robot

Abstract

The application provides a robot, which comprises a body, a main driving wheel and a lifting driving mechanism. The main driving wheel is arranged on the body and is used to provide driving force for the body. The lifting driving mechanism is arranged on the body. At least part of the lifting driving mechanism is arranged close to the front end of the body relative to the main driving wheel and is arranged to be retractable in the height direction relative to the body. The lifting driving mechanism is configured to lift the front end of the body when the robot is in a pre-obstacle-crossing state and is configured to provide driving force for the body when the main driving wheel crosses obstacles after the front end crosses obstacles. The main driving wheel and the lifting driving mechanism cooperate to enable the robot to move onto obstacles, thereby realizing obstacle crossing. The robot can reduce the risk of being stuck and colliding with obstacles, can reduce fatigue loss, wear and tear or damage caused by being stuck and colliding, can improve the obstacle-crossing reliability of the robot, and can prolong the service life of the robot.

Description

Technical Field

[0001] This application relates to the field of mobile device technology, and more specifically to a robot. Background Technology

[0002] Existing robots have limited obstacle-crossing capabilities, especially when passing over obstacles such as protrusions, they are prone to getting stuck. Therefore, how to reduce the phenomenon of robots getting stuck is a technical problem that urgently needs to be solved in this field. Utility Model Content

[0003] In view of the above problems, this application provides a robot that can reduce the risk of robot getting stuck.

[0004] To solve the above-mentioned technical problems, the technical solution adopted in this application is conceived as follows:

[0005] This application provides a robot, comprising: a body; a main drive wheel disposed on the body and used to provide driving force for the body; and a lifting drive mechanism disposed on the body, at least a portion of which is disposed relative to the main drive wheel near the front end of the body and is extendable and retractable relative to the body in the height direction; the lifting drive mechanism is configured to raise the front end of the body when the robot is in a pre-obstacle crossing state, and is configured to provide driving force for the body at least after the front end has crossed an obstacle and when the main drive wheel has crossed an obstacle.

[0006] In some embodiments, the lifting drive mechanism includes an auxiliary drive wheel disposed on the body and configured to provide driving force to the body at least after the front end has cleared an obstacle and the main drive wheel has cleared an obstacle.

[0007] In some embodiments, the lifting drive mechanism further includes: a first drive component; an auxiliary drive wheel is disposed near the front end of the main drive wheel close to the body, and is retractable relative to the body in the height direction via the first drive component; wherein, in the pre-obstacle crossing state and the obstacle crossing state, the first drive component is in an extended state to raise the front end of the body; and in the normal driving state, the first drive component is in a retracted state.

[0008] In some embodiments, the robot further includes a rear auxiliary wheel, disposed on the body and located at the rear end of the body relative to the main drive wheel.

[0009] In some embodiments, the robot further includes: a first driven wheel disposed on the body and positioned at the front end of the body relative to the auxiliary drive wheel.

[0010] In some embodiments, the auxiliary drive wheel is disposed near the rear end of the main drive wheel relative to the main drive wheel; the lifting drive mechanism further includes a second driven wheel and a second drive assembly, the second driven wheel being retractably disposed relative to the main body in the height direction via the second drive assembly, and the second driven wheel being disposed near the front end of the main drive wheel relative to the main drive wheel; wherein, in the pre-obstacle crossing state, the second drive assembly is in an extended state to raise the front end of the main body.

[0011] In some embodiments, the second driven wheel is a swivel wheel.

[0012] In some embodiments, the robot further includes a third drive component connected between the body and the main drive wheel; wherein, when the main drive wheel crosses an obstacle, the third drive component drives the main drive wheel to retract back to the body.

[0013] In some embodiments, the second drive assembly includes: a first drive member; a first rocker arm, one end of which is rotatably connected to the body and the other end of which is connected to a second driven wheel; and a first pusher member connected to the first drive member, the first pusher member including a first push portion; wherein the first drive member is used to drive the first pusher member to rotate so that the first push portion abuts against or is offset from the first rocker arm, thereby causing the first rocker arm to drive the second driven wheel to extend and retract relative to the body in the height direction.

[0014] In some embodiments, the third drive assembly includes: a first rotating shaft extending along a first direction perpendicular to the height direction; a second pusher, one end of which is movably connected to the first rotating shaft and the other end of which is connected to the main drive wheel; and a second drive member connected to the first rotating shaft, wherein the second drive member is at least used to drive the first rotating shaft to rotate and move the second pusher member along the first direction when the main drive wheel crosses an obstacle, so that the second pusher member drives the main drive wheel to retract to the body.

[0015] In some embodiments, the robot further includes a stop located on the front end of the third drive assembly near the body, for limiting the displacement of the second pusher toward the front end of the body when the main drive wheel retracts into the body.

[0016] In some embodiments, the robot further includes: a detection component disposed on the body and configured to detect at least obstacles in front of the robot; when the detection component detects an obstacle, the robot enters a pre-obstacle crossing state.

[0017] In some embodiments, the robot further includes a cleaning component disposed on the body.

[0018] The advantages of the embodiments of this application, which differ from the prior art, are as follows: This application provides a robot, which includes a body, a main drive wheel, and a lifting drive mechanism. The main drive wheel is disposed on the body and is used to provide driving force to the body at least. The lifting drive mechanism is disposed on the body, and at least a portion of the lifting drive mechanism is disposed near the front end of the body relative to the main drive wheel, and is extendable and retractable relative to the body in the height direction. The lifting drive mechanism is configured to raise the front end of the body when the robot is in a pre-obstacle crossing state, and is configured to provide driving force to the body at least after the front end has crossed the obstacle and the main drive wheel has crossed the obstacle. When the robot encounters an obstacle, the lifting drive mechanism raises the front end of the robot body before it can overcome the obstacle. This raises the area of ​​the robot's bottom near the front end above the obstacle. The main drive wheels then provide driving force to the robot body after the front end is raised, providing traction for continued forward movement. This allows the front end of the robot body and the lifting drive mechanism to move onto the obstacle, thus enabling obstacle crossing. This reduces the risk of the robot getting stuck or colliding with obstacles. After the robot has overcome the obstacle, the lifting drive mechanism provides driving force to the main body, allowing the robot to continue moving forward and propelling itself. When the main drive wheel moves onto the obstacle, the lifting drive mechanism provides driving force to the robot body as the main drive wheel overcomes the obstacle, enabling the robot to continue overcoming obstacles. This improves or avoids the problem of insufficient power from the main drive wheel to the robot body when overcoming obstacles, thereby increasing the robot's obstacle-crossing success rate, i.e., obstacle-crossing reliability. Furthermore, by raising the front end of the robot body before obstacle crossing using the lifting drive mechanism, the front end can quickly move onto the obstacle during obstacle crossing, reducing the risk of the robot backing away, slipping, or bouncing off the obstacle due to collisions with it. This further improves the robot's obstacle-crossing success rate and efficiency. This application reduces the risk of robot jamming and collisions with obstacles, and also reduces fatigue wear, damage, or destruction caused by jamming and collisions. It not only improves the robot's obstacle-crossing reliability but also extends its service life. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0020] Figure 1 This is a structural schematic diagram of an embodiment of the robot provided in this application (the robot is in a first state);

[0021] Figure 2 This is a structural schematic diagram of the second state of an embodiment of the robot provided in this application;

[0022] Figure 3 This is a structural schematic diagram of the third state of an embodiment of the robot provided in this application;

[0023] Figure 4 This is a structural schematic diagram of the fourth state of an embodiment of the robot provided in this application;

[0024] Figure 5 This is a structural schematic diagram of the fifth state of an embodiment of the robot provided in this application;

[0025] Figure 6 This is a structural schematic diagram of the sixth state of an embodiment of the robot provided in this application;

[0026] Figure 7 This is a structural schematic diagram of the seventh state of an embodiment of the robot provided in this application;

[0027] Figure 8 This is a schematic diagram of another embodiment of the robot provided in this application;

[0028] Figure 9 This is a schematic diagram of the structure of an embodiment of the robot provided in this application, in which the second drive component cooperates with the second driven wheel;

[0029] Figure 10 This is a schematic diagram of another embodiment of the robot provided in this application, showing the second drive component cooperating with the second driven wheel;

[0030] Figure 11 This is a schematic diagram of an embodiment of the robot provided in this application, in which the third drive component cooperates with the main drive wheel;

[0031] Figure 12 This is a schematic diagram of another embodiment of the robot provided in this application, in which the third drive component cooperates with the main drive wheel. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0033] In the description of this application, 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," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are 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, and therefore should not be construed as a limitation of this application. 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 indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between 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.

[0035] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0037] Please refer to Figures 1 to 4 , Figure 1 This is a structural schematic diagram of an embodiment of the robot provided in this application (the robot is in a first state); Figure 2 This is a structural schematic diagram of the second state of an embodiment of the robot provided in this application; Figure 3 This is a structural schematic diagram of the third state of an embodiment of the robot provided in this application; Figure 4 This is a structural schematic diagram of the fourth state of an embodiment of the robot provided in this application. This application provides a robot 100. The robot 100 includes a body 10, a main drive wheel 20, and a lifting drive mechanism 30. The main drive wheel 20 is disposed on the body 10 and is used to provide driving force to the body 10 at least. The lifting drive mechanism 30 is disposed on the body 10, and at least a portion of the lifting drive mechanism 30 is disposed relative to the main drive wheel 20 near the front end 11 of the body 10, and is extendable and retractable relative to the body 10 in the height direction. The lifting drive mechanism 30 is configured to raise the front end 11 of the body 10 when the robot 100 is in a pre-obstacle-crossing state, and is configured to provide driving force to the body 10 at least after the front end 11 has crossed an obstacle and the main drive wheel 20 has crossed an obstacle.

[0038] The robot 100 can be a cleaning device, such as a robotic vacuum cleaner, a robotic vacuum and mop, a carpet cleaner, a pool cleaning robot, etc., but is not limited to these. The body 10 can serve as the basic carrier of the robot 100. The body 10 can be a one-piece structure or a combined structure formed by the cooperation of multiple parts. The robot 100 can also be a mobile device with other functions. This application uses the robot 100 as a cleaning device as an example for introduction.

[0039] The main drive wheel 20 may be located at the bottom 15 of the body 10; or the main drive wheel 20 may be located at the side 14 of the body 10 and extend from the side 14 to the bottom 15 of the body 10. The main drive wheel 20 is used at least to provide driving force to the body 10 when the robot 100 is in a normal driving state. The normal driving state of the robot 100 includes a forward state and may also include a backward state.

[0040] The main body 10 has a front end 11 and a rear end 12 that are positioned opposite each other. The front end 11 is located at the end of the main body 10 that is closer to the front when the robot 100 is in a forward-moving state, and the rear end 12 is located at the end of the main body 10 that is closer to the rear when the robot 100 is in a forward-moving state.

[0041] When the robot 100 is moving forward, it may encounter obstacles such as steps, thresholds, or support frames at the bottom of furniture. The robot 100 provided in this application can traverse obstacles such as protruding platforms, thereby reducing the risk of the robot 100 getting stuck when encountering such obstacles. The obstacle 200 described in the following embodiments can be a protruding platform obstacle such as steps, thresholds, or support frames of furniture, but is not limited to this.

[0042] For ease of description, the driving motion states of robot 100 can be divided into the following sequence: forward movement state, pre-obstacle crossing state, obstacle crossing state, and obstacle crossing reset state. The obstacle crossing state includes the front-end obstacle crossing state and the main drive wheel 20 obstacle crossing state. After the obstacle crossing reset state ends, robot 100 re-enters the forward movement state.

[0043] At least a portion of the lifting drive mechanism 30 is positioned relative to the main drive wheel 20 near the front end 11 of the body 10. When the robot 100 encounters an obstacle 200 and enters a pre-obstacle crossing state, at least a portion of the lifting drive mechanism 30 descends and is supported on the walking surface 300 of the robot 100. Under the reaction force of the walking surface 300 of the robot 100, the front end 11 of the body 10 is lifted up, thereby raising the front end 11 of the body 10 to facilitate obstacle crossing.

[0044] In some embodiments, when the robot 100 detects an obstacle 200 within a preset distance ahead, it enters a pre-obstacle-crossing state and raises the front end 11 of the body 10 via the lifting drive mechanism 30. When the lifting drive mechanism 30 raises the front end 11 of the body 10 to a position where the area near the front end 11 of the bottom 15 of the body 10 is higher than the obstacle 200, the robot 100 enters an obstacle-crossing state. The preset distance can be the distance between the front part 13 of the body 10 and the obstacle 200, where the front part 13 of the body 10 is located on the side of the front end 11 furthest from the rear end 12.

[0045] The main drive wheel 20 can provide driving force to the body 10 when the robot 100 is in normal driving state and when the front end is crossing obstacles (of course, the main drive wheel 20 can continuously output driving force, but when it is crossing obstacles, due to insufficient resistance or gap with the walking surface 300, the driving force to the body 10 is insufficient or there is no driving force). In some embodiments, the robot 100 also includes a first motor (not shown) and a first suspension arm (not shown). The first motor is disposed on the body 10 and connected to the main drive wheel 20. The main drive wheel 20 can convert the electrical energy of the first motor into rotational force, and use the friction between its radial surface and the walking surface 300 of the robot 100 to convert the rotational force into a driving force to drive the body 10 to move. The first suspension arm is located on the main body 10 and connected to the main drive wheel 20. The first suspension arm can provide pressure to the main drive wheel 20 toward the walking surface 300 of the robot 100, thereby increasing the contact area and friction between the radial surface of the main drive wheel 20 and the walking surface 300 of the robot 100, thereby further improving the driving force provided by the main drive wheel 20 to the main body 10 and reducing the energy consumption of the first motor.

[0046] When the robot 100 encounters an obstacle 200, the lifting drive mechanism 30 raises the front end 11 of the main body 10 before it overcomes the obstacle. This raises the area of ​​the bottom 15 of the main body 10 near the front end 11 above the obstacle 200. The main drive wheel 20 then provides driving force to the main body 10 after the front end 11 is raised, providing traction for the robot 100 to continue moving forward. This allows the front end 11 of the main body 10 and the lifting drive mechanism 30 to move onto the obstacle 200, thus enabling the front end 11 of the main body 10 and the lifting drive mechanism 30 to overcome the obstacle. This reduces the risk of the robot 100 getting stuck or colliding with the obstacle. Furthermore, after the front end 11 of the main body 10 and the lifting drive mechanism 30 overcome the obstacle, the lifting drive mechanism 30 provides driving force to the main body 10, allowing the robot 100 to continue moving forward. The robot 100 moves forward and drives the main drive wheel 20 to the obstacle 200. In other words, the lifting drive mechanism 30 can provide driving force to the main body 10 when the main drive wheel 20 crosses the obstacle, thereby enabling the robot 100 to continue crossing the obstacle. This can improve or avoid the problem of insufficient power from the main drive wheel 20 to the main body 10 when crossing the obstacle, thereby improving the success rate of the robot 100 in crossing the obstacle, i.e., the reliability of obstacle crossing. In addition, by raising the front end 11 of the main body 10 before the robot 100 crosses the obstacle, the lifting drive mechanism 30 can raise the front end 11 of the main body 10 so that the front end 11 of the main body 10 can move quickly to the obstacle 200 when crossing the obstacle. This reduces the risk of the robot 100 falling backward, slipping, or being bounced off the obstacle 200 due to collision with the obstacle 200 when the front end 11 crosses the obstacle, thereby further improving the success rate and efficiency of the robot 100 in crossing the obstacle. This application can reduce the risk of robot 100 getting stuck or colliding with obstacle 200, and can reduce fatigue wear, wear or damage caused by getting stuck or colliding. It can not only improve the obstacle crossing reliability of robot 100, but also extend the service life of robot 100.

[0047] In some embodiments, the robot 100 further includes a detection component (not shown) disposed on the body 10. The detection component is configured to detect at least an obstacle 200 in front of the robot 100; when the detection component detects an obstacle 200, the robot 100 enters a pre-obstacle crossing state.

[0048] The detection component can be used to detect the road conditions under which the robot 100 travels. For example, the detection component can at least detect whether there is an obstacle 200 within a preset distance in front of the robot 100 during normal driving, enabling the robot 100 to take timely obstacle-crossing measures based on the obstacle 200 ahead, thereby further reducing the risk of the robot 100 getting stuck or colliding with the obstacle 200. The detection component can be a laser rangefinder, lidar, ultrasonic sensor, infrared rangefinder, etc., but is not limited to these.

[0049] In some embodiments, the detection component can also be used to detect the height information of the obstacle 200. For example, the detection component can detect whether the height of the raised front end 11 of the body 10 is greater than or equal to the height of the obstacle 200 when the robot 100 is in a pre-obstacle crossing state, so that the robot 100 can automatically enter the obstacle crossing state when the height of the raised front end 11 of the body 10 is greater than or equal to the height of the obstacle 200.

[0050] In some embodiments, the robot 100 further includes a processor (not shown), and the detection component is coupled to the processor. When the robot 100 is in a normal driving state, if the detection component detects that the distance between the front part 13 of the body 10 and the obstacle 200 is less than or equal to a preset distance, the processor controls the robot 100 to enter a pre-obstacle crossing state and controls the lifting drive mechanism 30 to raise the front end 11 of the body 10. This allows the robot 100 to enter the pre-obstacle crossing state when the distance between the front end 11 of the body 10 and the obstacle 200 is less than or equal to the preset distance. This reduces the risk of the robot 100 directly colliding with the obstacle 200 or interfering with the obstacle 200 while the robot 100 is in the pre-obstacle crossing state, thereby improving the obstacle avoidance effect of the robot 100 and thus improving the reliability of the robot 100. After the front end 11 of the main body 10 is raised, that is, when the area of ​​the bottom 15 of the main body 10 near the front end 11 is higher than the obstacle 200, the processor controls the robot 100 to enter the front obstacle crossing state. In the front obstacle crossing state, the processor controls the main drive wheel 20 to provide driving force to the main body 10, so as to provide traction for the robot 100 to continue moving forward, so that the front end 11 of the main body 10 and the lifting drive mechanism 30 move onto the obstacle 200. Then the processor controls the robot 100 to enter the main drive wheel 20 obstacle crossing state. In the main drive wheel 20 obstacle crossing state, the processor controls the lifting drive mechanism 30 to provide driving force to the main body 10, so that the robot 100 continues to move and drives the main drive wheel 20 to move onto the obstacle 200. The processor can be a processing chip, which can at least control the operation of relevant components of the robot 100 based on the data of the detection components to perform driving and obstacle crossing tasks.

[0051] In some embodiments, when the robot 100 is in a pre-obstacle-crossing state, that is, during the process of the lifting drive mechanism 30 raising the front end 11 of the body 10, the main drive wheel 20 may not provide driving force to the body 10, so that the robot 100 remains stationary, which can further reduce the risk of interference between the robot 100 and the obstacle 200 in the pre-obstacle-crossing state. In other embodiments, when the robot 100 is in a pre-obstacle-crossing state, that is, during the process of the lifting drive mechanism 30 raising the front end 11 of the body 10, the main drive wheel 20 can provide driving force to the body 10, so that the front end 11 of the body 10 gradually moves onto the obstacle 200 during the raising process. It is only necessary to ensure that the robot 100 does not interfere with the obstacle 200 during the raising process, which can improve the obstacle-crossing efficiency of the robot 100.

[0052] In some embodiments, the robot 100 further includes a bumper 60, which may be located only at the front 13 of the body 10; or the bumper 60 may be located at the front 13 of the body 10 and extend at least partially to at least part of the bottom 15 of the body 10 and / or at least part of the side 14 connected to the front 13. The bumper 60 can reduce deformation, wear, or damage to the body 10 caused by collisions, friction, etc.

[0053] The material of the anti-collision plate 60 can be a rigid material such as stainless steel or aluminum alloy, but is not limited to this, which can improve the structural strength and impact resistance of the front 13, at least part of the bottom 15 and / or at least part of the side 14 of the body 10; or, the material of the anti-collision plate 60 can also be an elastic material such as silicone, rubber, thermoplastic elastomer (TPE) or thermoplastic polyurethane (TPU), but is not limited to this, so that the anti-collision component can absorb the impact force during the collision, thereby not only reducing the deformation, wear or damage of the body 10 caused by collision, friction, etc., but also reducing the collision noise.

[0054] Please refer to the above as well. Figures 5 to 7 , Figure 5 This is a structural schematic diagram of the fifth state of an embodiment of the robot provided in this application. Figure 6 This is a structural schematic diagram of the sixth state of an embodiment of the robot provided in this application; Figure 7 This is a structural schematic diagram of the seventh state of an embodiment of the robot provided in this application. The lifting drive mechanism 30 includes an auxiliary drive wheel 31. The auxiliary drive wheel 31 is disposed on the body 10 and configured to provide driving force to the body 10 at least after the front end 11 has crossed an obstacle and the main drive wheel 20 has crossed an obstacle, i.e., in the obstacle-crossing state of the main drive wheel 20.

[0055] The auxiliary drive wheel 31 can be disposed on the body 10 and positioned relative to the main drive wheel 20 near the front end 11 of the body 10. The auxiliary drive wheel 31 is used to raise the front end 11 of the body 10 when the robot 100 is in a pre-obstacle-crossing state, and to provide driving force to the body 10 after the front end 11 is raised, so that the front end 11 moves onto the obstacle 200, i.e., the front end 11 successfully crosses the obstacle. After the front end 11 successfully crosses the obstacle, the main drive wheel 20 provides driving force to the body, so that the auxiliary drive wheel 31 moves onto the obstacle 200, i.e., the auxiliary drive wheel 31 successfully crosses the obstacle. The auxiliary drive wheel 31 is also used to provide driving force to the body 10 when the main drive wheel 20 crosses the obstacle after the auxiliary drive wheel 31 successfully crosses the obstacle, so that the main drive wheel 20 can move onto the obstacle 200.

[0056] In some embodiments, the auxiliary drive wheel 31 may be disposed on the body 10 and disposed near the rear end 12 of the body 10 relative to the main drive wheel 20. It can provide driving force to the body 10 when the main drive wheel 20 crosses the obstacle after the front end 11 of the body 10 has successfully crossed the obstacle, so that the main drive wheel 20 can move onto the obstacle 200.

[0057] In some embodiments, the robot 100 further includes a second motor (not shown) and a second suspension arm (not shown). The second motor is disposed on the body 10 and connected to an auxiliary drive wheel 31. The auxiliary drive wheel 31 can convert the electrical energy of the second motor into rotational force, and utilize the friction between its radial surface and the upper surface of the robot 100's walking surface 300 or the obstacle 200 to convert the rotational force into a driving force for driving the body 10. The second suspension arm is disposed on the body 10 and connected to the auxiliary drive wheel 31. The second suspension arm can provide pressure to the auxiliary drive wheel 31 toward the robot 100's walking surface 300 or the upper surface of the obstacle 200, thereby increasing the contact area and friction between the radial surface of the auxiliary drive wheel 31 and the robot 100's walking surface 300 or the upper surface of the obstacle 200, thereby further improving the driving force provided by the auxiliary drive wheel 31 to the body 10 and reducing the energy consumption of the second motor. In other embodiments, the auxiliary drive wheel 31 and the main drive wheel 20 may share the drive motor and the suspension arm. For example, the robot 100 does not have a second motor and a second suspension arm, and the auxiliary drive wheel 31 is connected to the first motor and the first suspension arm.

[0058] In some embodiments, please continue to refer to Figures 1 to 7 The lifting drive mechanism 30 also includes a first drive assembly. The auxiliary drive wheel 31 is positioned relative to the main drive wheel 20 near the front end 11 of the body 10, and is extendable and retractable relative to the body 10 in the height direction via the first drive assembly.

[0059] A first drive assembly is connected between the main body 10 and the auxiliary drive wheel 31. The first drive assembly is used at least to drive the auxiliary drive wheel 31 to extend and retract along the height direction. This height direction is parallel to the direction of gravity of the robot 100, that is, parallel to the arrangement direction of the top and bottom 15 of the robot 100 in a horizontal driving state. When the robot 100 is in a normal driving state, the first drive assembly is in a retracted state, so that the auxiliary drive wheel 31 is located at the bottom 15 of the main body 10 or retracted within the main body 10. When the robot 100 is in a pre-obstacle crossing state and an obstacle crossing state, the first drive assembly is in an extended state to raise the front end 11 of the main body 10. When the robot 100 enters the pre-obstacle crossing state from the normal driving state, the first drive component enters the extended state from the retracted state to drive the auxiliary drive wheel 31 to move toward the walking surface 300 of the robot 100 and make contact with the walking surface 300. After the auxiliary drive wheel 31 makes contact with the walking surface 300, the first drive component continues to extend to lift the front end 11 of the body 10 under the reaction force of the walking surface 300 of the robot 100 and the auxiliary drive wheel 31, so that the front end 11 of the body 10 is raised.

[0060] In some embodiments, the first drive component drives the auxiliary drive wheel 31 to switch between a first position and a second position. The first position is located at the bottom 15 of the body 10 or inside the body 10, and the second position can be located on the walking surface 300 of the robot 100. The first and second positions can be arranged along the height direction. When the robot 100 is in a normal driving state, the first drive component is in a retracted state, and the auxiliary drive wheel 31 is in the first position. When the robot 100 detects an obstacle 200 at a preset distance ahead, it enters a pre-obstacle crossing state. In the pre-obstacle crossing state, the first drive component drives the auxiliary drive wheel 31 to move down from the first position to the second position. After the auxiliary drive wheel 31 moves to the second position, the first drive component continues to extend to lift the front end 11 of the body 10 under the reaction force of the walking surface 300 of the robot 100 and the auxiliary drive wheel 31, thereby raising the front end 11 of the body 10. In obstacle-crossing mode, after the auxiliary drive wheel 31 moves onto the obstacle 200, it can provide driving force to the main body 10, so that the robot 100 continues to move forward and drives the main drive wheel 20 to move onto the obstacle 200. After the main drive wheel 20 crosses the obstacle, the first drive component can retract to drive the auxiliary drive wheel 31 to move from the first position to the second position.

[0061] In some embodiments, please continue to refer to Figures 1 to 7 The robot 100 also includes a rear auxiliary wheel 40. The rear auxiliary wheel 40 is located on the body 10 and is positioned relative to the main drive wheel 20 near the rear end 12 of the body 10.

[0062] When the robot 100 is in the pre-obstacle-crossing state, and the front end 11 of the body 10 is raised, the rear auxiliary wheel 40 can support the rear end 12 of the body 10 to reduce or avoid friction between the rear end 12 of the body 10 and the walking surface 300 of the robot 100. When the robot 100 is in the obstacle-crossing state, and the main drive wheel 20 and / or the lifting drive mechanism 30 provide driving force to the body 10 so that the robot 100 continues to move forward, the rear auxiliary wheel 40 can roll to reduce the friction between the rear auxiliary wheel 40 and the walking surface 300 of the robot 100, thereby reducing the energy consumption of the robot 100.

[0063] By setting the rear auxiliary wheel 40, on the one hand, the rear auxiliary wheel 40 can support the rear end 12 of the main body 10 to avoid the rear end 12 of the main body 10 from contacting the walking surface 300 of the robot 100, thereby reducing the risk of damage to the rear end 12 of the main body 10; on the other hand, when the robot 100 continues to move forward in the obstacle-crossing state, the friction between the rear auxiliary wheel 40 and the walking surface 300 of the robot 100 is rolling friction, which can reduce the driving resistance of the robot 100, thereby reducing the energy consumption of the robot 100.

[0064] In some embodiments, please continue to refer to Figures 1 to 7 The robot 100 also includes a first driven wheel 50. The first driven wheel 50 is located on the body 10 and is positioned relative to the auxiliary drive wheel 31 near the front end 11 of the body 10.

[0065] The first driven wheel 50 is located on the side of the auxiliary drive wheel 31 away from the rear auxiliary wheel 40. It can support the body 10 together with the auxiliary drive wheel 31 and the rear auxiliary wheel 40 to share the weight of the body 10, thereby improving the stability of the robot 100.

[0066] The first driven wheel 50 can be a omnidirectional wheel. On the one hand, the omnidirectional wheel can rotate freely 360° to help the robot 100 quickly adjust its direction while moving; on the other hand, the omnidirectional wheel can support the front end 11 of the main body 10 to keep the robot 100's center of gravity stable and reduce the risk of the robot 100 tilting forward or backward.

[0067] In some embodiments, the robot 100 further includes a third drive assembly 34. The third drive assembly 34 is connected between the body 10 and the main drive wheel 20. When the main drive wheel 20 crosses an obstacle, the third drive assembly 34 drives the main drive wheel 20 to retract back to the body 10.

[0068] The main drive wheel 20 is extendable and retractable relative to the body 10 along the height direction via a third drive assembly 34. When the robot 100 is in normal driving mode, the third drive assembly 34 is in an extended state, allowing the main drive wheel 20 to be stably supported on the robot 100's walking surface 300. In obstacle-crossing mode, after the front end 11 of the body 10 and the lifting drive mechanism 30 have crossed an obstacle, when the main drive wheel 20 crosses an obstacle, the third drive assembly 34 can switch from an extended state to a retracted state to drive the main drive wheel 20 to rise. This reduces the risk of interference between the main drive wheel 20 and the obstacle 200 during obstacle crossing, thereby improving the robot 100's obstacle-crossing success rate and efficiency.

[0069] Please continue to refer to Figures 1 to 2 In the pre-obstacle-crossing state of robot 100, the lifting drive mechanism 30 raises the front end 11 of the body 10. After the front end 11 of the body 10 is raised to a position where the area near the bottom 15 of the body 10 is higher than the obstacle 200, robot 100 enters the obstacle-crossing state. Raising the front end 11 of the body 10 by the lifting drive mechanism 30 includes the extension of a first drive component to drive the auxiliary drive wheel 31 downwards and into contact with the walking surface 300 of robot 100. Under the reaction force of the auxiliary drive wheel 31 and the walking surface 300 of robot 100, the first drive component lifts the front end 11 of the body 10. After the front end 11 of the body 10 is raised, the rear auxiliary wheel 40 contacts the walking surface 300 to avoid interference between the rear end 12 of the body 10 and the walking surface 300. The obstacle-crossing state of robot 100 includes a front-end obstacle-crossing state and a main drive wheel 20 obstacle-crossing state.

[0070] After the front end 11 of the main body 10 is raised to a position where the area near the bottom 15 of the main body 10 is higher than the obstacle 200, the robot 100 first enters the front obstacle-crossing state. Please continue to refer to... Figures 3 to 4 When the robot 100 is in the obstacle-crossing state: the main drive wheel 20 provides driving force to the body 10 so that the robot 100 continues to move forward, thereby causing the front end 11 and the first driven wheel 50 of the body 10 to move onto the obstacle 200, that is, the front end 11 and the first driven wheel 50 of the body 10 successfully cross the obstacle; after the front end 11 and the first driven wheel 50 of the body 10 successfully cross the obstacle, the main drive wheel 20 continues to provide driving force to the body 10 so that the robot 100 continues to move forward, thereby causing the lifting drive mechanism 30 to move onto the obstacle 200, that is, the lifting drive mechanism 30 successfully crosses the obstacle.

[0071] After the lifting drive mechanism 30 successfully overcomes the obstacle, robot 100 enters the obstacle-crossing state with its main drive wheels. Please continue to refer to... Figure 5When the robot 100 is in the obstacle-crossing state of its main drive wheels: the lifting drive mechanism 30 provides movement force to the body 10, enabling the robot 100 to continue moving forward, thereby causing the main drive wheels 20 to move onto the obstacle 200, i.e., the main drive wheels 20 successfully cross the obstacle. Specifically, before or during the obstacle-crossing process, the third drive component 34 retracts to drive the main drive wheels 20 towards the body 10 to avoid the obstacle 200.

[0072] After the main drive wheel 20 successfully overcomes the obstacle, robot 100 enters the obstacle-overcoming reset state. Please continue to refer to... Figures 6 to 7 After the main drive wheel 20 successfully overcomes the obstacle, the third drive assembly 34 extends to drive the main drive wheel 20 to reset, so that the main drive wheel 20 is supported on the upper surface of the obstacle 200. At the same time, the first drive assembly retracts to drive the auxiliary drive wheel 31 to rise to the bottom 15 of the body 10 or retract into the body 10; or, the third drive assembly 34 first drives the main drive wheel 20 to reset, and then the first drive assembly drives the auxiliary drive wheel 31 to rise.

[0073] Please refer to Figure 8 , Figure 8 This is a schematic diagram of another embodiment of the robot provided in this application. The auxiliary drive wheel 31 is positioned relative to the main drive wheel 20 near the rear end 12 of the body 10. That is, the rear auxiliary wheel 40 can serve as the auxiliary drive wheel 31, enabling the rear auxiliary wheel 40 to provide driving force to the body 10 when the robot 100 is in an obstacle-crossing state. The lifting drive mechanism 30 also includes a second driven wheel 32 and a second drive assembly 33. The second driven wheel 32 is extendable and retractable relative to the body 10 in the height direction via the second drive assembly 33, and the second driven wheel 32 is positioned relative to the main drive wheel 20 near the front end 11 of the body 10.

[0074] The second drive assembly 33 is connected between the main body 10 and the second driven wheel 32. The second driven wheel 32 can be a swivel wheel. When the robot 100 is in normal driving mode, the second drive assembly 33 is in a retracted state, and the second driven wheel 32 contacts the walking surface 300 of the robot 100. The second driven wheel 32 not only supports the front end 11 of the main body 10 to maintain the stability of the robot 100's center of gravity, reducing the risk of the robot 100 tilting forward or backward, but also can rotate freely 360° to help the robot 100 quickly adjust its direction while driving. When the robot 100 is in a pre-obstacle-crossing state, the second drive assembly 33 can extend, lifting the front end 11 of the main body 10 under the reaction force of the second driven wheel 32 and the walking surface 300 of the robot 100. When the robot 100 is in an obstacle-crossing state, when the main drive wheel 20 crosses an obstacle, the second driven wheel 32 and the auxiliary drive wheel 31, i.e., the rear auxiliary wheel 40, can jointly provide driving force to the main body 10.

[0075] When the main drive wheel 20 is crossing an obstacle, the second driven wheel 32 and the auxiliary drive wheel 31 work together to provide driving force to the body 10, which can reduce the risk of the robot 100 backing backward or slipping due to insufficient power, thereby improving the success rate and efficiency of the robot 100 in crossing obstacles.

[0076] Please refer to the above as well. Figures 9 to 10 , Figure 9 This is a schematic diagram of the structure of an embodiment of the robot provided in this application, in which the second drive component cooperates with the second driven wheel; Figure 10 This is a schematic diagram of another embodiment of the robot's second drive assembly and its cooperation with the second driven wheel provided in this application. In some embodiments, the second drive assembly 33 includes a first drive member 331, a first swing arm 332, and a first pusher member 333. One end of the first swing arm 332 is rotatably connected to the body 10, and the other end is connected to the second driven wheel 32. The first pusher member 333 is connected to the first drive member 331, and includes a first push portion 3331. The first drive member 331 drives the first pusher member 333 to rotate, so that the first push portion 3331 abuts against or is offset from the first swing arm 332, thereby causing the first swing arm 332 to drive the second driven wheel 32 to extend and retract relative to the body 10 in the height direction.

[0077] The first pusher 333 is connected to the drive shaft of the first drive member 331, and the first drive member 331 can drive the first pusher 333 to rotate via the drive shaft. The first pusher 333 has a long side and a short side, wherein the first push portion 3331 is located in the corner region between one long side and one short side of the first pusher 333. The long side can be straight, arc-shaped, or wavy, but is not limited to these. The short side can be straight, arc-shaped, or wavy, but is not limited to these. The first pusher 333 can be elliptical, rectangular with chamfered angles, or irregularly shaped with smooth contours, but is not limited to these, as long as the first pusher 333 has a long side and a short side, and the corner region between one long side and one short side has the first push portion 3331. The first push portion 3331 is used to apply a thrust to the first rocker arm 332 under the drive of the first drive member 331 to raise the front end 11 of the body 10.

[0078] like Figure 9 As shown, when the robot 100 is in normal driving state, the first pusher 3331 is misaligned with the first swing arm 332. At this time, the first pusher 333 does not apply a push force to the first swing arm 332, or the push force applied to the first swing arm 332 is too small to raise the front end 11 of the body 10.

[0079] like Figure 10As shown, when the robot 100 switches from the normal driving state to the pre-obstacle crossing state, the first driving member 331 drives the first pushing member 333 to rotate, so that the first pushing member 3331 abuts against the first swing arm 332. The first driving member 331 can also apply a thrust to the first swing arm 332 through the first pushing member 3331, so that the other end of the first swing arm 332 connected to the second driven wheel 32 extends away from the first pushing member 333, and pushes the second driven wheel 32 to move away from the body 10, so as to raise the front end 11 of the body 10 under the action of the reaction force of the walking surface 300 of the robot 100.

[0080] In some embodiments, the robot 100 further includes a reset assembly (not shown), which is connected to the first swing arm 332. The reset assembly stores the elastic restoring force toward the direction away from the second driven wheel 32 when the first pusher 3331 abuts against the first swing arm 332. After the robot 100 successfully overcomes an obstacle, during the transition to normal driving mode, the first drive member 331 can drive the first pusher 333 to reverse, so that the first pusher 3331 and the first swing arm 332 are misaligned. At this time, the reset assembly resets to release the elastic restoring force toward the direction away from the second driven wheel 32, so that the first swing arm 332 retracts toward the first pusher 333, thereby restoring the second driven wheel 32 to the normal driving mode, and thus causing the front end 11 of the body 10 to descend.

[0081] In some embodiments, the body 10 is provided with a groove (not shown) extending in the height direction. The second driven wheel 32 is provided with a slider (not shown). The slider is used to slide along the groove when the second driven wheel 32 extends or retracts relative to the body 10 in the height direction, so that the second driven wheel 32 can extend or retract stably in the height direction. This not only reduces or avoids the risk of vibration or swaying of the second driven wheel 32, but also makes the process of driving the first rocker arm 332 to extend or retract more effortless, and can reduce the energy consumption of the first driving member 331.

[0082] Please refer to the above as well. Figures 11 to 12 , Figure 11 This is a schematic diagram of an embodiment of the robot provided in this application, in which the third drive component cooperates with the main drive wheel; Figure 12This is a schematic diagram of another embodiment of the robot's third drive assembly cooperating with the main drive wheel provided in this application. In some embodiments, the third drive assembly 34 includes a first rotating shaft 341, a second pusher 342, and a second drive member 343. The first rotating shaft 341 extends along a first direction XX. The first direction XX is perpendicular to the height direction. One end of the second pusher 342 is movably connected to the first rotating shaft 341, and the other end is connected to the main drive wheel 20. The second drive member 343 is connected to the first rotating shaft 341, and the second drive member 343 is used at least to drive the first rotating shaft 341 to rotate and drive the second pusher 342 to move along the first direction XX when the main drive wheel 20 crosses an obstacle, so that the second pusher 342 drives the main drive wheel 20 to retract to the body 10.

[0083] The main drive wheel 20 includes a main drive wheel body 21 and a mounting bracket 22. One end of the mounting bracket 22 is connected to the main drive wheel body 21, and the other end is connected to the second pusher 342, and is rotatably connected to the main body 10. Figure 12 As shown, when the main drive wheel 20 overcomes an obstacle, the second drive member 343 drives the first rotating shaft 341 to rotate, thereby causing the second push member 342 to move along the first direction XX from one end of the first rotating shaft 341 to the other end, so that the second push member 342 drives the main drive wheel 20 to rotate relative to the body 10 and retract into the bottom 15 of the body 10 or into the body 10. Figure 11 As shown, after the main drive wheel 20 successfully overcomes the obstacle, the second drive member 343 drives the second push member 342 to move in the opposite direction, that is, to move from one end of the first rotating shaft 341 to the other end along the first direction XX, so that the second push member 342 drives the main drive wheel 20 to rotate relative to the body 10 and extend in a direction away from the body 10.

[0084] In some embodiments, the third drive component 34 can be a ball screw structure. Of course, the third drive component 34 can also be a gear and rack structure, a lifting drive structure, or an electric pump structure, but is not limited thereto.

[0085] In some embodiments, the robot 100 further includes a stop 70, which is disposed on the side of the third drive assembly 34 near the front end 11 of the body 10, for limiting the displacement of the second pusher 342 toward the front end 11 of the body 10 when the main drive wheel 20 retracts to the body 10.

[0086] When the main drive wheel 20 crosses an obstacle, the second drive member 343 drives the second push member 342 to move from the end of the first rotating shaft 341 away from the front end 11 of the main body 10 toward the end of the front end 11 of the main body 10. When the main drive wheel 20 retracts to the main body 10, the end of the second push member 342 or the mounting bracket 22 away from the main drive wheel body 21 abuts against the stop member 70 to avoid interference between the second push member 342 or the mounting bracket 22 and the main body 10.

[0087] In some embodiments, the stop 70 may have a first connecting portion (not shown) on the side facing the main drive wheel 20, and the mounting bracket 22 of the main drive wheel 20 may have a second connecting portion that cooperates with the first connecting portion. When the main drive wheel 20 retracts to the body 10, the first connecting portion and the second connecting portion are connected to ensure that the main drive wheel 20 can continuously and stably maintain the retracted state, thereby preventing the main drive wheel 20 from interfering with the obstacle during obstacle crossing.

[0088] In this configuration, one of the first connecting portion and the second connecting portion can be a slot, and the other can be a buckle. After the main drive wheel 20 successfully overcomes the obstacle, when the second drive member 343 drives the second push member 342 to move in the opposite direction, the buckle can disengage from the slot, allowing the main drive wheel 20 to extend toward the side away from the body 10. Alternatively, one of the first connecting portion and the second connecting portion can be a first magnetic member, and the other can be a second magnetic member. After the main drive wheel 20 successfully overcomes the obstacle, when the second drive member 343 drives the second push member 342 to move in the opposite direction, the first magnetic member and the second magnetic member can overcome the attraction force, allowing the main drive wheel 20 to extend toward the side away from the body 10.

[0089] In some embodiments, the first drive assembly includes a third drive member, a second rocker arm, and a third pusher member. One end of the second rocker arm is rotatably connected to the main body, and the other end is connected to the auxiliary drive wheel 31. The third pusher member is connected to the third drive member and includes a second push portion. The third drive member drives the third pusher member to rotate, causing the second push portion to abut against or displace the second rocker arm, thereby causing the second rocker arm to extend and retract the auxiliary drive wheel 31 relative to the main body 10 in the height direction. For a detailed description of how the auxiliary drive wheel 31 extends and retracts relative to the main body 10 in the height direction using the third drive member, the second rocker arm, and the third pusher member, please refer to the relevant embodiments of the second drive assembly 33 described above; further details will not be repeated here.

[0090] In some embodiments, the first drive assembly includes a second rotating shaft, a fourth pusher, and a fourth drive member. The second rotating shaft extends along a first direction XX. One end of the fourth pusher is movably connected to the second rotating shaft, and the other end is connected to an auxiliary drive wheel 31. The fourth drive member is connected to the second rotating shaft and is used to drive the second rotating shaft to rotate and move the fourth pusher along the first direction XX, so that the fourth pusher drives the auxiliary drive wheel 31 to extend and retract relative to the body 10 in the height direction. For the specific implementation of the auxiliary drive wheel 31 extending and retracting relative to the body 10 in the height direction by means of the second rotating shaft, the fourth pusher, and the fourth drive member, please refer to the relevant embodiments of the third drive assembly 34 described above, which will not be repeated here.

[0091] In some embodiments, the robot 100 further includes a cleaning component disposed on the body 10. The cleaning component may be a mop, brush, or vacuum cleaner, but is not limited to these. The robot 100 uses the cleaning component to clean the walking surface 300 or other areas to be cleaned.

[0092] This application provides a robot 100, which includes a body 10, a main drive wheel 20, and a lifting drive mechanism 30. The main drive wheel 20 is disposed on the body 10 and is used to provide driving force to the body 10. The lifting drive mechanism 30 is disposed on the body 10, and at least a portion of the lifting drive mechanism 30 is disposed relative to the main drive wheel 20 near the front end 11 of the body 10, and is extendable and retractable relative to the body 10 in the height direction. The lifting drive mechanism 30 is configured to lift the front end 11 of the body 10 when the robot 100 is in a pre-obstacle crossing state, and is configured to provide driving force to the body 10 at least after the front end 11 has crossed an obstacle and when the main drive wheel 20 has crossed an obstacle. In this embodiment, the main drive wheel 20 and the lifting drive mechanism 30 work together to enable the robot 100 to move onto the obstacle 200, thereby achieving obstacle crossing. This reduces the risk of the robot 100 getting stuck or colliding with the obstacle 200, and also reduces fatigue wear, abrasion, or damage caused by getting stuck or colliding. This not only improves the obstacle crossing reliability of the robot 100, but also extends the service life of the robot 100.

[0093] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot, characterized in that, The robot includes: ontology; A main drive wheel, located on the body, is used to provide driving force to the body at least; A lifting drive mechanism is provided on the body, at least a portion of which is disposed near the front end of the body relative to the main drive wheel and is extendable and retractable relative to the body in the height direction; the lifting drive mechanism is configured to lift the front end of the body when the robot is in a pre-obstacle crossing state, and is configured to provide driving force to the body at least after the front end has crossed the obstacle and when the main drive wheel has crossed the obstacle.

2. The robot according to claim 1, characterized in that, The lifting drive mechanism includes: An auxiliary drive wheel is disposed on the body and configured to provide driving force to the body when the main drive wheel crosses an obstacle, at least after the front end has crossed an obstacle.

3. The robot according to claim 2, characterized in that, The lifting drive mechanism further includes: a first drive component; The auxiliary drive wheel is positioned relative to the main drive wheel near the front end of the body, and is extendable and retractable relative to the body along the height direction via the first drive component; In the normal driving state, the first drive component is in a retracted state; in the pre-obstacle crossing state and the obstacle crossing state, the first drive component is in an extended state to raise the front end of the body.

4. The robot according to claim 3, characterized in that, The robot also includes: The rear auxiliary wheel is located on the main body and is positioned relative to the main drive wheel near the rear end of the main body.

5. The robot according to claim 3, characterized in that, The robot also includes: The first driven wheel is located on the main body and is positioned near the front end of the main body relative to the auxiliary drive wheel.

6. The robot according to claim 2, characterized in that, The auxiliary drive wheel is positioned relative to the main drive wheel near the rear end of the body; The lifting drive mechanism further includes a second driven wheel and a second drive assembly. The second driven wheel is telescopically arranged relative to the body along the height direction via the second drive assembly, and the second driven wheel is arranged near the front end of the body relative to the main drive wheel. In the pre-obstacle crossing state, the second drive component is in an extended state to raise the front end of the body.

7. The robot according to claim 6, characterized in that, The second driven wheel is a swivel wheel.

8. The robot according to any one of claims 1 to 7, characterized in that, The robot also includes: A third drive assembly is connected between the body and the main drive wheel; When the main drive wheel crosses an obstacle, the third drive component drives the main drive wheel to retract into the body.

9. The robot according to claim 6, characterized in that, The second driving component includes: First driving component; A first swing arm, one end of which is rotatably connected to the main body, and the other end of which is connected to the second driven wheel; A first pushing member is connected to the first driving member, and the first pushing member includes a first pushing part; The first driving member is used to drive the first pushing member to rotate, so that the first pushing part abuts against or is offset from the first rocker arm, thereby causing the first rocker arm to drive the second driven wheel to extend and retract relative to the body along the height direction.

10. The robot according to claim 8, characterized in that, The third driving component includes: A first rotation axis is provided to extend along a first direction, which is perpendicular to the height direction; The second pusher has one end movably connected to the first rotating shaft and the other end connected to the main drive wheel; The second driving member is connected to the first rotating shaft. The second driving member is at least used to drive the first rotating shaft to rotate and drive the second pushing member to move along the first direction when the main driving wheel crosses an obstacle, so that the second pushing member drives the main driving wheel to retract to the body.

11. The robot according to claim 10, characterized in that, The robot also includes a stop, which is located on the side of the third drive assembly near the front end of the body, and is used to limit the displacement of the second pusher toward the front end of the body when the main drive wheel retracts into the body.

12. The robot according to claim 1, characterized in that, The robot also includes: A detection component, located on the body, is configured to detect at least obstacles in front of the robot; when the detection component detects an obstacle, the robot enters the pre-obstacle crossing state.

13. The robot according to claim 1, characterized in that, The robot also includes: A cleaning component is provided on the body.

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