Moving wheel mechanism and self-walking robot

Abstract

The utility model relates to the field of robots, in particular to a moving wheel mechanism and a self-walking robot, a mounting frame is designed to comprise a mounting part and a connecting shaft, and the connecting shaft can drive the mounting part to rotate horizontally; the moving wheel set comprises moving wheels and obstacle crossing auxiliary wheels, the moving wheels and the obstacle crossing auxiliary wheels are arranged on the mounting piece in a rolling mode and distributed at intervals in the advancing direction of the moving wheel mechanism, and the lowest ends of the obstacle crossing auxiliary wheels are higher than the lowest ends of the moving wheels; wherein the maximum height of an obstacle capable of being crossed by the moving wheels is h1, the maximum height of an obstacle capable of being crossed by the moving wheels is h2, the ground clearance of the obstacle crossing auxiliary wheels is h3, and h3 is larger than or equal to h2 and smaller than or equal to h1, so that the obstacle crossing height of the moving wheel mechanism formed by combining the moving wheels and the obstacle crossing auxiliary wheels is increased compared with that of a single moving wheel; and when the moving wheel encounters an obstacle with the height between h2 and h1, the moving wheel can be assisted by the obstacle crossing auxiliary wheel to easily cross the obstacle.

Description

Technical Field

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

[0002] The maximum height of the obstacles that the driven wheels set in front of the self-propelled robot (such as a lawn mowing robot, etc.) can cross is limited, resulting in a relatively limited obstacle-crossing ability of the self-propelled robot. One way to improve the obstacle-crossing ability of the driven wheels is to increase the diameter of the driven wheels, but the size of the driven wheels of the self-propelled robot is limited by the height of the chassis. Therefore, how to increase the obstacle-crossing height 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 mobile wheel mechanism and a self-propelled robot to solve the technical problem that the existing self-propelled robots have relatively low obstacle surmounting ability.

[0004] To achieve the above objectives, in a first aspect, an embodiment of the present application provides a moving wheel mechanism, comprising:

[0005] The mounting frame comprises a mounting piece and a connecting shaft, wherein the connecting shaft can drive the mounting piece to rotate horizontally;

[0006] A moving wheel group, comprising a moving wheel and an obstacle-crossing auxiliary wheel, wherein both the moving wheel and the obstacle-crossing auxiliary wheel are rollingly arranged on the mounting member, and the two are spaced apart along the traveling direction of the moving wheel mechanism, and the lowest end of the obstacle-crossing auxiliary wheel is higher than the lowest end of the moving wheel;

[0007] The maximum height of the obstacle that the moving wheel can cross is h1, the maximum height of the obstacle that the moving wheel can easily cross is h2, the height of the obstacle-crossing auxiliary wheel from the ground is h3, and h2≤h3≤h1.

[0008] The mobile wheel group provided in the embodiment of the present application includes mobile wheels and obstacle-crossing auxiliary wheels, and the mobile wheels and auxiliary wheels are spaced apart in the direction of travel of the mobile mechanism. Among them, the mobile wheel is at least partially in contact with the ground to drive the entire mobile wheel mechanism to move relative to the ground by rolling. It should be noted that the mobile wheel proposed in the embodiment of the present application has a maximum height h1 that can cross obstacles, and a maximum height h2 of obstacles that can be easily crossed within its obstacle-crossing height range. That is, when the height of the obstacle is greater than h2 and less than h1, although the mobile wheel can cross the obstacle, its passability is relatively poor, and there may be jamming or setbacks during the obstacle-crossing process. To this end, the ground clearance h3 of the obstacle assistance wheel proposed in the embodiment of the present application is between the height values ​​h2 and h1 mentioned above. By setting the height of the obstacle assistance wheel, not only the obstacle clearance height of the moving wheel mechanism formed by the moving wheel and the obstacle assistance wheel is improved relative to a single moving wheel, but also it can be ensured that when the moving wheel encounters an obstacle with a height between h2 and h1, the moving wheel can easily cross the obstacle with the assistance of the obstacle assistance wheel, so that the moving wheel can pass the obstacle more smoothly without jamming or setbacks, thereby improving the passability of the moving wheel. It should be noted that the ground clearance of the obstacle assistance wheel refers to the distance value between its lowest end and the ground or the lowest end of the moving wheel.

[0009] In an optional embodiment, the maximum height of an obstacle that the moving wheel can cross is one third of the diameter of the moving wheel, and the maximum height of an obstacle that the moving wheel can easily cross is one fifth of the diameter of the moving wheel.

[0010] In an optional embodiment, the moving wheel includes a middle portion for contacting the ground, and contraction portions located on both sides of the middle portion, the contraction portion extends from the middle portion toward one side of the mounting frame, and the cross-sectional area of ​​one end of the contraction portion away from the middle portion is smaller than the cross-sectional area of ​​the middle portion.

[0011] In an optional embodiment, the obstacle assistance wheel includes a first roller and a second roller, and the first roller and the second roller are respectively located on both sides in front of the moving wheel in the moving direction, and in the moving direction of the moving wheel mechanism, the first roller and the second roller are at least partially located in the contraction space where the contraction part is contracted relative to the middle part.

[0012] In an optional embodiment, in the traveling direction of the moving wheel mechanism, the minimum distance between the first roller and the moving wheel is greater than 5 mm, and the minimum distance between the second roller and the moving wheel is greater than 5 mm.

[0013] In an optional embodiment, the first roller and the second roller are disposed on a fixed axis, and in the travel direction of the moving wheel mechanism, the minimum distance between the fixed axis and the moving wheel is greater than 5 mm.

[0014] In an optional implementation, in the direction of the central axis of the obstacle assisting wheel, the minimum distance between the obstacle assisting wheel and the mounting frame is greater than 5 mm.

[0015] In an optional embodiment, on the orthographic projection plane perpendicular to the extension direction of the central axis of the moving wheel, the angle between the tangent line between the moving wheel and the obstacle-crossing auxiliary wheel close to the bottom and the horizontal line is 0-35°.

[0016] In an optional implementation, the wheel centers of the mobile wheel and the obstacle assistance wheel are not at the same height, the height difference between the wheel centers of the mobile wheel and the obstacle assistance wheel is L1, the diameter of the mobile wheel is D1, and D1 / L1 is 40-75, the diameter of the obstacle assistance wheel is D2, and D2 / L1 is 20-30.

[0017] In an optional implementation, the diameter of the moving wheel is larger than the diameter of the obstacle-crossing auxiliary wheel, the diameter of the moving wheel is 80-150 mm, and the diameter of the obstacle-crossing auxiliary wheel is 25-75 mm.

[0018] In an optional implementation, the distance between the wheel center of the moving wheel and the central axis of the connecting shaft is 20-35 mm, and the distance between the wheel center of the obstacle assistance wheel and the central axis of the connecting shaft is 30-50 mm.

[0019] In an optional embodiment, the mounting member 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 travel direction of the moving wheel mechanism, the moving wheel is located between the two first mounting portions, and the obstacle assisting wheel is located between the two second mounting portions.

[0020] In a second aspect, an embodiment of the present application provides a self-propelled robot, comprising a chassis and the above-mentioned moving wheel mechanism, wherein the moving wheel mechanism is rotatably connected to the chassis via the connecting shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 is a structural schematic diagram of a self-propelled robot provided in an embodiment of the present application;

[0023] Figure 2Schematic diagram of a three-dimensional structure of a moving wheel mechanism provided in an embodiment of the present application Figure 1 ;

[0024] Figure 3 This is a partial structural diagram of a moving wheel mechanism provided in an embodiment of the present application. Figure 1 ;

[0025] Figure 4 A side view of a moving wheel mechanism provided in an embodiment of the present application Figure 1 ;

[0026] Figure 5 Schematic diagram of a three-dimensional structure of a moving wheel mechanism provided in an embodiment of the present application Figure 2

[0027] Figure 6 A top view of a moving wheel mechanism provided in an embodiment of the present application Figure 1 ;

[0028] Figure 7 A side view of a moving wheel mechanism provided in an embodiment of the present application Figure 2 ;

[0029] Figure 8 A side view of a moving wheel mechanism provided in an embodiment of the present application Figure 3 ;

[0030] Fig. 9 This is a bottom view of a moving wheel mechanism provided in an embodiment of the present application. Figure 1 ;

[0031] Fig.10 Another movable wheel mechanism provided in the embodiment of the present application is shown in FIG. Figure 1 ;

[0032] Fig.11 Another movable wheel mechanism provided in the embodiment of the present application is shown in FIG. Figure 2 ;

[0033] Fig.12 Another movable wheel mechanism provided in the embodiment of the present application is shown in FIG. Figure 3 ;

[0034] Fig.13 It is a partial structural schematic diagram of an obstacle-crossing auxiliary wheel and a mounting frame in a mobile wheel mechanism provided in an embodiment of the present application;

[0035] Fig.14 A side view of a moving wheel mechanism provided in an embodiment of the present application Figure 4 ;

[0036] Fig.15 This is a simple side view of a moving wheel mechanism provided in an embodiment of the present application. Figure 1 ;

[0037] Fig.16 A side view of a moving wheel mechanism provided in an embodiment of the present application Figure 5 ;

[0038] Fig.17 This is a schematic diagram of a first type of adjustment scenario of the ground clearance height of an obstacle assisting wheel provided in an embodiment of the present application;

[0039] Fig.18 1 is a schematic diagram of a second type of adjustment scenario of the ground clearance height of the obstacle assistance wheel provided in an embodiment of the present application;

[0040] Fig.19 1 is a schematic diagram of a third type of adjustment scenario of the ground clearance height of the obstacle assisting wheel provided in an embodiment of the present application;

[0041] Fig. 20 This is a schematic diagram of a fourth type of adjustment scenario of the ground clearance height of the obstacle assistance wheel provided in an embodiment of the present application.

[0042] Description of some figures:

[0043] Self-propelled robot 1000; chassis 200; moving wheel mechanism 100; mounting frame 20; moving wheel group 30; mounting member 21; connecting shaft 22; moving wheel 31; obstacle auxiliary wheel 32; first fixed shaft 311; first wheel center O1; second fixed shaft 321; second wheel center O2; central axis L0; middle part 312; contraction part 313; contraction space 314; first contraction space 314a; second contraction space 314b; first roller 322; second roller 323; diameter D2 of obstacle auxiliary wheel; angle θ1; tangent line L2; horizontal line L3; diameter D1 of moving wheel; connecting part 211; first mounting part 212; second mounting part 213, first limit member 214; second limit member 215. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] See also Figure 1 The embodiment of the present application provides a self-propelled robot 1000. The self-propelled robot 1000 includes a chassis 200 and a moving wheel mechanism 100. The chassis 200 is used to carry the main structure of the self-propelled robot 1000, for example, other functional components such as batteries and circuit boards, etc. The moving wheel mechanism 100 is arranged at the bottom of the chassis 200 to achieve walking.

[0048] See also Figure 2 , an embodiment of the present application provides a moving wheel mechanism 100 . The moving wheel mechanism 100 includes a mounting frame 20 and a moving wheel set 30 .

[0049] See also Figure 1 and Figure 2 The mounting frame 20 includes a mounting member 21 and a connecting shaft 22 connected to the mounting member 21. The connecting 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 connecting shaft 22 can rotate freely relative to the chassis 200 and the mounting member 21. In other words, the moving wheel mechanism 100 is rotatably connected to the chassis 200 through the connecting shaft 22. The connecting shaft 22 is used to make the mounting member 21 rotate horizontally. In other words, the mounting member 21 is driven to rotate horizontally during the rotation of the connecting shaft 22.

[0050] See also Figure 2 and Figure 3 The mounting member 21 includes a connecting portion 211, two first mounting portions 212 bent and arranged 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 connecting shaft 22 vertically penetrates the connecting portion 211, and each first mounting portion 212 is arranged obliquely compared to the connecting shaft 22.

[0051] See also Figure 3 and Figure 4 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 of the two second mounting parts 213 extend along the traveling direction F1 of the moving wheel mechanism 100.

[0052] Optional, see Figure 3 and Figure 4 The mounting frame 20 further includes a first fixed shaft 311 and a second fixed shaft 321 , wherein two ends of the first fixed shaft 311 are fixedly connected between the two first mounting portions 212 , and two ends of the second fixed shaft 321 are fixedly connected between the two second mounting portions 213 .

[0053] Optional, see Figure 3 and Figure 4 The first fixed axis 311 and the second fixed axis 321 are perpendicular to the advancing direction and also perpendicular to the extending direction of the connecting axis 22 .

[0054] See also Figure 2-Figure 4 The moving wheel set 30 includes a moving wheel 31 and an obstacle-crossing auxiliary wheel 32 .

[0055] Optionally, the moving wheel 31 is a front wheel or a rear wheel of the self-propelled robot 1000. Further optionally, the moving wheel 31 is a driving wheel or a driven wheel of the self-propelled robot 1000.

[0056] See also Figure 2-Figure 4 , the moving wheel 31 and the obstacle assistance wheel 32 are both rollingly arranged on the mounting member 21. Specifically, the moving wheel 31 is arranged on the first fixed shaft 311. In other words, the first fixed shaft 311 runs through the center of the moving wheel 31. The moving wheel 31 can rotate freely around the first fixed shaft 311. The obstacle assistance wheel 32 is arranged on the second fixed shaft 321. In other words, the second fixed shaft 321 runs through the center of the obstacle assistance wheel 32. The obstacle assistance wheel 32 can rotate freely around the second fixed shaft 321.

[0057] See also Figure 4 , the first fixed shaft 311 is connected to the wheel center position of the moving wheel 31 in the side view. The wheel center of the moving wheel 31 is the first wheel center O1. The first wheel center O1 is the center position of the outer contour circle of the moving wheel 31 in the side view. The second fixed shaft 321 is connected to the wheel center position of the obstacle assistance wheel 32 in the side view. The wheel center of the obstacle assistance wheel 32 is the second wheel center O2. The second wheel center O2 is the center position of the outer contour circle of the obstacle assistance wheel 32 in the side view.

[0058] See also Figure 5 The moving wheel 31 and the obstacle-crossing auxiliary wheel 32 have two rotational degrees of freedom, one of which is that the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 can rotate horizontally together with the mounting member 21 ( Figure 5 The arrow around the connecting shaft 22 is one of the rotational directions, and the connecting shaft 22 can also rotate in the opposite direction. The other rotational freedom degree is that the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 can roll relative to the mounting member 21. Figure 5The arrow around the first fixed axis 311 indicates one of the directions, and the reverse rotation is also possible. Figure 5 The arrow around the second fixed axis 321 is one of the turns, and the reverse rotation is also possible. The rolling axes of the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 are all in the horizontal direction. The moving wheel 31 and the obstacle-crossing auxiliary wheel 32 can form a universal wheel assembly.

[0059] See also Figure 6 , the first fixed axis 311 and the second fixed axis 321 are spaced apart along the travel direction F1 of the moving wheel mechanism 100. In other words, the moving wheel 31 and the obstacle assistance wheel 32 are spaced apart along the travel direction F1 of the moving wheel mechanism 100. In other words, the first fixed axis 311 of the moving wheel 31 is parallel to the second fixed axis 321 of the obstacle assistance wheel 32. The cross section of the moving wheel 31 perpendicular to the first fixed axis 311 is parallel to or coplanar with the cross section of the obstacle assistance wheel 32 perpendicular to the second fixed axis 321.

[0060] See also Figure 4 , the first mounting portion 212 extends obliquely from the connecting portion 211 toward the side away from the obstacle assisting wheel 32. The two ends of the first mounting portion 212 are not on the same vertical line, so that the wheel center of the moving wheel 31 deviates from the central axis L0 of the connecting shaft 22, so the moving wheel 31 is eccentrically designed. Since the moving wheel 31 is heavier than the obstacle assisting wheel 32, the center of gravity of the moving wheel mechanism 100 is biased toward the side where the obstacle assisting wheel 32 is located. During the forward movement, under the action of inertia, the center of gravity of the moving wheel mechanism 100 will move backward. Since the moving wheel mechanism 100 can rotate freely in the horizontal direction, the obstacle assisting wheel 32 will remain in the position in front of the moving wheel 31 during the forward movement, that is, the automatic self-centering effect is achieved.

[0061] See also Figure 4 The other ends of the two second mounting portions 213 extend toward the side away from the moving wheel 31, and the second mounting portions 213 can extend in a horizontal direction or in an inclined direction. The wheel center O2 of the obstacle assistance wheel 32 is offset from the center axis L0 of the connecting shaft 22, so the obstacle assistance wheel 32 is eccentrically designed to better match the moving wheel 31.

[0062] In an alternative embodiment, see Figure 4 , the lowest end of the obstacle assisting wheel 32 is higher than the lowest end of the moving wheel 31. In other words, the bottom of the obstacle assisting wheel 32 can be suspended.

[0063] The moving wheel 31 is used to drive the moving wheel mechanism 100 to move along the travel direction F1. The obstacle-crossing auxiliary wheel 32 is used to assist the moving wheel 31 to cross the obstacle when encountering an obstacle.

[0064] Among them, see Figure 7, the maximum height of the obstacle that the moving wheel 31 can cross is h1. The maximum height of the obstacle that the moving wheel 31 can easily cross is h2. The height of the obstacle-crossing auxiliary wheel 32 from the ground is h3. The h2≤h3≤h1.

[0065] The maximum height h2 of the obstacle that the moving wheel 31 can easily pass over refers to the maximum height at which the moving wheel 31 will not feel any setback or jam when passing over the obstacle. For example, the moving wheel 31 can pass over the height easily like walking on flat ground, and the speed of the moving wheel 31 will not decrease or the speed reduction is less than 70% when passing over the obstacle (this speed is only an example value, which is intended to illustrate that the speed of the moving wheel 31 is slightly reduced when passing over the obstacle).

[0066] The maximum height h1 of the obstacle that the moving wheel 31 can cross means that the speed of the moving wheel 31 decreases by more than 70% when crossing the obstacle (this speed is only an example value, intended to illustrate that the speed of the moving wheel 31 is significantly reduced when crossing the obstacle), or even a sense of jamming or frustration occurs. For example, when the moving wheel 31 crosses an obstacle, the speed is significantly reduced, and sometimes the speed stops, but it can still cross the obstacle in the end.

[0067] Specifically, the difference between the lowest end of the obstacle assisting wheel 32 and the lowest end of the moving wheel 31 (height h3 from the ground) is less than or equal to the maximum height h1 of the obstacle that the moving wheel 31 can cross.

[0068] If the difference between the lowest end of the obstacle assistance wheel 32 and the lowest end of the moving wheel 31 is greater than the maximum height h1 of the obstacle that the moving wheel 31 can cross. Even if the obstacle height is lower than the maximum height h1 of the obstacle that the obstacle assistance wheel 32 can cross, but higher than the maximum height h1 of the obstacle that the moving wheel 31 can cross, the obstacle assistance wheel 32 cannot drive the moving wheel 31 to cross the obstacle together. When the difference between the lowest end of the obstacle assistance wheel 32 and the lowest end of the moving wheel 31 is less than or equal to the maximum height h1 of the obstacle that the moving wheel 31 can cross, the obstacle assistance wheel 32 can drive the moving wheel 31 to cross the obstacle together.

[0069] Since the maximum height of the obstacle that the moving wheel 31 can easily cross is h2, under the obstacle of this height, since the moving wheel 31 can easily cross the obstacle, there is no need to set the obstacle crossing auxiliary wheel 32 within the height of h2. By setting the obstacle crossing auxiliary wheel 32 higher than h2, the obstacle crossing auxiliary wheel 32 is set at the height where the obstacle crossing auxiliary wheel 32 needs to be assisted, thereby improving the utilization rate of the obstacle crossing auxiliary wheel 32.

[0070] The mobile wheel group 30 provided in the embodiment of the present application includes a mobile wheel 31 and an obstacle-crossing auxiliary wheel 32, and the mobile wheel 31 and the auxiliary wheel are spaced apart in the direction of travel of the mobile wheel mechanism 100. Among them, the mobile wheel 31 is at least partially in contact with the ground to drive the entire mobile wheel 31 mechanism to move relative to the ground by rolling. It should be noted that the mobile wheel 31 proposed in the embodiment of the present application has a maximum height h1 that can cross obstacles, and a maximum height h2 of obstacles that can be easily crossed within its obstacle-crossing height range. That is, when the height of the obstacle is greater than h2 and less than h1, although the mobile wheel 31 can cross the obstacle when crossing the obstacle alone, its passability is relatively poor, and there may be jamming or setbacks during the obstacle crossing process. For this reason, the height h3 of the obstacle assistance wheel 32 proposed in the embodiment of the present application is between the height values ​​h2 and h1 mentioned above. By setting the height of the obstacle assistance wheel 32, not only the obstacle crossing height of the moving wheel 31 mechanism formed by the moving wheel 31 and the obstacle assistance wheel 32 is improved relative to the single moving wheel 31, but also it can be ensured that when the moving wheel 31 encounters an obstacle with a height between h2 and h1, the moving wheel 31 can easily cross the obstacle with the assistance of the obstacle assistance wheel 32, so that the moving wheel 31 can pass the obstacle more smoothly without jamming or setbacks, thereby improving the passability of the moving wheel 31. It should be noted that the height of the obstacle assistance wheel 32 from the ground refers to the distance value between its lowest end and the ground or the lowest end of the moving wheel 31. In addition, by setting the height of the obstacle-crossing auxiliary wheel 32 from the ground to be greater than or equal to the maximum height h2 of the obstacle that the moving wheel 31 can easily cross, and less than or equal to the maximum height h1 of the obstacle that the moving wheel 31 can cross, the maximum height of the obstacle that the moving wheel group 30 can cross is greater than the maximum height h1 of the obstacle that the moving wheel 31 can cross, that is, the obstacle-crossing height of the moving wheel group 30 is increased.

[0071] Optionally, the maximum height h1 of the obstacle that the moving wheel 31 can cross is one third of the diameter of the moving wheel 31. The maximum height h1 of the obstacle that the moving wheel 31 can easily cross is one fifth of the diameter of the moving wheel 31.

[0072] Specifically, when the moving wheel 31 encounters an obstacle with a height of one fifth of the diameter of the moving wheel 31, the height of the obstacle is much lower than the diameter of the moving wheel 31. The moving wheel 31 can easily cross the obstacle with a height of one fifth of the diameter of the moving wheel 31 under its own driving force or the propulsion force of the rear driving wheel. Therefore, the maximum height of the obstacle that the moving wheel 31 can easily cross is configured to be one fifth of the diameter of the moving wheel 31.

[0073] Specifically, an obstacle with a height of one third of the diameter of the moving wheel 31 is relatively high for the moving wheel 31. Although the moving wheel 31 can cross the obstacle with a height of one third of the diameter of the moving wheel 31 under its own driving force or under the propulsion force of the rear driving wheel, the speed of the moving wheel 31 will be significantly reduced when crossing. Therefore, the maximum height h1 of the obstacle that the moving wheel 31 can cross is configured to be one third of the diameter of the moving wheel 31.

[0074] For example, when the moving wheel 31 is the front wheel and the driven wheel, and the self-propelled robot 1000 is a device with a center of gravity that is biased to the rear (because heavier structures such as the motor, the cutter head, and the battery are all located 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 moving wheel 31 as the front wheel is relatively small, so that the grip force (friction between the moving wheel 31 and the ground) of the moving wheel 31 is relatively small, so when the moving wheel 31 passes over an obstacle that is higher than 1 / 3 of the diameter of the moving wheel 31, it may slip and fail to pass. Therefore, the maximum height h1 of the obstacle that the moving wheel 31 can pass over is one-third of the diameter of the moving wheel 31. Correspondingly, the maximum height h1 of the obstacle that the obstacle assistance wheel 32 can pass over is one-third of the diameter of the obstacle assistance wheel 32.

[0075] It should be noted that when the height of the obstacle is greater than or equal to one-fifth of the diameter of the moving wheel 31 and less than or equal to one-third of the diameter of the moving wheel 31, although the moving wheel 31 can cross the obstacle when crossing the obstacle alone, its passability is relatively poor, and there may be jamming or setbacks during the obstacle crossing process.

[0076] The height difference between the obstacle assisting wheel 32 and the moving wheel 31 is greater than or equal to 1 / 5 of the diameter of the moving wheel 31 and less than or equal to 1 / 3 of the diameter of the moving wheel 31. When the moving wheel 31 is set on the ground, the height of the obstacle assisting wheel 32 from the ground is greater than 1 / 5 of the diameter of the moving wheel 31 and less than 1 / 3 of the diameter of the moving wheel 31.

[0077] It should be noted that, generally, considering the gripping ability, when the moving wheel 31 is a driven wheel, the gripping ability of the moving wheel 31 is weaker than that of the driving wheel. Alternatively, the center of gravity of the self-propelled robot 1000 or the moving wheel mechanism 100 is biased away from the end where the moving wheel group 30 is set. 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 located 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 moving wheel 31 as the front wheel is relatively small, so that the gripping force (friction between the ground) of the moving wheel 31 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.

[0078] As can be seen from the above, the maximum height of the obstacle that the moving wheel 31 can easily cross is 1 / 5 of the diameter D1 of the moving wheel 31. The maximum height of the obstacle that the moving wheel 31 can cross is 1 / 3 of the diameter D1 of the moving wheel 31.

[0079] When the obstacle height is greater than or equal to 1 / 5 of the diameter D1 of the moving wheel 31 and less than or equal to 1 / 3 of the diameter D1 of the moving wheel 31, the moving wheel 31 can overcome the obstacle alone, but its passability is relatively poor, and there may be jamming or setbacks during the obstacle-overcoming process.

[0080] In addition, if the difference between the lowest end of the obstacle assisting wheel 32 and the lowest end of the moving wheel 31 is greater than 1 / 3 of the diameter D1 of the moving wheel 31, the height of the obstacle assisting wheel 32 is not connected (continuous) with the height at which the moving wheel 31 can overcome obstacles, so the obstacle assisting wheel 32 cannot drive the moving wheel 31 to overcome obstacles together.

[0081] In the embodiment of the present application, the difference between the lowest end of the obstacle assisting wheel 32 and the lowest end of the moving wheel 31 is designed to be less than or equal to the maximum height of the obstacle that the moving wheel 31 can cross (i.e., 1 / 3 of the diameter D1 of the moving wheel 31), and greater than or equal to the maximum height of the obstacle that the moving wheel 31 can easily cross (i.e., 1 / 5 of the diameter D1 of the moving wheel 31), so as to ensure that when the moving wheel 31 encounters an obstacle with a height between 1 / 5 of the diameter D1 of the moving wheel 31 and 1 / 3 of the diameter D1 of the moving wheel 31, the moving wheel 31 can easily cross the obstacle with the assistance of the obstacle assisting wheel 32, so that the moving wheel 31 can pass the obstacle more smoothly without any jamming or setbacks, thereby improving the passability of the moving wheel 31.

[0082] See also Figure 8, the height h4 (relative to the horizontal plane) of the 1 / 3 diameter position on the obstacle assistance wheel 32 is greater than the height h1 (relative to the horizontal plane) of the 1 / 3 diameter position on the moving wheel 31. In this way, the obstacle assistance wheel 32 can increase the maximum height of the obstacle that the moving wheel mechanism 100 can cross, for example, the obstacle crossing height of the moving wheel mechanism 100 is increased from the 1 / 3 diameter position of the moving wheel 31 to the sum of the lowest end height of the obstacle assistance wheel 32 and the 1 / 3 diameter of the obstacle assistance wheel 32. The obstacle crossing height of the moving wheel mechanism 100 is increased by (1 / 3D2+h3-1 / 3D1).

[0083] In an alternative embodiment, see Fig. 9 The moving wheel 31 includes a middle portion 312 for contacting the ground, and two contraction portions 313 located on both sides of the middle portion 312. Both contraction portions 313 extend from the middle portion 312 toward one side of the mounting frame 20. The cross-sectional area of ​​one end of the contraction portion 313 away from the middle portion 312 is smaller than the cross-sectional area of ​​the middle portion 312.

[0084] Optionally, the middle portion 312 is located at the center of the moving wheel 31 , and the contraction portions 313 are located on both sides of the axial direction (the extension direction of the first fixed shaft 311 ) of the middle portion 312 . The two contraction portions 313 may be symmetrically arranged on both sides of the middle portion 312 .

[0085] See also Fig. 9 The middle part 312 and the contraction part 313 are both in annular shape. The diameter of the middle part 312 is relatively large, so it contacts the ground. At least part of the diameter of the contraction part 313 is smaller than the diameter of the middle part 312. Therefore, both contraction parts 313 have a concave portion relative to the middle part 312 and form a contraction space 314.

[0086] For details, please refer to Fig. 9 The width direction of the moving wheel 31 is also the extension direction of the first fixed shaft 311. One contraction portion 313 is concave relative to the middle portion 312 and forms a first contraction space 314a on one side of the middle portion 312, and the other contraction portion 313 is concave relative to the middle portion 312 and forms a second contraction space 314b on the other side of the middle portion 312.

[0087] In an alternative embodiment, see Fig. 9 The obstacle-crossing auxiliary wheels 32 include two. The two obstacle-crossing auxiliary wheels 32 are arranged at intervals along the width direction of the moving wheel 31. The two obstacle-crossing auxiliary wheels 32 are respectively partially located in the two contraction spaces 314 (the first contraction space 314a and the second contraction space 314b) in the travel direction F1 of the moving wheel mechanism 100.

[0088] For details, please refer to Fig. 9 The obstacle assisting wheel 32 includes a first roller 322 and a second roller 323. The first roller 322 and the second roller 323 are respectively located at the front sides of the moving wheel 31 in the traveling direction F1. In the traveling direction F1 of the moving wheel mechanism 100, the first roller 322 and the second roller 323 are at least partially located in the contraction space 314 where the contraction portion 313 contracts relative to the middle portion 312.

[0089] See also Fig. 9 , a portion of the first roller 322 and a portion of the second roller 323 can be respectively disposed in the first contraction space 314a and the second contraction space 314b. That is, along the extension direction of the first fixed axis 311, a portion of the first roller 322, the middle portion 312312 and a portion of the second roller 323 are sequentially disposed.

[0090] In this embodiment, the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 have a partially overlapping area on the orthographic projection plane parallel to the traveling direction F1. When crossing an obstacle, the obstacle-crossing auxiliary wheel 32 can not only improve the obstacle-crossing height of the moving wheel mechanism 100 formed by the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 relative to the single moving wheel 31, but also ensure that when the moving wheel 31 encounters an obstacle with a height between h2 and h1, the moving wheel 31 can easily cross the obstacle with the assistance of the obstacle-crossing auxiliary wheel 32, thereby improving the passability of the moving wheel 31 and enabling the self-propelled robot 1000 to have a better obstacle-crossing ability. In addition, the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 are compactly arranged in the forward direction, reducing the overall size of the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 in the forward direction, thereby reducing the size of the moving wheel mechanism 100 in the forward direction, reducing the rotation space formed by the moving wheel mechanism 100 when rotating, and avoiding interference with other structures of the self-propelled robot 1000 (such as the cutter head assembly 300).

[0091] Optional, see Fig. 9 The outer contour surface of the contraction portion 313 is a conical surface. The diameter of the contraction portion 313 changes uniformly along the axial direction.

[0092] For optional reference, see Fig.10 , the outer contour surface of the contraction part 313 is a concave curved surface. The diameter of the contraction part 313 increases non-uniformly along the axial direction. In this way, the space of the first contraction space 314a and the second contraction space 314b is larger, and the gap between the contraction part 313 and the obstacle assistance wheel 32 is increased, which can reduce the problem that the grass is entangled in the gap between the contraction part 313 and the obstacle assistance wheel 32 when the self-propelled robot is used as a lawn mowing robot, causing the moving wheel 31 and the obstacle assistance wheel 32 to get stuck or jammed.

[0093] Optional, see Fig.11In the traveling direction F1 of the moving wheel mechanism 100, the minimum distance n1 between the first roller 322 and the moving wheel 31 is greater than 5 mm. The minimum distance n2 between the second roller 323 and the moving wheel 31 is greater than 5 mm.

[0094] For example, the minimum distance n1 between the first roller 322 and the moving wheel 31 is 5.5mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm, 9.5mm, 10mm, etc. It can be understood that the minimum distance n1 between the first roller 322 and the moving wheel 31 can also be other values ​​in addition to the above values, as long as the minimum distance n1 between the first roller 322 and the moving wheel 31 is greater than 5mm. When the minimum distance n1 between the first roller 322 and the moving wheel 31 is less than or equal to 5mm, the gap between the first roller 322 and the moving wheel 31 is too small, which may cause the first roller 322 or the moving wheel 31 to be entangled with debris, resulting in the gap between the first roller 322 and the moving wheel 31 being blocked, resulting in the problem of the moving wheel 31 and the first roller 322 being stuck or stuck. For example, when the self-propelled robot is a lawn mower, grass may get entangled in the gap between the first roller 322 and the moving wheel 31, causing the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 to get stuck or jammed. In addition, if the gap between the first roller 322 and the moving wheel 31 is too small, foreign matter stuck to the surface of the moving wheel 31 may easily get stuck in the gap between the first roller 322 and the moving wheel 31, causing the moving wheel 31 and the first roller 322 to be unable to roll freely, thus affecting the self-propelled robot's ability to walk.

[0095] For example, the minimum distance n2 between the second roller 323 and the moving wheel 31 is 5.5mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm, 9.5mm, 10mm, etc. It can be understood that the minimum distance n2 between the second roller 323 and the moving wheel 31 can also be other values ​​in addition to the above values, as long as the minimum distance n2 between the second roller 323 and the moving wheel 31 is greater than 5mm. When the minimum distance n2 between the second roller 323 and the moving wheel 31 is less than or equal to 5mm, the gap between the second roller 323 and the moving wheel 31 is too small, which may cause the second roller 323 or the moving wheel 31 to be entangled with debris, resulting in the gap between the second roller 323 and the moving wheel 31 being blocked, resulting in the problem of the moving wheel 31 and the second roller 323 being stuck or stuck. For example, when the self-propelled robot is a lawn mower, grass may get entangled in the gap between the second roller 323 and the moving wheel 31, causing the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 to get stuck or jammed. In addition, if the gap between the second roller 323 and the moving wheel 31 is too small, foreign matter stuck to the surface of the moving wheel 31 may easily get stuck in the gap between the second roller 323 and the moving wheel 31, causing the moving wheel 31 and the second roller 323 to be unable to roll freely, thus affecting the self-propelled robot's ability to walk.

[0096] By being arranged in the traveling direction F1 of the moving wheel mechanism 100, the minimum distance n1 between the first roller 322 and the moving wheel 31 is greater than 5 mm, and the minimum distance n2 between the second roller 323 and the moving wheel 31 is greater than 5 mm. In this way, there is a sufficient safety distance between the first roller 322 and the moving wheel 31, and there is a sufficient safety distance between the second roller 323 and the moving wheel 31, which can effectively prevent the second roller 323 (or the first roller 322) or the moving wheel 31 from being entangled by debris or foreign objects adhering to the surface, thereby preventing the gap between the second roller 323 (or the first roller 322) and the moving wheel 31 from being blocked, thereby causing the moving wheel 31 and the second roller 323 (or the first roller 322) to be stuck or jammed. When the self-propelled robot is a lawn mower, even if the grass gets entangled in the gap between the second roller 323 (or the first roller 322) and the moving wheel 31, since the gap between the second roller 323 (or the first roller 322) and the moving wheel 31 has a sufficient safety distance, it is not easy for the grass to block the gap between the second roller 323 (or the first roller 322) and the moving wheel 31.

[0097] Optional, see Fig.12, the first roller 322 and the second roller 323 are disposed on the same fixed axis. That is, the first roller 322 and the second roller 323 are disposed on the same second fixed axis 321. In the travel direction F1 of the moving wheel mechanism 100, the minimum distance n3 between the fixed axis (i.e., the second fixed axis 321) and the moving wheel 31 is greater than 5 mm.

[0098] For example, the minimum distance n3 between the second fixed shaft 321 and the moving wheel 31 is 5.5mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm, 9.5mm, 10mm, etc. It can be understood that the minimum distance n3 between the second fixed shaft 321 and the moving wheel 31 can also be other values ​​in addition to the above values, as long as the minimum distance n3 between the second fixed shaft 321 and the moving wheel 31 is greater than 5mm. When the minimum distance n3 between the second fixed shaft 321 and the moving wheel 31 is less than or equal to 5mm, the gap between the second fixed shaft 321 and the moving wheel 31 is too small, which may cause the second fixed shaft 321 or the moving wheel 31 to be entangled by debris, resulting in the gap between the second fixed shaft 321 and the moving wheel 31 being blocked, causing the moving wheel 31 and the obstacle assistance wheel 32 to be stuck or jammed. For example, when the self-propelled robot is a lawn mower, grass may get entangled in the gap between the second fixed shaft 321 and the moving wheel 31, causing the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 to get stuck or jammed. In addition, if the gap between the second fixed shaft 321 and the moving wheel 31 is too small, foreign matter stuck to the surface of the moving wheel 31 may easily get stuck in the gap between the second fixed shaft 321 and the moving wheel 31, causing the moving wheel 31 and the second roller 323 to be unable to roll freely, thus affecting the self-propelled robot's ability to walk.

[0099] By setting the minimum distance n3 between the second fixed shaft 321 and the moving wheel 31 to be greater than 5 mm in the travel direction F1 of the moving wheel mechanism 100, there is a sufficient safety distance between the second fixed shaft 321 and the moving wheel 31, which can effectively prevent the second fixed shaft 321 or the moving wheel 31 from being entangled by debris or foreign objects adhering to the surface, thereby blocking the gap between the second fixed shaft 321 and the moving wheel 31, and causing the moving wheel 31 and the second roller 323 (or the first roller 322) to be stuck or jammed. When the self-propelled robot is a lawn mower, even if grass is entangled in the gap between the second fixed shaft 321 and the moving wheel 31, since the gap between the second fixed shaft 321 and the moving wheel 31 has a sufficient safety distance, it is not easy for the grass to block the gap between the second fixed shaft 321 and the moving wheel 31.

[0100] Optional, see Fig.13In the central axis direction of the obstacle assisting wheel 32 (ie, the central axis direction of the second fixed shaft 321 ), the minimum distance n4 between the obstacle assisting wheel 32 and (the second mounting portion of) the mounting frame 20 is greater than 5 mm.

[0101] For example, the minimum distance n4 between the obstacle assisting wheel 32 and the mounting frame 20 is 5.5 mm, 6 mm, 6.5 mm, 7 mm, 7.5 mm, 8 mm, 8.5 mm, 9 mm, 9.5 mm, 10 mm, etc. It can be understood that the minimum distance n4 between the obstacle assisting wheel 32 and the mounting frame 20 can also be other values ​​in addition to the above values, as long as the minimum distance n4 between the obstacle assisting wheel 32 and the mounting frame 20 is greater than 5 mm. When the minimum distance n4 between the obstacle assisting wheel 32 and the mounting frame 20 is less than or equal to 5 mm, the gap between the obstacle assisting wheel 32 and the mounting frame 20 is too small, which may cause the gap between the mounting frame 20 and the obstacle assisting wheel 32 to be entangled by debris and blocked, resulting in the obstacle assisting wheel 32 being stuck or jammed. For example, when the self-propelled robot is a lawn mower, grass may get entangled in the gap between the obstacle assisting wheel 32 and the mounting frame 20 , causing the obstacle assisting wheel 32 to get stuck or jammed.

[0102] By setting the minimum distance n4 between the obstacle assistance wheel 32 and the mounting frame 20 to be greater than 5 mm in the travel direction F1 of the moving wheel mechanism 100, there is a sufficient safety distance between the obstacle assistance wheel 32 and the mounting frame 20, which can effectively prevent the gap between the mounting frame 20 and the obstacle assistance wheel 32 from being entangled and blocked by debris, thereby causing the obstacle assistance wheel 32 to be stuck or jammed. When the self-propelled robot is a lawn mower, even if grass is entangled in the gap between the obstacle assistance wheel 32 and the mounting frame 20, since the gap between the obstacle assistance wheel 32 and the mounting frame 20 has a sufficient safety distance, it is not easy for the grass to block the gap between the obstacle assistance wheel 32 and the mounting frame 20.

[0103] In an alternative embodiment, see Fig.14 On the orthographic projection plane perpendicular to the extension direction of the central axis of the moving wheel 31 (the central axis of the moving wheel 31 is the central axis of the first fixed shaft 311), the angle θ1 between the tangent line L2 of the moving wheel 31 and the obstacle auxiliary wheel 32 close to the bottom and the horizontal line L3 is 0-35°.

[0104] Optionally, taking the side view of the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 as an example, the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 and the horizontal line L3 is 0-35°.

[0105] For example, the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle assistance wheel 32 and the horizontal line L3 is 0°, or 5°, or 10°, or 15°, or 20°, or 25°, or 30°, or 35°. It can be understood that the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle assistance wheel 32 and the horizontal line L3 can also be other values ​​in addition to the above values, as long as the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle assistance wheel 32 and the horizontal line L3 is 0-35°. Since the bottom of the obstacle assistance wheel 32 is suspended, the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle assistance wheel 32 and the horizontal line L3 is greater than or equal to 0, which is conducive to the subsequent obstacle crossing height of the obstacle assistance wheel 32 being higher than the obstacle crossing height of the moving wheel 31, thereby improving the obstacle crossing effect of the obstacle assistance wheel 32. When the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle assisting wheel 32 and the horizontal line L3 is greater than 35°, the height difference between the bottom of the obstacle assisting wheel 32 and the bottom of the moving wheel 31 is too large, which causes the bottom of the obstacle assisting wheel 32 to be too high compared to the moving wheel 31, and the obstacle assisting effect cannot be achieved or the obstacle assisting effect is poor.

[0106] The present application reasonably sets the angle θ1 between the bottom tangent line L2 of the moving wheel 31 and the obstacle-crossing auxiliary wheel 32 and the horizontal line L3, so as to achieve the obstacle-crossing effect of the obstacle-crossing auxiliary wheel 32 , increase the obstacle-crossing height of the moving wheel mechanism 100 , and improve the passability of the moving wheel 31 .

[0107] In an alternative embodiment, see Fig.15 , the wheel centers O2 of the moving wheel 31 and the obstacle assistance wheel 32 are not at the same height. The height difference between the wheel centers O2 of the moving wheel 31 and the obstacle assistance wheel 32 is L1. The ratio of the diameter D1 of the moving wheel 31 to the L1 is 40-75. The ratio of the diameter D2 of the obstacle assistance wheel 32 to the L1 is 20-30.

[0108] For example, the ratio of the diameter D1 of the moving wheel 31 to the L1 is 40, 45, 50, 55, 60, 65, 70, or 75. For example, the ratio of the diameter D2 of the obstacle assisting wheel 32 to the L1 is 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, or 30.

[0109] It can be understood that the ratio of the diameter D1 of the moving wheel 31 to the L1 can also be other values ​​besides the above values, as long as the ratio of the diameter D1 of the moving wheel 31 to the L1 is 40-75. The ratio of the diameter D2 of the obstacle assistance wheel 32 to the L1 can also be other values ​​besides the above values, as long as the ratio of the diameter D2 of the obstacle assistance wheel 32 to the L1 is 20-30.

[0110] By reasonably setting the ratio of the diameter D1 of the moving wheel 31 to the L1, and the ratio of the diameter D2 of the obstacle-crossing auxiliary wheel 32 to the L1, the obstacle-crossing height of the moving wheel mechanism 100 can be increased, and the moving wheel mechanism 100 can move more smoothly in the process of crossing obstacles, and the moving wheel mechanism 100 is also less shaken.

[0111] In an alternative embodiment, see Fig.15 , the wheel diameter (diameter) of the moving wheel 31 is larger than the wheel diameter (diameter) of the obstacle-crossing auxiliary wheel 32. The diameter D1 of the moving wheel 31 is 80-150 mm. The diameter D2 of the obstacle-crossing auxiliary wheel 32 is 25-75 mm. That is, the moving wheel 31 is a large wheel, and the obstacle-crossing auxiliary wheel 32 is a small wheel. The moving wheel 31 is used to drive the moving wheel mechanism 100 to move along the travel direction F1, and the obstacle-crossing auxiliary wheel 32 is used to assist the moving wheel 31 to cross the obstacle when encountering an obstacle.

[0112] For example, the diameter D1 of the moving 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 obstacle assistance 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.

[0113] It can be understood that the diameter D1 of the moving wheel 31 can also be other values ​​besides the above values, as long as the diameter D1 of the moving wheel 31 is 80-150 mm. The diameter D2 of the obstacle assistance wheel 32 can also be other values ​​besides the above values, as long as the diameter D2 of the obstacle assistance wheel 32 is 25-75 mm.

[0114] By reasonably setting the diameter D1 of the moving wheel 31 and the diameter D2 of the obstacle assisting wheel 32, an obstacle assisting wheel 32 with a smaller diameter is installed on one side of the moving wheel 31. While effectively improving the obstacle surmounting capability of the moving wheel mechanism 100, the volume of the moving wheel mechanism 100 can also be controlled within a reasonable range, which is conducive to arranging the moving wheel mechanism 100 on a miniaturized self-propelled robot 1000.

[0115] In an alternative embodiment, see Fig.16 In the travel direction F1 of the first roller 322, the wheel center O1 of the moving wheel 31 and the wheel center O2 of the obstacle-crossing auxiliary wheel 32 are respectively located on both sides of the central axis of the connecting shaft 22. The distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 is 20-35 mm. The distance m2 between the wheel center O2 of the obstacle-crossing auxiliary wheel 32 and the central axis L0 of the connecting shaft 22 is 30-50 mm.

[0116] In other words, the moving wheel 31 is an eccentric wheel, and the obstacle-crossing auxiliary wheel 32 is an eccentric wheel. The distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 is the eccentricity of the moving wheel 31 .

[0117] For example, the distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 is 20mm, or 21mm, or 22mm, or 23mm, or 24mm, or 25mm, or 26mm, or 27mm, or 28mm, or 29mm, or 30mm, or 31mm, or 32mm, or 33mm, or 34mm, or 35mm. It can be understood that the distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 can also be other values ​​in addition to the above values, as long as the distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 is 20-35mm. When the distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 is less than 20mm, the eccentric distance of the moving wheel 31 is insufficient, which is not conducive to the automatic return of the moving wheel 31 and improving the carrying capacity of the moving wheel 31. When the distance m1 between the wheel center O1 of the moving wheel 31 and the central axis L0 of the connecting shaft 22 is greater than 35 mm, the eccentric distance of the moving wheel 31 is too large. On the one hand, the first mounting portion 212 is more inclined toward the horizontal direction, resulting in excessive horizontal component when the moving wheel 31 supports the chassis, which is not conducive to improving the vertical support force of the moving wheel 31. On the other hand, the size of the rotating space formed by the rotating moving wheel 31 around the central axis L0 of the connecting shaft 22 is large, causing motion interference to other structures near the moving wheel mechanism 100.

[0118] The implementation manner of the present application reasonably sets the size of the eccentricity of the moving wheel 31, which is not only beneficial to the automatic self-centering of the moving wheel 31 and improving the carrying capacity of the moving wheel 31, but also beneficial to increasing the vertical supporting force when the moving wheel 31 supports the chassis, reducing the size of the rotating space formed by the rotating wheel 31 around the central axis L0 of the connecting shaft 22, and avoiding motion interference with other structures near the moving wheel mechanism 100.

[0119] For example, the distance m2 between the wheel center O2 of the obstacle assisting wheel 32 and the central axis L0 of the connecting shaft 22 is 30 mm, or 32 mm, or 34 mm, or 36 mm, or 38 mm, or 40 mm, or 42 mm, or 44 mm, or 46 mm, or 48 mm, or 50 mm. It can be understood that the distance m2 between the wheel center O2 of the obstacle assisting wheel 32 and the central axis L0 of the connecting shaft 22 can also be other values ​​in addition to the above values, as long as the distance m2 between the wheel center O2 of the obstacle assisting wheel 32 and the central axis L0 of the connecting shaft 22 is 30-50 mm. When the distance m2 between the wheel center O2 of the obstacle assistance wheel 32 and the central axis L0 of the connecting shaft 22 is less than 30 mm, the eccentric distance of the obstacle assistance wheel 32 is insufficient. Since a part of the moving wheel 31 is also arranged on the side of the central axis L0 of the connecting shaft 22 where the obstacle assistance wheel 32 is located, the insufficient eccentric distance of the obstacle assistance wheel 32 may cause the obstacle assistance wheel 32 to not protrude enough in front of the moving wheel 31, which is not conducive to the obstacle assistance wheel 32 to achieve the auxiliary obstacle crossing function. When the distance m2 between the wheel center O2 of the obstacle assistance wheel 32 and the central axis L0 of the connecting shaft 22 is greater than 50 mm, the eccentric distance of the obstacle assistance wheel 32 is too large, resulting in a large size of the rotation space formed by the obstacle assistance wheel 32 rotating around the central axis L0 of the connecting shaft 22, causing motion interference to other structures near the obstacle assistance wheel 32 mechanism.

[0120] The embodiment of the present application reasonably sets the eccentricity of the obstacle assistance wheel 32, which not only improves the obstacle assistance capability of the obstacle assistance wheel 32, but also reduces the size of the rotation space formed by the obstacle assistance wheel 32 rotating around the central axis L0 of the connecting shaft 22, thereby avoiding motion interference with other structures near the obstacle assistance wheel 32.

[0121] Optionally, a maximum axial distance (along the extending direction of the second fixed axis 321 ) between the two obstacle-crossing auxiliary wheels 32 is greater than, equal to, or less than a width of the moving wheel 31 .

[0122] Optionally, the height h3 of the two obstacle-crossing auxiliary wheels 32 from the ground can be adjusted. For example, the height h3 of the two obstacle-crossing auxiliary wheels 32 from the ground can be adjusted between 1 / 5 and 1 / 3 of the diameter of the moving wheel 31 .

[0123] In an alternative embodiment, see Fig.17 The height h3 of the two obstacle assisting wheels 32 is adjusted in a passive manner. The end of the second mounting portion 213 away from the obstacle assisting wheel 32 is connected to the end of the first mounting portion 212 by rotation. The first mounting portion 212 is provided with a first stopper 214 and a second stopper 215 on the side where the second mounting portion 213 is provided. For example, when the second mounting portion 213 rotates relative to the first mounting portion 212 to abut against the first stopper 214, the height of the obstacle assisting wheel 32 from the ground is 1 / 5 of the diameter (h2) of the moving wheel 31. Fig.17 When the second mounting portion 213 rotates relative to the first mounting portion 212 to abut against the second stopper 215, the height of the obstacle assisting wheel 32 from the ground is 1 / 3 of the diameter (h1) of the moving wheel 31. Fig.17 Shown in the dotted line part.

[0124] In the initial state, the height of the obstacle assistance wheel 32 from the ground is 1 / 5 of the diameter of the moving wheel 31. When encountering an obstacle with a height higher than 1 / 3 of the diameter of the moving wheel 31, the obstacle assistance wheel 32 is pushed upward by the obstacle below, and is also pushed forward by the rear drive. Under the action of multiple forces, the second mounting portion 213 rotates relative to the first mounting portion 212, and the obstacle assistance wheel 32 is lifted upward. In this way, the height of the obstacle assistance wheel 32 from the ground increases, so that the height of the obstacle that the moving wheel mechanism 100 can overcome is further increased. In this embodiment, the obstacle crossing height of the moving wheel mechanism 100 can be increased as the obstacle height increases, so that the moving wheel mechanism 100 can easily cross obstacles of different heights and improve the passability of the moving wheel 31.

[0125] Further optionally, a torsion spring or a damping member is provided on the connecting shaft 22 between the first mounting portion 212 and the second mounting portion 213. When the height h3 of the obstacle assisting wheel 32 from the ground increases, the torsion spring is compressed or the damping member is compressed, that is, the higher the height h3 of the obstacle assisting wheel 32 from the ground, the greater the restoring torque of the obstacle assisting wheel 32 under the force of the torsion spring (or the damping member) (the greater the downward force), which increases the friction force of the obstacle assisting wheel 32 when it overcomes obstacles, thereby improving the obstacle-overcoming capability.

[0126] In an optional implementation, the height h3 of the two obstacle assisting wheels 32 is adjusted in an active manner. Optionally, the second mounting portion 213 is controlled by a motor (not shown) to adjust its rotation angle, thereby controlling the height of the obstacle assisting wheels 32 from the ground.

[0127] See also Fig.17In the first scenario of adjusting the ground clearance of the obstacle assisting wheel 32, the controller determines the obstacle clearance height by monitoring the speed reduction of the self-propelled robot when surmounting an obstacle, and then adjusts the ground clearance of the obstacle assisting wheel 32 according to the obstacle clearance height. For example, if the obstacle clearance height is higher than 1 / 3 of the diameter of the moving wheel 31, the motor adjusts the ground clearance of the obstacle assisting wheel 32 to increase the ground clearance, which is beneficial for the self-propelled robot to surmount obstacles and climb slopes. In the implementation of adjusting the ground clearance of the obstacle assisting wheel 32 by the motor, the first stopper 214 and the second stopper 215 may not be required.

[0128] See also Fig.18 In the second obstacle-crossing auxiliary wheel 32 height adjustment scenario, the height of the two obstacle-crossing auxiliary wheels 32 can be adjusted to the bottom. For example, in the scenario where the moving wheel 31 falls into a pit, the depth of the pit is greater than the distance between the bottom of the moving wheel 31 and the chassis (i.e., the chassis height). At this time, the bottom of the moving wheel 31 cannot contact the pit bottom support surface, and the moving wheel 31 cannot support the chassis and move. In this way, the motor controls the obstacle-crossing auxiliary wheel 32 to rotate to the bottom of the moving wheel 31, as shown in FIG. Fig.18 As shown in the middle dotted line, it is equivalent to increasing the height of the chassis. If the obstacle assistance wheels 32 can contact the support surface at the bottom of the pit, the obstacle assistance wheels 32 can support the chassis and walk, so that the self-propelled robot 1000 can get out of the pit.

[0129] See also Fig.19 In the third obstacle assistance wheel 32 height adjustment scenario, the moving wheel 31 is the driving wheel. The height above the ground of the two obstacle assistance wheels 32 can be adjusted to the rear of the driving wheel. In the scenario where the moving wheel 31 falls into a pit, the depth of the pit is greater than the distance between the bottom of the moving wheel 31 and the chassis (i.e., the height of the chassis). At this time, the bottom of the moving wheel 31 cannot contact the support surface at the bottom of the pit, and the moving wheel 31 cannot support the chassis and move. When the obstacle assistance wheel 32 is rotated to the bottom of the moving wheel 31 and still cannot contact the support surface at the bottom of the pit, the motor controls the obstacle assistance wheel 32 to rotate to the rear of the moving wheel 31 (backward direction), as shown in FIG. Fig.19 As shown in the middle dotted line part, the moving wheel 31 is controlled to move backward, so that the two obstacle-crossing auxiliary wheels 32 move backward to cross the obstacle.

[0130] See also Fig. 20 In the fourth scenario of adjusting the ground clearance of the obstacle assisting wheels 32, the ground clearance of the two obstacle assisting wheels 32 can be adjusted to the top. The second mounting portion 213 is disposed outside the first mounting portion 212, and the obstacle assisting wheels 32 are disposed outside the moving wheels 31. When not in use, the obstacle assisting wheels 32 are rotated to the top position of the moving wheels 31 for storage. Fig. 20 When it is necessary to overcome an obstacle, the obstacle-overcoming auxiliary wheel 32 is adjusted to a suitable obstacle-overcoming height range.

[0131] 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 moving wheel mechanism, characterized in that: include: The mounting frame comprises a mounting piece and a connecting shaft, wherein the connecting shaft can drive the mounting piece to rotate horizontally; A moving wheel group, comprising a moving wheel and an obstacle-crossing auxiliary wheel, wherein both the moving wheel and the obstacle-crossing auxiliary wheel are rollingly arranged on the mounting member, and the two are spaced apart along the traveling direction of the moving wheel mechanism, and the lowest end of the obstacle-crossing auxiliary wheel is higher than the lowest end of the moving wheel; The maximum height of the obstacle that the moving wheel can cross is h1, the maximum height of the obstacle that the moving wheel can easily cross is h2, the height of the obstacle-crossing auxiliary wheel from the ground is h3, and h2≤h3≤h1.

2. The moving wheel mechanism according to claim 1, characterized in that: The maximum height of an obstacle that the moving wheel can cross is one third of the diameter of the moving wheel, and the maximum height of an obstacle that the moving wheel can easily cross is one fifth of the diameter of the moving wheel.

3. The moving wheel mechanism according to claim 1, characterized in that: The moving wheel includes a middle portion for contacting the ground and contraction portions located on both sides of the middle portion, wherein the contraction portion extends from the middle portion toward one side of the mounting frame, and a cross-sectional area of ​​an end of the contraction portion away from the middle portion is smaller than a cross-sectional area of ​​the middle portion.

4. The moving wheel mechanism according to claim 3, characterized in that: The obstacle assisting wheel comprises a first roller and a second roller, wherein the first roller and the second roller are respectively located on both sides in front of the moving wheel in the direction of travel, and in the direction of travel of the moving wheel mechanism, the first roller and the second roller are at least partially located in a contraction space where the contraction portion contracts relative to the middle portion.

5. The moving wheel mechanism according to claim 4, characterized in that: In the traveling direction of the moving wheel mechanism, the minimum distance between the first roller and the moving wheel is greater than 5 mm, and the minimum distance between the second roller and the moving wheel is greater than 5 mm.

6. The moving wheel mechanism according to claim 4, characterized in that: The first roller and the second roller are arranged on a fixed shaft, and in the travel direction of the moving wheel mechanism, the minimum distance between the fixed shaft and the moving wheel is greater than 5 mm.

7. The moving wheel mechanism according to claim 1, characterized in that: In the direction of the central axis of the obstacle assisting wheel, the minimum distance between the obstacle assisting wheel and the mounting frame is greater than 5 mm.

8. The moving wheel mechanism according to claim 1, characterized in that: On the orthographic projection plane perpendicular to the extending direction of the central axis of the moving wheel, the angle between the tangent line between the moving wheel and the obstacle-crossing auxiliary wheel close to the bottom and the horizontal line is 0-35°.

9. The moving wheel mechanism according to claim 1, characterized in that: The wheel centers of the moving wheel and the obstacle assisting wheel are not at the same height, the height difference between the wheel centers of the moving wheel and the obstacle assisting wheel is L1, the diameter of the moving wheel is D1, and D1 / L1 is 40-75, the diameter of the obstacle assisting wheel is D2, and D2 / L1 is 20-30.

10. The moving wheel mechanism according to claim 1 or 9, characterized in that: The diameter of the moving wheel is larger than the diameter of the obstacle-crossing auxiliary wheel. The diameter of the moving wheel is 80-150 mm, and the diameter of the obstacle-crossing auxiliary wheel is 25-75 mm.

11. The moving wheel mechanism according to claim 1, characterized in that: The distance between the wheel center of the moving wheel and the central axis of the connecting shaft is 20-35 mm, and the distance between the wheel center of the obstacle assisting wheel and the central axis of the connecting shaft is 30-50 mm.

12. The moving wheel mechanism according to claim 1, characterized in that: The mounting member 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 travel direction of the moving wheel mechanism, the moving wheel is located between the two first mounting portions, and the obstacle assisting wheel is located between the two second mounting portions.

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

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