Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The autonomous mobile device includes a host, two wheel assemblies, and a connecting line that are assembled together. The two wheel assemblies are arranged side by side in the left-right direction of the autonomous mobile device. Each wheel assembly comprises a support, a motor and a wheel which are assembled together. The support is installed on the main machine. The motor and the wheels are installed on the support. The motor is provided with an insertion port, and the wheels can be driven by the motor to rotate relative to the support. The first end of the connecting line is plugged with the corresponding plugging port, and the second end of the connecting line is electrically connected with the circuit board assembly of the host. Thus, the motor of the wheel assembly is electrically connected with the main machine through the connecting wire capable of being connected in an inserted mode, the situation that connection is disconnected due to relative movement of the main machine and the wheel assembly is basically avoided, and the reliability of electric connection between the motor of the wheel assembly and the circuit board assembly of the main machine is improved. In addition, as the connecting wire is plugged with the plugging port of the motor of the wheel assembly, the wheel assembly is convenient to maintain and replace.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a structure of an autonomous mobile device. BACKGROUND

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously performs a preset task, and is capable of autonomous movement on a travel surface according to a result of sensing by a sensing component thereof. At present, autonomous mobile devices generally include, but are not limited to, self-moving cleaning devices (such as intelligent sweeping machines, intelligent mopping machines, window-cleaning robots), companion-type mobile robots (such as intelligent electronic pets, nanny robots), service-type mobile robots (such as reception robots for hotels, inns, meeting sites), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), and security robots (such as intelligent security robots for home or business use).

[0003] In existing autonomous mobile devices, two wheel assemblies are generally included to drive the autonomous mobile device to move autonomously. Each wheel assembly includes a motor and a wheel, and rotation of the motor can drive the wheel to rotate, thereby enabling the wheel to roll on a travel surface, and thus enabling the autonomous mobile device to move in various ways on the travel surface. In order to control and supply power to the motor of the wheel assembly, the motor of the wheel assembly needs to be electrically connected to a printed circuit board assembly (PCBA) of the autonomous mobile device that is mounted on a main machine through a connecting wire. In existing autonomous mobile devices, the connecting wire is generally directly welded to a terminal of the motor.

[0004] However, there are risks as follows. On the one hand, since the main machine on which the PCBA is mounted generally has relative motion (such as lifting motion) with the wheel assembly during operation of the autonomous mobile device, the welded part between the connecting wire and the motor is prone to breakage. On the other hand, during transportation of the autonomous mobile device, the welded part is also prone to breakage due to vibration, etc. The occurrence of the above situations will cause the electrical connection between the motor of the wheel assembly and the PCBA mounted on the main machine of the autonomous mobile device to be disconnected. Moreover, the electrical connection is achieved by welding, which will complicate maintenance and replacement of the wheel assembly. UTILITY MODEL CONTENT

[0005] Based on the problems of the prior art described above, the purpose of the present disclosure is to provide an autonomous mobile device that improves the reliability of the electrical connection between the motor of the wheel assembly and the PCBA of the main machine, and simplifies maintenance and replacement of the wheel assembly.

[0006] In order to achieve the above purpose, the present disclosure adopts the following technical solutions.

[0007] The present disclosure provides an autonomous mobile device including:

[0008] a main machine;

[0009] two wheel assemblies arranged side by side in a left-right direction of the autonomous mobile device, each of the wheel assemblies comprising a bracket assembled together, a motor and a wheel, the bracket being mounted to the main body, the motor and the wheel being mounted to the bracket, the motor being provided with a plug-in interface, the wheel being in driving connection with the motor so as to be able to be driven by the motor to rotate relative to the bracket; and

[0010] a connecting line, a first end of the connecting line being plugged into the corresponding plug-in interface, and a second end of the connecting line being electrically connected with a circuit board assembly of the main body.

[0011] In an alternative, the first end is inserted into the corresponding plug-in interface along a plug-in direction, an included angle between the plug-in direction and a bottom surface of the bracket being a, the plug-in interface of each of the wheel assemblies is configured such that 50.00 degrees≥a≥45.00 degrees is satisfied.

[0012] In another alternative, the two wheel assemblies comprise a first wheel assembly and a second wheel assembly, the included angle corresponding to the first wheel assembly being different from the included angle corresponding to the second wheel assembly.

[0013] In another alternative, a difference between the included angle corresponding to the first wheel assembly and the included angle corresponding to the second wheel assembly is not greater than 3.00 degrees.

[0014] In another alternative, the included angle corresponding to the first wheel assembly is 50.00 degrees, and the included angle corresponding to the second wheel assembly is 47.00 degrees.

[0015] In another alternative, the main body is configured to be able to be raised and lowered relative to the wheel assemblies in a top-bottom direction of the autonomous mobile device, the included angle being an included angle when the main body is in a lowered state relative to the wheel assemblies.

[0016] In another alternative, each of the wheel assemblies further comprises a speed reducer, the speed reducer being mounted to the bracket, the motor being in driving connection with the wheel via the speed reducer, such that torque from the motor is able to be transmitted to the wheel via the speed reducer to drive the wheel to rotate.

[0017] In another alternative, the bracket is fixedly connected with the main body,

[0018] the motor and the speed reducer constitute a swing arm structure, one end of the swing arm structure being in rotational connection with the bracket, such that the swing arm structure is able to swing about a portion connected with the bracket,

[0019] The wheel is rotationally connected to the other end of the swing arm structure, so that the wheel can rotate relative to the swing arm structure while swinging with the swing arm structure, thereby causing the main machine to lift and lower.

[0020] In another alternative, each wheel assembly further comprises a tension spring, one end of the tension spring being mounted to the swing arm structure, and the other end of the tension spring being mounted to the main machine or the bracket.

[0021] In another alternative, the autonomous mobile device is a self-moving cleaning device.

[0022] By adopting the above technical solution, the present disclosure provides an autonomous mobile device. The autonomous mobile device comprises a main machine, two wheel assemblies and a connecting line assembled together. The two wheel assemblies are arranged side by side in the left-right direction of the autonomous mobile device, each wheel assembly comprising a bracket, a motor and a wheel assembled together, the bracket being mounted to the main machine. The motor and the wheel are mounted to the bracket, the motor being provided with a plug-in interface, and the wheel being capable of being driven by the motor to rotate relative to the bracket. The first end of the connecting line is plugged together with the corresponding plug-in interface, and the second end is electrically connected to the circuit board assembly of the main machine.

[0023] In this way, the motor of the wheel assembly and the main machine are electrically connected through the plug-in connecting line. Even if relative motion occurs between the main machine and the wheel assembly during operation or transportation, the connecting line will not be disconnected from the wheel assembly due to the relative motion, improving the reliability of the electrical connection between the motor of the wheel assembly and the circuit board assembly of the main machine. Moreover, since the connecting line is plugged together with the plug-in interface of the motor of the wheel assembly instead of being welded or other non-detachable connection, the maintenance and replacement of the wheel assembly are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a bottom view schematic diagram showing an autonomous mobile device according to an embodiment of the present disclosure.

[0025] Figure 2A is a perspective view schematic diagram showing Figure 1 the first wheel assembly (e.g. the right wheel assembly) of the autonomous mobile device in

[0026] Figure 2B is a side view schematic diagram showing Figure 2A the first wheel assembly in

[0027] Figure 3A is a perspective view schematic diagram showing Figure 1 the second wheel assembly (e.g. the left wheel assembly) of the autonomous mobile device in

[0028] Figure 3B is a side view schematic diagram showing Figure 3AFig. 2 is a perspective view of a second wheel assembly in the autonomous mobile device of Fig. 1.

[0029] Figure 3C Fig. 3 is a side view of the second wheel assembly in the autonomous mobile device of Fig. 1. Figure 3A

[0030] Figure 4A Fig. 4 is a perspective view of the autonomous mobile device in Fig. 1, in which the main body is in a lowered state relative to the two wheel assemblies. Figure 1

[0031] Figure 4B Fig. 5 is a perspective view of the autonomous mobile device in Fig. 1, in which the main body is in a raised state relative to the two wheel assemblies. Figure 1

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] 1 - main body; 1s - main body bottom surface;

[0034] 2 - first wheel assembly; 21 - first support; 21s - first bottom surface; 22 - first motor; 22o - first plug-in interface; 23 - first wheel; 24 - first tension spring; 25 - first speed reducer; 2d - first plug-in direction;

[0035] 3 - second wheel assembly; 31 - second support; 31s - first bottom surface; 32 - second motor; 32o - second plug-in interface; 33 - second wheel; 34 - second tension spring; 35 - second speed reducer; 3d - second plug-in direction;

[0036] 4 - connecting line; 41 - first end; 42 - second end;

[0037] D1 - front-rear direction; D2 - left-right direction; D3 - up-down direction. DETAILED DESCRIPTION

[0038] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. In order to facilitate understanding, there can be elements shown in the drawings that represent dimensions and scales, etc. that are different from actual dimensions and scales, etc. among the elements shown in the respective drawings.

[0039] ​​​In the present disclosure, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", "lower (lower side)" are relative to the normal operation state of the autonomous mobile device according to the present disclosure, unless otherwise specified. Specifically, the autonomous mobile device has a forward movement direction (i.e. forward direction) in the normal operation state, and the so-called "normal operation state" refers to the movement state of the autonomous mobile device when performing a task, which is distinguished from the backward movement, swinging and other abnormal operation states of the autonomous mobile device in the escape mode. "Front (front side)", "rear (rear side)" refer to the front side and the rear side in the forward direction of the autonomous mobile device according to the present disclosure when the autonomous mobile device is in the normal operation state on the travel surface, "left (left side)", "right (right side)" refer to the left side and the right side when viewed from the front side in the forward direction, and "upper (upper side)", "lower (lower side)" refer to the upper side and the lower side in the height direction perpendicular to the travel surface when the autonomous mobile device according to the present disclosure is in the normal operation state on the travel surface.

[0040] In the present disclosure, the autonomous mobile device can move autonomously according to the control scheme preset in the processing unit thereof, and the travel surface where the autonomous mobile device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically for example, the floor in each room of a building. The processing unit in the present disclosure is collectively referred to, and the type, number and form of the processing unit are not limited. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, GPU, or other various hardware chips, processors or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified and unique processor of the autonomous mobile device, or a collection of multiple processing units, and the connection mode and the allocation of functions and computing power of the multiple processing units can be adjusted as needed. For example, in an alternative scheme, a first processing unit and a second processing unit can be included, and in this case, the first processing unit and the second processing unit collectively implement the various functions of the processing unit described above. In addition, the processing unit of the autonomous mobile device of the present disclosure can receive parameters from the sensing assembly and control the autonomous mobile device through the preset program stored in the storage unit. In the present disclosure, the data, information and programs required by the processing unit during processing can be stored in the storage unit and obtained from the storage unit as needed, and the processing unit can store the processed data, information and the like in the storage unit again. The storage unit can be RAM, ROM, etc., or a cloud, server, mobile terminal and other devices and / or equipment with storage function connected through wired / wireless network.

[0041] The autonomous mobile device according to the embodiments of the present disclosure is described below in conjunction with the accompanying drawings of the specification.

[0042] AsFigure 1 As shown, the autonomous mobile device according to the embodiment of the present disclosure comprises a host 1, a first wheel assembly 2, a second wheel assembly 3 and a connecting line 4 (see Figure 3A ) assembled together. In the autonomous mobile device, the first wheel assembly 2 and the second wheel assembly 3 are both mounted to the host 1, and the two wheel assemblies are located at the same position in the front-rear direction D1 and are arranged apart in the left-right direction D2. Different connecting lines 4 enable the first motor 22 of the first wheel assembly 2 and the second motor 32 of the second wheel assembly 3 to be electrically connected with the circuit board assembly of the host 1.

[0043] In the embodiment, as shown in Figure 1 , the host 1 can comprise a casing having a substantially circular shape in the bottom view. The shape of the casing is not limited to this, and in alternative embodiments, the casing can also have other shapes, such as an oval shape, a D-shape or a square shape, etc. When the autonomous mobile device according to the embodiment of the present disclosure is in a normal operating state, the bottom surface of the casing (host bottom surface Is) is opposite to the travel surface, and the bottom surface of the casing is parallel to the travel surface. Here, "parallel" not only includes the case where the bottom surface of the casing is geometrically parallel to the travel surface, but also includes the case where the two are substantially parallel. The above-mentioned "substantially" means that within the range of reasonable errors recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, other components of the autonomous mobile device can be provided in the casing, and most of the structure of the autonomous mobile device is mounted inside the casing or has a connection relationship with the casing in order to support and protect other components. The autonomous mobile device can also be provided with a processing unit and a sensing assembly in the casing. The processing unit can obtain environmental parameters through the sensing assembly, and the processing unit can control the wheels of the two wheel assemblies to drive the entire autonomous mobile device to move autonomously on the travel surface based on the obtained environmental parameters.

[0044] In the embodiment, as shown in Figure 2A and Figure 2B , the first wheel assembly 2 is mounted to the right side of the host 1 (left side in Figure 1 ), so the first wheel assembly 2 can also be referred to as the right wheel assembly. Specifically, the first wheel assembly 2 comprises a first bracket 21, a first motor 22, a first wheel 23, a first tension spring 24 and a first reducer 25 assembled together.

[0045] As shown in Figure 2A and Figure 2B , the first bracket 21 serves as a support and mounting frame for other components, and is used to fixedly mount the host 1 (see Figure 1). The main body structure of the first bracket 21 can be formed by integral molding of a hard material, and can have different configurations according to different application scenarios, so that the main body structure can match the layout of other components of the autonomous mobile device for assembly. In addition, the first bracket 21 can be formed with additional structures such as covers or ribs fixed to the main body structure thereof, and assembly structures such as recesses or holes, thereby improving the structural strength and protection capability of the first bracket 21, while facilitating the installation of other components of the autonomous mobile device to the corresponding parts of the first bracket 21. In addition, the first bracket 21 can be fixedly installed on the shell of the host 1 by a threaded connection. When the first wheel assembly 2 is installed in place, the first bottom surface 21s of the first bracket 21 is flush with the host bottom surface Is of the host 1.

[0046] As shown in Figure 2A and Figure 2B , the first motor 22 is installed on the first bracket 21. The first motor 22 can include a housing, a stator and a rotor located in the housing. The housing of the first motor 22 is installed on the first bracket 21. When the first motor 22 is in a working state, the rotor can rotate relative to the stator, and the rotor shaft of the rotor can be directly drivingly connected with the input wheel of the first speed reducer 25, so that the rotor can transmit torque to the first speed reducer 25 via the rotor shaft.

[0047] Further, as shown in Figure 3A and Figure 2B , the first motor 22 is provided with a first plug interface 22o, which can be always electrically connected with the motor controller of the first motor 22. The first end 41 of the connection line 4 (see Figure 2A ) corresponding to the first plug interface 22o is plugged together with the first plug interface 22o, and the second end 42 is electrically connected with the circuit board assembly of the host 1 by plugging, so that the first motor 22 is electrically connected with the circuit board assembly placed on the host 1, and the processing unit of the autonomous mobile device can control the operation of the first motor 22 and also can supply power to the first motor 22. In order to realize the plugging of the above-mentioned connection line 4 and avoid interference with other components during plugging, as shown in Figure 2B , the included angle a (that is, the included angle between the direction of the first plug interface 22o and the first bottom surface 21s of the first bracket 21) formed between the first plug direction 2d along which the first plug interface 22o is inserted and the first bottom surface 21s of the first bracket 21 needs to be within a predetermined angle range, that is, 50.00 degrees ≥ a ≥ 45.00 degrees. Specifically, in this embodiment, the included angle a is 50.00 degrees.

[0048] As shown in Figure 4A and Figure 4BAs shown, the first wheel 23 is drivingly connected with the first motor 22 via the first speed reducer 25 to be able to rotate relative to the first support 21 under the driving of the first motor 22. The first wheel assembly 2 is provided with only one first wheel 23 which is protruded relative to the first bottom surface 21s of the first support 21 in any state, thereby being able to ensure smooth driving of the autonomous mobile device to travel. Further, the first speed reducer 25 is mounted on the support. The first speed reducer 25 can be various types of speed reducers such as gear reducers or belt drive reducers. As described above, the input wheel of the first speed reducer 25 is drivingly connected with the rotor shaft of the first motor 22, the input wheel transmits the torque to the output wheel after the torque is increased via at least one gear pair or belt drive mechanism, and the output wheel is drivingly connected with the first wheel 23, thereby the torque from the first motor 22 can be transmitted to the first wheel 23 via the first speed reducer 25 to drive the first wheel 23 to rotate. In this way, the torque of the first motor 22 is increased by the first speed reducer 25, and then the increased torque is transmitted to the first wheel 23, which is beneficial to ensure that the first wheel 23 stably and smoothly rotates, and in turn drives the autonomous mobile device to autonomously move on the traveling surface.

[0049] Further, the first motor 22 and the first speed reducer 25 can constitute a swing arm structure. One end of the swing arm structure is pivotally connected with the first support 21 via a pivot, so that the swing arm structure can swing within a predetermined range about the part connected with the first support 21. The first wheel 23 is pivotally connected with the other end of the swing arm structure, so that the first wheel 23 can rotate relative to the swing arm structure while the swing arm structure swings. By using the swing arm structure which can swing relative to the first support 21, in the state that the first support 21 of the swing arm structure is fixed with the main machine 1 of the autonomous mobile device, the main machine 1 can be lifted and lowered relative to the first wheel 23 (that is, the main machine 1 can be lifted and lowered relative to the traveling surface, see Figure 4A and Figure 4B , Figure 2A It is shown that the main machine 1 is in a lowered state relative to the first wheel assembly 2, Figure 2B It is shown that the main machine 1 is in a lifted state relative to the first wheel assembly 2). Since the main machine 1 of the autonomous mobile device is configured to be able to be lifted and lowered relative to the first wheel assembly 2 in the up-down direction D3 of the autonomous mobile device, the above-mentioned included angle a is the included angle when the main machine 1 is in a lowered state relative to the first wheel assembly 2, that is, the included angle when the first wheel 23 is not further protruded towards the lower side of the first support 21.

[0050] As Figures 3A-C and Figure 1As shown, the first tension spring 24 is a cylindrical coil spring. One end of the first tension spring 24 is mounted on the swing arm structure, and the other end is mounted on the first bracket 21 or is used to be mounted on the main unit 1. Therefore, when the swing arm structure is in its initial state, the first tension spring 24 may have no spring force or only a very small spring force. When the swing arm structure swings relative to the first bracket 21, causing the first wheel 23 to protrude further below the first bracket 21, the first tension spring 24 is stretched and elongated, thereby exerting a greater spring force. The spring force in this state serves as a restoring force for the swing arm structure to return to its initial state. In this way, in an autonomous mobile device, the first tension spring 24 can maintain the relative position of the main unit 1 and the first wheel 23. Furthermore, after the main unit 1 rises relative to the first wheel 23, the first tension spring 24 can provide a spring force to restore the main unit 1 to its pre-rise state.

[0051] In this embodiment, if Figures 3A-C As shown, the second wheel assembly 3 is installed on the left side of the host 1 ( Figure 1 The second wheel assembly 3 is located on the right side of the main body 1, so the second wheel assembly 3 can also be called the left wheel assembly. Specifically, the second wheel assembly 3 includes a second bracket 31, a second motor 32, a second wheel 33, a second tension spring 34, and a second reducer 35, which are assembled together. The layout of the second motor 32, the second wheel 33, and the second reducer 35 is basically symmetrical (not completely symmetrical) with the layout of the first motor 22, the first wheel 23, and the first reducer 25 relative to the center line of the main body 1 extending along the front-to-back direction D1. This facilitates the spatial layout and installation of the first wheel assembly 2 and the second wheel assembly 3 in the autonomous mobile device while avoiding the risk of interference with other components of the autonomous mobile device due to the first wheel assembly 2 and the second wheel assembly 3 being completely symmetrical.

[0052] like Figures 3A-C As shown, the second bracket 31 is used as a support and installation frame for other components and is used to fix the host 1 installed on the autonomous mobile device (see Figures 3A-C ). The main structure of the second bracket 31 can be formed by integral molding of a hard material, and the main structure can have different structures according to different application scenarios, so that the main structure can be assembled to match the layout of other components of the autonomous mobile device. In addition, the second bracket 31 can be formed with additional structures such as covers or ribs fixed to its main structure, and assembly structures such as recesses or holes can be formed, thereby improving the structural strength and protection capabilities of the second bracket 31 while also facilitating the installation of other components of the autonomous mobile device on corresponding parts of the second bracket 31. In addition, the second bracket 31 can be fixedly mounted to the housing of the main unit 1 by means of threaded connectors. When the second wheel assembly 3 is installed on the main unit 1, the second bottom surface 31s of the second bracket 31 is flush with the main unit bottom surface 1s of the main unit 1.

[0053] As shown in Figure 3A The second motor 32 is mounted on the second support 31. The second motor 32 can include a housing, and a stator and a rotor located in the housing. The housing of the second motor 32 is mounted on the second support 31. In the working state of the second motor 32, the rotor can rotate relative to the stator, and the rotor shaft of the rotor can be directly connected in transmission with the input wheel of the second speed reducer 35, so that the rotor can transmit torque to the second speed reducer 35 through the rotor shaft.

[0054] Further, as shown in Figure 3C The second motor 32 is provided with a second plug interface 32o, which can be always electrically connected with the motor controller of the second motor 32. As shown in Figures 3A-C The second end 42 of the connecting line 4 corresponding to the second plug interface 32o is plugged into the second plug interface 32o, and the second end 42 and the circuit board assembly of the host 1 can be electrically connected by plugging, so that the second motor 32 is electrically connected with the circuit board assembly placed on the host 1, and the processing unit of the self-moving device can control the operation of the second motor 32 and also can supply power to the second motor 32. In order to realize the plugging of the connecting line 4 and avoid interference with other components during plugging, as shown in Figure 4A The second plug-in direction 3d along which the second end 42 is inserted into the second plug interface 32o forms an angle a with the second bottom surface 31s of the second support 31 (that is, the angle formed between the direction of the second plug interface 32o and the second bottom surface 31s of the second support 31) needs to be within a predetermined angle range, so that 50.00 degrees ≥ a ≥ 45.00 degrees is satisfied. Specifically, in this embodiment, the angle a is 47.00 degrees. The angle a formed between the second plug-in direction 3d along which the second end 42 is inserted into the second plug interface 32o and the second bottom surface 31s of the second support 31 is different from the angle a formed between the first plug-in direction 2d along which the first end 41 is inserted into the first plug interface 22o and the first bottom surface 21s of the first support 21, and the difference between them is not greater than 3.00 degrees. Therefore, the first wheel assembly 2 and the second wheel assembly 3 realize a non-fully symmetrical structure with each other, which avoids the structural interference problem that the fully symmetrical wheel assembly is installed on the host 1.

[0055] As shown in Figure 4BAs shown, the second wheel 33 is drivingly connected with the second motor 32 via the second speed reducer 35 to be able to rotate relative to the second support 31 under the driving of the second motor 32. The second wheel assembly 3 is provided with only one second wheel 33 which is protruded relative to the second bottom surface 31s of the second support 31 in any state, thereby being able to ensure smooth driving of the autonomous mobile device to travel. Further, the second speed reducer 35 is installed on the second support 31. The second speed reducer 35 can be various types of speed reducers such as gear reducers or belt transmission reducers. As described above, the input wheel of the second speed reducer 35 is drivingly connected with the rotor shaft of the second motor 32, the input wheel transmits the torque to the output wheel after the torque is increased via at least one gear pair or belt transmission mechanism, and the output wheel is drivingly connected with the second wheel 33, thereby the torque from the second motor 32 being able to be transmitted to the second wheel 33 via the second speed reducer 35 to drive the second wheel 33 to rotate. In this way, the torque of the second motor 32 is increased by the second speed reducer 35, and then the increased torque is transmitted to the second wheel 33, which is beneficial to ensure the stable and smooth rotation of the second wheel 33, and further drive the autonomous mobile device to autonomously move on the traveling surface.

[0056] Further, the second motor 32 and the second speed reducer 35 can constitute a swing arm structure. One end of the swing arm structure is pivotally connected with the second support 31 via a pivot, so that the swing arm structure is able to swing within a predetermined range about the part connected with the second support 31. The second wheel 33 is pivotally connected with the other end of the swing arm structure, so that the second wheel 33 is able to rotate relative to the swing arm structure while the swing arm structure swings. By using the swing arm structure which is able to swing relative to the second support 31, in the state that the second support 31 of the swing arm structure is fixed with the main machine 1 of the autonomous mobile device, the main machine 1 is able to be lifted and lowered relative to the second wheel 33 (that is, the main machine 1 is able to be lifted and lowered relative to the traveling surface, see Figure 4A and Figure 4B , Figures 3A-C It is shown that the main machine 1 is in a lowered state relative to the second wheel assembly 3, Figure 3A It is shown that the main machine 1 is in a lifted state relative to the second wheel assembly 3). Since the main machine 1 of the autonomous mobile device is configured to be able to be lifted and lowered relative to the second wheel assembly 3 in the up-down direction D3 of the autonomous mobile device, the above-mentioned included angle a is the included angle when the main machine 1 is in a lowered state relative to the second wheel assembly 3, that is, the included angle when the second wheel 33 is not further protruded towards the lower side of the second support 31.

[0057] As ​As shown, the second tensile spring 34 is a cylindrical helical spring. One end of the second tensile spring 34 is mounted to the swing arm structure, and the other end is mounted to the second support 31 or for mounting to the main body 1. Thus, in the initial state of the swing arm structure, the second tensile spring 34 can not have spring force or only have a very small spring force; in the state of the swing arm structure swinging relative to the second support 31 so that the second wheel 33 further protrudes downward relative to the second support 31, the second tensile spring 34 is stretched and elongated to have a larger spring force, and the spring force in this state serves as a restoring force for the swing arm structure to restore to the initial state. In this way, in the autonomous mobile device with the main body 1 mounted, the relative position of the main body 1 and the second wheel 33 can be maintained by using the second tensile spring 34, and the second tensile spring 34 can also provide a spring force for restoring the state before the main body 1 is lifted relative to the second wheel 33.

[0058] In the present embodiment, as shown, ​ The side brush and the motor in driving connection with the side brush can be integrated in the second wheel assembly 3, so that the structure of the autonomous mobile device and the mounting process can be simplified.

[0059] By using the above scheme, the motor of the wheel assembly and the main body 1 are electrically connected through the pluggable connection line 4. Even if relative movement occurs between the main body 1 and the wheel assembly during operation or transportation, the connection line 4 will not be disconnected from the wheel assembly due to the relative movement, and the reliability of the electrical connection between the motor of the wheel assembly and the circuit board assembly of the main body 1 is improved. Moreover, since the connection line 4 is plugged into the plug interface of the motor of the wheel assembly, the maintenance and replacement of the wheel assembly are facilitated.

[0060] It should be understood that the above embodiments are only exemplary and are not intended to limit the present disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. For the technical solutions of the present disclosure, the following supplementary explanations are made.

[0061] i.It can be understood that a typical example of the autonomous mobile device of the present disclosure is a self-moving cleaning device (such as a smart sweeper, a smart mop, a window-cleaning robot). In addition to this, the technical concept of the present disclosure can also be applied to other autonomous mobile devices. The above autonomous mobile device generally refers to a smart mobile device that autonomously performs a preset task, including a two-dimensional planar mobile robot with a wheel set or a track as a driving unit, such as a companion mobile robot (such as a smart electronic pet, a nanny robot), a service mobile robot (such as a reception robot in a hotel, a hotel, a meeting place), an industrial inspection intelligent device (such as a power inspection robot, a smart forklift, etc.), a security robot (such as a smart security robot for home or business use), etc. Of course, the solutions of the present disclosure can also be applied to other fields, and no exhaustive enumeration is made.

[0062] ii. In the above embodiments, the specific values of the above-mentioned included angle a corresponding to the first wheel assembly 2 and the above-mentioned included angle a corresponding to the second wheel assembly 3 are illustrated, but the present disclosure is not limited thereto. As long as the specific values of the above-mentioned included angle a corresponding to the first wheel assembly 2 and the above-mentioned included angle a corresponding to the second wheel assembly 3 satisfy 50.00 degrees ≥ a ≥ 45.00 degrees, and the difference between them is not greater than 3.00 degrees, the same effects as those illustrated in the above embodiments can be achieved.

[0063] iii. It can be understood that in the above embodiments, in the state that the autonomous mobile device is assembled in place, the first wheel 23 of the first wheel assembly 2 and the second wheel 33 of the second wheel assembly 3 are always protruding relative to the main body bottom surface Is of the main body 1 for driving the entire autonomous mobile device to travel on the travel surface under the control of the processing unit. By rotating the wheels (drive wheels) of the two wheel assemblies in the same direction at the same speed (for example, both clockwise or both counterclockwise), the autonomous mobile device can be driven to move linearly in the forward direction. By rotating the drive wheels of the two autonomous mobile devices at different speeds and / or in different directions (for example, one drive wheel clockwise and the other drive wheel counterclockwise), the autonomous mobile device can be driven to turn in a direction different from the forward direction. The autonomous mobile device can also include a universal wheel arranged on the main body 1, and the universal wheel can support the entire autonomous mobile device regardless of the way the drive wheels roll on the travel surface.

[0064] iv. It can be understood that in the case that the autonomous mobile device according to the present disclosure is a self-moving cleaning device, the self-moving cleaning device can not only include a dry cleaning assembly, but also include a wet cleaning assembly. The dry cleaning assembly can include a main brush and an edge brush as dry cleaning elements, and the wet cleaning assembly includes a cloth, a mop or a roller as wet cleaning elements. In the front-rear direction D1, the dry cleaning elements can be located in front of the wet cleaning elements. Thus, when the self-moving cleaning device travels on the travel surface, such as a surface to be cleaned, the surface to be cleaned can be cleaned by the dry cleaning assembly and / or the wet cleaning assembly. In different working modes, the cleaning work performed by the autonomous mobile device includes but is not limited to one or more of sweeping, mopping, dusting, etc.

Claims

1. An autonomous mobile device, characterized in that include: Host; Two wheel assemblies, the two wheel assemblies are arranged side by side in the left-right direction of the autonomous mobile device, each wheel assembly includes a bracket, a motor and a wheel assembled together, the bracket is mounted on the host, the motor and the wheel are mounted on the bracket, the motor is provided with a plug interface, and the wheel is transmission-connected to the motor so as to be driven by the motor to rotate relative to the bracket; as well as A connecting line has a first end plugged into the corresponding plug interface, and a second end electrically connected to the circuit board assembly of the host.

2. The autonomous mobile device according to claim 1, characterized in that The first end is inserted into the corresponding plug-in interface along the plug-in direction, and the angle formed between the plug-in direction and the bottom surface of the bracket is a. The plug-in interface of each wheel assembly is constructed to meet 50.00 degrees ≥ a ≥ 45.00 degrees.

3. The autonomous mobile device according to claim 2, characterized in that The two wheel assemblies include a first wheel assembly and a second wheel assembly, and the included angle corresponding to the first wheel assembly is different from the included angle corresponding to the second wheel assembly.

4. The autonomous mobile device according to claim 3, characterized in that A difference between the included angle corresponding to the first wheel assembly and the included angle corresponding to the second wheel assembly is no greater than 3.00 degrees.

5. The autonomous mobile device according to claim 3, characterized in that The included angle corresponding to the first wheel assembly is 50.00 degrees, and the included angle corresponding to the second wheel assembly is 47.00 degrees.

6. The autonomous mobile device according to any one of claims 2 to 5, characterized in that The host is configured to be able to rise and fall relative to the wheel assembly in an up and down direction of the autonomous mobile device, and the angle is the angle when the host is in a descending state relative to the wheel assembly.

7. The autonomous mobile device according to claim 6, characterized in that Each wheel assembly further includes a reducer mounted on the bracket, and the motor is connected to the wheel via the reducer, so that the torque from the motor can be transmitted to the wheel via the reducer to drive the wheel to rotate.

8. The autonomous mobile device according to claim 7, characterized in that The bracket is fixedly connected to the host, The motor and the reducer form a swing arm structure, one end of which is rotatably connected to the bracket, so that the swing arm structure can swing around a portion connected to the bracket. The wheel is rotatably connected to the other end of the swing arm structure, so that the wheel can swing with the swing arm structure and can also rotate relative to the swing arm structure, thereby causing the main machine to rise and fall.

9. The autonomous mobile device according to claim 8, characterized in that Each wheel assembly further includes a tension spring, one end of which is mounted on the swing arm structure, and the other end of which is mounted on the main unit or the bracket.

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

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