Mobile robot

Abstract

The utility model relates to the technical field of robots, and provides a mobile robot which comprises a main body and a cleaning mechanism. The main body comprises a chassis and a wheel assembly installed on the chassis, the wheel assembly comprises omnidirectional wheels, the omnidirectional wheels comprise a first wheel set and a second wheel set connected with the first wheel set, the first wheel set and the second wheel set are coaxially arranged, and a first gap exists between the first wheel set and the second wheel set. The cleaning mechanism is mounted on the main body, and at least one part of the cleaning mechanism extends into the first gap; the part, extending into the first gap, of the cleaning mechanism makes at least part contact with the omnidirectional wheel and is used for rotating relative to the omnidirectional wheel to clean the first gap. According to the mobile robot, the moving smoothness is ensured.

Description

Technical Field

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

[0002] Currently, when mobile robots are engaged in outdoor activities, such as mowing, their wheels are susceptible to debris and other debris. This can affect wheel performance (e.g., wheel slippage, reduced grip, etc.). In particular, mud can cause the front wheels to become stuck, weakening the robot's wheel performance and preventing smooth movement. Utility Model Content

[0003] In view of this, it is necessary to provide a mobile robot that can ensure the motion performance of the wheels so as to be able to move smoothly.

[0004] An embodiment of the present application provides a mobile robot comprising a main body and a cleaning mechanism. The main body comprises a chassis and a wheel assembly mounted on the chassis. The wheel assembly comprises an omnidirectional wheel comprising a first wheel group and a second wheel group connected to the first wheel group. The first wheel group and the second wheel group are coaxially arranged, and a first gap is defined between the first and second wheel groups. The cleaning mechanism is mounted on the main body, and at least a portion of the cleaning mechanism extends into the first gap, configured to rotate relative to the omnidirectional wheel to clean the first gap.

[0005] In some embodiments of the present application, the omnidirectional wheel of the mobile robot includes a first wheel group and a second wheel group arranged coaxially, and there is a first gap between the first wheel group and the second wheel group. When mud is attached to the inside of the first gap, the omnidirectional wheel may not be able to move smoothly. By providing a cleaning mechanism on the mobile robot, when the mobile robot moves, the omnidirectional wheel rotates and moves relative to the cleaning mechanism. The cleaning mechanism passively scrapes the omnidirectional wheel, so that at least a part of the cleaning mechanism extends into the first gap of the omnidirectional wheel to clean the first gap, thereby preventing the omnidirectional wheel from adhering to mud debris and other adhesions, preventing the wheel assembly from being stuck, and ensuring the wheel movement performance and smoothness of the mobile robot.

[0006] In some embodiments of the present application, there is a minimum gap between the first wheel group and the second wheel group, and at least a portion of the cleaning mechanism extends out of the minimum gap, which can ensure that adhesions in the minimum gap are cleaned away, thereby ensuring the cleanliness between the first wheel group and the second wheel group.

[0007] In some embodiments of the present application, the mobile robot also includes an anti-collision mechanism, which is connected to the main body. The cleaning mechanism includes multiple, at least two of which are installed on the anti-collision mechanism and are located in front of the omnidirectional wheel; at least a portion of each of the cleaning mechanisms contacts the outer surface of the omnidirectional wheel and is used to rotate relative to the omnidirectional wheel to clean the outer surface of the omnidirectional wheel.

[0008] In some embodiments of the present application, during the movement of the mobile robot, by installing a cleaning mechanism on the anti-collision mechanism, at least a portion of the cleaning mechanism contacts the outer surface of the omnidirectional wheel, and cleans the adhesions adhered to the outer surface when rotating relative to the omnidirectional wheel, thereby improving safety while ensuring the cleanliness of the outer surface of the omnidirectional wheel, thereby ensuring that the mobile robot can move smoothly.

[0009] In some embodiments of the present application, the first wheel group includes an inner wheel and a plurality of first rollers, the plurality of first rollers are arranged at intervals along the circumference of the inner wheel, and a second gap exists between each of the first rollers and the inner wheel; the second wheel group includes an outer wheel and a plurality of second rollers, the plurality of second rollers are arranged at intervals along the circumference of the outer wheel, and a third gap exists between each of the second rollers and the outer wheel; at least a portion of the cleaning mechanism extends into the second gap and / or the third gap for rotating relative to the omnidirectional wheel to clean the second gap and / or the third gap.

[0010] In some embodiments of the present application, by extending at least a portion of the cleaning structure into the second gap and / or the third gap, when the omnidirectional wheel and the cleaning mechanism move relative to each other, the cleaning mechanism can clean the adhesions in the second gap and / or the third gap of the omnidirectional wheel assembly in real time, ensuring that the first roller and the second roller can rotate, further avoiding the problem of the first roller and / or the second roller being stuck, causing the movement performance of the omnidirectional wheel to change, and ensuring that the mobile robot can move smoothly.

[0011] In some embodiments of the present application, the cleaning mechanism includes a fixing seat, a connecting member and a cleaning member, the fixing seat is mounted on the main body, the first end of the connecting member is connected to the fixing seat, and the second end of the connecting member is connected to the cleaning member.

[0012] In some embodiments of the present application, by providing a fixing seat and a connecting member, the problem of the cleaning member being scraped off when the cleaning member moves relative to the wheel assembly is prevented, thereby ensuring the stability of the cleaning mechanism and improving the cleaning effect.

[0013] In some embodiments of the present application, the connecting piece is an L-shaped structure, which is conducive to better cleaning of adhesions.

[0014] In some embodiments of the present application, the cleaning mechanism includes a deflection mechanism, a connecting member and a cleaning member, the connecting member is installed on the main body, the first end of the deflection mechanism is connected to the connecting member, the second end of the deflection mechanism is rotatably connected to the cleaning member through a rotating shaft, and the deflection mechanism is used to rotate relative to the rotating shaft to drive the cleaning member to deflect.

[0015] In some embodiments of the present application, by rotatably connecting the deflection mechanism with the cleaning mechanism, when the cleaning mechanism is cleaning, the deflection mechanism will drive the cleaning member to deflect, so as to extend the cleaning time. At the same time, in the process of the deflection mechanism driving the cleaning member to deflect, the cleaning member and the movement direction of the mobile robot are not parallel. The deflection angle makes the cleaning area of ​​the cleaning member larger, thereby improving the cleaning effect of the mobile robot and ensuring that the mobile robot can move smoothly.

[0016] In some embodiments of the present application, the wheel assembly also includes a driving wheel, which is installed on the left and right sides of the main body and is located at the rear end of the main body. At least a portion of the cleaning mechanism is in contact with the outer surface of the driving wheel and is used to rotate relative to the driving wheel to clean the outer surface of the driving wheel.

[0017] In some embodiments of the present application, the outer surface of the driving wheel is rough and may adhere to a large amount of adhesives, which may affect the movement performance of the driving wheel. Therefore, by having at least a portion of the cleaning mechanism contact the outer surface of the driving wheel, the adhesives on the outer surface of the driving wheel can be quickly cleaned to ensure that the mobile robot can move smoothly.

[0018] In some embodiments of the present application, the cleaning mechanism further includes a cleaning member.

[0019] In some embodiments of the present application, by separately providing cleaning parts, on the one hand, it is convenient to disassemble and maintain the cleaning parts, and on the other hand, corresponding cleaning parts can be provided based on different scenarios, making the cleaning mechanism more flexible.

[0020] In some embodiments of the present application, the cleaning member is made of a flexible material.

[0021] In some embodiments of the present application, the cleaning member is made of a flexible material, which facilitates cleaning of the outer surface of the wheel assembly and small adherents in various gaps, thereby improving the cleaning effect of the cleaning mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional diagram of a mobile robot in one embodiment of the present application.

[0023] Figure 2 for Figure 1 Another visual stereogram.

[0024] Figure 3 for Figure 1 main view.

[0025] Figure 4 This is a partial exploded view of a mobile robot in another embodiment of the present application.

[0026] Figure 5 This is a partial exploded view of a mobile robot in another embodiment of the present application.

[0027] Figure 6 This is a top view of a mobile robot in another embodiment of the present application.

[0028] Description of main component symbols

[0029] 100-mobile robot; 10-main body; 11-chassis; 12-wheel assembly; 120-omnidirectional wheel; 1201-first wheel group; 12010-inner wheel; 12011-first roller; 1202-second wheel group; 12020-outer wheel; 12021-second roller; 121-driving wheel; 122-first gap; 123-second gap; 124-third gap; 20-cleaning mechanism; 201-fixed seat; 202-connecting piece; 203-cleaning piece; 204-deflection mechanism; 205-rotating shaft; 30-anti-collision mechanism; 301-anti-collision piece.

[0030] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0031] The technical solution of the present application will be described below in conjunction with the drawings in the implementation mode of the present application. Obviously, the described implementation mode is only a part of the implementation mode of the present application, rather than all the implementation modes.

[0032] It should be noted that when a component is referred to as being "disposed on" another component, it may be directly on the other component or there may be a component in the middle. The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] Currently, when mobile robots are engaged in outdoor activities, such as mowing, their wheels are susceptible to debris and other debris. This can affect wheel performance (e.g., wheel slippage, reduced grip, etc.). In particular, mud can cause the front wheels to become stuck, weakening the robot's wheel performance and preventing smooth movement.

[0035] Therefore, in order to solve the problem that the wheels of existing mobile robots are unable to move smoothly due to the weakening of wheel movement performance after dirt and debris and other adhesions adhere to the wheels, it is necessary to study a mobile robot, which includes a main body and a cleaning mechanism. The main body includes a chassis and a wheel assembly mounted on the chassis. The wheel assembly includes an omnidirectional wheel. The omnidirectional wheel includes a first wheel group and a second wheel group connected to the first wheel group. The first wheel group and the second wheel group are coaxially arranged, and a first gap exists between the first wheel group and the second wheel group. The cleaning mechanism is mounted on the main body. At least a portion of the cleaning mechanism extends into the first gap. The portion of the cleaning mechanism extending into the first gap is in at least partial contact with the omnidirectional wheel, and is used to rotate relative to the omnidirectional wheel to clean the first gap.

[0036] By arranging a cleaning mechanism on the mobile robot and extending at least a portion of the cleaning mechanism into the gap of the wheel assembly, when the mobile robot moves, the omnidirectional wheel rotates and moves relative to the cleaning mechanism, and the cleaning mechanism cleans the gap, preventing the omnidirectional wheel from adhering to dirt debris and other adhesions, thereby ensuring the wheel movement performance of the mobile robot and improving the smoothness of the movement of the mobile robot.

[0037] The following is combined with Figures 1 to 6 , some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

[0038] like Figures 1 to 6 As shown, a mobile robot 100 is provided in one embodiment of the present application. The mobile robot 100 includes a main body 10 and a cleaning mechanism 20. The main body 10 includes a chassis 11 and a wheel assembly 12 mounted on the chassis 11. The wheel assembly 12 includes an omnidirectional wheel 120. The omnidirectional wheel 120 includes a first wheel group 1201 and a second wheel group 1202 connected to the first wheel group 1201. The first wheel group 1201 and the second wheel group 1202 are coaxially arranged, and a first gap 122 is present between the first wheel group 1201 and the second wheel group 1202. The cleaning mechanism 20 is mounted on the main body 10. At least a portion of the cleaning mechanism 20 extends into the first gap 122. The cleaning mechanism 20 is used to rotate relative to the omnidirectional wheel 120 to clean the first gap 122.

[0039] In some embodiments of the present application, the portion of the cleaning mechanism 20 extending into the first gap 122 may at least partially contact the omnidirectional wheel 120 , which is conducive to better cleaning.

[0040] In some embodiments of the present application, the cleaning mechanism 20 may be detachably mounted on the main body 10 , which facilitates the disassembly and maintenance of the cleaning mechanism 20 .

[0041] In some embodiments of the present application, the omnidirectional wheel 120 includes a first wheel group 1201 and a second wheel group 1202 arranged coaxially, and there is a first gap 122 between the first wheel group 1201 and the second wheel group 1202. When there is mud attached to the inside of the first gap 122, the omnidirectional wheel 120 may not be able to move smoothly. By providing a cleaning mechanism 20 on the mobile robot 100, when the mobile robot 100 moves, the omnidirectional wheel 120 rotates and moves relative to the cleaning mechanism 20. The cleaning mechanism 20 passively scrapes the omnidirectional wheel 120, so that at least a portion of the cleaning mechanism 20 extends into the first gap 122 of the omnidirectional wheel 120 to clean the first gap 122, thereby preventing the omnidirectional wheel 120 from adhering to mud debris and other adhesions, preventing the wheel assembly 12 from being stuck, and ensuring the wheel movement performance and smoothness of the mobile robot 100.

[0042] See Figure 1 The dashed boxes A and B in the figure represent the open space of the mobile robot 100. In some embodiments of the present application, the portion of the cleaning mechanism 20 extending into the first gap 122 at least partially contacts the omnidirectional wheel 120, thereby preventing obstacles or adhesions from entering the open space, thereby preventing the mobile robot 100 from being unable to move due to obstacles.

[0043] In some embodiments of the present application, by installing the wheel assembly 12 on the chassis 11 and locating it in the open space surrounded by the main body 10, and arranging the cleaning mechanism 20 along the movement direction of the main body 10 and toward the first gap 122, it is beneficial to better clean the adhesions in the first gap 122.

[0044] In some embodiments of the present application, multiple cleaning mechanisms 20 can be set in front and behind the omnidirectional wheel 120, respectively. The multiple cleaning mechanisms 20 can perform cleaning simultaneously to ensure the cleanliness of the first gap 122, thereby preventing the wheel assembly 12 from being stuck and causing the wheel movement performance of the mobile robot 100 to be affected, thereby ensuring the smoothness of the movement of the mobile robot 100.

[0045] In some embodiments of the present application, see Figure 2 and Figure 3As shown, the first wheel assembly 1201 includes an inner wheel 12010 and a plurality of first rollers 12011. The plurality of first rollers 12011 are spaced apart along the circumference of the inner wheel 12010. A second gap 123 exists between each first roller 12011 and the inner wheel 12010. The second wheel assembly 1202 includes an outer wheel 12020 and a plurality of second rollers 12021. The plurality of second rollers 12021 are spaced apart along the circumference of the outer wheel 12020. A third gap 124 exists between each second roller 12021 and the outer wheel 12020. At least a portion of the cleaning mechanism 20 extends into the second gap 123 and / or the third gap 124. The cleaning mechanism 20 is configured to rotate relative to the omnidirectional wheel 120 to clean the second gap 123 and / or the third gap 124.

[0046] In some embodiments of the present application, the portion of the cleaning mechanism 20 extending into the second slit 123 and / or the third slit 124 may at least partially contact the omnidirectional wheel 120 , which is conducive to better cleaning.

[0047] In some embodiments of the present application, the movement direction of the first roller 12011 and the second roller 12021 is perpendicular to the movement direction of the mobile robot 100. Therefore, whether it is the first gap between the first roller 12011 and the second roller 12021, the second gap 123 between each first roller 12011 and the inner wheel 12010, and the third gap 124 between each second roller 12021 and the outer wheel 12020, if there is mud adhering to any gap, the first roller 12011 and / or the second roller 12021 may be stuck, the movement performance of the omnidirectional wheel 120 will change, and the mobile robot 100 will be unable to move smoothly.

[0048] In some embodiments of the present application, by extending at least a portion of the cleaning structure into the second gap 123 and / or the third gap 124, when the omnidirectional wheel 120 and the cleaning mechanism 20 move relative to each other, the cleaning mechanism 20 can clean the adhesions in the second gap 123 and / or the third gap 124 of the omnidirectional wheel 120 component in real time, ensuring that the first roller 12011 and the second roller 12021 can rotate, further avoiding the problem of the first roller 12011 and / or the second roller 12021 being stuck, causing the movement performance of the omnidirectional wheel 120 to change, and ensuring that the mobile robot 100 can move smoothly.

[0049] In some embodiments of the present application, there is a minimum gap between the first wheel set 1201 and the second wheel set 1202 , and at least a portion of the cleaning mechanism 20 extends out of the minimum gap.

[0050] In some embodiments of the present application, the first roller 12011 and the second roller 12021 of the omnidirectional wheel 120 roll in a direction perpendicular to the horizontal direction, and the first roller 12011 and the second roller 12021 both have a maximum diameter. Then, there is a minimum gap at the position corresponding to the maximum diameter of the first roller 12011 and the second roller 12021. The adhesion in the minimum gap is difficult to clean. Therefore, by extending at least a part of the cleaning mechanism 20 out of the minimum gap, it can be ensured that the adhesion in the minimum gap is cleaned, thereby ensuring the cleanliness between the first wheel group 1201 and the second wheel group 1202.

[0051] In some embodiments of the present application, the mobile robot 100 further includes an anti-collision mechanism 30. The anti-collision mechanism 30 is connected to the main body 10. The cleaning mechanism 20 includes a plurality of cleaning mechanisms 20. At least two cleaning mechanisms 20 are mounted on the anti-collision mechanism 30 and are located in front of the omnidirectional wheel 120. At least a portion of each cleaning mechanism 20 contacts the outer surface of the omnidirectional wheel 120 and is configured to rotate relative to the omnidirectional wheel 120 to clean the outer surface of the omnidirectional wheel 120.

[0052] In some embodiments of the present application, an anti-collision mechanism 30 is provided on the mobile robot 100 to avoid the problem of the mobile robot 100 continuing to move after being collided, thereby improving the safety of the mobile robot 100.

[0053] In some embodiments of the present application, refer to Figure 4 and Figure 5 As shown, the anti-collision mechanism 30 includes multiple anti-collision parts 301, and the multiple anti-collision parts 301 are located in front of the omnidirectional wheel 120. Specifically, there is an anti-collision part 301 corresponding to the front of the first wheel group 1201, and / or an anti-collision part 301 corresponding to the front of the second wheel group 1202, which can further avoid the problem of the mobile robot 100 continuing to move after being collided.

[0054] In some embodiments of the present application, the cleaning mechanism 20 may be installed between the two anti-collision members 301 and located in front of the first gap 122 , which is conducive to cleaning the outer surface of the omnidirectional wheel 120 without affecting the anti-collision performance.

[0055] In some embodiments of the present application, during the movement of the mobile robot 100, by installing the cleaning mechanism 20 on the anti-collision mechanism 30, at least a portion of the cleaning mechanism 20 contacts the outer surface of the omnidirectional wheel 120, and cleans the adhesions adhered to the outer surface when rotating relative to the omnidirectional wheel 120, thereby improving safety while ensuring the cleanliness of the outer surface of the omnidirectional wheel 120, thereby ensuring that the mobile robot 100 can move smoothly.

[0056] In some embodiments of the present application, see Figure 3As shown, the cleaning mechanism 20 includes a fixing base 201, a connecting member 202, and a cleaning member 203. The fixing base 201 is mounted on the main body 10. A first end of the connecting member 202 is connected to the fixing base 201. A second end of the connecting member 202 is connected to the cleaning member 203.

[0057] In some embodiments of the present application, since the cleaning mechanism 20 moves relative to the wheel assembly 12, a fixed seat 201 and a connecting member 202 are provided to prevent the cleaning member 203 from being scraped off when the cleaning member 203 moves relative to the wheel assembly 12, thereby ensuring the stability of the cleaning mechanism 20 and improving the cleaning effect.

[0058] In some embodiments of the present application, the fixing seat 201 is triangular in shape, and one side of the fixing seat 201 is fixedly connected to the main body 10, which is beneficial to improving the stability of the fixing seat 201, thereby ensuring the stability of the connecting member 202, and further preventing the cleaning member 203 from being scraped off when the cleaning member 203 moves relative to the wheel assembly 12 and passively scrapes the area to be cleaned (for example, the first gap 122, the second gap 123, the third gap 124, the outer surface of the wheel assembly 12, etc.), thereby ensuring the stability of the cleaning mechanism 20.

[0059] In some embodiments of the present application, the connecting member 202 is an L-shaped structure.

[0060] In some embodiments of the present application, by setting the connector 202 to an L-shaped structure, various scenarios can be adapted, for example, Figure 6 As shown, if the horizontal end of the L-shaped structure is parallel to the forward direction of the main body 10, and the vertical end of the L-shaped structure is parallel to the direction perpendicular to the forward direction of the main body 10, then at least a portion of the cleaning mechanism 20 connected to the horizontal end of the L-shaped structure can be horizontally extended into the second gap 123 and / or the third gap 124. Since the cleaning position of the cleaning member 203 is in the same horizontal plane as the second gap 123 and / or the third gap 124, by horizontally extending at least a portion of the cleaning member 203 into the second gap 123 and / or the third gap 124, it is beneficial to better clean the adhesions in the second gap 123 and / or the third gap 124.

[0061] In some embodiments of the present application, since the wheel assembly 12 includes multiple second gaps 123 and / or third gaps 124, multiple cleaning mechanisms 20 can be arranged in a direction perpendicular to the forward direction of the main body 10. The multiple cleaning mechanisms 20 correspond to the multiple second gaps 123 and / or third gaps 124, respectively, and clean the adherent matter in the second gaps 123 and / or third gaps 124 in real time, further improving the cleaning effect of the adherent matter in the second gaps 123 and / or third gaps 124. For example, Figure 2 As shown, if the horizontal end of the L-shaped structure is parallel to the forward direction of the main body 10, and the vertical end of the L-shaped structure is parallel to the direction perpendicular to the forward direction of the main body 10, then at least a portion of the cleaning member 203 connected to the vertical end of the L-shaped structure can be horizontally extended into the first gap 122. By extending at least a portion of the cleaning member 203 vertically into the first gap 122, it is beneficial to better clean the adhesions in the first gap 122.

[0062] In some embodiments of the present application, see Figure 4 As shown, the cleaning mechanism 20 includes a deflection mechanism 204, a connecting member 202, and a cleaning member 203. The connecting member 202 is mounted on the main body 10. A first end of the deflection mechanism 204 is connected to the connecting member 202. A second end of the deflection mechanism 204 is rotatably connected to the cleaning mechanism 20 via a rotating shaft 205. The deflection mechanism 204 is configured to rotate relative to the rotating shaft 205 to drive the cleaning member 203 to deflect.

[0063] In some embodiments of the present application, see Figure 5 As shown, the cleaning mechanism 20 includes a deflection mechanism 204 and a cleaning member 203. A first end of the deflection mechanism 204 is connected to the main body 10. A second end of the deflection mechanism 204 is rotatably connected to the cleaning member 203 via a rotating shaft 205.

[0064] In some embodiments of the present application, due to the relative movement between the cleaning mechanism 20 and the wheel assembly 12, the deflection mechanism 204 is rotatably connected to the cleaning member 203. When the cleaning member 203 is cleaning, the deflection mechanism 204 will drive the cleaning member 203 to deflect, so as to extend the cleaning time. At the same time, in the process of the deflection mechanism 204 driving the cleaning member 203 to deflect, the cleaning member 203 is not parallel to the movement direction of the mobile robot 100. The deflection angle makes the cleaning area of ​​the cleaning member 203 larger. For example, the surrounding areas of the second gap 123 and / or the third gap 124 can be cleaned, further avoiding the second gap 123 and / or the third gap 124 from being blocked, thereby improving the cleaning effect of the mobile robot 100 and ensuring that the mobile robot 100 can move smoothly.

[0065] In some embodiments of the present application, the wheel assembly 12 further includes a driving wheel 121. The driving wheel 121 is mounted on the left and right sides of the main body 10 and is located at the rear end of the main body 10. Figure 6 As shown, at least a portion of the cleaning mechanism 20 is in contact with the outer surface of the driving wheel 121 and is configured to rotate relative to the driving wheel 121 to clean the outer surface of the driving wheel 121 .

[0066] In some embodiments of the present application, in order to ensure that the mobile robot 100 can work in different scenarios, the wheel assembly 12 of the mobile robot 100 may include an omnidirectional wheel 120 and / or a drive wheel 121. As for the drive wheel 121, since the outer surface of the drive wheel 121 is rough, a large amount of adhesion may adhere to it, which affects the movement performance of the drive wheel 121. Therefore, by at least a part of the cleaning mechanism 20 contacting the outer surface of the drive wheel 121, the adhesion on the outer surface of the drive wheel 121 can be quickly cleaned, ensuring that the mobile robot 100 can move smoothly.

[0067] In some embodiments of the present application, multiple cleaning mechanisms 20 can be arranged on the main body 10 along the outer surface of the driving wheel 121. By simultaneously cleaning the adhesions on the outer surface of the driving wheel 121 through multiple cleaning structures, the cleanliness of the outer surface of the driving wheel 121 can be ensured.

[0068] In some embodiments of the present application, anti-collision mechanisms 30 can be respectively provided at the front and rear ends of the mobile robot 100, and a plurality of cleaning mechanisms 20 can be arranged on the anti-collision mechanisms 30 to clean adhesions on the outer surface of the driving wheel 121, thereby ensuring the safety of the mobile robot 100 on the one hand and the cleanliness of the wheel assembly 12 on the other.

[0069] In some embodiments of the present application, since the width of the outer surface of the driving wheel 121 in the direction perpendicular to the forward direction of the main body 10 is relatively large, when arranging the cleaning mechanism 20, multiple cleaning mechanisms 20 can be arranged in sequence along the width direction to avoid the problem of partial cleaning of the outer surface of the driving wheel 121, thereby ensuring the cleaning effect.

[0070] In some embodiments of the present application, the cleaning mechanism 20 further includes a cleaning member 203 .

[0071] In some embodiments of the present application, the cleaning mechanism 20 can be an integrated structure or a split structure. If the cleaning mechanism 20 is a split structure, a cleaning member 203 is provided separately. Specifically, the cleaning mechanism 20 and the cleaning member 203 are detachably connected. On the one hand, the detachable connection between the cleaning mechanism 20 and the cleaning member 203 facilitates the removal and maintenance of the cleaning member 203. On the other hand, cleaning members 203 can be provided separately to adapt to different scenarios, making the cleaning mechanism 20 more flexible.

[0072] For example, since the size, range and shape of the area to be cleaned are different, corresponding cleaning parts 203 can be set for different areas to be cleaned. When cleaning, it is only necessary to replace them with cleaning parts 203 that are compatible with the area to be cleaned. By using cleaning parts 203 that are compatible with the area to be cleaned for cleaning, it is beneficial to improve cleaning efficiency.

[0073] In some embodiments of the present application, the cleaning member 203 is made of a flexible material.

[0074] In some embodiments of the present application, the flexible material may include a silicone brush, a nylon brush, a bristle brush, etc. By using a flexible material to manufacture the cleaning member 203, it is convenient to clean the outer surface of the wheel assembly 12 and the fine adhesions in each gap, thereby improving the cleaning effect of the cleaning mechanism 20.

[0075] In some embodiments of the present application, each slit may include at least one of a first slit 122 , a second slit 123 , or a third slit 124 .

[0076] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present application and are not intended to limit the present application. As long as they are within the spirit of the present application, appropriate changes and modifications to the above embodiments fall within the scope disclosed in the present application.

Claims

1. A mobile robot, characterized in that: The mobile robot comprises: A main body, the main body including a chassis and a wheel assembly mounted on the chassis, the wheel assembly including an omnidirectional wheel, the omnidirectional wheel including a first wheel set and a second wheel set connected to the first wheel set, the first wheel set and the second wheel set being coaxially arranged, and a first gap being formed between the first wheel set and the second wheel set; A cleaning mechanism is mounted on the main body, and at least a portion of the cleaning mechanism extends into the first gap and is used to rotate relative to the omnidirectional wheel to clean the first gap.

2. The mobile robot according to claim 1, wherein: There is a minimum gap between the first wheel set and the second wheel set, and at least a portion of the cleaning mechanism extends out of the minimum gap.

3. The mobile robot according to claim 1, wherein: The mobile robot further includes an anti-collision mechanism connected to the main body, the cleaning mechanism includes a plurality of cleaning mechanisms, at least two of which are installed on the anti-collision mechanism and located in front of the omnidirectional wheel; At least a portion of each cleaning mechanism contacts the outer surface of the omnidirectional wheel and is configured to rotate relative to the omnidirectional wheel to clean the outer surface of the omnidirectional wheel.

4. The mobile robot according to claim 1, wherein: The first wheel group includes an inner wheel and a plurality of first rollers, the plurality of first rollers are arranged at intervals along the circumference of the inner wheel, and a second gap exists between each of the first rollers and the inner wheel; the second wheel group includes an outer wheel and a plurality of second rollers, the plurality of second rollers are arranged at intervals along the circumference of the outer wheel, and a third gap exists between each of the second rollers and the outer wheel; at least a portion of the cleaning mechanism extends into the second gap and / or the third gap, and is used to rotate relative to the omnidirectional wheel to clean the second gap and / or the third gap.

5. The mobile robot according to claim 2, wherein: The first wheel group includes an inner wheel and a plurality of first rollers, the plurality of first rollers are arranged at intervals along the circumference of the inner wheel, and a second gap exists between each of the first rollers and the inner wheel; the second wheel group includes an outer wheel and a plurality of second rollers, the plurality of second rollers are arranged at intervals along the circumference of the outer wheel, and a third gap exists between each of the second rollers and the outer wheel; at least a portion of the cleaning mechanism extends into the second gap and / or the third gap, and is used to rotate relative to the omnidirectional wheel to clean the second gap and / or the third gap.

6. The mobile robot according to claim 3, wherein: The first wheel group includes an inner wheel and a plurality of first rollers, the plurality of first rollers are arranged at intervals along the circumference of the inner wheel, and a second gap exists between each of the first rollers and the inner wheel; the second wheel group includes an outer wheel and a plurality of second rollers, the plurality of second rollers are arranged at intervals along the circumference of the outer wheel, and a third gap exists between each of the second rollers and the outer wheel; at least a portion of the cleaning mechanism extends into the second gap and / or the third gap, and is used to rotate relative to the omnidirectional wheel to clean the second gap and / or the third gap.

7. The mobile robot according to claim 1, wherein: The cleaning mechanism includes a fixing seat, a connecting member and a cleaning member. The fixing seat is mounted on the main body. The first end of the connecting member is connected to the fixing seat, and the second end of the connecting member is connected to the cleaning member.

8. The mobile robot according to claim 7, wherein: The connecting piece is an L-shaped structure.

9. The mobile robot according to claim 1, wherein: The cleaning mechanism includes a deflection mechanism, a connecting member and a cleaning member. The connecting member is installed on the main body. The first end of the deflection mechanism is connected to the connecting member. The second end of the deflection mechanism is rotatably connected to the cleaning member through a rotating shaft. The deflection mechanism is used to rotate relative to the rotating shaft to drive the cleaning member to deflect.

10. The mobile robot according to any one of claims 1 to 9, wherein: The wheel assembly also includes a driving wheel, which is mounted on the left and right sides of the main body and located at the rear end of the main body. At least a portion of the cleaning mechanism contacts the outer surface of the driving wheel and is used to rotate relative to the driving wheel to clean the outer surface of the driving wheel.

11. The mobile robot according to claim 10, wherein: The cleaning mechanism further comprises a cleaning member.

12. The mobile robot according to claim 11, wherein: The cleaning piece is made of flexible material.

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