Self-moving device

Abstract

The utility model provides a self-moving device, and relates to the technical field of self-moving devices. The self-moving equipment comprises a chassis, rollers, a driving mechanism, a pull rope and an elastic mechanism. The roller is connected to the chassis in a liftable manner, the fixed end of the driving mechanism is fixedly arranged on the chassis, one end of the pull rope is connected with the roller, the other end of the pull rope is connected with the output end of the driving mechanism, the elastic mechanism is arranged between the roller and the chassis, and the roller is arranged on the chassis in a floating manner through the tensile force of the elastic mechanism. When the output end of the driving mechanism moves forwards, the driving mechanism is used for pulling the rolling wheel to move in the direction close to the chassis in the vertical direction through the pull rope, so that the chassis descends. When the output end of the driving mechanism moves reversely, the elastic mechanism is used for driving the rolling wheels to move in the direction away from the chassis in the vertical direction so that the chassis can be lifted. In this way, the obstacle crossing performance of the self-moving equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a self-moving equipment. Background Art

[0002] Autonomous vehicles, such as sweeping robots, food delivery robots, logistics robots, and automatic lawn mowers, are widely used in our daily lives and work. However, these devices often encounter obstacles (such as door thresholds, carpets, and electrical wires) during their movements. However, existing technologies for autonomous vehicles have limited ability to overcome these obstacles.

[0003] Therefore, how to improve the obstacle-crossing capability of automatic equipment has become an urgent problem to be solved in the field of automatic equipment technology. Utility Model Content

[0004] The embodiments of the present application provide a self-moving device to solve the problem of weak obstacle-crossing capability of the self-moving device in the above-mentioned related art.

[0005] An embodiment of the present application provides a self-moving device, which includes a chassis, a roller, a driving mechanism, a pull rope, and an elastic mechanism. The roller is connected to the chassis in a liftable manner, the fixed end of the driving mechanism is fixed to the chassis, one end of the pull rope is connected to the roller, and the other end of the pull rope is connected to the output end of the driving mechanism. The elastic mechanism is arranged between the roller and the chassis, and the roller is floated on the chassis by the tension of the elastic mechanism. When the output end of the driving mechanism moves in the forward direction, the driving mechanism is used to pull the roller through the pull rope to move vertically toward the chassis, so as to lower the chassis. When the output end of the driving mechanism moves in the reverse direction, the elastic mechanism is used to drive the roller to move vertically away from the chassis, so as to lift the chassis.

[0006] The self-moving device provided in the embodiments of the present application can achieve the raising and lowering of the chassis by pulling the pull rope by a driving mechanism and the elastic recovery of the elastic mechanism. The pull rope and the elastic mechanism can drive the roller to move vertically to a large extent relative to the chassis, so that the chassis can be raised and lowered to a large extent, thereby improving the obstacle-crossing performance of the self-moving device. In addition, the pull rope and the elastic mechanism are small in size and can be arranged more flexibly, which is conducive to the miniaturization of the self-moving device. In addition, by providing an elastic mechanism between the roller and the chassis, and allowing the roller to float on the chassis through the tension of the elastic mechanism, the chassis can also have good shock absorption performance when it is in a raised state.

[0007] In one possible implementation, a first connecting rod is provided between the roller and the chassis. One end of the first connecting rod is hinged to the roller via a first hinge axis, and the other end of the first connecting rod is hinged to the chassis via a second hinge axis. The first hinge axis and the second hinge axis are parallel to each other, and the roller is liftably connected to the chassis via the first connecting rod. In this manner, the roller and chassis can be lifted and lowered by swinging the first connecting rod, resulting in a relatively simple structure and minimal vertical space occupation.

[0008] In one possible implementation, the elastic mechanism includes a first torsion spring mounted on the second hinge shaft, with its ends respectively abutting the first connecting rod and the chassis. This allows the first torsion spring to drive the roller vertically away from the chassis and provide shock absorption for the chassis. Furthermore, the first torsion spring mounted on the second hinge shaft occupies relatively little space, facilitating miniaturization of the self-propelled device.

[0009] In one possible implementation, a second connecting rod is provided between the roller and the chassis. The second connecting rod is parallel to the first connecting rod, one end of the second connecting rod is hinged to the roller via a third hinge axis, and the other end of the second connecting rod is hinged to the chassis via a fourth hinge axis. The third hinge axis is parallel to the first hinge axis, and the third hinge axis is parallel to the fourth hinge axis. The roller is liftably connected to the chassis via the first and second connecting rods. In this manner, the roller can be lifted and lowered to the chassis by swinging the first and second connecting rods. When the first and second connecting rods swing, the roller can move vertically, making it less likely for the roller to tilt, which helps maintain rolling contact between the roller and the ground. The roller is less likely to become stuck with the ground, allowing the roller to be raised and lowered significantly. In addition, the first and second connecting rods occupy less vertical space, which helps save vertical space in the self-propelled device.

[0010] In one possible implementation, the elastic mechanism includes a second torsion spring mounted on the fourth hinge axis, with its ends respectively abutting the second connecting rod and the chassis. By providing the first and second torsion springs, the elastic mechanism can provide a strong driving force, facilitating vertical movement of the driving roller away from the chassis and providing shock absorption for the chassis. Furthermore, the first and second torsion springs, mounted on the second and fourth hinge axes, respectively, occupy less space and facilitate miniaturization of the self-propelled device.

[0011] In one possible implementation, the self-propelled device further includes a connector. The connector is connected to the upper end of the roller, and the end of the pull rope is connected to the connector, so that the end of the pull rope is connected to the roller via the connector. When the output end of the drive mechanism moves in the forward direction, the pull rope pulls the connector to move vertically relative to the chassis, thereby driving the roller to move vertically relative to the chassis. This facilitates the connection between the roller and the pull rope. Furthermore, the roller and the pull rope do not need to be vertically aligned, allowing for greater flexibility in the arrangement of the pull rope and the roller.

[0012] In one possible implementation, the connector has a rope hole extending through its upper and lower ends. The drawstring is threaded through the rope hole. The end of the drawstring is fixedly connected to an abutment member located below the connector and configured to abut against the lower end surface of the connector. When the output end of the drive mechanism moves in the forward direction, the drawstring pulls the abutment member relative to the chassis, thereby driving the connector relative to the chassis. This facilitates connection of the drawstring to the connector.

[0013] In one possible implementation, the sidewall of the connector has a rope groove that runs through the top and bottom ends of the connector and connects to the rope hole. The rope groove allows the pull rope to enter and exit the rope hole from the side of the connector. This makes it easier to remove the pull rope from the connector and facilitate maintenance and replacement of the roller.

[0014] In one possible implementation, the roller includes a connecting shaft. The connecting member has an axial hole extending through the upper and lower ends of the connecting member. The connecting shaft is disposed within the axial hole, with the upper end of the connecting shaft positioned above the connecting member. A retaining groove is formed on the peripheral wall of the connecting shaft, positioned above the connecting member. A retaining spring is secured within the groove. The roller is connected to the connecting member via the connecting shaft and retaining spring. This facilitates connection between the roller and the connecting member. Furthermore, the roller and the connecting member are easily assembled and disassembled, facilitating maintenance and replacement of the roller.

[0015] In one possible implementation, the self-propelled device further includes a rope loop, wherein the pull rope is passed through the rope loop, and both ends of the pull rope are located outside the rope loop. In this way, the rope loop can protect the pull rope, making it less likely for the pull rope to come into contact with other components of the self-propelled device and break.

[0016] In one possible implementation, the rope loop includes a first fixing sleeve. The first fixing sleeve is located at the end of the rope loop closest to the roller, along the extension direction of the pull rope. The first fixing sleeve is fixed to the chassis and positioned above the roller. This facilitates the pull rope to pull the roller vertically.

[0017] In one possible implementation, the sling further includes a flexible sleeve and a second fixing sleeve. One end of the flexible sleeve is connected to the first fixing sleeve, and the other end of the flexible sleeve is connected to the second fixing sleeve. The second fixing sleeve is fixed to the chassis. In this way, the sling can be secured within the self-propelled device via the first and second fixing sleeves. Furthermore, the connection between the first and second fixing sleeves via the flexible sleeve makes the sling more flexible and convenient to install within the self-propelled device.

[0018] In one possible implementation, a winding drum is provided at the output end of the drive mechanism, which is fixedly connected to the end of the pull cord. The output end of the drive mechanism is connected to the end of the pull cord via the winding drum. The winding drum is used to wind the pull cord, and the drive mechanism is used to drive the winding drum to rotate. In this way, the pull cord is less likely to become tangled or hung due to the winding drum winding the pull cord.

[0019] In one possible implementation, the winding drum has a block slot, in which a block is positioned. The block is fixedly connected to the end of the draw cord, thereby securing the winding drum to the end of the draw cord. This facilitates assembly and disassembly of the draw cord and the winding drum, facilitating maintenance and replacement of components such as the draw cord, the winding drum, and the drive mechanism.

[0020] In one possible implementation, the roller is a universal wheel. This universal wheel serves as a driven wheel, eliminating the need for a drive mechanism between the roller and the chassis. This allows the roller to be positioned closer to the chassis, shortening the lever arm of the link mechanism and facilitating the lifting of the chassis through the link mechanism and the elastic mechanism. Furthermore, this facilitates steering of the self-propelled device.

[0021] In one possible implementation, the roller includes a wheel body and a sleeve. The wheel body includes a connecting shaft located at the upper end of the wheel body. The sleeve is disposed outside the connecting shaft and is rotatably connected to the sleeve. A connecting rod mechanism is provided between the sleeve and the chassis. The connecting rod mechanism is hingedly connected to both the sleeve and the chassis to enable the roller to be raised and lowered to the chassis. This facilitates a raise and lower connection between the universal wheel and the chassis.

[0022] In one possible implementation, the chassis includes a stopper located above the roller. The stopper is configured to abut the roller to limit the roller's vertical movement toward the chassis. This limiter can thus restrict the chassis's descent, preventing it from falling too low. Furthermore, the limiter can also limit the maximum deformation of the elastic mechanism, preventing it from failing due to excessive deformation.

[0023] In one possible implementation, the self-moving device is a cleaning device. In this way, the cleaning device can have a strong obstacle-crossing capability, and the cleaning device can clean across thresholds, carpets, wires, etc., which is conducive to increasing the space range that the cleaning device can clean. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 A schematic diagram of a scroll wheel of a self-mobile device provided in an embodiment of the present application;

[0026] Figure 2 An exploded diagram of a self-propelled device provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of a scroll wheel of another self-mobile device provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of a pull cord of a self-moving device provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram of a connector for a self-moving device provided in an embodiment of the present application;

[0030] Figure 6 A schematic diagram of a connector of a mobile device provided in an embodiment of the present application;

[0031] Figure 7 This is a schematic diagram of a driving mechanism of a self-mobile device provided in an embodiment of the present application.

[0032] Description of reference numerals:

[0033] 100, chassis;

[0034] 200, roller; 210, wheel body; 211, connecting shaft; 2111, slot; 2112, retaining spring; 220, sleeve;

[0035] 300, driving mechanism; 310, winding drum; 311, block slot; 312, block;

[0036] 400, drawstring; 410, abutment member;

[0037] 500, elastic mechanism; 510, first torsion spring; 520, second torsion spring;

[0038] 600, connecting rod mechanism; 610, first connecting rod; 620, first hinge axis; 630, second hinge axis; 640, second connecting rod; 650, third hinge axis; 660, fourth hinge axis;

[0039] 700, connector; 710, rope hole; 720, rope groove; 730, shaft hole;

[0040] 800, rope loop; 810, first fixed sleeve; 820, flexible sleeve; 830, second fixed sleeve. DETAILED DESCRIPTION

[0041] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0042] The present invention provides a self-moving device, which may include but is not limited to cleaning equipment, lawn mowing equipment, food delivery equipment, logistics equipment, etc. The present invention uses the self-moving device as an example to illustrate, for example, the cleaning device may be a sweeping robot or a mopping robot.

[0043] Figure 1 A schematic diagram of a scroll wheel of a mobile device provided in an embodiment of the present application.

[0044] like Figure 1 As shown, in the embodiment of the present application, the self-moving device includes a chassis 100, which is used to assemble the main device of the self-moving device. For example, the self-moving device may also include a housing, and the chassis 100 is connected to the lower end of the housing. The chassis 100 and the housing can be enclosed to form an installation space, and the main device can be installed in the installation space.

[0045] The self-propelled device also includes rollers 200, which are connected to the chassis 100 in a translatable manner. The rollers 200 support the chassis 100, allowing the chassis 100 to move on the ground. To overcome an obstacle, the chassis 100 can be raised to move away from the ground. After the obstacle is overcome, the chassis 100 can be lowered to the ground, facilitating the operation of the self-propelled device (e.g., cleaning, mowing, etc.).

[0046] In the related art, a cam mechanism can be installed between the chassis and the rollers, and the chassis can be raised and lowered by rotating the cam mechanism. However, in the related art, when the chassis is raised and lowered by rotating the cam mechanism, the swing amplitude of the cam of the cam mechanism is small, resulting in a small range of chassis raise and lowering and weak obstacle crossing ability. In addition, the cam mechanism requires a large space, which is not conducive to the miniaturization of the self-propelled device. In addition, the solution of raising and lowering the chassis by rotating the cam mechanism is difficult to achieve vibration reduction during the chassis raising.

[0047] Figure 2 An exploded diagram of a self-moving device provided in an embodiment of the present application.

[0048] like Figure 2 As shown, and see Figure 1Based on this, in the embodiment of the present application, the self-moving device further includes a driving mechanism 300, a pull rope 400, and an elastic mechanism 500. The fixed end of the driving mechanism 300 is fixed to the chassis 100, one end of the pull rope 400 is connected to the roller 200, and the other end of the pull rope 400 is connected to the output end of the driving mechanism 300. The elastic mechanism 500 is provided between the roller 200 and the chassis 100, and the roller 200 is floated on the chassis 100 due to the tension of the elastic mechanism 500.

[0049] When the output end of the drive mechanism 300 moves in the forward direction, the drive mechanism 300 is used to pull the roller 200 vertically toward the chassis 100 via the pull rope 400, thereby lowering the chassis 100. When the output end of the drive mechanism 300 moves in the reverse direction, the elastic mechanism 500 is used to drive the roller 200 vertically away from the chassis 100, thereby raising the chassis 100.

[0050] In this way, the chassis 100 can be raised and lowered by the drive mechanism 300 pulling the pull rope 400 and the elastic recovery of the elastic mechanism 500. The pull rope 400 and the elastic mechanism 500 can drive the roller 200 to move vertically to a large extent relative to the chassis 100, allowing the chassis 100 to be raised and lowered to a large extent, thereby improving the obstacle-crossing performance of the self-moving device. In addition, the pull rope 400 and the elastic mechanism 500 are relatively small in size and can be arranged more flexibly, which is conducive to the miniaturization of the self-moving device. In addition, by arranging the elastic mechanism 500 between the roller 200 and the chassis 100, and allowing the roller 200 to float on the chassis 100 through the tension of the elastic mechanism 500, the chassis 100 can also have good shock absorption performance when it is in the raised state.

[0051] When the chassis 100 is in the descending state, the driving mechanism 300 keeps the pull rope 400 taut. The taut pull rope 400 can keep the roller 200 close to the chassis 100, and the elastic mechanism 500 is in an elastically deformed state.

[0052] When the chassis 100 needs to switch from a lowered state to a raised state, the output end of the driving mechanism 300 moves in the opposite direction to loosen the pull rope 400. At this time, the elastic mechanism 500 drives the roller 200 to move vertically away from the chassis 100 under the action of the elastic restoring force, so as to lift the chassis 100. The chassis 100 can be maintained in the raised state by the support of the elastic mechanism 500.

[0053] When the chassis 100 needs to switch from a raised state to a lowered state, the output end of the driving mechanism 300 moves forward to pull the pull rope 400, and the pull rope 400 pulls the roller 200 to move vertically toward the chassis 100 to lower the chassis 100. The roller 200 moves toward the chassis 100, causing the elastic mechanism 500 to undergo elastic deformation and gradually increase.

[0054] Exemplarily, the forward motion and reverse motion of the output end of the driving mechanism 300 may be rotation or translation.

[0055] For example, the driving mechanism 300 may be disposed in the installation space, and the driving mechanism may be fixedly connected to the chassis 100 or the housing.

[0056] In some examples, the driving mechanism 300 may be a motor to facilitate control of the forward and reverse motions of the driving mechanism 300. The motor may be a forward and reverse motor or a linear motor.

[0057] In other examples, the driving mechanism 300 may also be a hydraulic driving mechanism or other driving mechanisms.

[0058] When the self-moving device is a cleaning device, after the obstacle crossing capability of the cleaning device is improved, the cleaning device can cross thresholds, carpets, wires, etc. for cleaning, which is conducive to increasing the space range that the cleaning device can clean.

[0059] In some possible implementations, the chassis 100 includes a limiting portion located above the roller 200 , and the limiting portion is configured to abut against the roller 200 to limit the position of the roller 200 moving vertically toward the chassis 100 .

[0060] In this way, the lowering position of the chassis 100 can be limited by the limiter, making it less likely for the chassis 100 to be too low. In addition, the maximum deformation of the elastic mechanism 500 can also be limited by the limiter, making it less likely for the elastic mechanism 500 to fail due to excessive deformation.

[0061] In some other possible implementations, the descending position of the chassis 100 may also be limited by the deformed elastic mechanism 500 , or by the amplitude of the forward movement of the output end of the driving mechanism 300 .

[0062] Figure 3 This is a schematic diagram of another scroll wheel of a mobile device provided in an embodiment of the present application.

[0063] like Figure 3 As shown, and see Figure 1 、 Figure 2In some possible implementations, a connecting rod mechanism 600 is provided between the roller 200 and the chassis 100 . The connecting rod mechanism 600 is hinged to both the roller 200 and the chassis 100 so that the roller 200 can be connected to the chassis 100 in a liftable manner.

[0064] In this way, the roller 200 can be lifted and lowered to the chassis 100 by swinging the link mechanism 600. In addition, when the roller 200 is lifted and lowered to the chassis 100 by swinging the link mechanism 600, the link mechanism 600 occupies less vertical space, which helps save vertical space of the mobile device.

[0065] In some examples, the elastic mechanism 500 is disposed between the chassis 100 and the connecting rod mechanism 600, and the elastic mechanism 500 is connected to the chassis 100 and the connecting rod mechanism 600 respectively. The roller 200 is floated on the chassis 100 through the tensioning force of the connecting rod mechanism 600 and the elastic mechanism 500, so that when the roller 200 moves vertically away from the chassis 100, the chassis 100 is lifted by the connecting rod mechanism 600 and the elastic mechanism 500.

[0066] In other examples, the elastic mechanism 500 may be disposed between the chassis 100 and the roller 200, with the elastic mechanism 500 connected to both the chassis 100 and the roller 200. When the output end of the drive mechanism 300 moves in the reverse direction, the roller 200, driven by the elastic mechanism 500, can cause the connecting rod mechanism 600 to swing. For example, the elastic mechanism 500 may include a column spring disposed between the chassis 100 and the roller 200, with both ends of the column spring connected to the chassis 100 and the roller 200, respectively.

[0067] In some possible embodiments, the linkage mechanism 600 includes a first linkage 610, which is disposed between the roller 200 and the chassis 100. One end of the first linkage 610 is hinged to the roller 200 through a first hinge shaft 620, and the other end of the first linkage 610 is hinged to the chassis 100 through a second hinge shaft 630. The first hinge shaft 620 is parallel to the second hinge shaft 630, and the roller 200 is connected to the chassis 100 in a liftable manner through the first linkage 610.

[0068] In this way, the roller 200 and the chassis 100 can be lifted and lowered by the swinging of the first connecting rod 610 . The structure is relatively simple and the vertical space occupied is relatively small.

[0069] In some possible implementations, the elastic mechanism 500 includes a first torsion spring 510 sleeved on the second hinge shaft 630 , and two ends of the first torsion spring 510 are used to abut against the first connecting rod 610 and the chassis 100 respectively.

[0070] In this way, the first torsion spring 510 can drive the roller 200 to move vertically away from the chassis 100 and reduce the vibration of the chassis 100. In addition, the first torsion spring 510 sleeved on the second hinge shaft 630 takes up less space, which is conducive to the miniaturization of the mobile device.

[0071] When the chassis 100 is in the raised state, the first torsion spring 510 is tightened.

[0072] When the output end of the driving mechanism 300 moves in the reverse direction, the roller 200 can lift the chassis 100 through the first connecting rod 610 and the first torsion spring 510 to achieve the lifting of the chassis 100.

[0073] In some possible embodiments, the linkage mechanism 600 includes a second linkage 640, which is disposed between the roller 200 and the chassis 100. The second linkage 640 is parallel to the first linkage 610, one end of the second linkage 640 is hinged to the roller 200 via a third hinge shaft 650, and the other end of the second linkage 640 is hinged to the chassis 100 via a fourth hinge shaft 660. The third hinge shaft 650 is parallel to the first hinge shaft 620, and the third hinge shaft 650 is parallel to the fourth hinge shaft 660. The roller 200 is connected to the chassis 100 in a liftable manner via the first linkage 610 and the second linkage 640.

[0074] In this way, the roller 200 can be connected to the chassis 100 in a liftable manner by the swinging of the first link 610 and the second link 640. When the first link 610 and the second link 640 swing, the roller 200 can be moved vertically, and the roller 200 is not easy to tilt, which is conducive to maintaining the rolling contact between the roller 200 and the ground. The roller 200 is not easy to get stuck with the ground, so that the roller 200 can be lifted and lowered significantly.

[0075] The first connecting rod 610, the second connecting rod 640, the roller 200, and the chassis 100 form a parallelogram mechanism. The distance between the third hinge axis 650 and the fourth hinge axis 660 is equal to the distance between the first hinge axis 620 and the second hinge axis 630, and the distance between the first hinge axis 620 and the third hinge axis 650 is equal to the distance between the second hinge axis 630 and the fourth hinge axis 660.

[0076] In some possible implementations, the elastic mechanism 500 includes a second torsion spring 520 sleeved on the fourth hinge shaft 660 , and two ends of the second torsion spring 520 are used to abut against the second connecting rod 640 and the chassis 100 respectively.

[0077] Thus, by providing the first torsion spring 510 and the second torsion spring 520, the elastic mechanism 500 can provide a relatively large driving force, thereby facilitating the vertical movement of the driving wheel 200 away from the chassis 100 and providing shock absorption for the chassis 100. Furthermore, the first torsion spring 510 and the second torsion spring 520 are respectively mounted on the second hinge shaft 630 and the fourth hinge shaft 660, occupying relatively little space and facilitating miniaturization of the self-propelled device.

[0078] When the chassis 100 is in the raised state, the second torsion spring 520 is tightened.

[0079] When the output end of the driving mechanism 300 moves in the reverse direction, the roller 200 can lift the chassis 100 through the first connecting rod 610 , the second connecting rod 640 , the first torsion spring 510 and the second torsion spring 520 to achieve lifting of the chassis 100 .

[0080] In other possible embodiments, the roller 200 can be vertically slidably connected to the chassis 100. That is, the roller 200 can slide vertically relative to the chassis 100, so that the roller 200 can be raised and lowered to the chassis 100. Specifically, the chassis 100 can be provided with a vertically extending sliding channel, and the upper end of the roller 200 can have a vertically extending sliding rod, which is slidably assembled within the sliding channel, so that the roller 200 can be vertically slidably connected to the chassis 100. In this case, the elastic mechanism 500 can include a vertically extending column spring, which can be sleeved on the sliding rod, and the upper and lower ends of the column spring can respectively abut the chassis 100 and the roller 200.

[0081] In some possible implementations, the roller 200 is a driven wheel.

[0082] In this way, there is no need to set a driving device between the roller 200 and the chassis 100 to drive the roller 200 to rotate, so that the roller 200 can be set close to the chassis 100, which is beneficial to shortening the swing arm of the connecting rod mechanism 600 and facilitating the lifting of the chassis 100 through the connecting rod mechanism 600 and the elastic mechanism 500.

[0083] In some possible implementations, the roller 200 is a universal wheel, and the universal wheel is a driven wheel.

[0084] In this way, on the basis of facilitating the lifting of the chassis 100 by the connecting rod mechanism 600 and the elastic mechanism 500, the steering of the self-moving device is facilitated.

[0085] In some possible embodiments, the roller 200 includes a wheel body 210 and a sleeve 220. The wheel body 210 includes a connecting shaft 211. The connecting shaft 211 is located at the upper end of the wheel body 210. The sleeve 220 is sleeved around the connecting shaft 211. The connecting shaft 211 is rotatably connected to the sleeve 220. A connecting rod mechanism 600 is provided between the sleeve 220 and the chassis 100. The connecting rod mechanism 600 is hingedly connected to both the sleeve 220 and the chassis 100 to enable the roller 200 to be raised and lowered.

[0086] In this way, the liftable connection between the universal wheel and the chassis 100 can be easily achieved.

[0087] When the link mechanism 600 includes the first link 610 , one end of the first link 610 is hinged to the sleeve 220 via the first hinge shaft 620 .

[0088] When the link mechanism 600 includes the second link 640 , one end of the second link 640 is hinged to the sleeve 220 via the third hinge shaft 650 , and the first link 610 , the second link 640 , the sleeve 220 and the chassis 100 form a parallelogram mechanism.

[0089] Figure 4 This is a schematic diagram of a pull cord of a self-moving device provided in an embodiment of the present application.

[0090] like Figure 4 As shown, and see Figure 1 、 Figure 2 In some possible implementations, the self-moving device further includes a rope loop 800 , the pull rope 400 is passed through the rope loop 800 , and both ends of the pull rope 400 are located outside the rope loop 800 .

[0091] In this way, the rope loop 800 can protect the pull rope 400, so that the pull rope 400 is not likely to come into contact with other components of the self-moving device and break.

[0092] It should be noted that the pull cord 400 is not limited to being a straight line extending vertically as shown in the drawings. For example, the pull cord 400 may be a bent multi-section structure.

[0093] In some possible embodiments, the rope loop 800 includes a first fixing sleeve 810. The first fixing sleeve 810 is located at one end of the rope loop 800 near the roller 200 along the extension direction of the pull rope 400. The first fixing sleeve 810 is fixed to the chassis 100 and is located above the roller 200.

[0094] In this way, it is easy to realize that the pull rope 400 pulls the roller 200 vertically.

[0095] Illustratively, the first fixing sleeve 810 may be fixedly connected to the housing or other structural components provided in the installation space.

[0096] In some possible embodiments, the rope loop 800 further includes a flexible sleeve 820 and a second fixed sleeve 830 , one end of the flexible sleeve 820 is connected to the first fixed sleeve 810 , and the other end of the flexible sleeve 820 is connected to the second fixed sleeve 830 , and the second fixed sleeve 830 is fixed to the chassis 100 .

[0097] In this way, the rope loop 800 can be fixed in the self-moving device by the first fixing sleeve 810 and the second fixing sleeve 830. In addition, the first fixing sleeve 810 and the second fixing sleeve 830 are connected by the flexible sleeve 820, making the rope loop 800 more flexible and convenient to set in the self-moving device.

[0098] Illustratively, the second fixing sleeve 830 may be fixedly connected to the housing, the chassis 100 or other structural components provided in the installation space.

[0099] Figure 5 A schematic diagram of a connector for a mobile device provided in an embodiment of the present application. Figure 6 A schematic diagram of a connector of a mobile device provided in an embodiment of the present application.

[0100] like Figure 5 、 Figure 6 As shown, and see Figure 1 In some possible embodiments, the self-propelled device further includes a connector 700. The connector 700 is connected to the upper end of the roller 200, and the end of the pull rope 400 is connected to the connector 700, so that the end of the pull rope 400 is connected to the roller 200 through the connector 700. When the output end of the drive mechanism 300 moves in the forward direction, the pull rope 400 pulls the connector 700 to move vertically relative to the chassis 100, thereby driving the roller 200 to move vertically relative to the chassis 100.

[0101] Like this, facilitate to realize the connection of roller 200 and pull rope 400. In addition, roller 200 and pull rope 400 do not need to be vertically just opposite, can make the arrangement of pull rope 400 and roller 200 more flexible.

[0102] In some possible embodiments, the connecting member 700 has a rope hole 710 that passes through the upper and lower ends of the connecting member 700. The pull rope 400 is inserted into the rope hole 710. The end of the pull rope 400 is fixedly connected to an abutment member 410. The abutment member 410 is located below the connecting member 700 and is configured to abut against the lower end surface of the connecting member 700. When the output end of the driving mechanism 300 moves in the forward direction, the pull rope 400 pulls the abutment member 410 to move relative to the chassis 100, thereby driving the connecting member 700 to move relative to the chassis 100.

[0103] In this way, the connection between the pull rope 400 and the connecting member 700 can be made more convenient.

[0104] The drawstring 400 is slidably engaged with the wall of the drawstring hole 710 .

[0105] In some possible embodiments, the side wall of the connecting member 700 has a rope groove 720, which runs through the upper and lower ends of the connecting member 700 and is connected to the rope hole 710. The rope groove 720 is used to allow the pull rope 400 to enter and exit the rope hole 710 from the side of the connecting member 700.

[0106] In this way, the pull rope 400 and the connecting member 700 can be easily assembled and disassembled, thereby facilitating the maintenance and replacement of the roller 200 .

[0107] In some examples, a baffle is provided on the side wall of the connector 700, which is detachably connected to the connector 700. The baffle covers the opening of the rope groove 720 on the side wall of the connector 700, and the baffle is used to prevent the pull rope 400 in the rope hole 710 from escaping from the rope hole 710 through the rope groove 720.

[0108] In some other possible implementations, the drawstring 400 may be bound to the connector 700 by winding.

[0109] like Figure 5 、 Figure 6 As shown, and see Figure 1 、 Figure 2 In some possible embodiments, the connector 700 has an axial hole 730 that passes through the upper and lower ends of the connector 700. The connecting shaft 211 of the roller 200 is disposed within the axial hole 730, with the upper end of the connecting shaft 211 located above the connector 700. The peripheral wall of the connecting shaft 211 has a retaining groove 2111 located above the connector 700. A retaining spring 2112 is secured within the retaining groove 2111. The roller 200 is connected to the connector 700 via the connecting shaft 211 and the retaining spring 2112.

[0110] Like this, it is convenient to realize the connection of roller 200 and connecting member 700. In addition, roller 200 and connecting member 700 are relatively convenient to be disassembled and assembled, and are convenient for maintenance and replacement of roller 200.

[0111] The connecting shaft 211 can be rotatably connected to the connecting member 700 so that when the roller 200 is a universal wheel, the wheel body 210 of the roller 200 can rotate relative to the connecting member 700 .

[0112] Figure 7 This is a schematic diagram of a driving mechanism of a self-mobile device provided in an embodiment of the present application.

[0113] like Figure 7As shown, in some possible embodiments, the output end of the driving mechanism 300 is provided with a winding drum 310, and the winding drum 310 is fixedly connected to the end of the pull rope 400, so that the output end of the driving mechanism 300 is connected to the end of the pull rope 400 through the winding drum 310, and the winding drum 310 is used for winding the pull rope 400, and the driving mechanism 300 is used to drive the winding drum 310 to rotate.

[0114] When the output end of the driving mechanism 300 moves forward, the cable drum 310 gradually winds the pull rope 400 around it, pulling the roller 200 to move vertically toward the chassis 100. When the output end of the driving mechanism 300 moves backward, the cable drum 310 gradually releases the rope 400 wound thereon, allowing the elastic mechanism 500 to drive the roller 200 to move vertically away from the chassis 100.

[0115] In this way, the pull cord 400 is wound around the winding drum 310, so that the pull cord 400 is not easily entangled or hung.

[0116] In some possible embodiments, the winding drum 310 has a block slot 311 in which a block 312 is fixedly connected to the end of the pull rope 400 , so that the winding drum 310 is fixedly connected to the end of the pull rope 400 .

[0117] In this way, the pull rope 400 and the winding drum 310 can be easily assembled and disassembled, and the pull rope 400, the winding drum 310, the driving mechanism 300 and other components can be easily maintained and replaced.

[0118] In the description of the embodiments of this application, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a detachable connection, an indirect connection via an intermediate medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on specific circumstances.

[0119] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the embodiments of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application have been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A self-propelled device, characterized in that: include: chassis (100); A roller (200), the roller (200) being connected to the chassis (100) in a liftable manner; A driving mechanism (300), wherein a fixed end of the driving mechanism (300) is fixedly arranged on the chassis (100); a pull rope (400), one end of the pull rope (400) being connected to the roller (200), and the other end of the pull rope (400) being connected to the output end of the driving mechanism (300); an elastic mechanism (500), the elastic mechanism (500) being arranged between the roller (200) and the chassis (100), the roller (200) being floated on the chassis (100) by the tensioning force of the elastic mechanism (500); When the output end of the driving mechanism (300) moves in the forward direction, the driving mechanism (300) is used to pull the roller (200) through the pull rope (400) to move vertically toward the chassis (100), so as to lower the chassis (100); When the output end of the driving mechanism (300) moves in the reverse direction, the elastic mechanism (500) is used to drive the roller (200) to move vertically in a direction away from the chassis (100), so as to lift the chassis (100).

2. The self-moving device according to claim 1, characterized in that: A first connecting rod (610) is provided between the roller (200) and the chassis (100); One end of the first connecting rod (610) is hinged to the roller (200) via a first hinge shaft (620), and the other end of the first connecting rod (610) is hinged to the chassis (100) via a second hinge shaft (630). The first hinge shaft (620) and the second hinge shaft (630) are parallel to each other, and the roller (200) is connected to the chassis (100) in a liftable manner via the first connecting rod (610).

3. The self-moving device according to claim 2, characterized in that: The elastic mechanism (500) comprises a first torsion spring (510) sleeved on the second hinge shaft (630), and two ends of the first torsion spring (510) are used to abut against the first connecting rod (610) and the chassis (100) respectively.

4. The self-moving device according to claim 2, characterized in that: A second connecting rod (640) is further provided between the roller (200) and the chassis (100); The second connecting rod (640) is parallel to the first connecting rod (610), one end of the second connecting rod (640) is hinged to the roller (200) through a third hinge shaft (650), the other end of the second connecting rod (640) is hinged to the chassis (100) through a fourth hinge shaft (660), the third hinge shaft (650) is parallel to the first hinge shaft (620), and the third hinge shaft (650) is parallel to the fourth hinge shaft (660), and the roller (200) is connected to the chassis (100) in a liftable manner through the first connecting rod (610) and the second connecting rod (640).

5. The self-moving device according to claim 4, characterized in that: The elastic mechanism (500) includes a second torsion spring (520) sleeved on the fourth hinge shaft (660), and two ends of the second torsion spring (520) are used to abut against the second connecting rod (640) and the chassis (100) respectively.

6. The self-moving device according to any one of claims 1 to 5, characterized in that: Also included is a connecting member (700); The connecting member (700) is connected to the upper end of the roller (200), and the end of the pull rope (400) is connected to the connecting member (700), so that the end of the pull rope (400) is connected to the roller (200) through the connecting member (700); When the output end of the driving mechanism (300) moves in the forward direction, the pull rope (400) pulls the connecting member (700) to move vertically relative to the chassis (100), thereby driving the roller (200) to move vertically relative to the chassis (100).

7. The self-moving device according to claim 6, characterized in that: The connecting member (700) has a rope hole (710), and the rope hole (710) passes through the upper and lower ends of the connecting member (700). The pull rope (400) is inserted into the rope hole (710). The end of the pull rope (400) is fixedly connected to an abutment member (410). The abutment member (410) is located below the connecting member (700) and is used to abut against the lower end surface of the connecting member (700). When the output end of the driving mechanism (300) moves in the forward direction, the pull rope (400) pulls the abutment member (410) to move relative to the chassis (100), thereby driving the connecting member (700) to move relative to the chassis (100).

8. The self-moving device according to claim 7, characterized in that: The side wall of the connecting member (700) has a rope groove (720), which runs through the upper and lower ends of the connecting member (700). The rope groove (720) is connected to the rope hole (710). The rope groove (720) is used to allow the pull rope (400) to enter and exit the rope hole (710) from the side of the connecting member (700).

9. The self-moving device according to claim 7, characterized in that: The roller (200) includes a connecting shaft (211); The connecting member (700) has an axial hole (730), the axial hole (730) passes through the upper and lower ends of the connecting member (700), the connecting shaft (211) is inserted into the axial hole (730), and the upper end of the connecting shaft (211) is located above the connecting member (700); The peripheral wall of the connecting shaft (211) has a clamping groove (2111), the clamping groove (2111) is located above the connecting member (700), a clamping spring (2112) is clamped in the clamping groove (2111), and the roller (200) is connected to the connecting member (700) via the connecting shaft (211) and the clamping spring (2112).

10. The self-moving device according to any one of claims 1 to 5, characterized in that: Also included is a rope loop (800); The pull rope (400) is inserted into the rope loop (800), and both ends of the pull rope (400) are located outside the rope loop (800).

11. The self-moving device according to claim 10, characterized in that: The rope loop (800) includes a first fixing loop (810); Along the extension direction of the pull rope (400), the first fixing sleeve (810) is located at one end of the rope sleeve (800) close to the roller (200); The first fixing sleeve (810) is fixedly arranged on the chassis (100), and the first fixing sleeve (810) is located above the roller (200).

12. The self-moving device according to claim 11, characterized in that: The rope loop (800) further includes a flexible sleeve (820) and a second fixed sleeve (830), one end of the flexible sleeve (820) is connected to the first fixed sleeve (810), and the other end of the flexible sleeve (820) is connected to the second fixed sleeve (830), and the second fixed sleeve (830) is fixedly arranged on the chassis (100).

13. The self-moving device according to any one of claims 1 to 5, characterized in that: The output end of the driving mechanism (300) is provided with a winding drum (310), and the winding drum (310) is fixedly connected to the end of the pull rope (400), so that the output end of the driving mechanism (300) is connected to the end of the pull rope (400) through the winding drum (310), the winding drum (310) is used for winding the pull rope (400), and the driving mechanism (300) is used to drive the winding drum (310) to rotate.

14. The self-moving device according to claim 13, characterized in that: The winding drum (310) has a clamping block groove (311), a clamping block (312) is clamped in the clamping block groove (311), and the clamping block (312) is fixedly connected to the end of the pull rope (400), so that the winding drum (310) is fixedly connected to the end of the pull rope (400).

15. The self-moving device according to any one of claims 1 to 5, characterized in that: The roller (200) is a universal wheel.

16. The self-moving device according to claim 15, characterized in that: The roller (200) comprises a wheel body (210) and a shaft sleeve (220); The wheel body (210) includes a connecting shaft (211), the connecting shaft (211) is located at the upper end of the wheel body (210), the shaft sleeve (220) is sleeved on the outer side of the connecting shaft (211), and the connecting shaft (211) is rotatably connected to the shaft sleeve (220); A connecting rod mechanism (600) is provided between the shaft sleeve (220) and the chassis (100), and the connecting rod mechanism (600) is hinged to the shaft sleeve (220) and the chassis (100), so that the roller (200) can be connected to the chassis (100) in a lifting manner.

17. The self-moving device according to any one of claims 1 to 5, characterized in that: The chassis (100) comprises a limiting portion, the limiting portion being located above the roller (200), and the limiting portion being used to abut against the roller (200) to limit the position of the roller (200) moving vertically toward the chassis (100).

18. The self-moving device according to any one of claims 1 to 5, characterized in that: The self-moving device is a cleaning device.

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