An intelligent robot

Abstract

The application relates to the technical field of smart home devices, in particular to a smart robot. The smart robot comprises a body, a movable wheel, a wheel frame, a wheel frame driving mechanism and a cover body. The movable wheel is rotationally assembled on the wheel frame, and the wheel frame is movably installed on the body. The wheel frame driving mechanism of the smart robot can drive the wheel frame to move, so that the movable wheel is retracted and extended. When the movable wheel is in the extended state, the cover body is opened, and the exposed movable wheel can be in contact with the ground, so that the body can be driven to move. When the movable wheel is retracted, the wheel frame can drive the cover body to be closed, so that the cover body covers the movable wheel, thereby preventing the user from being easily soiled and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of smart home device technology, specifically to a smart robot. Background Technology

[0002] Companion robots are a type of intelligent robot commonly used in people's lives. They can perform corresponding behaviors according to user commands, serving as companions. Companion robots typically have wheels, which allow them to move freely. During interactions with the companion robot, in some situations, such as when the user picks up the robot, the wheels may bump into the user. Because the wheels are frequently in contact with the ground, they can easily get dirty, resulting in a poor user experience. Utility Model Content

[0003] This application provides an intelligent robot to improve the technical problem of poor user experience caused by the wheels of current companion robots getting dirty when the user picks them up.

[0004] In a first aspect, some embodiments provide an intelligent robot, including:

[0005] Organism;

[0006] A wheel frame, which is movably mounted on the machine body;

[0007] A movable wheel, which is rotatably mounted on the wheel frame;

[0008] A wheel frame drive mechanism is connected to the wheel frame to drive the wheel frame to move; the wheel frame has a retracted state in which the movable wheel is retracted and an extended state in which the movable wheel is extended and in contact with the ground.

[0009] The cover is connected to the wheel frame so that the wheel frame can drive the cover to open or close. When the wheel frame moves to the retracted state, the wheel frame drives the cover to move closer to the machine body to close the cover and cover the movable wheel. When the wheel frame moves to the extended state, the wheel frame drives the cover to move away from the machine body to open the cover and expose the movable wheel.

[0010] Furthermore, in some embodiments, the intelligent robot includes a linkage component, the cover is movably connected to the wheel frame via the linkage component, and the cover is movably connected to the body.

[0011] Furthermore, in some embodiments, the linkage includes a linkage rod, one end of which is hinged to the cover and the other end of which is hinged to the wheel frame.

[0012] Furthermore, in some embodiments, the linkage includes a first link and a second link hinged to the first link. The first link is hinged to the wheel frame, and the second link is hinged to the cover. When the wheel frame moves to the retracted state, the angle between the first link and the second link decreases under the action of the wheel frame, thereby closing the cover.

[0013] Furthermore, in some embodiments, the first link is pivotally connected to the wheel frame, the wheel frame is pivotally connected to the body, and the pivot axis of the first link and the wheel frame is parallel to the pivot axis of the wheel frame and the body; the second link is ball-jointed with the cover and / or the second link is ball-jointed with the first link.

[0014] Furthermore, in some embodiments, the wheel frame includes a first wheel frame, the movable wheel mounted on the first wheel frame is a first movable wheel, the first wheel frame is pivotally connected to the body, and the pivot axis of the first wheel frame and the body is parallel to the wheel axis of the first movable wheel.

[0015] Furthermore, in some embodiments, the cover connected to the first wheel frame is a first cover, the first cover is pivotally connected to the body, the pivot axis of the first cover and the body is a first axis, the wheel axis of the first movable wheel extends to the left and right, the first axis is not parallel to and does not coincide with the wheel axis of the first movable wheel, and the first cover is arranged on the left or right side of the body.

[0016] Furthermore, in some embodiments, the wheel frame includes a second wheel frame; the second wheel frame is pivotally connected to the body, the movable wheel mounted on the second wheel frame is a second movable wheel, the cover connected to the second wheel frame is a second cover, the second cover is pivotally connected to the body, the pivot axis between the second wheel frame and the body is parallel to the pivot axis between the second cover and the body, the second cover swings to close in a first direction, and the second wheel frame swings to a retracted state in a direction opposite to the first direction.

[0017] Furthermore, in some embodiments, the body has a receiving cavity, the wheel frame is located in the receiving cavity when retracted, and / or the body includes a body shell, the movable wheel is located outside the body shell when retracted, and the cover surrounds the movable wheel together with the body shell when closed.

[0018] Furthermore, in some embodiments, the wheel frame is hinged to the body, and the wheel frame drive mechanism is used to drive the wheel frame to swing.

[0019] Furthermore, in some embodiments, the intelligent robot includes sensors for detecting the state at least at one location inside and outside the intelligent robot, and the wheel frame drive mechanism is connected to the sensors to acquire the detection information from the sensors to drive the wheel frame movement.

[0020] According to the intelligent robot in the above embodiment, the wheel frame drive mechanism of the intelligent robot can drive the wheel frame to move, so that the movable wheel can be retracted and extended. When the movable wheel is in the extended state, the cover is opened, and the exposed movable wheel can contact the ground, thereby driving the robot to move. When the movable wheel is retracted, the wheel frame can drive the cover to close, so that the cover covers the movable wheel, thus making it less likely to get dirty to the user and improving the user experience. Attached Figure Description

[0021] Figure 1 These are schematic diagrams of the intelligent robot in some embodiments;

[0022] Figure 2 This is another structural schematic diagram of the intelligent robot in some embodiments;

[0023] Figure 3 This is a schematic diagram of the structure when the first movable wheel is in the extended state in some embodiments;

[0024] Figure 4 This is a state diagram of the linkage when the first movable wheel is in the extended state in some embodiments;

[0025] Figure 5 This is another state diagram of the linkage when the first movable wheel is in the extended state in some embodiments;

[0026] Figure 6 This is a state diagram of the linkage when the first movable wheel is in the retracted state in some embodiments;

[0027] Figure 7 This is another state diagram of the linkage when the first movable wheel is in the retracted state in some embodiments;

[0028] Figure 8 This is a schematic diagram of some embodiments when the first movable wheel is in the retracted state;

[0029] Figure 9 This is a schematic diagram of the structure in some embodiments where the second movable wheel is in the extended state;

[0030] Figure 10 This is a schematic diagram of the structure in some embodiments where the second movable wheel is in a retracted state.

[0031] List of feature names corresponding to the reference numerals in the figure: 1. Body; 11. Receiving cavity; 111. First opening; 12. Body shell; 2. Movable wheel; 21. First movable wheel; 22. Second movable wheel; 3. Wheel frame; 31. First wheel frame; 32. Second wheel frame; 5. Wheel frame drive mechanism; 51. First wheel frame drive mechanism; 52. Second wheel frame drive mechanism; 6. Cover; 61. First cover; 611. Cover groove; 62. Second cover; 7. Linkage component; 70. Linkage rod; 71. First connecting rod; 72. Second connecting rod.

[0032] Explanation of reference numerals in parentheses in the accompanying drawings: The feature referred to by the reference numerals in parentheses in the accompanying drawings is the feature represented by both the number inside the parentheses and the number outside the parentheses. Detailed Implementation

[0033] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0034] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0035] In the description herein, it should be understood that the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0037] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection, an abutment, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] The embodiments described in the detailed implementation can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different embodiments. In order to avoid unnecessary repetition, the various possible combinations of the embodiments will not be described separately.

[0040] To address the issue of poor user experience caused by the wheels of current smart robots easily bumping into users when they are picked up, this application provides a smart robot with a wheel frame drive mechanism that enables the wheels to retract and extend. When the wheel frame moves, it drives the cover to move. The cover opens when the wheels are extended, exposing them, and covers them when they are retracted. When a user picks up the smart robot, the wheel frame drive mechanism retracts the wheels, preventing them from getting dirty and improving the user experience. The structure of the smart robot is further described below with reference to the accompanying drawings.

[0041] In some embodiments, please refer to Figure 1 , Figure 4 and Figure 9 The intelligent robot includes a body 1, movable wheels 2, wheel frame 3, wheel frame drive mechanism 5, and cover 6. The movable wheels 2 are rotatably mounted on the wheel frame 3, and the wheel frame 3 is movably mounted on the body 1.

[0042] Please refer to Figure 4 , Figure 6 and Figure 9 The wheel frame drive mechanism 5 is connected to the wheel frame 3 and is used to drive the wheel frame 3 to move. The wheel frame 3 has a retracted state in which the movable wheel 2 is retracted and an extended state in which the movable wheel 2 is extended and in contact with the ground. In this way, when the body 1 does not need to move, the wheel frame drive mechanism 5 can drive the wheel frame 3 to retract the movable wheel 2.

[0043] To separate the active wheels 2 when the user picks up the smart robot, please refer to... Figure 4 , Figure 6 , Figure 9 and Figure 10 The cover 6 is connected to the wheel frame 3 so that the wheel frame 3 can drive the cover 6 to open or close. That is, when the wheel frame drive mechanism 5 drives the wheel frame 3, the wheel frame 3 drives the cover 6 to move, causing the cover 6 to open or close. Specifically, when the wheel frame 3 moves to the retracted state, it drives the cover 6 towards the body 1 to close the cover 6, covering the movable wheel 2. When the wheel frame 3 moves to the extended state, it drives the cover 6 away from the body 1 to open the cover 6, exposing the movable wheel 2. In other words, the cover 6 closes and covers the movable wheel 2 when the movable wheel 2 is in the retracted state, and opens when the movable wheel 2 is in the extended state, exposing the movable wheel 2.

[0044] The wheel frame drive mechanism 5 of this application's intelligent robot can drive the wheel frame 3 to move the movable wheel 2, causing the movable wheel 2 to retract and extend. When the movable wheel 2 is in the extended state, the cover 6 is open, and the movable wheel 2 is exposed and can contact the ground, thereby driving the body 1 to move. When the movable wheel 2 is retracted, the wheel frame 3 can drive the cover 6 to close, so that the cover 6 covers the movable wheel 2, thus making it less likely to get dirty to the user and improving the user experience.

[0045] It should be noted that the cover 6 described in this application, which covers the movable wheel 2, aims to reduce contact between the wheel surface and the user. This includes covering both the entire movable wheel 2 and a portion of it. Similarly, exposing the movable wheel 2 includes both complete and partial exposure. Compared to when the movable wheel 2 is extended, when the movable wheel 2 is retracted, the cover 6 can cover more of the wheel surface, reducing the likelihood of contact between the wheel surface and the user, thus making it less likely for the user to get the robot dirty when they pick it up.

[0046] Furthermore, in this application, the wheel frame 3 is movably mounted on the body 1, including both direct and indirect mounting. Direct mounting includes, for example, wheel frame 3 being pivotally connected to body 1 via a pivot shaft; indirect mounting includes, for example, please refer to... Figure 4 , Figure 6 , Figure 9 and Figure 10 The wheel frame 3 is fixed on the output shaft of the wheel frame drive mechanism 5, and the wheel frame drive mechanism 5 is mounted on the body 1.

[0047] Regarding the transmission method between the cover 6 and the wheel frame 3, please refer to some embodiments. Figure 4 , Figure 6 , Figure 9 and Figure 10 The intelligent robot includes a linkage component 7. The cover 6 is movably connected to the wheel frame 3 via the linkage component 7, and the cover 6 is also movably connected to the body 1. The connection between the cover 6 and the body 1 provides better stability.

[0048] In some other embodiments, the cover 6 can also be mounted on the wheel frame 3 without being connected to the body 1. In order to maintain the stability of the cover 6, a spring can also be provided on the wheel frame 3 to apply elastic force to the cover 6. Under the action of this elastic force, the cover 6 exposes the movable wheel 2. When the wheel frame 3 is retracted, the cover 6 contacts the body 1 and under the action of the body 1, the cover 6 overcomes the elastic force and covers the movable wheel 2.

[0049] Regarding the movable connection method between the wheel frame 3 and the body 1, please refer to some embodiments. Figure 4 , Figure 6 , Figure 9 and Figure 10 The wheel frame 3 is hinged to the body 1, and the wheel frame drive mechanism 5 is used to drive the wheel frame 3 to swing. Specifically, the part of the wheel frame 3 that is hinged to the body 1 can be located either inside or outside the body 1.

[0050] It should be noted that the hinges described in this application include at least two types: pivot connections and ball joint connections. In a pivot connection, two parts have a fixed pivot axis, while in a ball joint connection, two parts can swing relative to each other in multiple directions around the center of the ball joint. In some embodiments, the ball joint described in this application can be implemented using a fisheye joint.

[0051] In some embodiments, the wheel frame 3 is pivotally connected to the body 1. Specifically, the wheel frame 3 is pivotally connected to the output shaft of the wheel frame drive mechanism 5, which is fixed to the body 1. That is, the wheel frame 3 is indirectly pivotally connected to the body 1. In some other embodiments, the wheel frame 3 may also be ball-jointed to the body 1. In some other embodiments, the wheel frame 3 may also be connected to the body 1 via a telescopic mechanism. The telescopic mechanism is extended or retracted by the wheel frame drive mechanism 5, causing the wheel frame 3 to retract or extend the movable wheel 2.

[0052] Regarding the form of the linkage 7, please refer to some embodiments. Figure 9 and Figure 10 The linkage 7 includes a linkage rod 70, one end of which is hinged to the cover 6, and the other end is hinged to the wheel frame 3. The linkage rod 70 drives the cover 6 to move, resulting in a simpler structure and easier installation. Specifically, in one embodiment, the linkage rod 70 is pivotally connected to both the cover 6 and the wheel frame 3.

[0053] In other embodiments, please refer to Figures 4 to 8 The linkage 7 includes a first link 71 and a second link 72 hinged to the first link 71. The first link 71 is hinged to the wheel frame 3, and the second link 72 is hinged to the cover 6. When the wheel frame 3 moves to the retracted state, the angle between the first link 71 and the second link 72 decreases under the action of the wheel frame 3, causing the cover 6 to close. The hinged connection of the first link 71 and the second link 72 allows for more layout options for the cover 6 and the wheel frame 3, resulting in better adaptability.

[0054] Specifically, in some embodiments, please refer to Figures 4 to 8 The first link 71 is pivotally connected to the wheel frame 3. Please refer to [reference needed]. Figure 4 and Figure 5 The pivot axis of the first link 71 and the wheel frame 3 is parallel to the pivot axis of the wheel frame 3 and the body 1. The second link 72 is ball-jointed with the cover 6, and the second link 72 is also ball-jointed with the first link 71. This makes the first link 71 and the second link 72 more flexible, and further improves adaptability.

[0055] In some other embodiments, the first link 71 and the second link 72 may also be pivotally connected, with the second link 72 ball-jointed to the cover 6, or the first link 71 and the second link 72 ball-jointed, with the second link 72 pivotally connected to the cover 6.

[0056] In some other embodiments, besides the two methods described above, the linkage 7 can also take other feasible forms. For example, the linkage 7 can be a helical spring, which can elastically deform and more easily adapt to changes in the position of the wheel frame 3 and the cover 6. Furthermore, to limit the direction of the helical spring's force, a telescopic rod connected between the cover 6 and the wheel frame 3 can be used to guide the helical spring, and the helical spring can be fitted onto the telescopic rod. Alternatively, the linkage 7 can also be other feasible linkage mechanisms.

[0057] Regarding the active wheel 2, please refer to some embodiments. Figure 1 and Figure 2 The robot has two or more movable wheels 2, some of which are driving wheels and some are driven wheels. Of course, in some other embodiments, all of the movable wheels 2 can be driving wheels. The intelligent robot may also include a movable wheel drive mechanism (not shown) for driving the driving wheels to rotate. The rotation of the driving wheels drives the driven wheels to rotate, thereby causing the entire robot body 1 to move.

[0058] Specifically, in some embodiments, please refer to Figure 1 and Figure 2 The robot has three wheels, two of which are driving wheels and one is a driven wheel. The driven wheel is a swivel wheel, which can be used for steering the intelligent robot.

[0059] Regarding the wheel frame 3, in some embodiments, there are two or more wheel frames 3. Specifically, there are three wheel frames. In some other embodiments, the number of wheel frames 3 can be increased or decreased as needed, for example, it can be one, two, four, or any other number. When there is only one wheel frame 3, in order to make it easier for the intelligent robot to maintain balance, a body wheel can also be directly mounted on the body.

[0060] Regarding the installation method of wheel frame 3, please refer to some embodiments. Figures 3 to 8 The wheel frame 3 includes a first wheel frame 31, a movable wheel 2 mounted on the first wheel frame 31, and a wheel frame drive mechanism 5 that drives the first wheel frame 31. The first wheel frame 31 is pivotally connected to the body 1, and the pivot axis between the first wheel frame 31 and the body 1 is parallel to the wheel axis of the first movable wheel 21. In this way, when the first wheel frame 31 is retracted, the first movable wheel 21 can reduce the friction between the first movable wheel 21 and the ground by rotating, making it easier to retract the wheel frame 3.

[0061] Furthermore, in some embodiments, please refer to Figure 3 , Figure 4 and Figure 6The cover 6 connected to the first wheel frame 31 is the first cover 61. The first cover 61 is pivotally connected to the body 1. The pivot axis between the first cover 61 and the body 1 is the first axis. The wheel axis of the first movable wheel 21 extends to the left and right. The first cover 61 is arranged on the first axis and is not parallel to or coincident with the wheel axis of the first movable wheel 21. The first cover 61 is arranged on the left or right side of the body 1.

[0062] In some embodiments, please refer to Figure 9 and Figure 10 The wheel frame 3 includes a second wheel frame 32, which is pivotally connected to the body 1. Movable wheels 2 mounted on the second wheel frame 32 are second movable wheels 22. A cover 6 connected to the second wheel frame 32 is a second cover 62, which is pivotally connected to the body 1. The pivot axis between the second wheel frame 32 and the body 1 is parallel to the pivot axis between the second cover 62 and the body 1. The second cover 62 swings to close in a first direction, and the second wheel frame 32 swings to a retracted state in the opposite direction. By making the pivot axis between the second wheel frame 32 and the body 1 parallel to the pivot axis between the second cover 62 and the body 1, the positional relationship between the second wheel frame 32 and the second cover 62 can be simplified, facilitating the movement of the second cover 62 by the second wheel frame 32.

[0063] Specifically, in some embodiments, please refer to Figure 2 , Figure 9 and Figure 10 The second cover 62 extends horizontally along its pivot axis with the body 1. The second cover 62 swings down to close and swings up to open. In this way, the second cover 62 can close using its own gravity, resulting in better reliability after the second cover 62 is closed.

[0064] In some other embodiments, the pivot axis between the second cover 62 and the body 1 may also extend vertically, while the pivot axis between the second wheel frame 32 and the body 1 may extend horizontally.

[0065] Specifically, in some embodiments, please refer to Figure 1 and Figure 2 The second movable wheel 22 is the driven wheel, and the first movable wheel 21 is the driving wheel. Furthermore, there are two first movable wheels 21, arranged coaxially. There is one second movable wheel 22, with the two first movable wheels 21 arranged coaxially at a left-right interval. The second movable wheel 22 is located at the rear of the bottom of the body 1, and the first movable wheel 21 is located at the front of the bottom of the body 1. The two first movable wheels 21 and the one second movable wheel 22 form a triangular distribution. Correspondingly, there are also two first wheel frames 31, arranged left-right, with the two first movable wheels 21 respectively located on the two first wheel frames 31.

[0066] In some embodiments, please refer to Figure 2 and Figure 10 The body 1 has a receiving cavity 11, and the wheel frame 3 is located inside the receiving cavity 11 when it is in the retracted state. Specifically, in some embodiments, the second movable wheel 22 is located inside the receiving cavity 11 when it is in the retracted state. The receiving cavity 11 has a first opening 111, through which the second wheel frame 32 and the movable wheel 2 enter the receiving cavity 11 when the second wheel frame 32 is retracted, and through the first opening 111 when the second wheel frame 32 is extended.

[0067] In other embodiments, please refer to Figures 5 to 7 The body 1 includes a body shell 12. When the movable wheels 2 are retracted, they are located outside the body shell 12. When the cover 6 is closed, it surrounds the movable wheels 2 along with the body shell 12. Specifically, when the first wheel frame 31 is in the retracted state, the first movable wheels 21 are located outside the body shell 12. In some embodiments, the first cover 61 has a cover groove 611, and when the first movable wheels 21 are retracted, at least a portion of them are located within the cover groove 611.

[0068] In some embodiments, please refer to Figure 6 , Figure 7 , Figure 9 and Figure 10 Each wheel frame 3 corresponds one-to-one with a wheel frame drive mechanism 5, and each wheel frame drive mechanism 5 independently drives the corresponding wheel frame 3. For specific embodiments, please refer to... Figure 6 and Figure 7 The wheel frame drive mechanism 5 that drives the first wheel frame 31 is a first wheel frame drive mechanism 51. The first wheel frame drive mechanism 51 is installed inside the receiving cavity 11, and the first wheel frame 31 is outside the receiving cavity 11. The output shaft of the first wheel frame drive mechanism 51 extends out of the receiving cavity 11 and is connected to the first wheel frame 31. In one embodiment, please refer to... Figure 9 and Figure 10 The wheel frame drive mechanism 5 that drives the second wheel frame 32 is the second wheel frame drive mechanism 52. In some embodiments, the wheel frame drive mechanism 5 includes a drive motor, which drives the wheel frame 3 to rotate. In some other embodiments, two wheel frames 3 may share a wheel frame drive motor 5, for example, two first wheel frames 31 may share a first wheel frame drive mechanism 51.

[0069] Please refer to Figures 3 to 5 In some embodiments, the first movable wheel 21 is a driving wheel, and the first movable wheel 21 is equipped with a movable wheel drive mechanism that drives the first movable wheel 21 to rotate around its wheel axis. In one embodiment, please refer to... Figure 10 The second movable wheel 22 is a driven wheel, and it does not require a movable wheel drive mechanism to drive it; the second movable wheel 22 simply follows the movement. In some embodiments, the movable wheel drive mechanism is a drive motor.

[0070] In some embodiments, the intelligent robot includes sensors for detecting at least one state, both inside and outside the robot. A wheel drive mechanism 5 is connected to the sensors to acquire their detection information. Based on the sensor information, the wheel drive mechanism 5 selects to retract or extend the wheel frame 3, based on the sensor information detected by the sensors. The sensors can be of various types, such as a gyroscope for detecting the robot's posture, a pressure sensor for detecting whether the robot is being touched, a temperature sensor for detecting temperature, a distance sensor for measuring the distance between the user and the robot, or a camera. The number of sensors can be increased or decreased as needed; there can be one or more sensors.

[0071] In some other embodiments, in addition to automatically driving the wheel frame 3 to move according to the information of the sensor, the wheel frame drive mechanism 5 can also be equipped with control buttons on the body 1. After operating the control buttons, the wheel frame drive mechanism 5 can be controlled to select whether to extend or retract the wheel frame 3.

[0072] In some embodiments, please refer to Figures 1 to 10 The working principle of intelligent robots is introduced as follows:

[0073] When the intelligent robot leaves the ground, the first wheel frame drive mechanism 51 drives the first wheel frame 31 to move away from the ground. The first movable wheel 21 moves away from the ground along with the first wheel frame 31. At this time, the first cover 61 moves towards the body 1 through the first connecting rod 71 and the second connecting rod 72, so that the first cover 61 surrounds the first movable wheel 21 between the first cover 61 and the body 1. The second wheel frame drive mechanism 52 drives the second wheel frame 32 to rotate, thereby driving the second movable wheel 22 to move away from the ground. At this time, the second cover 62 rotates towards the body 1 under the drive of the linkage rod 70. The second cover 62 and the second movable wheel 22 remain in contact during this process, so that the second cover 62 surrounds the second movable wheel 22 between the second cover 62 and the body 1.

[0074] When the intelligent robot touches the ground, the first wheel frame drive mechanism 51 drives the first wheel frame 31 to extend closer to the ground. At this time, the first cover 61 moves away from the body 1 via the first link 71 and the second link 72, thus exposing the first movable wheel 21 from the first cover 61 for easy rolling on the ground. The second wheel frame drive mechanism 52 drives the second wheel frame 32 to swing, thereby causing the second movable wheel 22 to rotate closer to the ground. At this time, the wheel frame 3 drives the linkage rod 70 to rotate, and the second cover 62 will rotate away from the body 1. The second cover 62 and the second movable wheel 22 remain in contact throughout this process, thus exposing the second movable wheel 22 from the second cover 62 for easy rolling on the ground.

[0075] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. An intelligent robot, characterized in that, include: Organism; A wheel frame, which is movably mounted on the machine body; A movable wheel, which is rotatably mounted on the wheel frame; A wheel frame drive mechanism is connected to the wheel frame to drive the wheel frame to move; the wheel frame has a retracted state in which the movable wheel is retracted and an extended state in which the movable wheel is extended and in contact with the ground. The cover is connected to the wheel frame so that the wheel frame can drive the cover to open or close. When the wheel frame moves to the retracted state, the wheel frame drives the cover to move closer to the machine body to close the cover and cover the movable wheel. When the wheel frame moves to the extended state, the wheel frame drives the cover to move away from the machine body to open the cover and expose the movable wheel.

2. The intelligent robot as described in claim 1, characterized in that, The intelligent robot includes a linkage component, the cover is movably connected to the wheel frame through the linkage component, and the cover is movably connected to the body.

3. The intelligent robot as described in claim 2, characterized in that, The linkage component includes a linkage rod, one end of which is hinged to the cover and the other end of which is hinged to the wheel frame.

4. The intelligent robot as described in claim 2, characterized in that, The linkage includes a first link and a second link hinged to the first link. The first link is hinged to the wheel frame, and the second link is hinged to the cover. When the wheel frame moves to the retracted state, the angle between the first link and the second link decreases under the action of the wheel frame, causing the cover to close.

5. The intelligent robot as described in claim 4, characterized in that, The first connecting rod is pivotally connected to the wheel frame, the wheel frame is pivotally connected to the body, and the pivot axis of the first connecting rod and the wheel frame is parallel to the pivot axis of the wheel frame and the body. The second connecting rod is ball-jointed with the cover and / or the second connecting rod is ball-jointed with the first connecting rod.

6. The intelligent robot as described in claim 1, characterized in that, The wheel frame includes a first wheel frame, and the movable wheel mounted on the first wheel frame is a first movable wheel. The first wheel frame is pivotally connected to the machine body, and the pivot axis of the first wheel frame and the machine body is parallel to the wheel axis of the first movable wheel.

7. The intelligent robot as described in claim 6, characterized in that, The cover connected to the first wheel frame is the first cover. The first cover is pivotally connected to the body. The pivot axis between the first cover and the body is the first axis. The wheel axis of the first movable wheel extends to the left and right. The first axis is not parallel to and does not coincide with the wheel axis of the first movable wheel. The first cover is arranged on the left or right side of the body.

8. The intelligent robot as described in claim 1, characterized in that, The wheel frame includes a second wheel frame, which is pivotally connected to the body. The movable wheel mounted on the second wheel frame is the second movable wheel. The cover connected to the second wheel frame is the second cover. The second cover is pivotally connected to the body. The pivot axis between the second wheel frame and the body is parallel to the pivot axis between the second cover and the body. The second cover swings to close in a first direction, and the second wheel frame swings to a retracted state in a direction opposite to the first direction.

9. The intelligent robot as described in any one of claims 1-8, characterized in that, The body has a receiving cavity, the wheel frame is located in the receiving cavity when it is retracted, and / or the body includes a body shell, the movable wheel is located outside the body shell when it is retracted, and the cover surrounds the movable wheel together with the body shell when it is closed.

10. The intelligent robot as described in any one of claims 1-8, characterized in that, The wheel frame is hinged to the body, and the wheel frame drive mechanism is used to drive the wheel frame to swing.

11. The intelligent robot as described in any one of claims 1-8, characterized in that, The intelligent robot includes sensors for detecting the state of at least one location inside and outside the intelligent robot. The wheel frame drive mechanism is connected to the sensors so as to obtain the detection information from the sensors and drive the wheel frame to move.

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