A self-moving device

Abstract

The self-moving device comprises a body, a walking mechanism, a supporting mechanism and a locking mechanism, wherein the walking mechanism is connected to the body by elastic means and is configured to drive the body to walk on a working surface; the supporting mechanism is movably connected to the walking mechanism and is configured to move towards the working surface to a first position to raise the distance between the body and the working surface, and to move away from the working surface to a second position to lower the distance between the body and the working surface; and the locking mechanism is arranged on the walking mechanism and is configured to lock the body when the supporting mechanism moves to at least the first position. The self-moving device of the present disclosure can lock the walking mechanism and the body by the locking mechanism when overcoming obstacles, thereby improving the stability of the self-moving device when walking on the working surface.

Description

Technical Field

[0001] This disclosure relates to the field of mobile device technology, and more specifically to a self-moving device. Background Technology

[0002] With the development of technology, automated mobile robots have become widely used in various fields such as homes, supermarkets, and outdoors. For example, in the field of cleaning equipment, with the rapid development of smart home technology, robotic vacuum cleaners have become an important device in modern homes due to their automated cleaning capabilities, and the obstacle-crossing ability of robotic vacuum cleaners directly determines their environmental adaptability and cleaning coverage.

[0003] The existing walking mechanism of the sweeping robot is floatingly connected to its chassis by a tension spring. When the obstacle-crossing mechanism lifts the chassis off the working surface, the force exerted by the tension spring on the walking mechanism will affect the lifting effect, which is not conducive to obstacle crossing. Utility Model Content

[0004] In view of this, the present disclosure provides a self-moving device to address the technical deficiencies existing in the prior art.

[0005] To achieve the above objectives, this disclosure provides a self-moving device, comprising:

[0006] Organism;

[0007] A walking mechanism is configured to be floatingly connected to the machine body via a first elastic device and configured to drive the machine body to walk on the working surface;

[0008] A support mechanism, movably connected to the traveling mechanism, is configured to move relative to the body toward a first position toward the working surface to raise the distance between the body and the working surface; and to move from the first position toward a second position away from the working surface to lower the distance between the body and the working surface.

[0009] A locking mechanism is provided on the traveling mechanism and is configured to lock with the body when the support mechanism is at least in a first position.

[0010] In one embodiment of this disclosure, the locking mechanism is configured to unlock from the body when the support mechanism is in the second position.

[0011] In one embodiment of this disclosure, during the movement of the support mechanism from the second position to the first position, the locking mechanism locks with the body.

[0012] In one embodiment of this disclosure, during the movement of the support mechanism from the first position to the second position, the locking mechanism locks with the body.

[0013] In one embodiment of this disclosure, the locking mechanism includes a latch for locking with the body and a pusher connected to the latch, the pusher being configured to be located in the movement path of the support mechanism; when the support mechanism is in a second position, it abuts against the pusher to keep the latch disengaged from the body.

[0014] In one embodiment of this disclosure, a second elastic device is provided on the walking mechanism, and the locking tongue is configured to have a tendency to move in the locking direction under the action of the second elastic device.

[0015] In one embodiment of this disclosure, the support mechanism is provided with a actuating surface that cooperates with the pushing part; the actuating surface is configured to disengage from the pushing part as the support mechanism moves from the second position to the first position, so that the locking tongue moves to lock with the body under the action of the second elastic device; the actuating surface is configured to abut against the pushing part as the support mechanism moves from the first position to the second position, so that the pushing part drives the locking tongue to move to disengage from the body.

[0016] In one embodiment of this disclosure, the support mechanism is configured to be hinged to the walking mechanism and configured to rotate relative to the body between a first position and a second position; the pushing part is configured to move in a linear direction; the actuating surface is configured to drive the pushing part to move in a linear direction during rotation so that the latch disengages from the body, or the actuating surface disengages from the pushing part during rotation.

[0017] In one embodiment of this disclosure, the walking mechanism includes a gearbox housing with an opening, the locking tongue being disposed inside the gearbox housing and configured to extend through the opening; the pushing part being configured to extend through the outer end face of the gearbox housing; and the support mechanism being located on one end face of the gearbox housing.

[0018] In one embodiment of this disclosure, the walking mechanism includes a drive wheel, and the hinge point of the support mechanism is configured to be located below the rotation axis of the drive wheel.

[0019] In one embodiment of this disclosure, the support mechanism is configured to move relative to the walking mechanism in a straight direction between a first position and a second position.

[0020] In one embodiment of this disclosure, the support mechanism includes a slider and a swing arm hinged to the slider, the slider being configured to move in a straight line on a traveling mechanism; the swing arm being configured to move in a straight line to a first position via the slider; and the swing arm being configured to rotate relative to the slider when subjected to an external force from an obstacle.

[0021] In one embodiment of this disclosure, the swing arm is configured to be pre-pressed onto the slider by a third elastic device, the swing arm being configured to rotate relative to the slider against the force of the third elastic device when it comes into contact with an obstacle, and to reset under the force of the third elastic device when the external force is removed.

[0022] The self-moving device disclosed herein locks the walking mechanism to the body via a locking mechanism when crossing obstacles, overcoming the limitation of the first elastic device's own performance on obstacle-crossing capability and ensuring the smooth completion of the lifting action. After obstacle crossing, the locking mechanism is unlocked from the body, and there is a certain floating space between the walking mechanism and the body, thereby improving the stability of the self-moving device on the working surface. Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this disclosure;

[0024] Figure 2 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this disclosure;

[0025] Figures 3a-3f This is a schematic diagram of the obstacle-crossing process of a self-moving device according to an embodiment of the present disclosure;

[0026] Figure 4 This is a schematic diagram of the structure of a self-moving device provided in another embodiment of this disclosure;

[0027] Figure 5 This is an exploded view of a self-moving device according to another embodiment of this disclosure;

[0028] Figure 6 This is a schematic diagram of the structure of a self-moving device provided in another embodiment of this disclosure;

[0029] Figures 7a-7e This is a schematic diagram of the obstacle-crossing process of a self-moving device provided in another embodiment of this disclosure.

[0030] 1-Walking mechanism; 2-Drive wheel; 3-Supporting mechanism; 31-Actuating surface; 32-Slider; 33-Swing arm; 34-Third elastic device; 35-Auxiliary wheel; 41-Lock tongue; 42-Pushing part; 43-Second elastic device; 5-Gearbox housing; 6-One-way bearing. Detailed Implementation

[0031] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0032] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0033] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0035] The specific embodiments of this disclosure are described below with reference to the accompanying drawings.

[0036] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0037] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0038] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0039] This disclosure provides a self-moving device, which can be a household cleaning robot, such as a sweeping robot, a mopping robot, or a sweeping and mopping robot, or other devices that can automatically walk on a work surface. These will not be listed here.

[0040] The self-moving device disclosed herein includes a body and a walking mechanism mounted on the body. The walking mechanism may include drive wheels or other drive components, and can drive the body to move on a working surface. The walking mechanism is floatingly connected to the body via a first elastic device, which allows the walking mechanism to have a certain floating space relative to the body, thereby improving the stability of the self-moving device.

[0041] The self-moving device disclosed herein also includes a support mechanism movably connected to the walking mechanism. The support mechanism can move between a first position and a second position to raise or lower the distance between the machine body and the working surface. A locking mechanism is provided on the walking mechanism to control the switching between locked and disengaged states of the machine body. Specifically, when the support mechanism moves to the first position, raising the machine body so that the drive wheels disengage from the working surface, the locking mechanism locks the walking mechanism to the machine body. When the support mechanism moves to the second position, lowering the machine body so that the drive wheels contact the working surface, the locking mechanism disengages from the machine body.

[0042] In existing self-propelled mobile equipment, the walking mechanism typically uses a floating connection between a spring and the body, and springs with relatively high elasticity are usually chosen to give the drive wheels greater ground pressure. However, when the support mechanism is supported on the working surface, the drive wheels do not rise with the body and remain in contact with the working surface. If springs with lower elasticity are chosen, when the support mechanism is supported on the working surface, the support mechanism and walking mechanism will move upwards relative to the body as a whole, affecting the obstacle-crossing height of the self-propelled mobile equipment.

[0043] The self-moving device disclosed herein has a support mechanism and a locking mechanism connected to its walking mechanism. During cleaning, when encountering high steps or other obstacles, the support mechanism can move relative to the machine body towards the working surface to at least a first position, increasing the distance between the machine body and the working surface. At this time, the locking mechanism locks with the machine body, thus locking the walking mechanism to the machine body, preventing the walking mechanism from floating relative to the machine body. After the self-moving device overcomes the obstacle, the support mechanism can move away from the working surface to a second position, reducing the distance between the machine body and the working surface. At this time, the locking mechanism remains disengaged from the machine body, and the walking mechanism is in a free-floating state relative to the machine body.

[0044] The self-moving device disclosed herein locks the walking mechanism to the body through a locking mechanism when crossing obstacles, thus solving the limitation of the first elastic device's own performance on obstacle-crossing ability. After the obstacle crossing is completed, the locking mechanism and the body are in an unlocked state, and there is a certain floating space between the walking mechanism and the body, thereby improving the stability of the self-moving device when walking on the working surface.

[0045] For ease of understanding, please refer to the following: Figure 1 Figure 7 illustrates in detail the specific structure and working principle of the self-moving device of this disclosure, with reference to the embodiments.

[0046] refer to Figure 1This disclosure provides a self-moving device, including a body (not shown in the view), a walking mechanism 1, a support mechanism 3, and a locking mechanism. The self-moving device of this disclosure can be a household or commercial cleaning robot. The body serves as the chassis structure of the cleaning robot, and all other components of the self-moving device can be directly or indirectly mounted on the body. The walking mechanism 1 is floatingly connected to the body via a first elastic device (not shown in the view), which allows the walking mechanism 1 a certain amount of floating space relative to the body. Under the force of the first elastic device, the walking mechanism 1 remains in contact with the working surface. During the self-moving device's movement on the working surface, when encountering low obstacles or uneven surfaces, the walking mechanism 1 will rise or fall relative to the body. The first elastic device simultaneously buffers the impact of these undulations on the body, thereby improving the stability of the self-moving device on the working surface and enhancing its adaptability to different working surfaces.

[0047] The walking mechanism 1 disclosed herein may include a mounting base and a drive wheel 2 connected to the mounting base. The drive wheel 2 may be connected to the drive unit via a drive unit or via a reducer, so that the drive unit can drive the drive wheel 2 to rotate, thereby enabling the self-moving device to walk on the working surface.

[0048] The self-moving device disclosed herein has a support mechanism 3 movably connected to a walking mechanism 1 and configured to move relative to the body toward a first position toward a working surface to raise the distance between the body and the working surface; and to move toward a second position away from the working surface to lower the distance between the body and the working surface.

[0049] Specifically, an auxiliary wheel 35 is provided at one end of the support mechanism near the working surface. The auxiliary wheel 35 can be connected to the drive unit via a transmission, or it can be connected to the drive unit via a reducer, so that the drive unit can drive the auxiliary wheel 35 to rotate. The auxiliary wheel 35 can use the same drive unit as the drive wheel 2, or it can use a different drive unit; this disclosure does not impose any specific limitations. When the auxiliary wheel 35 is in contact with the working surface, the auxiliary wheel 35 can drive the machine body to move on the working surface through its own rotation.

[0050] When encountering an obstacle, the support mechanism 3 can move relative to the machine body towards the working surface to the first position. At this time, the support mechanism 3 can lift the machine body upward, increasing the ground clearance between the machine body and the working surface, causing the self-moving device to assume a tilted-up posture. The drive wheel 2 will then leave the working surface, and the auxiliary wheel 35 will contact the working surface. Under the rotation of the auxiliary wheel 35 and / or the inertia of the self-moving device itself, the machine body continues to move, allowing it to cross high steps or other obstacles, improving its obstacle-crossing ability. After crossing the obstacle, the support mechanism 3 can move away from the working surface to the second position, causing the machine body to descend, thereby reducing the ground clearance between the machine body and the working surface. At this time, the auxiliary wheel 35 will disengage from the working surface, and the drive wheel 2 will contact the working surface, driving the machine body to move normally on the working surface.

[0051] The self-moving device disclosed herein has a locking mechanism disposed on the walking mechanism 1 and configured to lock with the body when the support mechanism 3 is at least in the first position, effectively fixing the relative position of the walking mechanism 1 and the body temporarily, preventing the walking mechanism 1 from floating relative to the body. At this time, the support mechanism 3, the walking mechanism 1 and the body are rigidly connected, so that the support mechanism 3 can support the body and the walking mechanism 1 as a whole, ensuring the rigidity and stability of the self-moving device during obstacle crossing.

[0052] In one embodiment of this disclosure, the locking mechanism is configured to unlock from the body when the support mechanism 3 is in the second position. At this time, the walking mechanism 1 is in a free-floating state with respect to the body, and the walking mechanism 1 drives the body to continue to move normally on the working surface.

[0053] By changing the position of the support mechanism 3, the ground clearance between the machine body and the working surface can be dynamically adjusted, improving obstacle-crossing ability and thus adapting to the needs of different working surfaces. The locking mechanism works in conjunction with the support mechanism 3 to lock the relative position of the walking mechanism 1 and the machine body when obstacle crossing is required, providing rigid support. After obstacle crossing, the locking is released, allowing the walking mechanism 1 to drive the machine body to move normally, thus improving the overall stability of the device.

[0054] In one embodiment of this disclosure, during the movement of the support mechanism 3 from the second position to the first position, the locking mechanism locks with the machine body. That is, during obstacle crossing, the support mechanism 3 gradually moves from the second position to the first position, and the locking mechanism locks with the machine body before the auxiliary wheel 35 of the support mechanism 3 contacts the working surface. This ensures that from the initial stage of contact with the working surface until the support mechanism 3 lifts the machine body, the walking mechanism 1 and the machine body remain rigidly connected, avoiding the problem of the walking mechanism 1 descending relative to the machine body due to excessive elastic force of the first elastic device, or the walking mechanism 1 and the support mechanism 3 rising relative to the machine body due to insufficient elastic force of the first elastic device.

[0055] In one embodiment of this disclosure, the locking mechanism unlocks from the body during the movement of the support mechanism 3 from the first position to the second position. That is, after overcoming the obstacle, as the support mechanism 3 moves from the first position to the second position, it gradually moves away from the working surface. At this time, the entire body descends until the support mechanism 3 disengages from the working surface, and the drive wheel 2 contacts the working surface. The locking mechanism unlocks from the body only after the support mechanism 3 disengages from the working surface. In other words, when the support mechanism 3 begins to move away from the working surface, the locking mechanism remains locked to the body until it disengages from the working surface. The locking mechanism only unlocks from the body after the support mechanism 3 disengages from the working surface because once the locking mechanism unlocks from the body, the walking mechanism 1 is in a free-floating state with the body. If the support mechanism 3 is still in contact with the working surface, the walking mechanism 1 will fall under gravity, affecting the height the body can be raised, or even preventing the walking mechanism from being raised at all. (Reference) Figure 2 The locking mechanism includes a latch 41 for locking with the machine body, and a pusher 42 connected to the latch 41. The latch 41 can move within the traveling mechanism 1 to lock or disengage with the machine body. The latch 41 can be configured as a wedge shape. The pusher 42 is mechanically connected to the latch 41, and its movement drives the latch 41. The machine body may have a lock hole (not shown in the view) for engaging with the latch 41. This lock hole can adopt a lock hole structure well known to those skilled in the art, such as a circular hole or a square hole, as long as it can engage with the latch 41. When the latch 41 moves to engage with the lock hole, the traveling mechanism 1 is locked together with the machine body. When the latch 41 disengages from the lock hole, the traveling mechanism 1 is unlocked from the machine body.

[0056] In one embodiment of this disclosure, the dimension of the locking hole in the direction of rotation of the walking mechanism 1 relative to the body is larger than the dimension of the locking tongue 41. Thus, when the locking tongue 41 is inserted into the locking hole and in the locked state, there is still a dimensional margin between the locking tongue 41 and the locking hole, which allows for a limited degree of relative rotational freedom between the locking tongue 41 and the body. Even when the locking mechanism and the body are in the locked state, the body can still maintain its ability to buffer against minor ground undulations.

[0057] refer to Figure 2 The pusher 42 is configured to be located in the movement path of the support mechanism 3, so that the support mechanism 3 can interact with the pusher 42 when it moves to a preset position. When the support mechanism 3 is in the second position, it abuts against the pusher 42 to keep the locking tongue 41 in a state of disengagement from the body.

[0058] In one embodiment of this disclosure, a second elastic device 43 is provided on the walking mechanism 1, and the locking tongue 41 is configured to have a tendency to move in the locking direction under the action of the second elastic device 43. Specifically, the second elastic device 43 can be a spring, one end of which is fixed to the walking mechanism 1, and the other end acts on the locking tongue 41 to provide elastic force to the locking tongue 41, so that the locking tongue 41 has a tendency to move in the locking direction.

[0059] Continue to refer to Figure 2 The support mechanism 3 is provided with a deflecting surface 31 that cooperates with the pushing part 42. The deflecting surface 31 is configured to disengage from the pushing part 42 as the support mechanism 3 moves from the second position to the first position, so that the locking tongue 41 moves to lock with the body under the action of the second elastic device 43. Specifically, the support mechanism 3 can be hinged to the walking mechanism 1, so that the support mechanism 3 can rotate relative to the walking mechanism 1. The pushing part 42 is located in the rotation path of the support mechanism 3. When the support mechanism 3 rotates from the second position to the first position, the deflecting surface 31 disengages from the pushing part 42. At this time, the locking tongue 41 and the pushing part 42 are in a free state, and extend under the action of the second elastic device 43 and lock together with the body, realizing the locking of the walking mechanism 1 and the body. At this time, the support mechanism 3 will continue to rotate until it moves to the first position, lifting the body and starting to overcome obstacles.

[0060] The actuating surface 31 is configured to abut against the pushing part 42 as the support mechanism 3 moves from the first position to the second position, so that the pushing part 42 can drive the locking tongue 41 to move until it disengages from the body. Specifically, after the self-moving device has completed obstacle crossing, the support mechanism 3 moves from the first position to the second position. When it reaches the predetermined position, the actuating surface 31 of the support mechanism 3 will engage with the pushing part 42. As the support mechanism 3 continues to rotate, it can drive the pushing part 42 to move, causing the locking tongue 41 to disengage from the body. When the support mechanism 3 is stationary in the second position, the locking 41 remains unlocked from the body due to the cooperation of the actuating surface 31 and the pushing part 42.

[0061] The support mechanism 3 of this disclosure is hinged to the traveling mechanism 1, allowing it to rotate relative to the body between a first position and a second position. The pushing part 42 is configured to move in a linear direction, and the actuating surface 31 is configured to drive the pushing part 42 to move in a linear direction during rotation until the locking tongue 41 disengages from the body, or the actuating surface 31 disengages from the pushing part 42 during rotation. Because the movement trajectories of the support mechanism 3 and the pushing part 42 are different, the rotation of the support mechanism 3 will drive the pushing part 42 to move in a linear direction, and when it reaches a predetermined position or the support mechanism 3 rotates to a predetermined angle, it will disengage from the pushing part 42.

[0062] refer to Figure 1 The support mechanism 3 disclosed herein can be connected to the walking mechanism 1 via a one-way bearing 6, so that the support mechanism 3 can only rotate in one direction, either counterclockwise or clockwise. Taking clockwise rotation as an example, when the support mechanism 3 moves clockwise from the second position to the first position, the support mechanism 3 lifts the body. One-way rotation can prevent the support mechanism 3 from swinging back counterclockwise, which would cause the body to retreat during obstacle crossing and lead to obstacle crossing failure.

[0063] Figures 3a to 3f This illustrates the obstacle-crossing process of the automated device in this embodiment of the present disclosure, such as... Figure 3a As shown, in the initial state, the support mechanism 3 is in the second position, detached from the working surface. At this time, the locking tongue 41 remains detached from the machine body. During the process of the drive wheel 2 driving the machine body to move on the working surface, there is a certain floating space between the walking mechanism 1 and the machine body. When an obstacle is detected in front of the self-moving device, the support mechanism 3 can be rotated from the second position to the first position under the control of the corresponding drive unit. Figures 3a to 3b The diagram illustrates a clockwise rotation to the first position. During this rotation, the support mechanism 3 disengages from the pusher 42, causing the locking tongue 41 to extend and lock with the body under the action of the second elastic device 43. The support mechanism 3 then continues to rotate to the first position, raising the body. (See reference...) Figure 3b Under the action of the auxiliary wheel 35 and / or the inertia of the self-moving device itself, the self-moving device moves until the drive wheel 2 contacts the obstacle, as shown in the reference. Figure 3c .

[0064] refer to Figure 3d Driven by the drive wheel 2, the self-moving device climbs above the obstacle. At this point, the bottom of the support mechanism 3 remains below the obstacle. The support mechanism 3 can then be controlled to continue rotating clockwise to prevent interference between its bottom and the obstacle. The self-moving device then moves under the drive wheel 2. Figure 3e The schematic state is shown. At this time, the control support mechanism 3 continues to move towards the second position. When it reaches the predetermined position, the actuating surface 31 on the support mechanism 3 will engage with the pushing part 42. As the support mechanism 3 continues to rotate, it drives the pushing part 42 to move, causing the locking tongue 41 to disengage from the body. When the support mechanism 3 stops at the second position, the locking 41 remains unlocked from the body due to the cooperation of the actuating surface 31 and the pushing part 42. Figure 3f .

[0065] like Figure 1As shown, in a specific embodiment of this disclosure, the walking mechanism 1 includes a gearbox housing 5 with an opening. A locking tongue 41 is disposed inside the gearbox housing 5 and is configured to protrude through the opening. Under the drive of the pushing part 42, the locking tongue 41 moves between the inner and outer sides of the gearbox housing 5 through the opening. The pushing part 42 is configured to protrude through the outer end face of the gearbox housing 5. The support mechanism 3 is located on one side end face of the gearbox housing 5, so that the support mechanism 3 can drive the pushing part 42 to move during the movement.

[0066] In one embodiment of this disclosure, reference is made to Figure 1 The hinge point of the support mechanism 3 is configured to be located below the rotation axis of the drive wheel 2. Furthermore, the height of the rotation axis of the drive wheel 2 is higher than the hinge point, and the support mechanism 3 and the drive wheel 2 can partially overlap in the height direction. Compared to traditional cleaning robots that place the hinge point of the support mechanism 3 at the axis of the drive wheel 2, in this embodiment, the hinge point is moved below the axis of the drive wheel 2. When the drive wheel 2 encounters an obstacle, the upward reaction force on the drive wheel 2 will generate a significantly increased lifting torque around this lower hinge point. This torque is transmitted to the robot body through the support mechanism 3, making its rear end easier to pry upwards. Additionally, placing the hinge point below the rotation axis of the drive wheel 2 allows the robot body to be lifted higher when the support mechanism 3 is in the first position, thereby increasing the obstacle-crossing height of the self-moving device.

[0067] In the above embodiments, an example of the support mechanism 3 rotating relative to the walking mechanism 1 is described, and the rotation enables the support mechanism 3 to switch between a first position and a second position. In another embodiment of this disclosure, the support mechanism 3 is configured to move between a first position and a second position relative to the walking mechanism 1 in a straight line. That is, the movement trajectory of the support mechanism 3 relative to the walking mechanism 1 is a straight line, and the support mechanism 3 can move downward along the straight line to the first position to lift the machine body, or move upward to the second position to lower the machine body.

[0068] In another embodiment of this disclosure, reference is made to Figure 4 , Figure 5 The support mechanism 3 includes a slider 32 and a swing arm 33 hinged to the slider 32. The slider 32 is configured to move in a straight line on the traveling mechanism 1, and the swing arm 33 is configured to move in a straight line to a first position via the slider 32. (Refer to...) Figure 6The swing arm 33 is configured to rotate relative to the slider 32 when subjected to an external force from an obstacle. Specifically, the traveling mechanism 1 is provided with a guide groove, and the slider 32 cooperates with the guide groove, allowing the slider 32 to move in a straight line towards the working surface or away from the working surface. The swing arm 33 is hinged to the slider 32, allowing the swing arm 33 to rotate relative to the slider 32.

[0069] Further, refer to Figure 5 The swing arm 33 is configured to be pre-pressed onto the slider 32 by a third elastic device 34. The swing arm 33 is configured to rotate relative to the slider 32 against the force of the third elastic device 34 when it comes into contact with an obstacle, and to return to its original position under the action of the third elastic device 34 after the external force is removed. Specifically, refer to Figure 6 When encountering an obstacle, slider 32 drives swing arm 33 to move in a straight line to the first position, and auxiliary wheel 35 contacts the working surface. After the self-moving device climbs onto the obstacle, the bottom of swing arm 33 is lower than the obstacle. As the self-moving device continues to move forward, swing arm 33 will interfere with the obstacle. This allows swing arm 33 to overcome the force of the third elastic device 34 and rotate relative to slider 32 to a state of disengagement from the obstacle, thus ensuring that swing arm 33 does not affect the movement of the self-moving device. When the self-moving device has completely moved above the obstacle, slider 32 will drive swing arm 33 to move towards the second position. At this time, under the action of the third elastic device 34, swing arm 33 returns to its initial position.

[0070] The above-mentioned locking mechanism can be applied to Figure 4 In the illustrated embodiment, for example, the locking mechanism can be locked or disengaged from the machine body during the movement of the slider 32. For the specific structure, please refer to the above embodiment, and this disclosure will not describe it in detail here.

[0071] Figures 7a to 7e This illustration shows the process of an independent mobile device overcoming obstacles in an embodiment of this disclosure. (See reference...) Figure 7a Initially, the support mechanism 3 is in the second position, detached from the working surface. When an obstacle is detected in front of the self-moving device, the slider 32 can drive the swing arm 33 to move linearly to the first position under the control of the corresponding drive unit, thus raising the machine body. (Refer to...) Figure 7b Under the action of the auxiliary wheel 35 and / or the inertia of the self-moving device itself, the self-moving device moves until the drive wheel 2 contacts the obstacle, as shown in the reference. Figure 7c The bottom of the swing arm 33 may interfere with the obstacle. As the self-moving device continues to climb the obstacle, the obstacle will push the swing arm 33 to rotate relative to the slider 32 to prevent the swing arm 33 from getting stuck with the obstacle. (See reference...) Figure 7dWhen the self-moving device's walking mechanism 1 is completely above or has passed over an obstacle, the drive unit controls the slider 32 to drive the swing arm 33 to move in a straight line towards the second position. As the swing arm 33 moves upward, it gradually disengages from the obstacle or working surface. At this time, the swing arm 33 will return to its initial state relative to the slider 32 under the action of the third elastic device 34. (Refer to...) Figure 7e .

[0072] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, because according to this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this disclosure.

[0073] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0074] The preferred embodiments disclosed above are merely illustrative of this disclosure. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this disclosure. These embodiments are selected and specifically described in this disclosure to better explain the principles and practical applications of this disclosure, thereby enabling those skilled in the art to better understand and utilize this disclosure. This disclosure is limited only by the claims and their full scope and equivalents.

Claims

1. A self-moving device, characterized in that, include: Organism; The walking mechanism (1) is configured to be floatingly connected to the body via a first elastic device and is configured to drive the body to walk on the working surface; The support mechanism (3) is movably connected to the walking mechanism (1) and is configured to move relative to the body toward a first position toward the working surface to raise the distance between the body and the working surface; and to move from the first position toward a second position away from the working surface to lower the distance between the body and the working surface. A locking mechanism is provided on the walking mechanism (1) and is configured to lock with the body when the support mechanism (3) is at least in the first position.

2. The self-moving device of claim 1, wherein, The locking mechanism is configured to unlock from the body when the support mechanism (3) is in the second position.

3. The self-moving device of claim 1, wherein, During the movement of the support mechanism (3) from the second position to the first position, the locking mechanism locks with the body.

4. The self-moving device of claim 1, wherein, During the movement of the support mechanism (3) from the first position to the second position, the locking mechanism locks with the body.

5. The self-moving device of claim 1, wherein, The locking mechanism includes a locking tongue (41) for locking with the body, and a pushing part (42) connected to the locking tongue (41). The pushing part (42) is configured to be located in the movement path of the support mechanism (3). When the support mechanism (3) is in the second position, it abuts against the pushing part (42) so that the locking tongue (41) remains disengaged from the body.

6. The self-moving device of claim 5, wherein, A second elastic device (43) is provided on the walking mechanism (1), and the locking tongue (41) is configured to have a tendency to move in the locking direction under the action of the second elastic device (43).

7. The self-moving device of claim 6, wherein, The support mechanism (3) is provided with a push surface (31) that cooperates with the push part (42); the push surface (31) is configured to disengage from the push part (42) as the support mechanism (3) moves from the second position to the first position, so that the locking tongue (41) moves to lock with the body under the action of the second elastic device (43); the push surface (31) is configured to abut against the push part (42) as the support mechanism (3) moves from the first position to the second position, so that the push part (42) drives the locking tongue (41) to move to disengage from the body.

8. The self-moving device of claim 7, wherein, The support mechanism (3) is configured to be hinged to the walking mechanism (1) and to rotate relative to the body between a first position and a second position; the pusher (42) is configured to move in a straight line; the actuating surface (31) is configured to drive the pusher (42) to move in a straight line during rotation so that the latch (41) disengages from the body, or the actuating surface (31) disengages from the pusher (42) during rotation.

9. The self-moving device of claim 8, wherein, The walking mechanism (1) includes a gearbox housing (5) with an opening, the locking tongue (41) is disposed inside the gearbox housing (5) and is configured to pass through the opening; the pushing part (42) is configured to pass through the outer end face of the gearbox housing (5); the support mechanism (3) is located on one side end face of the gearbox housing (5).

10. The self-moving device of claim 1, wherein, The walking mechanism (1) includes a drive wheel (2), and the hinge point of the support mechanism (3) is configured to be located below the rotation axis of the drive wheel (2).

11. The self-moving device of claim 1, wherein, The support mechanism (3) is configured to move between a first position and a second position in a straight line relative to the walking mechanism (1).

12. The self-moving device of claim 1, wherein, The support mechanism (3) includes a slider (32) and a swing arm (33) hinged to the slider (32). The slider (32) is configured to move in a straight line on the walking mechanism (1). The swing arm (33) is configured to move to a first position in a straight line via the slider (32). The swing arm (33) is configured to rotate relative to the slider (32) when subjected to an external force from an obstacle.

13. The self-moving device of claim 12, wherein, The swing arm (33) is configured to be pre-pressed onto the slider (32) by a third elastic device (34), and the swing arm (33) is configured to rotate relative to the slider (32) against the force of the third elastic device (34) when it comes into contact with an obstacle, and to reset under the force of the third elastic device (34) when the external force is removed.

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