Sweeping robot

Abstract

The embodiment of the utility model relates to the technical field of life electric appliances, and particularly discloses a sweeping robot which comprises a robot body, a front wheel and a rear wheel assembly. The front wheels are rotationally arranged at the front end of the robot body. The rear wheel assembly comprises a connecting arm, a rear wheel and an elastic assembly, the connecting arm is rotationally connected to the rear end of the robot body, the rear wheel is rotationally connected to the connecting arm, and the elastic assembly is connected with the robot body and the connecting arm. When the front end of the robot body ascends relative to the rear end of the robot body, the robot body moves relative to the connecting arm, so that the elastic assembly deforms, and the deformed elastic assembly increases the downward pressure of the rear wheels. By means of the mode, the obstacle crossing ability of the sweeping robot can be improved.

Description

Technical Field

[0001] This utility model relates to the field of household appliance technology, and in particular to a sweeping robot. Background Technology

[0002] Robotic vacuum cleaners, as intelligent devices that help people clean floors, have greatly reduced the labor intensity and time required for cleaning, and are becoming increasingly common. A robotic vacuum cleaner consists of front and rear wheels, which it uses to move across the floor and clean it as it moves.

[0003] In the process of developing this invention, the inventors discovered that robotic vacuum cleaners often encounter obstacles in their working environments, such as thresholds, power cords, and carpets. The robotic vacuum cleaner needs to traverse these obstacles. While the robot's center of gravity shifts backward as its front wheels traverse the obstacle, the rear wheels may lack sufficient traction on smooth surfaces. In such cases, the robot struggles to completely overcome the obstacle, hindering the cleaning process. Utility Model Content

[0004] This utility model provides a sweeping robot that can improve its obstacle-crossing ability.

[0005] To solve the above-mentioned technical problems, the present invention provides a sweeping robot, which includes a robot body, a front wheel, and a rear wheel assembly. The front wheel is rotatably disposed at the front end of the robot body. The rear wheel assembly includes a connecting arm, a rear wheel, and an elastic component. The connecting arm is rotatably connected to the rear end of the robot body, and the rear wheel is rotatably connected to the connecting arm. The elastic component is connected to both the robot body and the connecting arm. When the front end of the robot body rises relative to the rear end, the robot body moves relative to the connecting arm, causing the elastic component to deform. The deformed elastic component increases the downward pressure on the rear wheel.

[0006] Optionally, the robot body is provided with a first mounting portion, the connecting arm is provided with a first connecting portion, and the elastic component includes a first elastic member, one end of the first elastic member is provided in the first mounting portion, and the other end of the first elastic member is provided in the first connecting portion; wherein, when the front end of the robot body rises relative to the rear end of the robot body, the distance between the first mounting portion and the first connecting portion increases, so that the first elastic member is in a stretched state, and along the first direction, the first connecting portion is located above the first mounting portion, so as to increase the downforce of the rear wheel.

[0007] Optionally, the connecting arm is provided with a second connecting part and a third connecting part. The second connecting part is rotatably connected to the robot body, and the rear wheel is rotatably connected to the third connecting part. Along the second direction, the second connecting part is located in front of the third connecting part. When the front end of the robot body is not raised relative to the rear end of the robot body, along the second direction, the first mounting part is aligned with the first connecting part.

[0008] Optionally, the robot body is provided with a second mounting part, the connecting arm is provided with a fourth connecting part, and the elastic component includes a second elastic member, one end of which is provided in the second mounting part and the other end of which is provided in the fourth connecting part; wherein, when the front end of the robot body rises relative to the rear end of the robot body, the distance between the second mounting part and the fourth connecting part decreases, so that the second elastic member is in a compressed state, and along the first direction, the second mounting part is located above the fourth connecting part, so that the downforce of the rear wheel increases.

[0009] Optionally, when the front end of the robot body is not raised relative to the rear end of the robot body, the second mounting part and the fourth connecting part are aligned along the first direction.

[0010] Optionally, the connecting arm is provided with a guide member, the guide member is provided with a guide groove, and the end of the second elastic member away from the second mounting part is inserted into the guide groove.

[0011] Optionally, there are two rear wheel assemblies, both of which are connected to the rear end of the robot body and are located behind the front wheels.

[0012] Optionally, the front wheel and two rear wheel assemblies are arranged in an isosceles triangle.

[0013] Optionally, the robot body is provided with a first limiting part, and the connecting arm is provided with a first abutting part. When the first abutting part abuts against the first limiting part, the rotation of the robot body relative to the rear wheel is restricted along the first rotation direction.

[0014] Optionally, the robot body is provided with a second limiting part, and the connecting arm is provided with a second abutting part. When the second abutting part abuts against the second limiting part, the rotation of the robot body relative to the rear wheel is restricted along the second rotation direction.

[0015] The beneficial effects of this utility model embodiment are as follows: Unlike existing technologies, this utility model embodiment provides a sweeping robot, which includes a robot body, front wheels, and a rear wheel assembly. The front wheels are rotatably disposed at the front end of the robot body. The rear wheel assembly includes a connecting arm, a rear wheel, and an elastic component. The connecting arm is rotatably connected to the rear end of the robot body, and the rear wheel is rotatably connected to the connecting arm. The elastic component is connected to both the robot body and the connecting arm. Specifically, when the front end of the robot body rises relative to the rear end, the robot body moves relative to the connecting arm, causing the elastic component to deform. The deformed elastic component increases the downward pressure on the rear wheel. Thus, when the front wheels reach and contact the obstacle, the robot vacuum continues to move forward, driving the front wheels to rise. The front wheels cause the front end of the robot body to rise relative to the rear end, causing the robot body to move relative to the connecting arm. At this time, the change in the relative position between the robot body and the connecting arm causes the elastic component to deform. Under the action of the elastic component, the downward pressure of the rear wheel increases, that is, the pressure between the rear wheel and the walking surface increases, thereby increasing the friction between the robot vacuum and the walking surface, thus increasing the robot vacuum's grip and improving its obstacle-crossing ability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is a perspective view of the sweeping robot according to an embodiment of the present utility model;

[0018] Figure 2 This is an exploded view of the sweeping robot according to an embodiment of the present utility model;

[0019] Figure 3 This is a schematic diagram of the robot body according to an embodiment of the present utility model;

[0020] Figure 4 This is a schematic diagram of the connection between the rear wheel assembly and the second mounting part according to an embodiment of the present utility model;

[0021] Figure 5 This is a schematic diagram from another perspective showing the connection between the rear wheel assembly and the second mounting part in an embodiment of this utility model;

[0022] Figure 6 This is an embodiment of the present utility model. Figure 5 Sectional view of AA.

[0023] Explanation of reference numerals in the attached figures:

[0024] 100. Robotic vacuum cleaner;

[0025] 1. Robot body; 11. Front end; 12. Rear end; 13. Second mounting section; 14. Mounting base;

[0026] 2. Front wheels;

[0027] 3. Rear wheel assembly; 31. Connecting arm; 311. First connecting part; 312. Second connecting part; 313. Third connecting part; 314. Fourth connecting part; 315. Guide member; 315a. Guide groove; 316. First abutting part; 317. Second abutting part; 32. Rear wheel; 33. Elastic assembly; 331. First elastic member; 332. Second elastic member; 34. Drive assembly. Detailed Implementation

[0028] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0030] Please see Figure 1 and Figure 2 The robotic vacuum cleaner 100 includes a robot body 1, front wheels 2, and a rear wheel assembly 3. The front wheels 2 are rotatably connected to the robot body 1, and the rear wheel assembly 3 is disposed on the robot body 1. The robot body 1 moves on a working surface via the front wheels 2 and the rear wheel assembly 3, and the working surface can be a floor or carpet, etc.

[0031] For ease of understanding, the following definition is provided:

[0032] The first direction is the height direction of the robotic vacuum cleaner 100, and the first direction is upward. The second direction is the forward direction of the rear wheel assembly 3, and the second direction is forward. The third direction is the width direction of the robotic vacuum cleaner 100, and the first, second, and third directions are perpendicular to each other. The first rotation direction is the rotation direction of the robot body 1 relative to the rear wheel assembly 3 when the front wheel 2 rises along the first direction, and the second rotation direction is opposite to the first rotation direction.

[0033] For the robot body 1 mentioned above, please refer to... Figure 3 Along the second direction, the robot body 1 includes a front end 11 and a rear end 12, with the front end 11 located in front of the rear end 12. This ensures that when the robot vacuum cleaner 100 encounters an obstacle, the front end 11 of the robot body 1 moves to the obstacle before the rear end 12. The robot body 1 is provided with a first mounting part (not shown) and a second mounting part 13.

[0034] It should be noted that when the front end 11 of the robot body 1 passes an obstacle, the front end 11 of the robot body 1 rises relative to the rear end 12 in the first direction. When the front end 11 of the robot body 1 does not rise relative to the rear end 12, the ends of the front wheel 2 and the rear wheel assembly 3 that are used to abut against the working surface are aligned along the first direction.

[0035] For the front wheel 2 mentioned above, please refer to Figure 2 and Figure 3 The front wheel 2 is rotatably connected to the front end 11 of the robot body 1. Thus, when the robot vacuum cleaner 100 encounters an obstacle, the front wheel 2 contacts the obstacle before the rear wheel assembly 3. It should be noted that when the front wheel 2 rises along the first direction, it drives the front end 11 of the robot body 1 to rise along the first direction. At this time, the robot body 1 rotates relative to the rear wheel assembly 3 in the first rotation direction.

[0036] In some embodiments, the robot body 1 is further provided with a mounting base 14, and the front wheel 2 is rotatably connected to the mounting base 14. The front wheel 2 and the mounting base 14 are combined to form a universal wheel to facilitate the adjustment of the forward direction of the sweeping robot 100.

[0037] For the rear wheel assembly 3 mentioned above, please refer to... Figure 4-6 , and then combine Figure 2 and Figure 3The rear wheel assembly 3 includes a connecting arm 31, a rear wheel 32, and an elastic component 33. The connecting arm 31 is provided with a second connecting portion 312 and a third connecting portion 313 spaced apart. When the front end 11 of the robot body 1 is not raised relative to the rear end 12, the second connecting portion 312 is located in front of the third connecting portion 313 along a second direction. The second connecting portion 312 is rotatably connected to the rear end 12 of the robot body 1, allowing the robot body 1 and the connecting arm 31 to rotate relative to each other. The rear wheel 32 is rotatably connected to the third connecting portion 313, allowing the connecting arm 31 and the rear wheel 32 to rotate relative to each other. It should be noted that the axis of rotation of the rear wheel 32 relative to the third connecting portion 313 is parallel to a third direction, and along this third direction, the axis of rotation is located at the geometric center of the rear wheel 32. When the front wheel 2 rises relative to the rear wheel assembly 3, the front wheel 2 drives the robot body 1 to rotate relative to the second connecting part 312 in the first rotation direction; simultaneously, the robot body 1 drives the second connecting part 312 to rotate relative to the rear wheel 32 parallel to the first rotation direction, that is, drives the connecting arm 31 to rotate relative to the rear wheel 32 parallel to the first rotation direction. Thus, during the process of the front wheel 2 rising relative to the rear wheel 32, the front end 11 of the robot body 1 rises relative to the rear end 12, and the second connecting part 312 rises relative to the third connecting end 313.

[0038] Optionally, when the front end 11 of the robot body 1 is not raised relative to the rear end 12, the second connecting portion 312 is located at the lower edge of the connecting arm 31. Along the second direction, the second connecting portion 312 and the third connecting portion 313 are located at both ends of the connecting arm 31, respectively.

[0039] In some embodiments, the connecting arm 31 is further provided with a first connecting portion 311, and the elastic component 33 includes a first elastic element 331. One end of the first elastic element 331 is disposed at the first mounting portion, and the other end of the first elastic element 331 is disposed at the first connecting portion 311. When the front end 11 of the robot body 1 rises relative to the rear end 12, the distance between the first mounting portion and the first connecting portion 311 increases, so that the first elastic element 331 is in a stretched state. At this time, along the first direction, the first connecting portion 311 is located above the first mounting portion, and the first connecting portion 311 is subjected to a first elastic force from the first elastic element 331. The first elastic force can be decomposed into a component force in the opposite direction of the first direction, that is, a downward component force. Thus, the connecting arm 31 is subjected to a downward force, and the rear wheel 32 is subjected to an increased downward pressure from the connecting arm 31, thereby increasing the pressure between the rear wheel 32 and the working surface, increasing the friction between the rear wheel 32 and the working surface, and increasing the grip of the rear wheel 32. This makes it less likely for the sweeping robot 100 to slip when crossing obstacles, thus improving the obstacle-crossing ability of the sweeping robot 100.

[0040] Furthermore, when the front end 11 of the robot body 1 is not rising relative to the rear end 12, the first connecting portion 311 and the first mounting portion are aligned along the second direction. Along the first direction, the first mounting portion is located above the second connecting portion 312; along the second direction, the second connecting portion 312 is located in front of the first mounting portion. Along the first direction, the first connecting portion 311 is located above the third connecting portion 313; along the second direction, the first connecting portion 311 is located in front of the third connecting portion 313. During the process of the front end 11 of the robot body 1 rising relative to the rear end 12, the rear wheel 32 of the first connecting portion 311 rotates parallel to the first rotation direction, and the first connecting portion 311 and the first mounting portion move away from each other.

[0041] Optionally, when the front end 11 of the robot body 1 has not risen relative to the rear end 12, the third connecting part 313 is located in front of the first mounting part along the second direction, and the first connecting part 311 is located at the end of the connecting arm 31 near the second connecting part 312.

[0042] In some embodiments, the connecting arm 31 is further provided with a fourth connecting portion 314, and the elastic component 33 further includes a second elastic member 332. One end of the second elastic member 332 is disposed on the second mounting portion 13, and the other end of the second elastic member 332 is disposed on the fourth connecting portion 314. When the front end 11 of the robot body 1 rises relative to the rear end 12, the distance between the second mounting portion 13 and the fourth connecting portion 314 decreases, so that the first elastic member 331 is in a compressed state. At this time, along the first direction, the second mounting portion 13 is located above the fourth connecting portion 314. Thus, the fourth connecting portion 314 is subjected to a second elastic force from the second elastic member 332. The second elastic force can be decomposed into a component force in the opposite direction to the first direction, so that the fourth connecting portion 314 of the connecting arm 31 is subjected to a downward force, so that the connecting arm 31 applies a downward force to the rear wheel 32, thereby improving the grip of the rear wheel 32.

[0043] Furthermore, when the front end 11 of the robot body 1 is not rising relative to the rear end 12, along the first direction, both the fourth connecting portion 314 and the second mounting portion 13 are located above the second connecting portion 312. Along the second direction, the fourth connecting portion 314 is located in front of the third connecting portion 313, and along the first direction, the fourth connecting portion 314 is located above the third connecting portion 313. Along the first direction, the second mounting portion 13 is located above the second connecting portion 312, and along the second direction, the second connecting portion 312 is located in front of the second mounting portion 13. Furthermore, when the front end 11 of the robot body 1 rises relative to the rear end 12, the fourth connecting portion 314 rotates relative to the rear wheel 32 parallel to the first rotation direction, and the fourth connecting portion 314 and the second mounting portion 13 move closer to each other. Optionally, the fourth connecting portion 314 is located on the side of the connecting arm 31 closer to the second connecting portion 312.

[0044] Optionally, when the front end 11 of the robot body 1 is not raised relative to the rear end 12, the fourth connecting part 314 and the second mounting part 13 are aligned along the first direction. In this way, when the sweeping robot 100 moves on the horizontal working surface, the probability of deformation of the second elastic element 332 is reduced, thereby improving the service life of the second elastic element 332.

[0045] Optionally, the connecting arm 31 is further provided with a guide member 315, which has a guide groove 315a. The end of the second elastic member 332 away from the second mounting part 13 is inserted into the guide groove 315a. The guide member 315 serves to guide and protect the second elastic member 332. The fourth connecting part 314 can be provided on the groove wall of the guide groove 315a. The guide member 315 has a slot and a clearance opening, both of which communicate with the guide groove 315a. The slot faces the second mounting part 13 to allow the second elastic member 332 to be inserted. The clearance opening is located on one side of the guide member 315 to prevent interference between the guide member 315 and the second elastic member 332 during relative movement.

[0046] It is understood that the embodiment of this utility model does not limit the arrangement of the elastic component 33, as long as it can force the elastic component 33 to deform when the front end 11 of the robot body 1 rises relative to the rear end 12, thereby increasing the downward pressure of the rear wheel 32 under the action of the deformed elastic component 33. Furthermore, the first elastic component 331 and the second elastic component 332 can be arranged simultaneously or one of them can be arranged. The number of the first elastic component 331 and the second elastic component 332 can be one or more.

[0047] In some embodiments, the robot body 1 is provided with a first limiting portion (not shown) and a second limiting portion (not shown), and the connecting arm 31 is provided with a first abutting portion 316 and a second abutting portion. When the first abutting portion 316 abuts against the first limiting portion, the rotation of the robot body 1 relative to the rear wheel 32 is restricted along the first rotation direction. When the second abutting portion 317 abuts against the second limiting portion, the rotation of the robot body 1 relative to the rear wheel 32 is restricted along the second rotation direction.

[0048] Optionally, the robot body 1 has an inner cavity, and at least a portion of the rear wheel assembly 3 is located within the inner cavity of the robot body 1. The first limiting portion can be the inner wall of the robot body 1 toward the first abutment portion 316 or an extension extending toward the first abutment portion 316, and the second limiting portion can be the inner wall of the robot body 1 toward the second abutment portion 317 or an extension extending toward the second abutment portion 317. The first abutment portion 316 is the outer wall of the connecting arm 31 toward the first limiting portion or an extension extending toward the first limiting portion (not shown), and the second abutment portion 317 is the outer wall of the connecting arm 31 toward the second limiting portion (not shown) or an extension extending toward the second limiting portion.

[0049] In some embodiments, there is one front wheel 2 and two rear wheel assemblies 3. Both rear wheel assemblies 3 are located at the rear end 12 of the robot body 1, and along the second direction, both rear wheel assemblies 3 are positioned behind the front wheel 2. The front wheel 2 and the two rear wheel assemblies 3 are arranged in an isosceles triangle, meaning the front wheel 2 is positioned on the central axis of the line connecting the two rear wheel assemblies 3, to stably support the robot body 1 on the working surface and allow the sweeping robot 100 to move stably on the working surface. The number and position of the front wheel 2 and rear wheel assemblies 3 in this embodiment are not limited, as long as at least one front wheel 2 is located in front of at least one rear wheel assembly 3 along the second direction.

[0050] In some embodiments, the rear wheel assembly 3 further includes a drive assembly 34 disposed on the connecting arm 31 and connected to the rear wheel 32 to drive the rear wheel 32 to rotate.

[0051] In this embodiment of the invention, the sweeping robot 100 includes a robot body 1, front wheels 2, and a rear wheel assembly 3. The front wheels 2 are rotatably disposed at the front end 11 of the robot body 1. The rear wheel assembly 3 includes a connecting arm 31, a rear wheel 32, and an elastic component 33. The connecting arm 31 is rotatably connected to the rear end 12 of the robot body 1, and the rear wheel 32 is rotatably connected to the connecting arm 31. The elastic component 33 is connected to both the robot body 1 and the connecting arm 31. When the front end 11 of the robot body 1 rises relative to the rear end 12, the robot body 1 moves relative to the connecting arm 31, causing the elastic component 33 to deform. The deformed elastic component 33 increases the downward pressure on the rear wheel 32. Thus, when the front wheel 2 moves to and comes into contact with the obstacle, the sweeping robot 100 continues to move forward, driving the front wheel 2 to rise. The front wheel 2 drives the front end 11 of the robot body 1 to rise relative to the rear end 12, causing the robot body 1 to move relative to the connecting arm 31. At this time, the relative position change between the robot body 1 and the connecting arm 31 causes the elastic component 33 to deform. Under the action of the elastic component 33, the downward pressure of the rear wheel 32 increases, that is, the pressure between the rear wheel 32 and the walking surface increases, thereby increasing the friction between the sweeping robot 100 and the walking surface, thereby increasing the grip of the sweeping robot 100 and improving the obstacle crossing ability of the sweeping robot 100.

[0052] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this utility model specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robotic vacuum cleaner, characterized in that, include: The robot itself; The front wheel is rotatably mounted at the front end of the robot body; The rear wheel assembly includes a connecting arm, a rear wheel, and an elastic component. The connecting arm is rotatably connected to the rear end of the robot body, the rear wheel is rotatably connected to the connecting arm, and the elastic component is connected to both the robot body and the connecting arm. When the front end of the robot body rises relative to the rear end of the robot body, the robot body moves relative to the connecting arm, causing the elastic component to deform, and the deformed elastic component increases the downforce on the rear wheel.

2. The sweeping robot according to claim 1, characterized in that, The robot body is provided with a first mounting part, the connecting arm is provided with a first connecting part, and the elastic component includes a first elastic member, one end of the first elastic member is provided in the first mounting part, and the other end of the first elastic member is provided in the first connecting part. When the front end of the robot body rises relative to the rear end of the robot body, the distance between the first mounting part and the first connecting part increases, so that the first elastic member is in a stretched state, and along the first direction, the first connecting part is located above the first mounting part to increase the downforce of the rear wheel.

3. The sweeping robot according to claim 2, characterized in that, The connecting arm is provided with a second connecting part and a third connecting part. The second connecting part is rotatably connected to the robot body, and the rear wheel is rotatably connected to the third connecting part. Along the second direction, the second connecting part is located in front of the third connecting part. Wherein, when the front end of the robot body is not raised relative to the rear end of the robot body, the first mounting part is aligned with the first connecting part along the second direction.

4. The sweeping robot according to claim 2, characterized in that, The robot body is provided with a second mounting part, the connecting arm is provided with a fourth connecting part, and the elastic component includes a second elastic member, one end of the second elastic member is provided in the second mounting part, and the other end of the second elastic member is provided in the fourth connecting part; When the front end of the robot body rises relative to the rear end of the robot body, the distance between the second mounting part and the fourth connecting part decreases, so that the second elastic member is in a compressed state, and along the first direction, the second mounting part is located above the fourth connecting part, so that the downforce of the rear wheel increases.

5. The sweeping robot according to claim 4, characterized in that, When the front end of the robot body is not raised relative to the rear end of the robot body, the second mounting part is aligned with the fourth connecting part along the first direction.

6. The sweeping robot according to claim 4, characterized in that, The connecting arm is provided with a guide member, and the guide member is provided with a guide groove. The end of the second elastic member away from the second mounting part is inserted into the guide groove.

7. The sweeping robot according to any one of claims 1-6, characterized in that, There are two rear wheel assemblies, both of which are connected to the rear end of the robot body and are located behind the front wheels.

8. The sweeping robot according to claim 7, characterized in that, The front wheel and the two rear wheel assemblies are arranged in an isosceles triangle.

9. The sweeping robot according to any one of claims 1-6, characterized in that, The robot body is provided with a first limiting part, and the connecting arm is provided with a first abutting part. When the first abutting part abuts against the first limiting part, the rotation of the robot body relative to the rear wheel is restricted along the first rotation direction.

10. The sweeping robot according to any one of claims 1-6, characterized in that, The robot body is provided with a second limiting part, and the connecting arm is provided with a second abutting part. When the second abutting part abuts against the second limiting part, the rotation of the robot body relative to the rear wheel is restricted along the second rotation direction.

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