mm, or 60 mm, or 65 mm, or 70 mm, or 75 mm.

[0090] It can be understood that the diameter D1 of the first rolling wheel 31 can also be other values ​​besides the above values, as long as the diameter D1 of the first rolling wheel 31 is 80-150 mm. The diameter D2 of the second rolling wheel 32 can also be other values ​​besides the above values, as long as the diameter D2 of the second rolling wheel 32 is 25-75 mm.

[0091] By reasonably setting the diameter D1 of the first rolling wheel 31 and the diameter D2 of the second rolling wheel 32, and installing the second rolling wheel 32 with a smaller diameter on one side of the first rolling wheel 31, the obstacle surmounting capability of the walking mechanism 100 can be effectively improved while the volume of the walking mechanism 100 can be controlled within a reasonable range, which is conducive to arranging the walking mechanism 100 on a miniaturized self-propelled robot 1000.

[0092] In an alternative embodiment, see Fig.16 and Fig.17 The fixing seat 21 includes a connecting portion 211, two first mounting portions 212 bent on both sides thereof, and a second mounting portion 213 connected to the first mounting portion 212. The connecting portion 211 is arranged in a horizontal direction. The rotating shaft 22 vertically passes through the connecting portion 211, and each first mounting portion 212 is arranged obliquely compared to the rotating shaft 22. For example, the first mounting portion 212 extends obliquely from the connecting portion 211 toward a side away from the second rolling wheel 32. The first rolling wheel 31 is located between the two first mounting portions 212. Specifically, the two ends of the first rolling shaft 311 are respectively fixedly connected to one end of the two first mounting portions 212 away from the connecting portion 211. The two ends of the first mounting portion 212 are not on the same vertical line. In this way, the wheel center of the first rolling wheel 31 deviates from the central axis of the rotating shaft 22, so the first rolling wheel 31 is eccentrically designed. Since the first rolling wheel 31 is heavier than the second rolling wheel 32, the center of gravity of the walking mechanism 100 is biased toward the side where the second rolling wheel 32 is located. During the forward movement, under the action of inertia, the center of gravity of the walking mechanism 100 will move backward. Since the walking mechanism 100 can rotate freely in the horizontal direction, the second rolling wheel 32 will maintain a position in front of the first rolling wheel 31 during the forward movement, thereby achieving an automatic self-centering effect.

[0093] See also Fig.16 , one end of the two second mounting parts 213 is respectively connected to one end of the two first mounting parts 212 away from the connecting part 211. Both the two second mounting parts 213 extend along the traveling direction F1 of the walking mechanism 100. That is, the other ends of the two second mounting parts 213 extend toward the side away from the first rolling wheel 31, and the second rolling wheel 32 is located between the other ends of the two second mounting parts 213. Specifically, the two ends of the second rolling shaft 321 are respectively fixedly connected to one end of the two second mounting parts 213 away from the connecting part 211.

[0094] Optional, see Fig.16 The second mounting portion 213 can extend in a horizontal direction or in an inclined direction. The wheel center O2 of the second rolling wheel 32 is offset from the central axis of the rotating shaft 22 , so the second rolling wheel 32 is eccentrically designed to better match the first rolling wheel 31 .

[0095] In an alternative embodiment, see Fig.17 The lowest end of the second rolling wheel 32 is higher than the lowest end of the first rolling wheel 31. The first rolling wheel 31 is used to drive the walking mechanism 100 to move along the travel direction F1. The second rolling wheel 32 is used to assist the first rolling wheel 31 to cross the obstacle when encountering an obstacle.

[0096] Specifically, the difference between the lowest end of the second rolling wheel 32 and the lowest end of the first rolling wheel 31 is less than or equal to the maximum height of the obstacle that the first rolling wheel 31 can cross.

[0097] When the first rolling wheel 31 is the front wheel and the driven wheel,

[0098] Optionally, the distance between the center of the first rolling wheel 31 and the central axis L1 of the rotating shaft 22 is smaller than the distance between the center O2 of the second rolling wheel 32 and the straight line where the rotating shaft 22 is located, so that the central axis L1 of the rotating shaft 22 is as close as possible to the middle position of the first rolling wheel 31 and the second rolling wheel 32 in the horizontal direction, that is, the central axis L1 of the rotating shaft 22 is as close as possible to or located at the position where the center of the aforementioned rotating plane S1 (rotating circle) is located. In this way, the radial dimensions of the first rolling wheel 31 and the second rolling wheel 32 on both sides of the rotating shaft 22 are similar, further reducing the size of the rotating plane S1 (rotating circle), reducing the motion interference between the walking mechanism 100 and other structures, and facilitating the miniaturization of the self-propelled robot 1000 installed with the walking mechanism 100.

[0099] Optionally, the two second rolling wheels 32 are connected via the same second rolling shaft 321 to increase the connection strength of the two second rolling wheels 32 in the width direction.

[0100] Specifically, the contact portion 312 of the first rolling wheel 31 can be located in a space formed by a second rolling wheel 32, a second rolling shaft 321, and another second rolling wheel 32. In this way, the contact portion 312 of the first rolling wheel 31 is arranged opposite to parts of the two second rolling wheels 32, and the first rolling wheel 31 and the second rolling wheel 32 are arranged to be staggered with each other along the forward direction.

[0101] The portion of the second rolling shaft 321 between the two second rolling wheels 32 may be in a straight line, an arc line, or a curved line. When the portion of the second rolling shaft 321 between the two second rolling wheels 32 is in an arc line or a curved line, more avoidance space can be provided for the contact portion 312 of the first rolling wheel 31, so that the contact portion 312 of the first rolling wheel 31 can extend between the wheel centers O2 of the two second rolling wheels 32, so that the orthographic projection of the wheel center O2 of the second rolling wheel 32 in the axial direction is located in the area where the first rolling wheel 31 is located. The size of the first rolling wheel 31 and the second rolling wheel 32 in the forward direction is further reduced, the size of the rotation plane S1 (rotation circle) of the walking mechanism 100 is further reduced, and the motion interference between the walking mechanism 100 and other structures is reduced, which is conducive to the miniaturization of the self-propelled robot 1000 installed with the walking mechanism 100.

[0102] Furthermore, the portion of the second rolling shaft 321 between the two second rolling wheels 32 may be bent or curved toward the forward side, or the top side, or the oblique front, to provide more avoidance space for the contact portion 312 of the first rolling wheel 31 .

[0103] In other embodiments, the first rolling wheel 31 may also be a structure with a large diameter at both ends and a small diameter in the middle along the extension direction of the first rolling axis 311, wherein the two ends are large-diameter contact portions 312 and the middle is a small-diameter rolling portion 313. A concave receiving space 314 is formed between the contact portions 312 at both ends and the rolling portion 313. The second rolling wheel 32 is disposed in the receiving space 314 of the first rolling wheel 31.

[0104] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A walking mechanism, characterized in that: include: A fixing assembly, comprising a fixing seat and a rotating shaft connected thereto, wherein the rotating shaft is used to make the fixing seat rotate horizontally; A travel wheel assembly, comprising a first rolling wheel and a second rolling wheel, wherein the first rolling wheel and the second rolling wheel are both rollingly disposed on the fixing seat, and the first rolling wheel and the second rolling wheel are spaced apart in the traveling direction of the travel wheel assembly; The first rolling wheel can rotate around the rotation axis and has a preset rotation radius. On an orthographic projection plane perpendicular to the central axis of the rotation axis, the second rolling wheel is located in a rotation plane defined by the preset rotation radius.

2. The walking mechanism according to claim 1, characterized in that: The first rolling wheel and the second rolling wheel have a partial overlapping area on the orthographic projection plane parallel to the traveling direction.

3. The walking mechanism according to claim 1, characterized in that: The first rolling wheel includes a contact portion and rolling portions located on both sides of the contact portion. Both rolling portions are concave relative to the contact portion to form a receiving space. The second rolling wheel is partially located in the receiving space in the moving direction.

4. The walking mechanism according to claim 3, characterized in that: The second rolling wheels include two, the two second rolling wheels are arranged at intervals along the width direction of the first rolling wheel, and the two second rolling wheels are respectively partially located in the two receiving spaces in the traveling direction of the walking mechanism.

5. The walking mechanism according to claim 1, characterized in that: The second rolling wheels include two, the two second rolling wheels are arranged at intervals along the width direction of the first rolling wheel, and the maximum axial distance between the two second rolling wheels is smaller than the width of the first rolling wheel.

6. The walking mechanism according to claim 1, characterized in that: The distance between the wheel center of the second rolling wheel and the central axis of the rotating shaft is a first value, and the ratio of the diameter of the second rolling wheel to the first value is 0.5-2.

5.

7. The walking mechanism according to claim 1, characterized in that: On the orthographic projection plane perpendicular to the extension direction of the central axis of the first rolling wheel, the angle between the tangent line of the first rolling wheel and the second rolling wheel near the bottom and the horizontal line is 0-35°.

8. The traveling mechanism according to claim 1, characterized in that: The wheel centers of the first rolling wheel and the second rolling wheel are not at the same height, the height difference between the wheel centers of the first rolling wheel and the second rolling wheel is a second value, the ratio of the diameter of the first rolling wheel to the second value is 40-75, and the ratio of the diameter of the second rolling wheel to the second value is 20-30.

9. The walking mechanism according to claim 1, characterized in that: The wheel diameter of the first rolling wheel is larger than the wheel diameter of the second rolling wheel. The diameter of the first rolling wheel is 80-150 mm, and the diameter of the second rolling wheel is 25-75 mm.

10. The walking mechanism according to claim 1, characterized in that: The fixed seat includes a connecting portion, a first mounting portion bent on both sides thereof, and a second mounting portion connected to the first mounting portion, the two second mounting portions both extend along the traveling direction of the walking mechanism, the first rolling wheel is located between the two first mounting portions, and the second rolling wheel is located between the two second mounting portions.

11. The walking mechanism according to any one of claims 1 to 10, characterized in that: The lowest end of the second rolling wheel is higher than the lowest end of the first rolling wheel. The first rolling wheel is used to drive the walking mechanism to move along the traveling direction, and the second rolling wheel is used to assist the first rolling wheel to cross the obstacle when encountering the obstacle.

12. A self-propelled robot, characterized in that: It comprises a chassis and a running mechanism as claimed in any one of claims 1 to 11, wherein the running mechanism is rotatably connected to the chassis via the rotating shaft.

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