Mobile robot

Abstract

The utility model provides a mobile robot, and relates to the technical field of robots. The mobile robot comprises a robot body, a first walking wheel and a second walking wheel which are rotatably arranged on the robot body, a crawler belt surrounding the first walking wheel and the second walking wheel, and auxiliary wheels. The first walking wheel and the second walking wheel are arranged in a spaced mode, the first walking wheel and the second walking wheel are meshed with the crawler belt, the auxiliary wheel is located between the first walking wheel and the second walking wheel and rotationally arranged on the machine body, and the outer peripheral side of the auxiliary wheel supports the inner side face of the crawler belt. According to the mobile robot provided by the invention, the auxiliary wheel is arranged between the first walking wheel and the second walking wheel, so that the auxiliary wheel is used for applying pressure to the middle part of the crawler belt, and the crawler belt is in a tight state in the crawling process of the mobile robot, so that the phenomena of insufficient friction force and slipping are improved, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a mobile robot. Background Art

[0002] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present disclosure, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to those skilled in the art.

[0003] In the related art, the swimming pool cleaning robot is equipped with a crawler track and two running wheels, each running wheel is respectively engaged with the crawler track, and when the two running wheels rotate, the crawler track is driven to rotate, so that the swimming pool cleaning robot can crawl along the bottom and wall of the swimming pool.

[0004] However, during the crawling process of the swimming pool cleaning robot, due to the certain distance between the two walking wheels, the middle part of the track is relatively loose, and the outer peripheral side of the track does not fit the pool bottom and wall sufficiently. As a result, the friction is insufficient during the crawling process, and slipping is likely to occur, which is not conducive to the swimming pool cleaning robot performing wall climbing operations. Utility Model Content

[0005] In view of this, the purpose of the present application is to provide a mobile robot, aiming to solve the technical problem in the related technology that the track is loose, which is not conducive to the swimming robot to perform wall climbing operations.

[0006] To achieve the above purpose, the technical solution adopted in this application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a mobile robot, comprising:

[0008] Body;

[0009] A first running wheel, rotatably disposed on the machine body;

[0010] A second running wheel is rotatably disposed on the machine body, wherein the first running wheel and the second running wheel are spaced apart from each other;

[0011] A crawler track is arranged around the first running wheel and the second running wheel, and the first running wheel and the second running wheel are respectively engaged with the crawler track;

[0012] The auxiliary wheel is located between the first running wheel and the second running wheel and is rotatably arranged on the machine body. The outer peripheral side of the auxiliary wheel supports the inner side surface of the crawler belt.

[0013] In one embodiment of the first aspect, a support column is disposed on the machine body, and the auxiliary wheel is coaxially disposed with the support column and rotatably connected to an end of the support column away from the machine body.

[0014] In one of the embodiments of the first aspect, the support column includes a column body and a plurality of side wings, one end of the column body is connected to the body, and one end of the column body away from the body is rotatably connected to the auxiliary wheel, and the plurality of side wings are arranged at intervals along the outer circumference of the column body and are respectively connected to the body.

[0015] In one of the embodiments of the first aspect, the machine body includes a casing and a bottom guard plate, the first walking wheel, the second walking wheel and the auxiliary wheel are respectively rotatably connected to the outer side wall of the casing, the bottom guard plate is connected to the casing and is located between the first walking wheel and the second walking wheel, and is used to support the inner side of the track.

[0016] In one of the embodiments of the first aspect, the bottom guard plate extends between the first running wheel and the second running wheel, and an escape opening is provided on the bottom guard plate, and the escape opening is used to avoid the portion of the auxiliary wheel supported on the inner side of the track.

[0017] In one of the embodiments of the first aspect, the bottom guard plate includes a plate body and a plurality of reinforcing ribs, one side of the plate body is connected to the outer side wall of the casing, and the side of the plate body away from the casing is located on the inner side of the track, and the plurality of reinforcing ribs are arranged at intervals, and each of the reinforcing ribs is respectively connected to the plate body and the outer side wall of the casing.

[0018] In one of the embodiments of the first aspect, the track includes a belt ring and a plurality of internal teeth, and the plurality of internal teeth are arranged along the inner side surface of the belt ring; the first walking wheel includes a first wheel body and a plurality of first external teeth, and the plurality of first external teeth are arranged along the outer peripheral side of the first wheel body and meshed with the internal teeth; the second walking wheel includes a second wheel body and a plurality of second external teeth, and the plurality of second external teeth are arranged along the outer peripheral side of the second wheel body and meshed with the internal teeth; the auxiliary wheel includes a third wheel body and a plurality of third external teeth, and the plurality of third external teeth are arranged along the outer peripheral side of the third wheel body and meshed with the internal teeth.

[0019] In one of the embodiments of the first aspect, the mobile robot also includes a limit cover plate, and the track also includes a plurality of limit teeth, the plurality of limit teeth are arranged along the inner side surface of the belt ring and are located on the side of the inner teeth away from the machine body, the limit teeth can respectively abut against the end face of the first wheel body, the end face of the second wheel body and the end face of the third wheel body, the limit cover plate is located on the side of the limit teeth away from the machine body, and is connected to the machine body through a connecting member, and the side of the limit cover plate facing the machine body can abut against the side of the limit teeth away from the inner teeth.

[0020] In one of the embodiments of the first aspect, the mobile robot also includes a driving wheel, a driving device and a roller brush, the driving wheel includes a fourth wheel body and a plurality of fourth external teeth, the driving device is arranged inside the body and connected to the fourth wheel body, and is used to drive the fourth wheel body to rotate, the plurality of fourth external teeth are arranged along the outer peripheral side of the fourth wheel body and mesh with the plurality of first external teeth, and the roller brush is rotatably arranged on the body and driven by the first walking wheel.

[0021] In one embodiment of the first aspect, a plurality of auxiliary wheels are provided, two adjacent auxiliary wheels are arranged at an interval, and a distance between center lines of two adjacent auxiliary wheels is L, satisfying: 80 mm ≤ L ≤ 130 mm.

[0022] The beneficial effects of this application are:

[0023] The mobile robot provided by the present application includes a body, a first running wheel, a second running wheel and a crawler track. An auxiliary wheel is arranged between the first running wheel and the second running wheel. The auxiliary wheel is rotatably arranged on the body, and the outer peripheral side of the auxiliary wheel is supported on the inner side of the crawler track and can rotate with the crawler track. In this way, the auxiliary wheel applies pressure to the middle part of the crawler track, so that the crawler track is in a tight state during the crawling process of the mobile robot, thereby improving the phenomenon of insufficient friction and slipping, and improving the operation efficiency of the robot.

[0024] In order to make the above-mentioned objects, features and advantages of the present application more obvious and understandable, preferred embodiments are given below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the three-dimensional structure of a mobile robot in some embodiments of the present application is shown;

[0027] Figure 2 A schematic diagram of a partial exploded structure of a mobile robot in some embodiments of the present application is shown;

[0028] Figure 3 Shows Figure 2 The structural diagram of part A in the figure;

[0029] Figure 4A schematic diagram of a local structure of a mobile robot from one perspective behind a hidden limit cover in some embodiments of the present application is shown;

[0030] Figure 5 A schematic diagram of the local structure of the mobile robot after hiding the limiting cover plate and one auxiliary wheel in some embodiments of the present application is shown;

[0031] Figure 6 Shows Figure 5 Schematic diagram of the structure of part B.

[0032] Description of main component symbols:

[0033] 100-mobile robot; 110-machine body; 111-machine casing; 112-bottom guard plate; 1121-plate body; 11211-avoidance; 1122-reinforcement rib; 120-first walking wheel; 121-first wheel body; 122-first outer tooth; 130-second walking wheel; 131-second wheel body; 132-second outer tooth; 140-track; 141-belt ring; 142-inner tooth; 143-limiting tooth; 150-auxiliary wheel; 151-third wheel body; 152-third outer tooth; 160-support column; 161-column; 162-side wing; 170-limiting cover plate; 180-driving wheel; 181-fourth wheel body; 182-fourth outer tooth; 191-connecting piece; 192-roller brush. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] like Figure 1 As shown, an embodiment of the present application provides a mobile robot 100, which relates to the field of robot technology. The mobile robot 100 is, for example, a swimming pool cleaning robot, a sweeping robot, a lawn mower, etc.

[0040] like Figure 1 and Figure 2 As shown, the mobile robot 100 provided in this embodiment includes: a body 110 , a first running wheel 120 , a second running wheel 130 , a track 140 and an auxiliary wheel 150 .

[0041] The first running wheel 120 and the second running wheel 130 are arranged at intervals and are rotatably arranged on the machine body 110. The crawler 140 is arranged around the first running wheel 120 and the second running wheel 130, that is, the crawler 140 is arranged in a ring shape on the machine body 110, so that the crawler 140 has an outer peripheral side and an inner side surface. The first running wheel 120 and the second running wheel 130 are respectively meshed with the crawler 140, and the auxiliary wheel 150 is located between the first running wheel 120 and the second running wheel 130, and is rotatably arranged on the machine body 110, and the outer peripheral side of the auxiliary wheel 150 supports the inner side surface of the crawler 140.

[0042] In the related art, the swimming pool cleaning robot is equipped with a crawler and two running wheels, the outer circumference of each running wheel is respectively engaged with the crawler, and the crawler is driven to rotate when the two running wheels rotate, so that the swimming pool cleaning robot can crawl along the bottom and wall of the swimming pool. However, during the crawling process of the swimming pool cleaning robot, due to the certain distance between the two running wheels, the middle part of the crawler is relatively loose, and the outer circumference of the crawler is not sufficiently fitted with the bottom and wall of the pool, so that the friction force is insufficient during the crawling process, and slipping is likely to occur, which is not conducive to the swimming pool cleaning robot to perform wall climbing operations.

[0043] It is understandable that the mobile robot 100 provided in this embodiment is provided with an auxiliary wheel 150 between the first running wheel 120 and the second running wheel 130. The auxiliary wheel 150 is rotatably provided on the body 110, and the outer peripheral side of the auxiliary wheel 150 is supported on the inner side of the crawler 140 and can rotate with the crawler 140. In this way, the auxiliary wheel 150 applies pressure to the middle part of the crawler 140, so that the crawler 140 is in a tight state during the crawling process of the mobile robot 100, thereby improving the phenomenon of insufficient friction and slipping, and improving the working efficiency of the mobile robot 100.

[0044] like Figure 2 and Figure 5 As shown, in one embodiment, a support column 160 is disposed on the body 110 , and the auxiliary wheel 150 is coaxially disposed with the support column 160 and is rotatably connected to an end of the support column 160 away from the body 110 .

[0045] In this embodiment, the support column 160 is provided on the machine body 110 to facilitate the arrangement and installation of the auxiliary wheel 150. At the same time, the support column 160 plays a role in supporting the auxiliary wheel 150, so that the auxiliary wheel 150 can stably support the inner side of the crawler 140 to keep the crawler 140 in a taut state.

[0046] like Figure 5 and Figure 6As shown, further, the support column 160 includes a column 161 and a plurality of side wings 162, one end of the column 161 is connected to the body 110, and the end of the column 161 away from the body 110 is rotatably connected to the auxiliary wheel 150, and the plurality of side wings 162 are arranged at intervals along the outer peripheral side of the column 161 and are respectively connected to the body 110.

[0047] Exemplarily, one end of the column 161 away from the body 110 is connected to the auxiliary wheel 150 via a bearing, or is provided through a rotating shaft passing through the auxiliary wheel 150 , so that the auxiliary wheel 150 can rotate relative to the support column 160 .

[0048] In this embodiment, the auxiliary wheel 150 can rotate around the center line of the column 161, and the multiple side wings 162 can play a role in strengthening the structural strength. When the column 161 has a tendency to deform, the multiple side wings 162 can apply a fixed stress to the column 161 to resist the deformation stress generated by the deformation of the column 161, so that the column 161 maintains its original shape, thereby improving the structural strength of the support column 160, so that the support column 160 can better support the auxiliary wheel 150.

[0049] like Figure 4 and Figure 5 As shown, in one embodiment, the body 110 includes a casing 111 and a bottom guard plate 112, the first running wheel 120, the second running wheel 130 and the auxiliary wheel 150 are respectively rotatably connected to the outer side wall of the casing 111, the bottom guard plate 112 is connected to the casing 111, and is located between the first running wheel 120 and the second running wheel 130, and is used to support the inner side of the track 140.

[0050] In this embodiment, by setting a bottom guard plate 112 between the first walking wheel 120 and the second walking wheel 130, the bottom guard plate 112 can support the inner side of the track 140, play a role in limiting and guiding the track 140, and reduce the risk of wrinkling and loosening of the track 140, thereby improving the phenomenon of insufficient friction and slipping, and improving the operating efficiency of the mobile robot 100.

[0051] like Figure 3 Figure 5 and Figure 6 As shown, further, the bottom guard plate 112 extends between the first running wheel 120 and the second running wheel 130 , and an escape opening 11211 is provided on the bottom guard plate 112 , and the escape opening 11211 is used to escape the part of the auxiliary wheel 150 supported on the inner side of the crawler track 140 .

[0052] In this embodiment, the bottom guard plate 112 extends between the first walking wheel 120 and the second walking wheel 130, thereby increasing the contact area between the bottom guard plate 112 and the track 140. On this basis, an avoidance opening 11211 for avoiding the auxiliary wheel 150 is provided on the bottom guard plate 112, so that the outer peripheral side of the auxiliary wheel 150 can be supported on the inner side of the track 140. In this way, under the joint action of the auxiliary wheel 150 and the bottom guard plate 112, the looseness of the track 140 is more effectively improved, and the tightness of the track 140 is improved.

[0053] like Figure 3 and Figure 6 As shown, further, the bottom guard plate 112 includes a plate body 1121 and a plurality of reinforcing ribs 1122, one side of the plate body 1121 is connected to the outer side wall of the casing 111, and the side of the plate body 1121 away from the casing 111 is located on the inner side of the track 140, and the plurality of reinforcing ribs 1122 are arranged at intervals, and each reinforcing rib 1122 is respectively connected to the plate body 1121 and the outer side wall of the casing 111.

[0054] In this embodiment, the reinforcing ribs 1122 can apply fixed stress to the bottom guard plate 112 to resist the deformation stress generated when the bottom guard plate 112 is deformed, so that the bottom guard plate 112 can maintain its original shape, thereby strengthening the structural strength and structural stability of the bottom guard plate 112, and enabling the plate body 1121 to better guide and limit the track 140, thereby improving the wrinkling and loosening of the track 140, thereby improving the operating efficiency of the mobile robot 100.

[0055] like Figures 2 to 4 As shown, in one embodiment, the track 140 includes a belt ring 141 and a plurality of inner teeth 142, and the plurality of inner teeth 142 are arranged along the inner side of the belt ring 141. The first walking wheel 120 includes a first wheel body 121 and a plurality of first outer teeth 122, and the plurality of first outer teeth 122 are arranged along the outer peripheral side of the first wheel body 121 and meshed with the inner teeth 142. The second walking wheel 130 includes a second wheel body 131 and a plurality of second outer teeth 132, and the plurality of second outer teeth 132 are arranged along the outer peripheral side of the second wheel body 131 and meshed with the inner teeth 142. The auxiliary wheel 150 includes a third wheel body 151 and a plurality of third outer teeth 152 (the structure of the third outer teeth 152 is not shown in the drawings), and the plurality of third outer teeth 152 are arranged along the outer peripheral side of the third wheel body 151 and meshed with the inner teeth 142.

[0056] It can be understood that when the inner side surface of the track 140 is a tooth surface, the first walking wheel 120 and the second walking wheel 130 drive the track 140 to rotate by means of the meshing between the teeth. Correspondingly, the auxiliary wheel 150 also supports the inner side surface of the track 140 by means of the meshing between the teeth, so that the track 140 is in a taut state during the crawling of the mobile robot 100.

[0057] like Figure 1 and Figure 2 As shown, further, the mobile robot 100 also includes a limit cover plate 170, and the track 140 also includes a plurality of limit teeth 143. The plurality of limit teeth 143 are arranged along the inner side surface of the belt ring 141, and are located on the side of the inner teeth 142 away from the body 110. The limit teeth 143 can respectively abut against the end face of the first wheel body 121, the end face of the second wheel body 131 and the end face of the third wheel body 151. The limit cover plate 170 is located on the side of the limit teeth 143 away from the body 110, and is connected to the body 110 through the connecting member 191. The side of the limit cover plate 170 facing the body 110 can abut against the side of the limit teeth 143 away from the inner teeth 142.

[0058] Exemplarily, the connecting member 191 may be an elastic buckle or an element with a screw rod such as a screw, a bolt, or a screw.

[0059] In this embodiment, the limiting cover plate 170 is located on the side of the limiting teeth 143 away from the body 110, and is connected to the body 110 through the connecting piece 191. The side of the limiting cover plate 170 facing the body 110 can abut against the side of the limiting teeth 143 away from the inner teeth 142, so as to play a limiting effect on the crawler 140. On this basis, the limiting teeth 143 can respectively abut against the end faces of the first wheel body 121, the second wheel body 131 and the third wheel body 151, so as to play a limiting effect on the first running wheel 120, the second running wheel 130 and the auxiliary wheel 150. In this way, the above-mentioned components have a higher structural stability after assembly, and the crawling stability of the mobile robot 100 is improved.

[0060] like Figure 4 As shown, further, the mobile robot 100 also includes a driving wheel 180, a driving device and a roller brush 192, the driving wheel 180 includes a fourth wheel body 181 and a plurality of fourth external teeth 182, the driving device is arranged inside the body 110 and is connected to the fourth wheel body 181, and is used to drive the fourth wheel body 181 to rotate, the plurality of fourth external teeth 182 are arranged along the outer peripheral side of the fourth wheel body 181, and are meshed with the plurality of first external teeth 122, and the roller brush 192 is rotatably arranged on the body 110 and is driven by the first walking wheel 120.

[0061] For example, the driving device can be a rotary motor or a driving motor, or a combination of a rotary motor and a reducer, and the specific structure of the driving device is not limited here. It should be noted that the roller brush 192 is used to sweep the garbage on the surface to be cleaned, and is usually used in swimming pool cleaning robots and sweeping robots.

[0062] In this embodiment, the driving device can drive the above-mentioned driving wheel 180 to rotate. When the driving wheel 180 rotates, it drives the first walking wheel 120 meshing therewith to rotate, thereby driving the track 140, the second walking wheel 130, the auxiliary wheel 150 and the roller brush 192 to rotate, so that the mobile robot 100 has the ability to crawl and perform cleaning operations while crawling.

[0063] It should be noted that, in the above embodiment, the driving wheel 180 can also be connected to the first traveling wheel 120 via a gear assembly, or connected to the first traveling wheel 120 via a belt and a pulley, both of which can drive the first traveling wheel 120 to rotate.

[0064] In another embodiment, the inner side surface of the crawler track 140 is a smooth surface, and the first running wheel 120, the second running wheel 130 and the auxiliary wheel 150 are all smooth wheels, and the outer peripheral side of the smooth wheel is a smooth surface.

[0065] It can be understood that when the inner side surface of the track 140 is a smooth surface, the first running wheel 120 and the second running wheel 130 drive the track 140 to rotate by means of contact friction engagement, and the outer peripheral side of the auxiliary wheel 150 is in surface contact with the inner side surface of the track 140, so that it can support the track 140 while rotating with the track 140, and can also keep the track 140 in a taut state. No specific restrictions are made on the driving methods of the track 140, the first running wheel 120 and the second running wheel 130.

[0066] like Figure 4 As shown, in one embodiment, a plurality of auxiliary wheels 150 are provided, for example, two, three, four, etc., and two adjacent auxiliary wheels 150 are arranged at intervals, and the distance between the center lines of two adjacent auxiliary wheels 150 is L, satisfying: 80mm≤L≤130mm.

[0067] Exemplarily, L can be selected as 115 mm. Of course, L can also be selected as 80 mm, 84 mm, 90 mm, 93 mm, 100 mm, 112 mm, 116 mm, 120 mm, 127 mm, 130 mm, etc.

[0068] It should be noted that if L is too large, that is, the center distance between two adjacent auxiliary wheels 150 is too large, or if L is too small, that is, the center distance between two adjacent auxiliary wheels 150 is too small, the auxiliary wheels 150 will not provide sufficient support for the track 140, causing the track 140 to still be loose.

[0069] In this embodiment, by setting the distance between the center lines of two adjacent auxiliary wheels 150 to 80 mm to 130 mm, the supporting effect of the auxiliary wheels 150 on the inner side of the track 140 can be maximized, so that the track 140 is in a taut state with a minimum number of auxiliary wheels 150, saving parts costs while improving the crawling ability of the mobile robot 100.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0071] 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 this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A mobile robot, characterized in that: include: Body; A first running wheel, rotatably disposed on the machine body; A second running wheel is rotatably disposed on the machine body, wherein the first running wheel and the second running wheel are spaced apart from each other; A crawler track is arranged around the first running wheel and the second running wheel, and the first running wheel and the second running wheel are respectively engaged with the crawler track; An auxiliary wheel, located between the first running wheel and the second running wheel, and rotatably disposed on the machine body, wherein the outer peripheral side of the auxiliary wheel supports the inner side surface of the crawler track; Among them, the machine body includes a casing and a bottom guard plate, the first walking wheel, the second walking wheel and the auxiliary wheel are respectively rotatably connected to the outer side wall of the casing, the bottom guard plate is connected to the casing and is located between the first walking wheel and the second walking wheel, and is used to support the inner side of the track.

2. The mobile robot according to claim 1, characterized in that: A support column is arranged on the machine body, and the auxiliary wheel is arranged coaxially with the support column and is rotatably connected to an end of the support column away from the machine body.

3. The mobile robot according to claim 2, characterized in that: The support column includes a column body and a plurality of side wings, one end of the column body is connected to the body, and the end of the column body away from the body is rotatably connected to the auxiliary wheel, and the plurality of side wings are arranged at intervals along the outer circumference of the column body and are respectively connected to the body.

4. The mobile robot according to claim 1, characterized in that: The bottom guard plate extends between the first running wheel and the second running wheel, and an escape opening is provided on the bottom guard plate, and the escape opening is used to escape the portion of the auxiliary wheel supported on the inner side of the crawler track.

5. The mobile robot according to claim 1, characterized in that: The bottom guard plate includes a plate body and a plurality of reinforcing ribs, one side of the plate body is connected to the outer side wall of the casing, and the side of the plate body away from the casing is located on the inner side of the track, and the plurality of reinforcing ribs are arranged at intervals, and each of the reinforcing ribs is respectively connected to the plate body and the outer side wall of the casing.

6. The mobile robot according to any one of claims 1 to 5, characterized in that: The crawler track includes a belt ring and a plurality of inner teeth, and the plurality of inner teeth are arranged along the inner side surface of the belt ring; the first running wheel includes a first wheel body and a plurality of first outer teeth, and the plurality of first outer teeth are arranged along the outer peripheral side of the first wheel body and meshed with the inner teeth; the second running wheel includes a second wheel body and a plurality of second outer teeth, and the plurality of second outer teeth are arranged along the outer peripheral side of the second wheel body and meshed with the inner teeth; the auxiliary wheel includes a third wheel body and a plurality of third outer teeth, and the plurality of third outer teeth are arranged along the outer peripheral side of the third wheel body and meshed with the inner teeth.

7. The mobile robot according to claim 6, characterized in that: The mobile robot also includes a limit cover plate, and the track also includes a plurality of limit teeth, wherein the plurality of limit teeth are arranged along the inner side surface of the belt ring and are located on the side of the inner teeth away from the machine body, and the limit teeth can respectively abut against the end face of the first wheel body, the end face of the second wheel body and the end face of the third wheel body, and the limit cover plate is located on the side of the limit teeth away from the machine body, and is connected to the machine body through a connecting member, and the side of the limit cover plate facing the machine body can abut against the side of the limit teeth away from the inner teeth.

8. The mobile robot according to claim 6, characterized in that: The mobile robot also includes a driving wheel, a driving device and a roller brush. The driving wheel includes a fourth wheel body and a plurality of fourth external teeth. The driving device is arranged inside the body and connected to the fourth wheel body for driving the fourth wheel body to rotate. The plurality of fourth external teeth are arranged along the outer peripheral side of the fourth wheel body and mesh with the plurality of first external teeth. The roller brush is rotatably arranged on the body and driven by the first walking wheel.

9. The mobile robot according to any one of claims 1 to 5, characterized in that: There are multiple auxiliary wheels, and two adjacent auxiliary wheels are arranged at an interval, and the distance between the center lines of the two adjacent auxiliary wheels is L, which satisfies: 80mm≤L≤130mm.

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