A motion mechanism and mowing robot

Abstract

The application relates to the technical field of lawn mowers, and provides a motion mechanism and a lawn mowing robot. The motion mechanism provided by the application comprises a machine body, a first wheel set and a second wheel set; the first wheel set and the second wheel set are respectively connected to opposite front and rear ends of the machine body; a first included angle is formed between the center line of the machine body and the left and right first wheels, the front ends of the left and right first wheels are close to the center line of the machine body, and the rear ends of the left and right first wheels are away from the center line of the machine body; the left and right second wheels are arranged on the two sides of the center line of the machine body in parallel and symmetry; a left motor driver and a right motor driver are arranged in the machine body, the left motor driver is connected with the driving motors of the left first wheel and the left second wheel, and the right motor driver is connected with the driving motors of the right first wheel and the right second wheel.

Description

Technical Field

[0001] This manual relates to the field of lawnmower technology, and in particular to a motion mechanism and a lawnmower robot. Background Technology

[0002] A motion mechanism can be used to carry or mount working components and move them to meet the mobility needs of various working components. The motion mechanism may include a body for mounting the working components and one or more wheels, such as four wheels, mounted on the body, to achieve functions such as planar movement, turning, climbing, and descending. The working components mounted on the motion mechanism may include transporting components, mowing components, etc.

[0003] The motor drive design of a four-wheel drive chassis is generally symmetrical from left to right, but not necessarily from front to back. For example, low-torque omnidirectional wheels can be used at the front, while high-torque drive wheels can be used at the rear; solid wheels can be used at the front to provide auxiliary power, while load-bearing wheels can be used at the rear to provide the main power. In addition, the power ratio between the front and rear wheels is dynamically distributed based on factors such as terrain material / slope steepness.

[0004] In related technologies, two motor drivers can be used to control the front and rear wheels separately. Due to different operating conditions, the total output power and heat dissipation power of the two motor drivers may differ. If the load on the front and rear wheels changes, the connection method between the motor drivers and the motors needs to be changed, requiring long-distance wiring, increasing structural complexity and electromagnetic interference. Furthermore, to adapt to dynamic changes in the load on the front and rear wheels, the output power and heat dissipation power of both motor drivers must be designed to meet the highest requirements, increasing cost and design difficulty. Utility Model Content

[0005] This specification provides a motion mechanism in one or more embodiments, including a body, a first wheel assembly, and a second wheel assembly. The first wheel assembly and the second wheel assembly are respectively connected to the front and rear ends of the body. The first wheel assembly includes a left first wheel and a right first wheel, which are symmetrically arranged on both sides of the centerline of the body. The left first wheel and the right first wheel have a first angle with the centerline of the body. The front ends of the left first wheel and the right first wheel are close to the centerline of the body, and the rear ends are far away from the centerline of the body. The second wheel assembly includes a left second wheel and a right second wheel, which are parallel and symmetrically arranged on both sides of the centerline of the body. Each of the left first wheel, right first wheel, left second wheel, and right second wheel has a drive motor inside. The body has a left motor driver and a right motor driver. The left motor driver is connected to the drive motors of the left first wheel and the left second wheel, and the right motor driver is connected to the drive motors of the right first wheel and the right second wheel.

[0006] This specification provides one or more embodiments of a lawn mowing robot, including a lawn mowing mechanism, a camera module, a collision sensor, a main controller, and the aforementioned motion mechanism; wherein the main controller is connected to the left and right motor drivers in the lawn mowing mechanism, the camera module, the collision sensor, and the motion mechanism.

[0007] The beneficial effects that the embodiments in this specification may bring may include, but are not limited to:

[0008] (1) The left motor driver is configured to control the drive motors of the first and second wheels on the left, while the right motor driver is configured to control the drive motors of the first and second wheels on the right. This makes the motor driver design more symmetrical, requiring less modification to the wiring and lower design requirements if the load on the front and rear wheels changes. The vehicle's rotation center can be adjusted as needed, improving its ability to escape from narrow spaces and enabling roundabout turns without damaging grass. Furthermore, it can smoothly pass through narrow passages by controlling the torque and wheel speed of the four wheels.

[0009] (2) By setting the first wheel on the left and the first wheel on the right to have an angle between them and the center line of the machine body, the rotation center can be set close to the center or center of gravity of the working part or the motion mechanism and the working part as a whole, thereby controlling the movement trajectory of the working part more efficiently.

[0010] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects. Attached Figure Description

[0011] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0012] Figure 1 This is a top view schematic diagram of the motion mechanism shown in some embodiments of this specification.

[0013] Figure 2 This is a schematic diagram of a drive system for a motion mechanism according to some embodiments of this specification.

[0014] Figure 3 This is a perspective view of the first link assembly of the motion mechanism shown in some embodiments of this specification.

[0015] Figure 4 This is a bottom view schematic diagram of the first link assembly of the motion mechanism shown in some embodiments of this specification.

[0016] Figure 5 This is a cross-sectional schematic diagram of the first link assembly of the motion mechanism shown in some embodiments of this specification.

[0017] Figure 6 This is a perspective view of the first link assembly of the motion mechanism shown in other embodiments of this specification.

[0018] Figure 7 This is an exploded view of the first link assembly of a motion mechanism according to other embodiments of this specification.

[0019] Figure 8 This is a schematic diagram of an omnidirectional wheel of a motion mechanism shown in some embodiments of this specification.

[0020] Figure 9 This is an exploded view of an omnidirectional wheel of a motion mechanism shown in some embodiments of this specification.

[0021] Figure 10 This is a schematic diagram of the roller cage, first end cap, and second end cap of an omnidirectional wheel of a motion mechanism shown in some embodiments of this specification.

[0022] Figure 11 , Figure 12 This is a schematic diagram of the roller cage of the omnidirectional wheel of the motion mechanism shown in some embodiments of this specification.

[0023] Figure 13 This is a schematic diagram of the roller assembly of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0024] Figure 14 This is a cross-sectional schematic diagram of the roller assembly of the omnidirectional wheel of the motion mechanism shown in some embodiments of this specification.

[0025] Figure 15 This is an exploded view of the roller assembly of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0026] Figure 16 This is a schematic diagram of an omnidirectional wheel of a motion mechanism shown in other embodiments of this specification.

[0027] Figure 17 This is a schematic diagram of the first and second support portions of the omnidirectional wheel of a motion mechanism shown in other embodiments of this specification.

[0028] Figure 18 This is an exploded view of the roller body of an omnidirectional wheel of a motion mechanism according to some other embodiments of this specification.

[0029] Figure 19This is a cross-sectional schematic diagram of the roller assembly of the omnidirectional wheel of the motion mechanism shown in other embodiments of this specification.

[0030] Figure 20 This is a schematic diagram of the roller sleeve of the omnidirectional wheel of the motion mechanism shown in other embodiments of this specification.

[0031] Figure 21 This is a schematic diagram of the rod-like structure of a wheel of a motion mechanism according to some embodiments of this specification.

[0032] Figure 22 This is a schematic diagram of a pneumatic tire for a motion mechanism shown in some embodiments of this specification.

[0033] Figure 23 This is a schematic diagram of a heat sink for a motion mechanism according to some embodiments of this specification.

[0034] Markings in the diagram: 10. Body; 11. First wheel assembly; 111. Drive motor; 1111. Motor shaft; 1112. First limiting plane; 12. Second wheel assembly; 121. Drive motor; 1211. Motor shaft; 131. Drive motor; 132. Drive motor; 133. Drive motor; 134. Drive motor; Left motor driver; 136. Right motor driver; 137. Main controller; 2. First connecting rod assembly; 21. First connecting beam; 210. Connecting beam bend; 211. First shaft sleeve; 212. First shaft; 213. Second groove; 2131. Third limiting plane; 22. Motor mounting plate; 221. First groove; 2211. Second limiting plane; 23. Left wheel connector; 231. Fourth groove; 232. Second mounting plate; 24. Right wheel connector. Component; 241 Fifth groove; 242 Third mounting plate; 25 Machine body connector; 251 Third groove; 252 First mounting plate; 26 Weight reduction hole; 31 Roller retainer; 311 Support part; 3111 First connecting end face; 3112 Second connecting end face; 312 First mounting part; 3121 First mounting end face; 3122 First receiving groove; 3123 First mounting hole; 313 First mounting space; 314 Second mounting part; 3141 Second mounting end face; 3142 Second receiving groove; 3143 Second mounting hole; 315 Second mounting space; 32 First end cover; 321 First connecting part; 322 Second connecting part; 33 Roller assembly; 331 Roller shaft; 332 Roller wheel; 3321 Roller core; 33211 First empty 33212 Second cavity; 33213 Recess; 3322 Roller skin; 33221 Limiting protrusion; 33222 Annular protrusion; 333 Bearing; 34 Drive motor; 35 Second end cover; 351 Third connecting part; 352 Fourth connecting part; 41 Wheel body; 411 First support part; 4111 First mounting part; 4112 First mounting space; 4113 First protrusion; 412 Second support part; 4121 Second mounting part; 4122 Second mounting space; 4123 Second protrusion; 4133 Third mounting space; 4131 Third protrusion; 4132 Third positioning hole; 414 Fourth mounting space; 4141 Mounting flange; 4142 First through hole; 4143 Third protrusion; 4144 Third positioning hole Column; 42 Roller assembly; 421 Roller body; 422 Roller sleeve; 4221 Annular limiting protrusion; 4222 Second recess; 4211 First cylinder; 42111 First rib; 42112 Second rib; 42113 First positioning post; 42114 First positioning hole; 4212 Second cylinder; 42121 Third rib; 42122 Fourth rib; 42123 Second positioning hole; 42124 Second positioning post; 4213 Annular recess; 400a Outer inclined surface; 400b Inner inclined surface; 5 Rod-shaped structure; 61 Wheel body; 62 Roller assembly; 701 Inner ring; 702 Outer ring; 703 Spoke unit; 7031 Abutment part; 704 Protrusion structure assembly; 705 Hub connection structure; Controller housing 801;Left radiator: 8021; Right radiator: 8022. Detailed Implementation

[0035] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0036] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0037] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0038] In the description of this specification, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In the description of this specification, unless otherwise expressly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this specification in conjunction with the specific content of the technical solution.

[0039] A motion mechanism can be used to carry or mount working components and move them to meet the movement requirements of various working components. In some related embodiments, the motion mechanism may include a body for mounting the working components and one or more wheels on the body, such as two front wheels and two rear wheels, for a total of four wheels, to achieve functions such as planar movement, steering, climbing, and descending.

[0040] In related technologies, two motor drivers can be used to control the front and rear wheels separately. Due to different operating conditions, the total output power and heat dissipation power of the two motor drivers may differ. If the load on the front and rear wheels changes, the connection method between the motor drivers and the motors needs to be changed, requiring long-distance wiring, increasing structural complexity and electromagnetic interference. Furthermore, to adapt to dynamic changes in the load on the front and rear wheels, the output power and heat dissipation power of both motor drivers must be designed to meet the highest requirements, increasing cost and design difficulty.

[0041] Lawn-mowing robots need to be equipped with sensors such as cameras and lasers to perceive their environment. Placing these sensors at the front and rear of the vehicle provides a better field of view. Sensor data needs to be processed using integrated circuits, and due to limitations in signal transmission distance, the sensors cannot be placed too far away. Furthermore, the high-power components of the motor drivers generate electromagnetic interference and must be kept away from electronic components. The motor drivers and heat dissipation devices also take up space. Controlling the front and rear wheels separately with motor controllers requires overcoming issues such as space constraints and electromagnetic interference, making the design quite challenging.

[0042] One or more embodiments of this specification provide a motion mechanism in which a left-side motor driver is configured to control the drive motors of the left first and left second wheels, and a right-side motor driver is configured to control the drive motors of the right first and right second wheels. This results in a more symmetrical design of the motor drivers, minimizing wiring modifications if the load on the front and rear wheels changes. When the load on the front and rear wheels dynamically changes, the total output power and total heat dissipation power of each motor driver do not change significantly, lowering design requirements. Furthermore, when overcoming issues such as space constraints and electromagnetic interference, using separate motor drivers to control the left and right wheels simplifies the design. During use, using separate motor drivers to control the left and right wheels results in a more balanced total power consumption between the left and right motors, allowing them to share a heat dissipation module, optimizing the overall design, and reducing electromagnetic interference to electronic components at the front and rear ends of the vehicle. The drive motors are mounted in the wheel hubs and can also be referred to as hub motors.

[0043] In this application, the first wheel assembly can be the front wheel assembly, and the second wheel assembly can be the rear wheel assembly. Alternatively, the first wheel assembly can be the rear wheel assembly, and the second wheel assembly can be the front wheel assembly.

[0044] Figures 1 to 2 This is a schematic diagram of a motion mechanism according to some embodiments of this specification. See also Figures 1 to 2As shown, in one or more embodiments of this specification, the motion mechanism may include a body 10, a first wheel group, and a second wheel group; the first wheel group and the second wheel group are respectively connected to the front and rear ends of the body; the first wheel group includes a left first wheel and a right first wheel, which are symmetrically arranged on both sides of the center line of the body, and have a first angle with the center line of the body; the front ends of the left first wheel and the right first wheel are close to the center line of the body, and the rear ends of the left first wheel and the right first wheel are far away from the center line of the body; the second wheel group includes a left second wheel and a right second wheel, which are parallel and symmetrically arranged on both sides of the center line of the body;

[0045] Each of the left first wheel, right first wheel, left second wheel, and right second wheel contains a drive motor. The machine body houses a left motor driver and a right motor driver. The left motor driver 135 is connected to the drive motors of the left first wheel and left second wheel, and is configured to control the operation of drive motors 131 and 133 of the left first wheel. The right motor driver 136 is connected to the drive motors of the right first wheel and right second wheel, and is configured to control the operation of drive motors 132 and 134 of the right first wheel. Both the left motor driver 135 and the right motor driver 136 are connected to the main controller 137.

[0046] The left-side motor driver is configured to control the drive motors of the first and second wheels on the left, while the right-side motor driver is configured to control the drive motors of the first and second wheels on the right. This symmetrical design minimizes wiring modifications should the load on the front and rear wheels change. In this system, the vehicle's rotation center can be adjusted as needed, improving its ability to navigate tight spaces and enabling U-turns without damaging vegetation. Furthermore, the torque and speed of all four wheels can be controlled to facilitate passage through narrow passages.

[0047] In this application, the first wheel assembly, namely the left and right first wheels, can be front wheels and can be omnidirectional wheels, which have the advantages of high load capacity and strong grip in off-road terrain. The direction of the driving force generated by the rollers of the omnidirectional wheel is at an angle to the vehicle's central axis, which is the first angle, ranging from 0 to 45 degrees. The omnidirectional wheel can be a continuously switching wheel or a Mecanum wheel. For continuously switching wheels, the direction of the driving force is parallel to the plane perpendicular to the wheel axle. For Mecanum wheels, the direction of the driving force is at a 45-degree angle to the plane perpendicular to the wheel axle.

[0048] In this application, the first included angle is the angle between the left first wheel and the right first wheel and the centerline of the machine body. Since the left first wheel and the right first wheel are omnidirectional wheels, they can be either continuously switching wheels or rotating wheels. Because when the left first wheel and the right first wheel are rotating wheels, the rollers of the rotating wheels are 45 degrees away from the plane perpendicular to the axle, the range of values ​​for the first included angle between the rotating wheels and the continuously switching wheels will differ. Therefore, in practical applications, the angle between the direction of the traction force generated by the omnidirectional wheels and the central axis of the machine body can be used as the first included angle for control.

[0049] In this application, the second wheel set, namely the left second wheel and the right second wheel, can be the rear wheels. The left second wheel and the right second wheel are arranged in parallel, although in reality, slight non-parallelism may occur due to machining errors. The left second wheel and the right second wheel can be non-omnidirectional wheels, including solid wheels, plastic wheels, pneumatic tires, and airless tires with a 3D hollow structure. The angle between the direction of the driving force generated by the non-omnidirectional wheel and the central axis of the vehicle body is 0 degrees. Among them, plastic wheels refer to wheels made of hard plastic without elasticity, and their structure can be hollow.

[0050] In this application, both the rear and front wheels can be drive wheels, meaning all four wheels are drive wheels with sufficient power. With this power configuration, the vehicle can rotate and reverse on steep slopes, preventing loss of control due to shifts in the center of gravity. It can also handle potholes and protrusions in the terrain, and can still extricate itself even if one or two wheels lose power. Furthermore, it can adapt to changes in the center of gravity caused by variations in load. For example, adding components to the front of the vehicle shifts the center of gravity forward, or shifts the center of gravity of the machine itself forward, ensuring that adding load to the rear of the machine will not cause it to tip over.

[0051] In related technologies, using motor drivers to control the front and rear wheels separately requires overcoming problems such as insufficient space and electromagnetic interference, making the design quite challenging. This application uses a motor driver to control one front wheel and one rear wheel simultaneously, resulting in a simpler design. Specifically, two motor drivers are used to control the left and right wheels respectively. The motor driver design is relatively symmetrical, and if the load on the front and rear wheels changes, the wiring modifications are minimal. Furthermore, when the load on the front and rear wheels changes dynamically, the total output power and total heat dissipation power of each motor driver do not change significantly, further reducing design requirements.

[0052] In this application, the rotation center of the vehicle body is located on the centerline of the body between the first and second wheel sets. For example, it can be located near the intersection of the line connecting the left and right first wheels and the centerline, or near the intersection of the line connecting the left and right second wheels and the centerline, or near the center of the body, etc., and can be adjusted as needed. Adjusting the vehicle body's rotation center as needed can improve the vehicle's ability to get out of trouble in narrow spaces. The rear wheel's direction of movement on the grass has a maximum sideslip angle with the tire's orientation; when the angle is lower than this angle, the sideslip generated by the tire during movement will not damage the ground. By optimizing the rear wheel's sideslip angle, the free space of the rotation center can be increased.

[0053] In some embodiments, the motion mechanism further includes a first linkage assembly 2, wherein the motor shafts of the drive motors of the left first wheel and the right first wheel are directly or indirectly fixedly connected to the first linkage assembly; the middle part of the first linkage assembly 2 is rotatably connected to the front end of the machine body, and the first linkage assembly 2 is configured to drive the left first wheel and the right first wheel to float up and down; the motor shafts 1111 of the drive motors 111 of the left first wheel and the right first wheel are directly or indirectly fixedly connected to the first linkage assembly 2; the first linkage assembly 2 includes a first connecting beam 21, the two ends of the first connecting beam 21 are respectively connected to the left first wheel and the right first wheel, one of the first shaft sleeve 211 and the first shaft 212 is provided at the middle position of the first connecting beam 21, and the other of the first shaft sleeve 211 and the first shaft 212 is provided on the machine body along the center line, and the first shaft 212 is inserted into the first shaft sleeve 211.

[0054] The first wheel assembly connects to the first connecting component, which is equivalent to connecting the suspension system. The first connecting component can rotate at a certain angle based on the first connecting beam in the middle, so that the wheel can touch the ground, improve the wheel's grip, and the vehicle body is not easy to roll over.

[0055] In some embodiments, the motion mechanism further includes a second linkage assembly, wherein the motor shafts of the drive motors of the left second wheel and the right second wheel are directly or indirectly fixedly connected to the first linkage assembly; the middle portion of the second linkage assembly is rotatably connected to the front end of the machine body, and the second linkage assembly is configured to drive the left second wheel and the right second wheel to float up and down; the motor shafts of the drive motors of the left second wheel and the right second wheel are directly or indirectly fixedly connected to the second linkage assembly; the second linkage assembly includes a second connecting beam, the two ends of the second connecting beam are respectively connected to the left second wheel and the right second wheel, a second shaft sleeve and one of the second shafts are provided at the middle position of the second connecting beam, and the other of the second shaft sleeve and the second shaft is provided on the machine body along the center line, and the second shaft is inserted into the second shaft sleeve.

[0056] The second wheel assembly connects to the second connecting component, which is equivalent to connecting the suspension system. The second connecting component can rotate at a certain angle based on the middle second connecting beam, which can make the wheel touch the ground, improve the wheel's grip, and make the vehicle body less prone to rollover.

[0057] In some embodiments, the centerline of the body 10 refers to the centerline of the body 10 along its length. In some embodiments, the body 10 may be configured to have a forward direction, and the centerline of the body 10 may be parallel to the forward direction. In some embodiments, the centerline may divide the projection of the body 10 into two mirror-symmetrical parts. For example, if the projection of the body 10 is a rectangle, the centerline may be the midline parallel to opposite sides of the rectangle; if the projection of the body 10 is a circle, the centerline may be a diameter of the circle; if the projection of the body 10 is an ellipse, the centerline may be the major or minor axis of the ellipse. For example, see [link to relevant documentation]. Figure 1 As shown, Figure 1 The dashed line A in the figure shows the center line of the body 10.

[0058] In some embodiments, at least one of the left first wheel and the right first wheel has a first angle with the centerline of the body 10. For example, both the left first wheel and the right first wheel have a first angle with the centerline of the body 10.

[0059] In some embodiments, the motion mechanism is a four-wheel drive motion mechanism. In some embodiments, the four-wheel drive motion mechanism can be a four-wheel independent drive mechanism, for example, equipping each wheel with an independent motor to directly control torque and speed. For example, the motion mechanism may include four drive motors, which are independently connected to the left first wheel, the right first wheel, the left second wheel, and the right second wheel, respectively.

[0060] In one or more embodiments of this specification, the left first wheel and the right first wheel form a first angle with the centerline of the body 10, the front ends of the left first wheel and the right first wheel are close to the centerline of the body 10, and the rear ends of the left first wheel and the right first wheel are far from the centerline of the body 10. In some embodiments, the left first wheel and the right first wheel form an inward-facing configuration (e.g., an inward-facing configuration formed from a top-down view in the forward direction of the vehicle).

[0061] In some embodiments, both the left first wheel and the right first wheel are omnidirectional wheels. In some embodiments, the omnidirectional wheel may include a Mecanum wheel and a continuously switching wheel. In some embodiments, the omnidirectional wheel may include a wheel body and transverse rollers mounted on the wheel body, enabling translation, diagonal movement, and rotation in place in any direction within a plane without the need for a traditional steering mechanism. In some embodiments, the axis of the rollers of the omnidirectional wheel may be perpendicular to the axis of the wheel body. Omnidirectional wheels can eliminate constraints on the direction of movement and improve mobility. In some embodiments, the left first wheel and the right first wheel have driving capability. In some embodiments, the left first wheel and the right first wheel form an inward-pointing configuration such that the rollers of the left first wheel and the right first wheel that are in contact with the ground deflect inward toward the inside of the machine body 10.

[0062] In other embodiments, both the left second wheel and the right second wheel are solid wheels. In some embodiments, the left first wheel and the right first wheel are omnidirectional wheels, while the left second wheel and the right second wheel are solid wheels. In this embodiment, the rotation center of the body 10 can be controlled by a control method so that the rotation center of the body 10 is the center of the body 10, rather than the midpoint of the line connecting the left second wheel and the right second wheel.

[0063] The rotation center of the machine can be controlled to be closer to the machine's center, thereby reducing the space required for rotation, providing stronger on-the-spot rotation capability, and reducing wear on the ground. Since the rotation center can be configured closer to the machine's center, and the working components are typically located at the machine's center, this allows for more efficient control of the working component's movement trajectory. In some embodiments, the working component may include the blade motor involved in the mowing operation. In this embodiment, configuring the machine's rotation center closer to the machine's center allows for more efficient control of the blade motor's rotation axis, thereby precisely controlling the mowing trajectory.

[0064] In one or more embodiments of this specification, the left first wheel and the right first wheel are configured to float vertically relative to the body 10 to adaptively adjust their position relative to the body 10 according to the conditions of the work site. In some embodiments, configuring the left first wheel and the right first wheel to float vertically relative to the body 10 also facilitates climbing or descending slopes. Similarly, the left second wheel and the right second wheel can also be configured to float vertically relative to the body.

[0065] Figure 1 This is a top view schematic diagram of the motion mechanism shown in some embodiments of this specification. Figure 3 This is a perspective view of the first link assembly of the motion mechanism shown in some embodiments of this specification. See also Figure 1 , Figure 3As shown, in one or more embodiments of this specification, the motion mechanism includes: a first linkage assembly 2, the middle part of which is rotatably connected to the front end of the body 10, and the first linkage assembly 2 is configured to drive the left first wheel and the right first wheel to float up and down.

[0066] In some embodiments, the first linkage assembly 2 is configured to drive the left first wheel and the right first wheel to float up and down, which may include: the first linkage assembly 2 being rotatably connected to the front end of the body 10, thereby forming a lever between the left first wheel and the right first wheel, so that when one wheel is raised, the other wheel can be lowered, thereby achieving adaptive up and down floating of the left first wheel and the right first wheel based on ground conditions.

[0067] In other embodiments, configuring the first linkage assembly 2 to drive the left first wheel and the right first wheel to float up and down may include: the first linkage assembly 2 being connected to the front end of the body 10 via one or more elastic members, thereby enabling the first linkage assembly 2 and the left first wheel and the right first wheel as a whole to float up and down relative to the front end of the body 10.

[0068] In some other embodiments, the first linkage assembly 2 is configured to drive the left first wheel and the right first wheel to float up and down, and may also include: the first linkage assembly 2 and the left first wheel and the right first wheel as a whole can float up and down relative to the front end of the body 10, while the left first wheel and the right first wheel can rotate relative to a certain rotation axis in the middle of the first linkage assembly to form a lever.

[0069] In one or more embodiments of this specification, a drive motor 111 is provided inside both the left first wheel and the right first wheel. The motor shaft 1111 of the drive motor 111 is directly or indirectly fixedly connected to the first link assembly 2. In some embodiments, the two drive motors 111 independently drive the left first wheel and the right first wheel, respectively. In some embodiments, the housing of the drive motor 111 is fixed to the left first wheel or the right first wheel, and the motor shaft 1111 of the drive motor 111 is fixed to the first link assembly 2. When the drive motor 111 is working, the housing of the drive motor 111 and the motor shaft 1111 of the drive motor 111 rotate relative to each other, thereby causing the left first wheel and the right first wheel to rotate relative to the first link assembly 2.

[0070] In some embodiments, the middle portion of the first linkage assembly 2 is rotatably connected to the front end of the body 10, thereby enabling the left first wheel and the right first wheel to float up and down.

[0071] In some embodiments, the second wheel assembly includes a left second wheel and a right second wheel, and a drive motor 121 is disposed within the left second wheel and the right second wheel. The motor shaft 1211 of the drive motor 121 is fixedly connected to the body 10. In some embodiments, the two drive motors 121 independently drive the left second wheel and the right second wheel, respectively. In some embodiments, the housing of the drive motor 121 is fixed to the left second wheel or the right second wheel, and the motor shaft 1211 of the drive motor 121 is fixed to the body 10. When the drive motor 121 is working, the housing of the drive motor 121 and the motor shaft 1211 of the drive motor 121 rotate relative to each other, thereby causing the left second wheel and the right second wheel to rotate relative to the body 10.

[0072] In some embodiments, since the first wheel on the left and the first wheel on the right have a first angle with the centerline A of the body 10, they can provide a certain deflection force to the body 10 and its mounted working parts (such as grass-cutting parts) when turning. Since the first wheel on the left and the first wheel on the right can float up and down, it can ensure that all four wheels of the motion mechanism can contact the ground when traveling on uneven roads, which not only reduces the burden on the wheels but also improves the grip of the wheels. Furthermore, the first wheel on the left, the first wheel on the right, the second wheel on the left, and the second wheel on the right are all equipped with drive motors (such as drive motor 111 and drive motor 121), thereby further improving the passability of the body 10 and its mounted working parts.

[0073] In some embodiments, see Figure 3 As shown, the first connecting rod assembly 2 includes a first connecting beam 21. The two ends of the first connecting beam 21 are respectively connected to the left first wheel or the right first wheel. One of a first rotating shaft sleeve 211 and a first rotating shaft 212 is disposed in the middle of the first connecting beam 21. The other of the first rotating shaft sleeve 211 and the first rotating shaft 212 is disposed on the body 10, with the first rotating shaft 212 inserted into the first rotating shaft sleeve 211. For example, the first rotating shaft sleeve 211 is disposed in the middle of the first connecting beam 21, and the first rotating shaft 212 is disposed on the body 10 along the center line A, with the first rotating shaft 212 inserted into the first rotating shaft sleeve 211. This structure is simple, reliable, and low in cost. Furthermore, the friction between the first rotating shaft sleeve 211 and the first rotating shaft 212 can be reduced by using bearings, improving the reliability of the rotary connection.

[0074] In some embodiments, the central region of the first connecting beam 21 may extend along the width direction of the body 10, for example... Figure 4 Extending horizontally within the range. In some embodiments, see [reference needed]. Figure 4As shown, the first connecting beam 21 may have connecting beam bends 210 at both ends for connecting the left and right first wheels to the first connecting beam 21. In some embodiments, since the left and right first wheels are connected to the connecting beam bends 210 of the first connecting beam 21, the included angle between the connecting beam bends 210 and the middle region of the first connecting beam 21 determines the first included angle between the left and right first wheels and the centerline A of the body 10. In some embodiments, by replacing the first connecting beam 21 with connecting beam bends 210 having different bend angles and correspondingly assembling the left and right first wheels, the size of the first included angle between the left and right first wheels and the body 10 can be adjusted.

[0075] In some embodiments, the first connecting beam 21 can be as follows: Figure 3 , Figure 4 The material shown is made by bending a round tube, but it can also be made from other profiles such as rectangular tubes or solid round steel, as long as the strength and rigidity requirements are met. The bending process is simple and low-cost.

[0076] In some embodiments, see Figure 4 , Figure 5 As shown, Figure 5 The diagram shows a cross-section of the first connecting rod assembly 2 mating with the motor shaft 1111. The first connecting rod assembly 2 also includes two motor mounting plates 22, each with a first groove 221. The first connecting beam 21 has second grooves 213 at both ends. The first grooves 221 and second grooves 213 mate to form a space for accommodating the motor shaft 1111. The two motor mounting plates 22 are connected to the ends of the first connecting beam 21 by bolts, thereby clamping the motor shaft 1111. When wheel maintenance is required, the corresponding wheel can be disassembled individually for convenient repair.

[0077] In some embodiments, see Figure 5 As shown, the motor shaft 1111 has two parallel first limiting planes 1112. The first groove 221 has a second limiting plane 2211 that abuts against one of the first limiting planes 1112, and the second groove 213 has a third limiting plane 2131 that abuts against the other first limiting plane 1112. Through the cooperation of the two first limiting planes 1112 with the second limiting plane 2211 and the third limiting plane 2131 respectively, the rotation of the motor shaft 1111 is restricted, making the drive motor 111 more securely fixed.

[0078] In other embodiments, see Figure 6As shown, the first linkage assembly 2 includes a first connecting beam 21, a left wheel connector 23, a right wheel connector 24, and a body connector 25. In some embodiments, one of a first rotating shaft sleeve 211 and a first rotating shaft 212 is disposed at the middle position of the body connector 25, and the other of the first rotating shaft sleeve 211 and the first rotating shaft 212 is disposed along the center line A on the body 10, with the first rotating shaft 212 inserted into the first rotating shaft sleeve 211. For example, the first rotating shaft sleeve 211 is disposed at the middle position of the body connector 25, and the first rotating shaft 212 is disposed along the center line A on the body 10, with the first rotating shaft 212 inserted into the first rotating shaft sleeve 211.

[0079] In some embodiments, the first connecting beam 21 is detachably connected to the body connecting member 25, and both ends of the first connecting beam 21 are detachably connected to the left wheel connecting member 23 and the right wheel connecting member 24, respectively. The left wheel connecting member 23 and the right wheel connecting member 24 are respectively configured to detachably connect to the left first wheel or the right first wheel. When it is necessary to adjust the first included angle between the left first wheel and the right first wheel and the center line A of the vehicle body 10 to adapt to different usage scenarios, only the left wheel connecting member 23 and the right wheel connecting member 24 need to be replaced, which is convenient, quick, and low in cost.

[0080] In this embodiment, see Figure 7 As shown, the body connector 25 has a third groove 251 for accommodating the first connecting beam 21. The length direction of the third groove 251 is perpendicular to the center line A of the body 10. A first mounting plate 252 is also provided on the body connector 25, and the first connecting beam 21 is clamped between the first mounting plate 252 and the body connector 25. In some embodiments, the first mounting plate 252 and the body connector 25 are bolted together to clamp the first connecting beam 21. The first connecting beam 21 can slide in the third groove 251. During installation, the positions of the left first wheel and the right first wheel can be adjusted by adjusting the position of the first connecting beam 21 to ensure that the left first wheel and the right first wheel are symmetrically arranged with respect to the center line A of the body 10.

[0081] In this embodiment, the left wheel connector 23 has a fourth groove 231 for accommodating the first connecting beam 21. The fourth groove 231 extends toward the body connector 25 in a direction perpendicular to the center line A. A second mounting plate 232 is provided on the left wheel connector 23, and the first connecting beam 21 is clamped between the second mounting plate 232 and the left wheel connector 23. In some embodiments, the second mounting plate 232 and the left wheel connector 23 are bolted together to clamp the first connecting beam 21.

[0082] In this embodiment, the right wheel connector 24 has a fifth groove 241 for accommodating the connecting beam. The fifth groove 241 extends toward the body connector 25 in a direction perpendicular to the center line A. A third mounting plate 242 is provided on the right wheel connector 24, and the first connecting beam 21 is clamped between the third mounting plate 242 and the right wheel connector 24. In some embodiments, the third mounting plate 242 and the right wheel connector 24 are bolted together to clamp the first connecting beam 21.

[0083] In this embodiment, the two ends of the first connecting beam 21 are respectively inserted into the fourth groove 231 and the fifth groove 241. By adjusting the amount of insertion, the distance between the left first wheel and the right first wheel can be adjusted to adapt to different usage scenarios.

[0084] In this embodiment, see Figure 6 , Figure 7 As shown, at least one weight-reducing hole 26 is provided on both the left wheel connector 23 and the right wheel connector 24, thereby reducing their weight, reducing the use of production materials, and lowering production costs.

[0085] In one or more embodiments of this specification, the left first wheel and the right first wheel can be as follows: Figure 1 The diagram shows an inward-facing octagonal layout.

[0086] In one or more embodiments of this specification, the first angle between the left first wheel and the right first wheel and the centerline A of the body 10 can be any angle. In some embodiments, when the left first wheel and the right first wheel are arranged in an inward-pointing manner, the first angle can be 1° to 45°, for example, 30°, 40°, or 45°.

[0087] Figure 8 This is a schematic diagram of an omnidirectional wheel of a motion mechanism shown in some embodiments of this specification. Figure 9 This is an exploded view of an omnidirectional wheel of a motion mechanism shown in some embodiments of this specification. See also Figure 8 , Figure 9As shown, in one or more embodiments of this specification, the omnidirectional wheels used for the left first wheel and the right first wheel may include continuously switching wheels. In some embodiments, the omnidirectional wheel may include: a roller holder 31, a first end cap 32, and a roller assembly 33. In some embodiments, the roller holder 31 provides support for the roller assembly 33, which is rotatably mounted on the roller holder 31. In some embodiments, the rotation axis of the roller assembly 33 intersects with the rotation axis of the roller holder 31. In some embodiments, the rotation axis of the roller assembly 33 may be further perpendicular to the rotation axis of the roller holder 31. In some embodiments, the number of roller assemblies 33 may be multiple, and the roller assemblies 33 are arranged circumferentially along the roller holder 31. In some embodiments, the roller assemblies 33 are arranged in a circular array relative to the roller holder 31.

[0088] In some embodiments, the first end cap 32 is detachably connected to the roller holder 31, and the connection between the first end cap 32 and the roller holder 31 enables the fixing of a plurality of roller assemblies 33. In some embodiments, the roller assembly 33 can be clamped between the first end cap 32 and the roller holder 31, and can rotate relative to the first end cap 32 and the roller holder 31.

[0089] In some embodiments, the roller holder 31 is also connected to a drive motor, such as a drive motor 111 for driving the left first wheel and the right first wheel, or a drive motor 121 for driving the left second wheel and the right second wheel. The drive motor can drive the roller holder 31 to rotate, thereby enabling the omnidirectional wheels to move.

[0090] In some embodiments, the motion mechanism configured with the omnidirectional wheel and the mowing robot including the motion mechanism can move in multiple different directions, making it more flexible. Moreover, when grass gets stuck, the first end cap 32 can be directly disassembled from the roller holder 31, and the roller assembly 33 can be removed, enabling rapid cleaning of weeds and preventing a large amount of weeds from accumulating at the connection between the roller assembly 33 and the roller holder 31 or other gaps.

[0091] In some embodiments, combined with Figure 10 and Figure 11 As shown, the first end cap 32 is detachably connected to the roller holder 31, and the first end cap 32 is located on the side near the first connecting end face 3111. In some embodiments, the first end cap 32 can close the first receiving groove 3122 to form a first mounting hole 3123. In some embodiments, the opening of the first mounting hole 3123 faces the first mounting space 313, and when the roller assembly 33 is arranged in the first mounting space 313, a portion of the roller assembly 33 can be arranged in the first mounting hole 3123 to achieve a rotatable connection between the roller assembly 33 and the first end cap 32 and the roller holder 31.

[0092] In some embodiments, see Figure 11 As shown, the roller holder 31 includes a support portion 311 and a first mounting portion 312, the support portion 311 having a first connecting end face 3111. In some embodiments, the support portion 311 and the first mounting portion 312 are integrally connected. In some embodiments, a plurality of first mounting portions 312 are spaced apart along the circumferential direction of the support portion 311, and a first mounting space 313 is formed between two adjacent first mounting portions 312. In some embodiments, the first mounting portion 312 has a first mounting end face 3121, the first mounting end face 3121 and the first connecting end face 3111 being in the same plane. In some embodiments, a first receiving groove 3122 is formed on the first mounting portion 312, the first receiving groove 3122 extending from the first mounting end face 3121 into the interior of the first mounting portion 312.

[0093] In some embodiments, combined with Figure 8 and Figure 10 As shown, the roller assembly 33 is disposed in the first mounting space 313. Combined with... Figure 10 and Figure 13 As shown, the roller assembly 33 includes a roller shaft 331 and a roller wheel 332, with both ends of the roller shaft 331 fixed in a first mounting hole 3123. Exemplarily, the roller assembly 33 is disposed within a first mounting space 313, each side of which has a first mounting portion 312, thereby forming a first mounting hole 3123 on each side of the first mounting space 313. The roller shaft 331 of the roller assembly 33 is respectively disposed inside the two first mounting holes 3123. In some embodiments, the roller wheel 332 is sleeved on the roller shaft 331 and is rotatable relative to the roller shaft 331. In some embodiments, the axis of the roller shaft 331 is perpendicular to the axis of the roller holder 31.

[0094] It should be noted that the rotatable connection between the roller assembly 33 and the first end cap 32 and the roller holder 31 can be implemented in various forms. In some embodiments, the roller shaft 331 of the roller assembly 33 is fixedly connected to the first mounting hole 3123, while the roller wheel 332 is rotatably connected to the roller shaft 331, thereby forming a rotatable configuration of the roller assembly 33. In other embodiments, the roller shaft 331 of the roller assembly 33 is rotatably connected to the first mounting hole 3123, while the roller wheel 332 is rotatably connected to the roller shaft 331, thereby forming a rotatable configuration of the roller assembly 33. In still other embodiments, the roller shaft 331 of the roller assembly 33 is rotatably connected to the first mounting hole 3123, and the roller wheel 332 is also rotatably connected to the roller shaft 331, thereby forming a rotatable configuration of the roller assembly 33.

[0095] In some embodiments, a plurality of first mounting portions 312 are spaced apart along the circumferential direction of the support portion 311. A first mounting space 313 is formed between two adjacent first mounting portions 312. A first receiving groove 3122 is provided on the first mounting portion 312. The first mounting end face 3121 of the first mounting portion 312 is on the same plane as the first connecting end face 3111 of the support portion 311. The first receiving groove 3122 extends from the first mounting end face 3121 into the interior of the first mounting portion 12. When the first end cover 32 is detachably connected to the roller holder 31, the first end cover 32 can close the first receiving groove 3122, forming a first mounting hole 3123, and the opening of the first mounting hole 3123 faces the first mounting space 313. The roller assembly 33 includes a roller shaft 331 and a roller wheel 332. When the roller assembly 33 is positioned in the first mounting space 313, both ends of the roller shaft 331 are fixed in a first mounting hole 3123, and the roller wheel 332 is sleeved on the roller shaft 331. When the lawnmower gets stuck in the grass, the first end cap 32 can be removed directly, allowing the roller assembly 33 to be taken off the roller holder 31, which is more convenient and enables rapid clearing of weeds.

[0096] In some embodiments, such as Figure 12 As shown, the support portion 311 has a second connecting end face 3112, and a plurality of second mounting portions 314 are also provided at intervals in the circumferential direction of the support portion 311. A second mounting space 315 is formed between two adjacent second mounting portions 314, and the second mounting portion 314 has a second mounting end face 3141.

[0097] In some embodiments, combined with Figure 11 and Figure 12 As shown, the second mounting end face 3141 is parallel to and far away from the first mounting end face 3121. The second mounting end face 3141 and the second connecting end face 3112 are on the same plane. A second receiving groove 3142 is provided on the second mounting part 314. The second receiving groove 3142 extends from the second mounting end face 3141 into the interior of the second mounting part 314.

[0098] In some embodiments, combined with Figure 10 and Figure 12 As shown, the omnidirectional wheel also includes a second end cap 35, which is detachably connected to the roller holder 31. The second end cap 35 is located on the side near the second connecting end face 3112. The second end cap 35 is configured to close the second receiving groove 3142 to form a second mounting hole 3143. The opening of the second mounting hole 3143 faces the second mounting space 315. When the roller assembly 33 is arranged in the second mounting space 315, a portion of the roller assembly 33 can be arranged in the second mounting hole 3143 to achieve a rotatable connection between the roller assembly 33 and the second end cap 35 and the roller holder 31.

[0099] In some embodiments, combined with Figure 10 and Figure 13 As shown, a roller assembly 33 is also provided in the second mounting space 315, and when the roller assembly 33 is provided in the second mounting space 315, both ends of the roller shaft 331 are respectively fixed in a second mounting hole 3143. For example, the roller assembly 33 is provided in a second mounting space 315, and each side of the second mounting space 315 has a second mounting portion 314, thereby forming a second mounting hole 3143 on each side of the second mounting space 315. The roller shaft 331 of the roller assembly 33 is respectively disposed inside the two second mounting holes 3143. In some embodiments, the roller wheel 332 is sleeved on the roller shaft 331 and can rotate relative to the roller shaft 331. In some embodiments, the axis of the roller shaft 331 is perpendicular to the axis of the roller holder 31.

[0100] It should be noted that the rotatable connection between the roller assembly 33 and the second end cap 35 and the roller holder 31 can be implemented in various forms. In some embodiments, the roller shaft 331 of the roller assembly 33 is fixedly connected to the second mounting hole 3143, while the roller wheel 332 is rotatably connected to the roller shaft 331, thereby forming a rotatable configuration of the roller assembly 33. In other embodiments, the roller shaft 331 of the roller assembly 33 is rotatably connected to the second mounting hole 3143, while the roller wheel 332 is rotatably connected to the roller shaft 331, thereby forming a rotatable configuration of the roller assembly 33. In still other embodiments, the roller shaft 331 of the roller assembly 33 is rotatably connected to the second mounting hole 3143, and the roller wheel 332 is also rotatably connected to the roller shaft 331, thereby forming a rotatable configuration of the roller assembly 33.

[0101] In some embodiments, by providing a second mounting portion 314 in the circumferential direction of the support portion 311, a second mounting space 315 is formed between the plurality of second mounting portions 314. When the second end cap 35 is detachably connected to the roller holder 31, a plurality of roller assemblies 33 can be fixed within the second mounting space 315. By removing the second end cap 35, the roller assemblies 33 within the second mounting space 315 can be removed for easy weed removal. In some embodiments, the plurality of roller wheels 332 located in the first mounting space 313 form one group, and the plurality of roller wheels 332 in the second mounting space 315 form another group. The two groups of roller wheels 332 cooperate with each other to form a continuous switching, making the omnidirectional wheel more stable when moving.

[0102] In some embodiments, the second mounting end face 3141 is parallel to the first mounting end face 3121. In some embodiments, the second mounting end face 3141 and the first mounting end face 3121 are disposed opposite to each other. In some embodiments, there is a gap between the second mounting end face 3141 and the first mounting end face 3121. In some embodiments, see... Figure 11 , Figure 12 As shown, the first mounting end face 3121 faces the right side of the figure, while the second mounting end face 3141 faces the left side of the figure.

[0103] In some embodiments, the first mounting end face 3121 and the second mounting end face 3141 are spaced apart along the circumference of the roller holder 31. Exemplarily, a first mounting space 313 is provided between two adjacent first mounting end faces 3121, and the second mounting end face 3121 is located at a position corresponding to the first mounting space 313. Exemplarily, a second mounting space 315 is provided between two adjacent second mounting end faces 3141, and the first mounting end face 3121 is located at a position corresponding to the second mounting space 315.

[0104] Based on the above arrangement, the roller assembly 33 in the first mounting space 313 and the roller assembly 33 in the second mounting space 315 can be arranged alternately along the circumferential direction of the roller holder 31. In some related embodiments, when the roller assembly 33 in the first mounting space 313 contacts the ground and rolls forward, the outer surface of the first mounting part 312 will contact the ground, thus preventing lateral displacement at this stage. Lateral displacement can only continue when the roller assembly 33 in the next first mounting space 313 contacts the ground. However, based on the above arrangement, when the roller assembly 33 in the first mounting space 313 contacts the ground and rolls forward, the roller assembly in the second mounting space 315 will replace the outer surface of the first mounting part 312 in contacting the ground. This ensures that during the rotation of the roller holder 31, there is always a roller assembly 33 in the first mounting space 313 and a roller assembly in the second mounting space 315 in contact with the ground, thus achieving continuous switching.

[0105] In some embodiments, combined with Figure 9 and Figure 10As shown, the first end cap 32 includes a first connecting portion 321 and a second connecting portion 322. The second connecting portion 322 is spaced apart along the circumferential direction of the first connecting portion 321. The first connecting portion 321 is adapted to the support portion 311, and the second connecting portion 322 is adapted to the first mounting portion 312. In some embodiments, the second end cap 35 includes a third connecting portion 351 and a fourth connecting portion 352. The fourth connecting portion 352 is spaced apart along the circumferential direction of the third connecting portion 351. The third connecting portion 351 is adapted to the support portion 311, and the fourth connecting portion 352 is adapted to the second mounting portion 314. After the first end cap 32 and the second end cap 35 are connected to the roller holder 31, they form a whole, resulting in a more stable structure.

[0106] In some embodiments, combined with Figure 11 and Figure 12 As shown, the first mounting portion 312 extends from the first mounting end face 3121 toward the direction closer to the second mounting end face 3141, and the cross-sectional area of ​​the first mounting portion 312 gradually decreases. The second mounting portion 314 extends from the second mounting end face 3141 toward the direction closer to the first mounting end face 3121, and the cross-sectional area of ​​the second mounting portion 314 gradually decreases. The first mounting portion 312 and the second mounting portion 314 ensure support and fixation for the roller assembly 33, and by combining their intersecting arrangement along the circumferential direction of the support portion 311, they achieve full utilization of the space in the circumferential direction of the support portion 311.

[0107] In some embodiments, such as Figure 11 and Figure 12 As shown, the first mounting portion 312 and the second mounting portion 314 are arranged crosswise along the circumferential direction of the support portion 311. Correspondingly, combined with Figure 8 and Figure 10 As shown, a set of rollers 332 located in the first mounting space 313 and a set of rollers 332 located in the second mounting space 315 are also arranged crosswise along the circumferential direction of the support 311, so that at least one set of rollers 332 is in contact with the ground when the omnidirectional wheel turns, making the walking process more stable.

[0108] In some embodiments, such as Figure 14 As shown, the roller assembly 33 also includes two bearings 333, one bearing 333 near the front end of the roller shaft 331 and the other bearing 333 near the rear end of the roller shaft 331, with the bearings 333 located between the roller shaft 331 and the roller wheel 332. By providing two bearings 333 between the roller shaft 331 and the roller wheel 332, the roller wheel 332 becomes more stable when rotating relative to the roller shaft 331.

[0109] In some embodiments, such as Figure 14As shown, the roller wheel 332 includes a rigid roller core 3321 and a flexible roller skin 3322. The rigid roller core 3321 is sleeved around the roller shaft 331, and the flexible roller skin 3322 is sleeved around the rigid roller core 3321 and configured to rotate with the rigid roller core 3321 relative to the roller shaft 331. By adopting a two-layer structure, the inner rigid roller core 3321 is sleeved around the roller shaft 331 to provide support, while the outer flexible roller skin 3322 is sleeved around the rigid roller core 3321. The flexible roller skin 3322 directly contacts the ground, resulting in better cushioning.

[0110] In some embodiments, such as Figure 14 As shown, the roller core 3321 has a first cavity 33211 and a second cavity 33212 inside. The radius of the first cavity 33211 is larger than that of the second cavity 33212. The two second cavities 33212 are respectively connected to the two ends of the first cavity 33211. The bearing 333 is located in the second cavity 33212, and the two ends of the roller shaft 331 extend from one of the second cavities 33212. By setting the first cavity 33211, the weight of the roller core 3321 can be reduced. At the same time, the two bearings 333 are respectively set in the two second cavities 33212, and the second cavities 33212 limit the bearings 333, making the rotation process more stable.

[0111] In some embodiments, such as Figure 14 and Figure 15 As shown, the outer surface of the roller core 3321 has a recess 33213, and the inner surface of the roller skin 3322 has a limiting protrusion 33221 that matches the recess 33213. The limiting protrusion 33221 abuts against the recess 33213 to restrict the movement of the roller skin 3322. By abutting against the recess 33213, the roller skin 3322 is more stable when it is fitted onto the roller core 3321. When the roller wheel 332 rotates, the roller skin 3322 can withstand greater friction, preventing the roller skin 3322 from falling off the roller core 3321.

[0112] In some embodiments, such as Figure 13 As shown, the outer surface of the roller skin 3322 is provided with multiple annular protrusions 33222 at intervals. The annular protrusions 33222 can increase the friction between the omnidirectional wheel and the ground when it moves, preventing the omnidirectional wheel from spinning in place and being unable to move forward.

[0113] See also Figures 8 to 15As shown, in one or more embodiments of this specification, the omnidirectional wheels used for the left first wheel and the right first wheel may include continuously switching wheels. In some embodiments, the omnidirectional wheel may include a wheel body and a roller assembly 33. In some embodiments, the wheel body may include a support portion, a first mounting portion 312, a second mounting portion 314, a first end cap 32, and a second end cap 35. In some embodiments, the support portion, the first mounting portion, and the second mounting portion may form the aforementioned roller retainer 31. In some embodiments, the first end cap 32 covers the support portion and the first mounting portion, and the second end cap 35 covers the support portion and the second mounting portion.

[0114] In some embodiments, a plurality of first mounting portions 312 are spaced apart along the circumferential direction of the support, and a plurality of second mounting portions 314 are spaced apart along the circumferential direction of the support, with the plurality of first mounting portions 312 and the plurality of second mounting portions 314 arranged side by side. In some embodiments, side by side arrangement may mean that the first mounting portions 312 and the second mounting portions 314 are located on opposite sides of a radial plane of the wheel body. For example, as shown... Figure 8 As shown, the first mounting part 312 is located on the right side of a radial plane of the wheel body, and the second mounting part 314 is located on the left side of the same radial plane of the wheel body, which refers to a virtual radial plane in the middle of the wheel body.

[0115] In some embodiments, a first mounting space 313 is formed between two adjacent first mounting portions 312, and a second mounting space 315 is formed between two adjacent second mounting portions 314. The first mounting spaces 314 and the second mounting spaces 315 are staggered. In some embodiments, the roller assembly 33 disposed in the first mounting space 313 and the roller assembly 33 disposed in the second mounting space 315 are alternately disposed along the circumferential direction of the wheel body. When the roller assembly 33 in the first mounting space 313 contacts the ground and rolls forward, the roller assembly 33 in the second mounting space 315 will take over the contact with the ground from the roller assembly 33 in the first mounting space 313, so that during the rotation of the wheel body, one side of the roller assembly 33 always remains in contact with the ground, thereby achieving continuous switching.

[0116] In some embodiments, see Figure 8 As shown, the surface of the first mounting portion 312 facing the center of the wheel body has an inner bevel 300b, and the surface of the first end cap 32 away from the center of the wheel body has an outer bevel 300a. See also the following embodiments: Figure 8 As shown, the second mounting portion 314 has an inner inclined surface 300b on its surface facing the center of the wheel body, and the second end cap 35 has an outer inclined surface 300a on its surface away from the center of the wheel body.

[0117] In some embodiments, see Figure 8As shown, the angle between the outer inclined surface 300a and a radial plane of the wheel body is smaller than the angle between the inner inclined surface 300b and the radial plane of the wheel body. In some embodiments, based on the above arrangement, at the first mounting portion 312, the roller assembly 33 can be located on the outer side of the first mounting portion 313 (i.e., the side away from the center of the wheel body), thereby obtaining good resistance to lateral pressure of the wheel body; at the second mounting portion 314, the roller assembly 33 can also be located on the outer side of the second mounting portion 314 (i.e., the side away from the center of the wheel body), thereby obtaining good resistance to lateral pressure of the wheel body.

[0118] In other embodiments, the outer inclined surface 300a and the inner inclined surface 300b are symmetrically arranged with respect to a radial plane of the wheel body. In some embodiments, the angle between the outer inclined surface 300a and a radial plane of the wheel body is equal to the angle between the inner inclined surface 300b and a radial plane of the wheel body. In some embodiments, based on the above arrangement, at the first mounting portion 312, the roller assembly 33 can be positioned at the plane of symmetry between the outer inclined surface 300a and the inner inclined surface 300b, thereby achieving balanced mechanical properties; at the second mounting portion 314, the roller assembly 33 can also be positioned at the plane of symmetry between the outer inclined surface 300a and the inner inclined surface 300b, thereby achieving balanced mechanical properties.

[0119] In some embodiments, see Figure 8 As shown, the inner inclined surface 300b of the first mounting portion 312 extends into the second mounting space 315, so that the first mounting portion 312 has a larger base size (e.g., the cross-sectional area of ​​the portion of the first mounting portion 312 near the center of the wheel body gradually increases), thereby improving the strength of the first mounting portion 312. In some embodiments, the inner inclined surface 300b of the second mounting portion 314 extends into the first mounting space 313, so that the second mounting portion 314 has a larger base size (e.g., the cross-sectional area of ​​the portion of the second mounting portion 314 near the center of the wheel body gradually increases), thereby improving the strength of the second mounting portion 314.

[0120] Figure 16 This is a schematic diagram of an omnidirectional wheel of a motion mechanism shown in other embodiments of this specification. Figure 17 This is a schematic diagram of the first and second support portions of the omnidirectional wheel of the motion mechanism shown in other embodiments of this specification. Figure 18 This is an exploded view of the roller body of an omnidirectional wheel of a motion mechanism according to other embodiments of this specification. See also Figures 16 to 19As shown, in one or more embodiments of this specification, the omnidirectional wheels used for the left first wheel and the right first wheel may include continuously switching wheels. In some embodiments, the omnidirectional wheel may include: a wheel body 41 and a roller assembly 42; the wheel body 41 includes a first support portion 411 and a second support portion 412 arranged side by side and coaxially. In some embodiments, a plurality of first mounting portions 4111 are provided circumferentially spaced on the first support portion 4111, the interior of the first mounting portions 4111 is hollow, and a first mounting space 4112 for accommodating the roller assembly 42 is formed between two adjacent first mounting portions 4111. In some embodiments, each first mounting portion 4111 is provided with a first protrusion 4113 extending into the first mounting space 4112, and the first protrusion 4113 is rotatably connected to the roller assembly 42. In some embodiments, a plurality of second mounting portions 4121 are provided circumferentially spaced on the second support portion 4121, the interior of the second mounting portions 4121 is hollow, and a second mounting space 4122 for accommodating the roller assembly 42 is formed between two adjacent second mounting portions 4121. In some embodiments, each second mounting portion 4121 is provided with a second protrusion 4123 extending into the second mounting space 4122, and the second protrusion 4123 is rotatably connected to the roller assembly 42.

[0121] In some embodiments, the first support portion 411 and the second support portion 412 are alternately arranged along the circumferential direction of the wheel body 41, so that the first mounting space 4112 and the second mounting space 4122 are alternately arranged along the circumferential direction of the wheel body 41. In some embodiments, the roller assembly 42 disposed in the first mounting space 4112 and the roller assembly 42 disposed in the second mounting space 4122 are alternately arranged along the circumferential direction of the wheel body 41. When the roller assembly 42 in the first mounting space 4112 contacts the ground and rolls forward, the roller assembly 42 in the second mounting space 4122 will take over the contact with the ground from the roller assembly 42 in the first mounting space 4112, so that during the rotation of the wheel body 41, one side of the roller assembly 42 always remains in contact with the ground, thereby achieving continuous switching.

[0122] In some embodiments, see Figures 18 to 20 As shown, the roller assembly 42 includes a roller body 421, which includes a first cylindrical body 4211 and a second cylindrical body 4212 detachably connected to each other. In some embodiments, the first cylindrical body 4211 and the second cylindrical body 4212 are parted along the circumferential direction of the roller body 421. For example... Figure 18 The first cylinder 4211 and the second cylinder 4121 are symmetrical about each other in one axial direction with respect to the roller body 421. In some embodiments, the interior of the first cylinder 4211 and the interior of the second cylinder 4212 are both hollowed out, and the axis of the roller body 421 is perpendicular to the axis of the wheel body 41.

[0123] In some embodiments, according to the basic principles of structural mechanics, for a component subjected to bending and torsional loads, its strength and stiffness are mainly provided by the region far from the center of the cross-section. The region near the centroid of the cross-section contributes very little to the strength and stiffness of the component. Therefore, designing the first mounting part 4111, the second mounting part 4121 and the roller body 421 as a hollow structure can not only effectively reduce the weight and save materials, but also ensure the load-bearing capacity and service life of the omnidirectional wheel.

[0124] In some embodiments, the first cylinder 4211 and the second cylinder 4212 can be fastened together by a snap-fit, by a bolt connection, or by simple glue bonding.

[0125] In some embodiments, such as Figure 18 As shown, a first stiffener 42111 is axially arranged inside the first cylinder 4211. A second stiffener 42112, perpendicular to the first stiffener 42111, is arranged at the middle position inside the first cylinder 4211. A third stiffener 42121, axially arranged inside the second cylinder 4212, is arranged. A fourth stiffener 42122, perpendicular to the third stiffener 42121, is arranged at the middle position inside the second cylinder 4212. The stiffeners can improve the strength, rigidity, and local stability of the roller body, thereby increasing the service life of the roller assembly.

[0126] In some embodiments, the number of first stiffening plates 42111 within the first cylinder 4211 may be multiple. In some embodiments, the multiple first stiffening plates 42111 are arranged in parallel. In some embodiments, the number of second stiffening plates 42112 within the first cylinder 4211 may be multiple. In some embodiments, the multiple second stiffening plates 42112 are arranged in parallel.

[0127] In some embodiments, the first stiffener 42111 and the second stiffener 42112 have a cross-shaped structure. In some embodiments, the first stiffener 42111 and the second stiffener 42112 have a mesh structure. In some embodiments, the first stiffener 42111 is parallel to the axial direction of the roller body 421. In other embodiments, the first stiffener 42111 has an angle with the axial direction of the roller body 421. In some embodiments, the second stiffener 42112 is parallel to the radial direction of the roller body 421. In other embodiments, the second stiffener 42112 has an angle with the radial direction of the roller body 421.

[0128] In some embodiments, the number of third stiffening plates 42121 within the second cylinder 4212 may be multiple. In some embodiments, the multiple third stiffening plates 42121 are arranged in parallel. In some embodiments, the number of fourth stiffening plates 42122 within the second cylinder 4212 may be multiple. In some embodiments, the multiple fourth stiffening plates 42122 are arranged in parallel.

[0129] In some embodiments, the third rib 42121 and the fourth rib 42122 have a cross-shaped structure. In some embodiments, the third rib 42121 and the fourth rib 42122 have a mesh structure. In some embodiments, the third rib 42121 is parallel to the axial direction of the roller body 421. In other embodiments, the third rib 42121 has an angle with the axial direction of the roller body 421. In some embodiments, the fourth rib 42122 is parallel to the radial direction of the roller body 421. In other embodiments, the fourth rib 42122 has an angle with the radial direction of the roller body 421.

[0130] In some embodiments, such as Figure 18 As shown, the first cylindrical body 4211 has a first positioning post 42113 and a first positioning hole 42114 inside, and the second cylindrical body 4212 has a second positioning hole 42123 that mates with the first positioning post 42113 and a second positioning post 42124 that mates with the first positioning hole 42114 inside. When the first cylindrical body 4211 and the second cylindrical body 4212 are connected, the first positioning post 42113 is partially inserted into the second positioning hole 42123, and the second positioning post 42124 is partially inserted into the first positioning hole 42114, thereby restricting the relative movement between the first cylindrical body 4211 and the second cylindrical body 4212.

[0131] In some embodiments, there may be multiple first positioning posts 42113, and the number of second positioning holes 42123 matches the number of first positioning posts 42113. In some embodiments, there may be multiple second positioning posts 42124, and the number of first positioning holes 42114 matches the number of second positioning posts 42124.

[0132] In some embodiments, such as Figure 19 As shown, the roller assembly 42 also includes a roller sleeve 422 sleeved around the roller body 421. The roller sleeve 422 is configured to rotate with the roller body 421. The roller sleeve 422 can effectively distribute the load borne by the roller body, improve the stress state of the roller body, and thus improve the service life of the roller assembly. The roller sleeve 422 is made of materials including but not limited to rubber, nylon, polyester fiber, polycarbonate, etc.

[0133] In some embodiments, such as Figures 18 to 20As shown, the outer surface of the roller body 421 is provided with multiple annular recesses 4213 along the axial direction. The central axis of the annular recesses 4213 is perpendicular to the axis of the roller body 421. The inner surface of the roller sleeve 422 is provided with multiple annular limiting protrusions 4221 that are adapted to the recesses 4213 along the axial direction. The central axis of the annular limiting protrusions 4221 is perpendicular to the axis of the roller body 421. The annular limiting protrusions 4221 abut against the recesses 4213 to restrict the movement of the roller sleeve 422 relative to the roller body 421. Of course, the limiting protrusions can also be provided on the roller body 421 and the recesses can be provided on the roller sleeve 422, which can also achieve the purpose of restricting the movement of the roller sleeve 422 relative to the roller body 421. In addition, multiple second recesses 4222 extending around the axis can be provided on the outer surface of the roller sleeve 422 to increase the friction when the roller sleeve 422 contacts the ground and improve the passability of the omnidirectional wheel.

[0134] In some embodiments, the cross-section of the roller sleeve 422 can be either a conventional cylindrical shape or other shapes. In some embodiments, the cross-section of the roller sleeve 422 is spindle-shaped along its axial direction, with a larger middle and smaller ends. When the omnidirectional wheel rotates, the contact between the roller sleeve 422 and the ground is smoother, reducing impact.

[0135] In some embodiments, such as Figure 16 As shown, the first mounting part 4111 and the second mounting part 4121 are arranged crosswise in the circumferential direction of the wheel body 41, so that while reducing the size of the omnidirectional wheel, more roller assemblies can be set, making the contact between the omnidirectional wheel and the ground smoother during operation and reducing the impact on the omnidirectional wheel.

[0136] In some embodiments, the first support portion 411 and the second support portion 412 are integrally formed, which simplifies the manufacturing process and makes them more robust and durable.

[0137] In some embodiments, the first support portion 411 and the second support portion 412 may also be detachably connected. For example... Figure 17 As shown, the first support portion 411 has a through third mounting space 413 in the middle. The third mounting space 413 is used to accommodate a drive motor (for example, a part of a drive motor 111 used to drive the left first wheel and the right first wheel, or a part of a drive motor 121 used to drive the left second wheel and the right second wheel). A plurality of second protrusions 4131 are arranged circumferentially inside the third mounting space 413. The interior of the second protrusions 4131 is hollowed out, and each second protrusion 4131 is provided with a third positioning hole 4132.

[0138] In some embodiments, the second support portion 412 has a through fourth mounting space 414 in the middle. The fourth mounting space 414 is used to accommodate a drive motor (e.g., another part of the drive motor 111 used to drive the left first wheel and the right first wheel, or another part of the drive motor 121 used to drive the left second wheel and the right second wheel). The shape and size of the fourth mounting space 414 match those of the third mounting space 413. The end of the fourth mounting space 414 has a mounting flange 4141, which is arranged circumferentially along the fourth mounting space 414 and extends into the fourth mounting space 414. A plurality of first through holes 4142 are arranged circumferentially along the mounting flange 4141 for fixing the drive motor. A third protrusion 4143 is provided in the fourth mounting space 414 at a position corresponding to the second protrusion 4131. The shape of the third protrusion 4143 is the same as that of the second protrusion 4131. The interior of the third protrusion 4143 is hollowed out, and a third positioning post 4144 is provided in each third protrusion 4143. When the first support part 411 is connected to the second support part 412, the third positioning post 4144 is partially housed in the third positioning hole 4132, and the first support part 411 and the second support part 412 are fixedly connected by bolts, thereby restricting the relative movement between the first support part 411 and the second support part 412.

[0139] In some embodiments, since there are many roller assemblies 42 provided on the omnidirectional wheel and many parts connected to the roller assemblies 42, the first support 411 and the second support 412 are detachably connected, making maintenance easier. When a small part is damaged, it is not necessary to replace the entire wheel body 41, thus reducing maintenance costs.

[0140] See also Figures 16 to 20 As shown, in one or more embodiments of this specification, the omnidirectional wheels used for the left first wheel and the right first wheel may include continuously switching wheels. In some embodiments, the omnidirectional wheel may include a wheel body 41 and a roller assembly 42. In some embodiments, the wheel body 41 may include a support portion, a first mounting portion 4111, and a second mounting portion 4121. In some embodiments, a plurality of first mounting portions 4111 are spaced apart along the circumferential direction of the support portion, and a plurality of second mounting portions 4121 are spaced apart along the circumferential direction of the support portion. In some embodiments, a plurality of first mounting portions 4111 and a plurality of second mounting portions 4121 are arranged side by side. In some embodiments, side by side arrangement may refer to the first mounting portions 4111 and the second mounting portions 4121 being located on opposite sides of a radial plane of the wheel body 41. For example, as... Figure 16 As shown, the first mounting part 4111 is located on the right side of a radial plane of the wheel body 41, and the second mounting part 4121 is located on the left side of the same radial plane of the wheel body 41. The radial plane refers to a virtual radial plane in the middle of the wheel body 41.

[0141] In some embodiments, a first mounting space 4112 is formed between two adjacent first mounting portions 4111, and a second mounting space 4122 is formed between two adjacent second mounting portions 4121. The first mounting spaces 4112 and the second mounting spaces 4122 are staggered. In some embodiments, the roller assembly 42 disposed in the first mounting space 4112 and the roller assembly 42 disposed in the second mounting space 4122 are alternately disposed along the circumferential direction of the wheel body 41. When the roller assembly 42 in the first mounting space 4112 contacts the ground and rolls forward, the roller assembly 42 in the second mounting space 4122 will take over the contact with the ground from the roller assembly 42 in the first mounting space 4112, so that during the rotation of the wheel body 41, one side of the roller assembly 42 always remains in contact with the ground, thereby achieving continuous switching.

[0142] In some embodiments, the support portion of the wheel body 41 includes a first support portion 411 and a second support portion 412, the first support portion 411 and the second support portion 412 are arranged side by side, the first support portion 411 is provided with a first mounting portion 4111, and the second support portion 412 is provided with a second mounting portion 4121.

[0143] In some embodiments, a first mounting space 4112 for accommodating a roller assembly 42 is formed between two adjacent first mounting portions 4111. In some embodiments, each first mounting portion 4111 is provided with a first protrusion 4113 extending into the first mounting space 4112, and the first protrusion 4113 is rotatably connected to the roller assembly 42.

[0144] In some embodiments, a second mounting space 4122 for accommodating the roller assembly 42 is formed between two adjacent second mounting portions 4121. In some embodiments, each second mounting portion 4121 is provided with a second protrusion 4123 extending into the second mounting space 4122, and the second protrusion 4123 is rotatably connected to the roller assembly 42.

[0145] In some embodiments, see Figure 16 , Figure 17 As shown, both the first mounting portion 4111 and the second mounting portion 4121 include an outer inclined surface 400a facing the outer side of the wheel body 41 and an inner inclined surface 400b facing the inner side of the wheel body. In some embodiments, the inner inclined surface 400b has a hollow structure.

[0146] In some embodiments, the outer inclined surface 400a and the inner inclined surface 400b are symmetrically arranged with respect to a radial plane of the wheel body 41. See also [other embodiments]. Figure 17As shown, the angle between the outer inclined surface 400a and a radial plane of the wheel body 41 is equal to the angle between the inner inclined surface 400b and the radial plane of the wheel body 41. In some embodiments, based on the above arrangement, at the first mounting portion 4111, the roller assembly 42 can be positioned at the plane of symmetry between the outer inclined surface 400a and the inner inclined surface 400b, thereby achieving balanced mechanical properties. At the second mounting portion 4121, the roller assembly 42 can also be positioned at the plane of symmetry between the outer inclined surface 400a and the inner inclined surface 400b, thereby achieving balanced mechanical properties.

[0147] In other embodiments, the angle between the outer inclined surface 400a and a radial plane of the wheel body 41 is smaller than the angle between the inner inclined surface 400b and the radial plane of the wheel body 41. In some embodiments, based on the above arrangement, at the first mounting portion 4111, the roller assembly 42 can be positioned on the outer side of the first mounting portion 4111 (i.e., the side away from the center of the wheel body 41), thereby achieving good resistance to lateral pressure on the wheel body. At the second mounting portion 4121, the roller assembly 42 can also be positioned on the outer side of the second mounting portion 4121 (i.e., the side away from the center of the wheel body 41), thereby achieving good resistance to lateral pressure on the wheel body.

[0148] In some embodiments, the inner inclined surface 400b of the first mounting portion 4111 extends into the second mounting space 4122, so that the first mounting portion 4111 has a larger base size (e.g., the cross-sectional area of ​​the portion of the first mounting portion 4111 near the center of the wheel body 41 gradually increases), thereby improving the strength of the first mounting portion 4111. In some embodiments, the inner inclined surface 400b of the second mounting portion 4121 extends into the first mounting space 4112, so that the second mounting portion 4121 has a larger base size (e.g., the cross-sectional area of ​​the portion of the second mounting portion 4121 near the center of the wheel body 41 gradually increases), thereby improving the strength of the second mounting portion 4121.

[0149] In some embodiments, the omnidirectional wheel includes: a wheel body and a roller assembly; the wheel body includes two third support portions arranged side-by-side and coaxially; a plurality of third mounting portions are circumferentially spaced on the third support portions, the interior of the third mounting portions is hollowed out, a third mounting space for accommodating the roller assembly is formed between two adjacent third mounting portions, a through shaft is provided between two adjacent third mounting portions, and the roller assembly is sleeved on the through shaft; the roller assembly includes a roller body, the roller body includes a first cylinder and a second cylinder detachably connected to each other, the interior of the first cylinder and the interior of the second cylinder are both hollowed out, and the axis of the roller body is perpendicular to the axis of the wheel body. This design can increase the compressive strength of the omnidirectional wheel.

[0150] See also Figures 3 to 5 and combined Figure 6 , Figure 7As shown, in one or more embodiments of this specification, the motion mechanism may include a body 10 and a left first wheel and a right first wheel disposed on the body 10. The left first wheel and the right first wheel have a first angle with respect to the centerline of the body 10, and the left first wheel and the right first wheel are configured to be able to adjust their respective first angles relative to the body 10. In some embodiments, the centerline of the body 10 is the centerline of the body 10 in the length direction of the vehicle. In some embodiments, the left first wheel and the right first wheel are symmetrical with respect to the centerline. In some embodiments, the left first wheel and the right first wheel are configured to be able to independently adjust their respective first angles relative to the body 10.

[0151] In one or more embodiments of this specification, see Figures 3 to 5 As shown, the body 10 includes a first linkage assembly 2, one end of which has a plurality of first wheel shaft holes. The motor shafts 1111 of the drive motors 111 of the left and right first wheels are fixed inside the first wheel shaft holes. In some embodiments, the plurality of first wheel shaft holes have different orientations. When the motor shafts 1111 of the drive motors 111 of the left and right first wheels are installed in one of the first wheel shaft holes, the left and right first wheels have a preset first angle with the center line of the body 10.

[0152] In some embodiments, each of the two ends of the first link assembly 2 is provided with a plurality of first wheel shaft holes with different orientations, so that the left first wheel and the right first wheel have a preset first angle with the center line of the body 10, and the left first wheel and the right first wheel can adjust their corresponding first angles independently.

[0153] In this embodiment, the first connecting rod assembly 2 may include a first connecting beam 21, which may be an integral structure, and a first wheel axle hole is formed on the first connecting beam 21. In this embodiment, the first connecting beam 21 includes a central region extending along the width direction of the body 10 and a connecting beam bending portion 210 bent relative to the central region, and the first wheel axle hole is formed on the connecting beam bending portion 210.

[0154] In one or more embodiments of this specification, the body 10 includes: a first linkage assembly 2, each of the two ends of the first linkage assembly 2 is provided with a first angle adjustment mechanism, and the motor shaft 1111 of the drive motor 111 of the left first wheel and the right first wheel is fixed to the first linkage assembly 2 through the first angle adjustment mechanism.

[0155] In some embodiments, see Figures 6 to 7As shown, the first linkage assembly 2 includes a first connecting beam 21, a left wheel connector 23, a right wheel connector 24, and a body connector 25. In some embodiments, the left wheel connector 23 and the right wheel connector 24 are first angle adjustment mechanisms.

[0156] In this embodiment, the left wheel connector 23 has a fourth groove 231 for accommodating the first connecting beam 21. The fourth groove 231 extends toward the body connector 25 in a direction perpendicular to the center line A. A second mounting plate 232 is provided on the left wheel connector 23, and the first connecting beam 21 is clamped between the second mounting plate 232 and the left wheel connector 23. In some embodiments, the second mounting plate 232 and the left wheel connector 23 are bolted together to clamp the first connecting beam 21.

[0157] In this embodiment, the right wheel connector 24 has a fifth groove 241 for accommodating the connecting beam. The fifth groove 241 extends toward the body connector 25 in a direction perpendicular to the center line A. A third mounting plate 242 is provided on the right wheel connector 24, and the first connecting beam 21 is clamped between the third mounting plate 242 and the right wheel connector 24. In some embodiments, the third mounting plate 242 and the right wheel connector 24 are bolted together to clamp the first connecting beam 21.

[0158] In this embodiment, different left wheel connectors 23 can be configured with different first included angles for the left and right first wheels, and different right wheel connectors 24 can be configured with different first included angles for the left and right first wheels. By replacing the left wheel connector 23 and / or the right wheel connector, the first included angles of the left and right first wheels currently mounted on the body 10 can be adjusted independently.

[0159] In other embodiments, the first angle adjustment mechanism may include an end gear disk. In some embodiments, the first angle adjustment mechanism may include an end gear disk and a drive gear meshing with the end gear disk. In some embodiments, the drive gear may be a bevel gear. In some embodiments, one end gear disk may be matched with one or more bevel gears with different cone angles. In some embodiments, the end gear disk is fixedly connected to the body 10 (e.g., the first linkage assembly 2 on the body 10), the bevel gear is fixedly connected to the drive motor (e.g., drive motor 111 and drive motor 121), and the end gear disk meshes with the bevel gear. In a further embodiment of this embodiment, the end gear disk may be fixedly connected to the drive motor, and the bevel gear may be fixedly connected to the body 10. In other embodiments related to this embodiment, the first angle adjustment mechanism may include two bevel gears, one of which is fixedly connected to the body 10, and the other of which is fixedly connected to the drive motor. In some embodiments, by replacing the bevel gear mounted to the drive motor, or by replacing the end gear plate mounted to the body 10, the angle between the output shaft of the drive motor and the body 10 is adjusted, thereby adjusting the first included angle between the left first wheel and the right first wheel currently mounted on the body 10.

[0160] In some embodiments, the first angle adjustment mechanism may be a steering servo. In some embodiments, the steering servo is disposed within the left first wheel, the right first wheel, the left second wheel, and the right second wheel. In some embodiments, the steering servo includes a drive motor 111 or a drive motor 121, and a gear set, a position sensor, a control circuit, and an output shaft connected to the drive motor. In some embodiments, the output shaft of the steering servo may be fixedly connected to the body 10 (e.g., the first linkage assembly 2 on the body 10). In some embodiments, the first included angle between the left first wheel and the right first wheel is adjusted by the steering motor.

[0161] In one or more embodiments of this specification, at least one of the left first wheel and the right first wheel has a first angle with the centerline of the body 10.

[0162] In some embodiments, the angle of the first included angle can be 15 to 45°, for example 20 to 40°, for example 25 to 35°. For example, the angle of the first included angle can be 15°, 18°, 20°, 22.5°, 26.6°, 30°, 31.66°, 35°, 38°, 40°, 42.8°, 45°, etc.

[0163] In one or more embodiments of this specification, at least one of the left first wheel and the right first wheel of the motion mechanism has a first tilt angle with respect to the transverse plane where the body 10 is located, and / or at least one of the left second wheel and the right second wheel has a second tilt angle with respect to the transverse plane where the body 10 is located.

[0164] In some embodiments, the tilt angle (e.g., a first tilt angle or a second tilt angle) is the angle between the plane containing the left first wheel, right first wheel, left second wheel, or right second wheel and the transverse plane containing the body 10. In some embodiments, the plane containing the left first wheel, right first wheel, left second wheel, or right second wheel may be a plane perpendicular to the rotation axis of the left first wheel and right first wheel or perpendicular to the rotation axis of the left second wheel and right second wheel. In some embodiments, the transverse plane containing the body 10 may be the ground surface of the body 10, such as a horizontal plane or a field plane.

[0165] In some embodiments, a first tilt angle between at least one of the left and right first wheels and the transverse plane where the body 10 is located means that the left and right first wheels are not perpendicular to the plane on which the body 10 operates (e.g., the ground), but rather have an angle of non-zero degrees with the ground. In some embodiments, a second tilt angle between at least one of the left and right second wheels and the transverse plane where the body 10 is located means that the left and right second wheels are not perpendicular to the plane on which the body 10 operates (e.g., the ground), but rather have an angle of non-zero degrees with the ground. In some embodiments, the first tilt angle is less than 90°. In some embodiments, the second tilt angle is less than 90°.

[0166] In some embodiments, the inner diameters of the left and right first wheels facing the center of the body 10 are smaller than the outer diameters of the left and right first wheels away from the center of the body 10. In some embodiments, at least a portion of the treads of the left and right first wheels may lie on a first conical surface. In some embodiments, the middle portion of the treads of the left and right first wheels lies on the first conical surface. In other embodiments, the entire tread of the left and right first wheels may lie on the first conical surface. In some embodiments, the base angle of the first conical surface (e.g., the angle between the generatrix of the first conical surface and its base) matches a first camber angle to maintain contact between the left and right first wheels and the ground. In some embodiments, the base angle of the first conical surface may be equal to the first camber angle.

[0167] In some embodiments, the inner diameters of the left and right second wheels facing the center of the body 10 are smaller than the outer diameters of the left and right second wheels away from the center of the body 10. In some embodiments, at least a portion of the treads of the left and right second wheels may lie on a second conical surface. In some embodiments, the middle portion of the treads of the left and right second wheels lies on the second conical surface. In other embodiments, the entire tread of the left and right second wheels may lie on the second conical surface. In some embodiments, the base angle of the second conical surface (e.g., the angle between the generatrix of the second conical surface and its base) matches a second camber angle to maintain contact between the left and right second wheels and the ground. In some embodiments, the base angle of the second conical surface may be equal to a first camber angle.

[0168] In some embodiments, the left first wheel and the right first wheel are omnidirectional wheels, and the left first wheel and the right first wheel have a first tilt angle. In other embodiments, the left second wheel and the right second wheel are solid wheels, and the left second wheel and the right second wheel have a second tilt angle.

[0169] In some embodiments, the left first wheel and the right first wheel are omnidirectional wheels, and the left second wheel and the right second wheel are solid wheels, plastic wheels, pneumatic tires, or airless tires, with the second wheel having a second tilt angle. In this embodiment, the left second wheel and the right second wheel may experience some sideslip when turning. In some soft ground (such as lawns) scenarios, the sideslip of the solid wheels can cause wear or even damage to the ground, such as crushing the grass on a lawn. In some embodiments, by setting the solid wheels to have a tilt angle, when the machine body 10 turns, the tilted solid wheels can turn within a certain range in a rolling manner, reducing the amount of sideslip of the solid wheels on soft ground, thereby reducing ground wear.

[0170] In some embodiments, the left first wheel and the right first wheel have a first tilt angle with the transverse plane where the body 10 is located. In some embodiments, the first tilt angles of the left first wheel and the right first wheel are the same. In some embodiments, the upper ends of the left first wheel and the right first wheel are close to the centerline of the body 10, and the lower ends of the left first wheel and the right first wheel are far from the centerline of the body 10.

[0171] In some embodiments, the left second wheel and the right second wheel have a second tilt angle with respect to the transverse plane of the body 10. In some embodiments, the second tilt angles of the left second wheel and the right second wheel are the same. In some embodiments, the upper ends of the left second wheel and the right second wheel are close to the centerline of the body 10, and the lower ends of the left second wheel and the right second wheel are far from the centerline of the body 10.

[0172] Figure 21This is a schematic diagram of the rod-like structure of a wheel in a motion mechanism according to some embodiments of this specification. See also Figure 21 As shown, in one or more embodiments of this specification, the motion mechanism has an anti-slip mechanism. In some embodiments, the outer sides of the left first wheel, right first wheel, left second wheel, and right second wheel are detachably provided with an anti-slip mechanism, which is used to prevent lateral displacement of the left first wheel, right first wheel, left second wheel, and right second wheel.

[0173] In one or more embodiments of this specification, the anti-skid mechanism includes a disc-shaped structure mounted on the sides of the left first wheel, the right first wheel, the left second wheel, and the right second wheel, with the outer edge of the disc-shaped structure protruding from or flush with the outer peripheral surfaces of the left first wheel, the right first wheel, the left second wheel, and the right second wheel.

[0174] In one or more embodiments of this specification, in conjunction with Figures 8 to 12 As shown, the left first wheel and the right first wheel may include a roller holder 31, and a disc-shaped structure is detachably fixed to the side of the roller holder 31. In some embodiments, the outer edge of the disc-shaped structure may cover the outer edge formed by multiple roller assemblies 33 on the roller holder 31. For example, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the left first wheel and the right first wheel is larger than the projected area of ​​the roller holder 31 and the multiple roller assemblies 33 in the axial direction of the left first wheel and the right first wheel, thereby enabling the disc-shaped structure to replace other parts of the left first wheel and the right first wheel (e.g., to replace the roller holder 31 or the roller assemblies 33 and other components) in contact with the ground. In this embodiment, the disc-shaped structure enables the left first wheel and the right first wheel to be converted into solid wheels on both hard and soft surfaces. In this embodiment, the left first wheel and the right first wheel can be switched between omnidirectional wheels and solid wheels by installing and removing the disc-shaped structure.

[0175] In other embodiments, the outer edge of the disc-shaped structure may match the outer edge formed by the plurality of roller assemblies 33 on the roller holder 31. For example, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the left first wheel and the right first wheel is equal to the projected area of ​​the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the left first wheel and the right first wheel.

[0176] In some embodiments, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the left and right first wheels can be smaller than the projected area of ​​the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the left and right first wheels. In this embodiment, the projection of the outer edge of the disc-shaped structure in the axial direction has a first radius. The projections of the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the left and right first wheels have a second radius. The difference between the first radius and the second radius can be selected based on ground conditions so that the left and right first wheels, when equipped with the disc-shaped structure, can be used as omnidirectional wheels on hard ground and as solid wheels on soft ground. In this embodiment, on hard ground (e.g., concrete), due to the smaller first radius, the roller assembly 33 contacts the ground, while the disc-shaped structure does not contact the ground, allowing the left and right first wheels to be used as omnidirectional wheels. On soft ground (such as lawn), the roller assembly 33 sinks after contacting the ground, the disc structure contacts the ground, the first wheel on the left and the first wheel on the right can be used as solid wheels, and has certain omnidirectional wheel characteristics when sliding sideways.

[0177] In one or more embodiments of this specification, in conjunction with Figure 16 , Figure 17 As shown, the left first wheel and the right first wheel may include wheel bodies 41, and a disc-shaped structure is detachably fixed to the side of the wheel body 41. In some embodiments, the outer edge of the disc-shaped structure may cover multiple roller assemblies 42 on the wheel body 41. For example, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the left first wheel and the right first wheel is greater than the projected area of ​​the wheel body 41 and the multiple roller assemblies 42 in the axial direction of the left first wheel and the right first wheel. This allows the disc-shaped structure to replace other parts of the left first wheel and the right first wheel (e.g., it can replace the wheel body 41 or roller assembly 33 and other components) in contact with the ground. In this embodiment, the disc-shaped structure allows the left first wheel and the right first wheel to degenerate into solid wheels on both hard and soft surfaces. In this embodiment, the left first wheel and the right first wheel can be switched between omnidirectional wheels and solid wheels by installing and removing the disc-shaped structure.

[0178] In other embodiments, the outer edge of the disc-shaped structure may match the outer edge formed by the plurality of roller assemblies 42 on the wheel body 41. For example, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the left first wheel and the right first wheel is equal to the projected area of ​​the wheel body 41 and the plurality of roller assemblies 42 in the axial direction of the left first wheel and the right first wheel.

[0179] In some embodiments, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the left and right first wheels can be smaller than the projected area of ​​the wheel body 41 and the plurality of roller assemblies 42 in the axial direction of the left and right first wheels. In this embodiment, the difference between the first radius of the projection of the outer edge of the disc-shaped structure in the axial direction and the second radius of the projection of the wheel body 41 and the plurality of roller assemblies 42 in the axial direction of the left and right first wheels can be selected based on ground conditions. This allows the left and right first wheels, when equipped with the disc-shaped structure, to be used as omnidirectional wheels on hard ground and as solid wheels on soft ground. In this embodiment, on hard ground (e.g., concrete), due to the smaller first radius, the roller assembly 42 contacts the ground, while the disc-shaped structure does not contact the ground, allowing the left and right first wheels to be used as omnidirectional wheels. On soft ground (such as lawn), the roller assembly 42 sinks after contacting the ground, the disc structure contacts the ground, the first wheel on the left and the first wheel on the right can be used as solid wheels, and has certain omnidirectional wheel characteristics when sliding sideways.

[0180] In one or more embodiments of this specification, see Figure 21 As shown, the anti-skid mechanism includes a plurality of rod-shaped structures 5 arranged in a ring array on the sides of the left first wheel, right first wheel, left second wheel and right second wheel. The outer edges of the rod-shaped structures 5 protrude from or are flush with the outer peripheral surfaces of the left first wheel, right first wheel, left second wheel and right second wheel.

[0181] In some embodiments, the left first wheel and the right first wheel can be omnidirectional wheels. In some embodiments, the left first wheel and the right first wheel can be... Figure 21 The image shows a Mecanum wheel (or Mecanum wheel, Mecanum wheel). In some related embodiments, when the tire surface of the Mecanum wheel is 0 degrees, the angle between the axis of the roller assembly and the axis of the vehicle body is 45 degrees, thereby allowing the angle between the axis of the roller assembly and the axis of the vehicle body to be adjusted over a wider range of angles.

[0182] In some embodiments, a Mecanum wheel may include a wheel body 61 and a roller assembly 62 disposed on the wheel body 61. In some embodiments, the axis of the roller assembly 62 forms an angle with the axis of the wheel body 61. In some embodiments, the angle between the axis of the roller assembly 62 and the axis of the wheel body 61 is 20 to 45°, for example, 25 to 42°. Exemplarily, the angle between the axis of the roller assembly 62 and the axis of the wheel body 61 can be 20°, 22°, 25°, 28°, 30°, 30.5°, 33.25°, 35°, 38°, 40°, 42°, 43.33°, or 45°.

[0183] In some embodiments, the rod-like structure 5 can be detachably connected to the wheel body 61. In some embodiments, the rod-like structure 5 can be detachably fixed to the outer peripheral surface of the wheel body 61. In some embodiments, the rod-like structure 5 can be threadedly connected to the wheel body 61. In some embodiments, the relationship between the outer edge of the anti-slip mechanism and the outer edge formed by the plurality of roller assemblies 62 on the wheel body 61 can be adjusted by replacing rod-like structures 5 of different lengths. The outer edge of the contour formed by the plurality of rod-like structures 5 forms a first projection in the axial direction of the left first wheel and the right first wheel. The outer edge of the plurality of roller assemblies 62 on the wheel body 61 forms a second projection in the axial direction of the left first wheel and the right first wheel. In some embodiments, similar to the aforementioned anti-slip mechanism using a disc-like structure, the first projection can be greater than, equal to, or less than the second projection according to actual needs. The specific effects of the above embodiments can be referred to the specific effects of the embodiments corresponding to the anti-slip mechanism with a disc-like structure, and will not be repeated here.

[0184] In some embodiments, see Figure 21 As shown, the rod-shaped structures 5 can be arranged in a circular array. In some embodiments, there is a gap between two rod-shaped structures 5. In some embodiments, the rod-shaped structures 5 can be arranged on both sides of the wheel body 61 to balance the two sides of the wheel body 61. In some embodiments, the rod-shaped structures 5 can be arranged along the radial direction of the wheel body 61. In some embodiments, the rod-shaped structures 5 can be located in a radial plane of the wheel body 61. In some embodiments, the rod-shaped structures 5 can also have an angle with the radial plane of the wheel body 61.

[0185] In some embodiments, the rod-like structure 5 allows the left first wheel and the right first wheel to partially or fully extend into or insert into the ground when traveling on soft ground conditions, in order to provide better friction and prevent the body 10 from skidding.

[0186] In one or more embodiments of this specification, in conjunction with Figures 8 to 12 As shown, the left first wheel and the right first wheel may include a roller retainer 31, and the rod-shaped structure 5 can be detachably fixed to the outer peripheral surface of the roller retainer 31. In some embodiments, the anti-slip mechanism using the rod-shaped structure 5... Figures 8 to 12 The application of the illustrated embodiment can be referred to the application of the rod structure 5 in the embodiment of the Mecanum wheel, and will not be repeated here.

[0187] In one or more embodiments of this specification, in conjunction with Figure 16 , Figure 17 As shown, the left first wheel and the right first wheel may include wheel bodies 41, and the rod-shaped structure 5 can be detachably fixed to the outer circumferential surface of the wheel body 41. In some embodiments, the anti-slip mechanism using the rod-shaped structure 5... Figure 16 , Figure 17The application of the illustrated embodiment can be referred to the application of the rod structure 5 in the embodiment of the Mecanum wheel, and will not be repeated here.

[0188] like Figure 22 As shown, in one or more embodiments of this specification, a pneumatic tire may include: an inner ring 701, an outer ring 702 disposed outside the inner ring 701, and a plurality of spoke units 703 connecting the inner ring 701 and the outer ring 702. In some embodiments, the plurality of spoke units 703 may include two or more spoke units 703. In some embodiments, the inner ring 701 may provide a hub for connection to an axle. In some embodiments, the outer ring 702 may provide a tread for ground contact. In some embodiments, the spoke units 703 provide support for the outer ring 702. In some embodiments, adjacent spoke units 703 may form mutual support after deformation, thereby providing a force to inhibit further deformation. In some embodiments, the force to inhibit further deformation provided by adjacent spoke units 703 after deformation has a certain symmetry, for example, providing a force to inhibit further deformation generally along the radial direction of the pneumatic tire, avoiding the tendency of the pneumatic tire to rotate (forward or backward).

[0189] Airless tires deform during movement, increasing the contact area with the grass and thus improving grip and making movement smoother. These airless tires, also known as tires that don't require inflation, use a hollow structure to distribute stress, replacing the pressure support function of traditional tires.

[0190] In some embodiments, the same spoke unit 703 includes two abutting portions 7031 located on opposite sides in a radial direction. The abutting portions 7031 are configured such that the two abutting portions can move away from each other as the gap between the outer and inner rings decreases; and in adjacent spoke units, two abutting portions belonging to different spoke units can move closer to each other as the gap between the outer and inner rings decreases.

[0191] Two abutment portions are arranged symmetrically with respect to a radial direction. The same spoke unit also includes a first connecting portion and a second connecting portion. The first connecting portion connects the inner ring and the abutment portion, and the second connecting portion connects the outer ring and the abutment portion. In the same spoke unit, each abutment portion is independently configured with at least one first connecting portion and at least one second connecting portion; or, in the same spoke unit, two abutment portions are jointly configured with at least one first connecting portion and at least one second connecting portion. Each abutment portion includes an interconnected first abutment portion and a second abutment portion. The projections of the first abutment portion and the second abutment portion on the radial plane are both linear structures, and there is an included angle between the first abutment portion and the second abutment portion. The first abutment portion is connected to the inner ring via the first connecting portion, and the second abutment portion is connected to the outer ring via the second connecting portion.

[0192] In some embodiments, the positions of the plurality of spoke units 703 are matched with the positions of the raised structure assemblies 704. In some embodiments, each spoke unit 703 is correspondingly arranged with one raised structure assembly 704. In some embodiments, each spoke unit 703 is directly opposite a raised structure assembly 704. In some embodiments, due to the corresponding arrangement of the spoke units 703 and the raised structure assemblies 704, when the raised structure assembly 704 contacts the ground, it can directly transmit pressure and deformation to the spoke units 703 to cause deformation of the spoke units 703, thereby obtaining a faster response. This can reduce unpredictable tread instability deformation and make the pressure-deformation relationship of the airless tire conform to the design curve.

[0193] The inner wall of the inner ring 701 is further provided with one or more hub connection structures 705, which are used to connect the airless tire and the hub or axle of the equipment. In some embodiments, the hub connection structure 705 may be C-shaped. In some embodiments, a connection space is formed between the hub connection structure 705 and the inner wall of the inner ring 701.

[0194] In one or more embodiments of this specification, the outer surface of the outer ring has a tread pattern, which includes a plurality of raised structure combinations arranged in a circular array, each of which extends along the axial direction of the outer surface of the outer ring, and each of the raised structure combinations includes one or more raised structures. Increasing the grooves and raised features on the tire surface can improve the tire's grip.

[0195] In one or more embodiments of this specification, such as Figure 23 As shown, the machine body is equipped with a left-side heat sink 8021 and a right-side heat sink 8022. The left-side heat sink is located inside the machine body and adjacent to a left-side motor controller at one end, while the right-side heat sink is located inside the machine body and adjacent to a right-side motor controller at one end. The outer ends of both the left and right-side heat sinks include several fins, which are parallel and arranged along the length of the machine body. The left-side and right-side motor controllers are housed in a controller housing 801. The parallel arrangement of the fins along the length of the machine body allows for efficient heat dissipation through airflow during movement, resulting in good cooling performance.

[0196] In one or more embodiments of this specification, a lawnmower robot is provided, which includes a lawnmower mechanism, a camera module, a collision sensor, a main controller, and the aforementioned motion mechanism, wherein the main controller is connected to the left motor driver and the right motor driver in the lawnmower mechanism, the camera module, the collision sensor, and the motion mechanism.

[0197] In some embodiments, the motion mechanism may include the aforementioned floating first link assembly, the aforementioned omnidirectional wheel, the aforementioned Mecanum wheel, the aforementioned anti-skid mechanism, etc.

[0198] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) The left motor driver is configured to control the drive motors of the left first wheel and the left second wheel, and the right motor driver is configured to control the drive motors of the right first wheel, the right left second wheel, and the right second wheel, so that the design of the motor driver is more symmetrical, and the wiring changes less if the load of the front and rear wheels changes; By setting the left first wheel and the right first wheel to have an angle with the center line of the body, the rotation center can be set close to the center or center of gravity of the working part or the motion mechanism and the working part, so as to control the movement trajectory of the working part more efficiently; (3) The left first wheel and the right first wheel can float up and down relative to the body, so that when driving on uneven roads, all four wheels of the lawnmower robot can contact the ground, improve the grip of the wheels, and further improve the passability of the lawnmower robot; (4) The left first wheel and the right first wheel are equipped with drive motors inside, and the drive motors are equipped with drive motors. The motor shaft of the machine is fixedly connected to the first connecting rod assembly. The middle part of the first connecting rod assembly is rotatably connected to the front end of the machine body, so that the two left first wheels and right first wheels can be driven to float up and down; (5) The left wheel connector and the right wheel connector can be detachably connected to the left first wheel and the right first wheel or the left second wheel and the right second wheel respectively. By changing the left wheel connector and the right wheel connector, the first included angle between the left first wheel and the right first wheel and the center line of the machine body can be adjusted; (6) The two ends of the connecting beam are respectively inserted into the fourth groove of the left wheel connector and the fifth groove of the right wheel connector. By adjusting the amount of insertion, the distance between the left first wheel and the right first wheel can be adjusted to adapt to different usage scenarios; (7) The roller assembly is fixed by the cooperation of the first end cover and the roller retainer; (8) In the omnidirectional wheel, the first end cover is detachably connected to the roller retainer so that when the omnidirectional wheel is stuck by debris, the first end cover can be removed and the roller assembly can be removed from the roller retainer to achieve quick cleaning of debris.In the omnidirectional wheel, a first mounting part and a second mounting part are coaxially arranged to hold the roller assemblies on both sides respectively; (9) the first mounting part and the second mounting part are designed as hollow structures to reduce weight and save materials; (10) the roller assembly is designed as a hollow structure to reduce weight and save materials, while ensuring load-bearing capacity and service life through structural design; (11) in the wheel body of the omnidirectional wheel, the outer inclined surface and the inner inclined surface are symmetrical with respect to the radial plane of the wheel body, so that the roller assembly obtains balanced support performance; (12) in the wheel body of the omnidirectional wheel, the angle between the outer inclined surface and the radial plane is smaller than the angle between the inner inclined surface and the radial plane, so that the roller assembly has resistance to lateral movement. (13) By opening multiple left and right wheel shaft holes with different orientations on the first link assembly, the left and right wheels can adjust their first included angle; (14) By setting a first angle adjustment mechanism, the left and right wheels can adjust their first included angle; (15) By giving the left and right wheels a first tilt angle, the wear on the soft ground during steering is reduced; (16) By giving the left and right wheels a second tilt angle, the wear on the soft ground during steering is reduced; (17) By arranging an anti-skid mechanism, the lateral displacement of the wheels is prevented, thus preventing the motion mechanism from skidding.

[0199] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A motion mechanism, characterized in that, Including the main body, the first wheel assembly, and the second wheel assembly; The first wheel set and the second wheel set are respectively connected to the front and rear ends of the machine body; The first wheel assembly includes a left first wheel and a right first wheel, which are symmetrically arranged on both sides of the center line of the machine body. The left first wheel and the right first wheel have a first angle with the center line of the machine body. The front ends of the left first wheel and the right first wheel are close to the center line of the machine body, and the rear ends of the left first wheel and the right first wheel are far away from the center line of the machine body. The second wheel set includes a left second wheel and a right second wheel, which are arranged parallel and symmetrically on both sides of the center line of the machine body; Each of the left first wheel, the right first wheel, the left second wheel, and the right second wheel is equipped with a drive motor. The machine body is provided with a left motor driver and a right motor driver. The left motor driver is connected to the drive motors of the left first wheel and the left second wheel, and the right motor driver is connected to the drive motors of the right first wheel and the right second wheel.

2. The motion mechanism according to claim 1, characterized in that, The body is equipped with a left-side radiator and a right-side radiator; The left heat sink is located adjacent to the left motor controller at one end inside the body, and the right heat sink is located adjacent to the right motor controller at one end inside the body. The left and right heat sinks each include a number of fins at one end of the outer side of the body, and the fins are parallel and arranged along the length of the body.

3. The motion mechanism according to claim 1, characterized in that, The first wheel on the left and the first wheel on the right are omnidirectional wheels, and the omnidirectional wheels include continuously switching wheels or Mecanum wheels; The second wheel on the left and the second wheel on the right are solid wheels, plastic wheels, pneumatic tires, or airless tires.

4. The motion mechanism according to claim 3, characterized in that, The omnidirectional wheel is a continuously switching wheel; The continuous switching wheel includes: A roller retainer includes a support portion and a first mounting portion. The support portion has a first connecting end face. A plurality of first mounting portions are spaced apart along the circumferential direction of the support portion. A first mounting space is formed between two adjacent first mounting portions. The first mounting portion has a first mounting end face, which is on the same plane as the first connecting end face. A first receiving groove is provided on the first mounting portion, which extends from the first mounting end face into the interior of the first mounting portion. A first end cap is detachably connected to the roller holder and is located on the side close to the first connection end face. The first end cap is configured to close the first receiving groove to form a first mounting hole, the opening of which faces the first mounting space. A roller assembly is disposed in the first mounting space. The roller assembly includes a roller shaft and a roller wheel. Both ends of the roller shaft are respectively fixed in a first mounting hole. The roller wheel is sleeved on the roller shaft and configured to rotate relative to the roller shaft. The axis of the roller shaft is perpendicular to the axis of the roller cage. Alternatively, the continuous switching wheel includes: A wheel body and a roller assembly; the wheel body includes a first support portion and a second support portion arranged side by side and coaxially; The first support portion is provided with a plurality of first mounting portions spaced apart along the circumferential direction. The interior of the first mounting portion is hollowed out, and a first mounting space for accommodating the roller assembly is formed between two adjacent first mounting portions. Each first mounting portion is provided with a first protrusion extending into the first mounting space, and the first protrusion is rotatably connected to the roller assembly. The second support portion is provided with a plurality of second mounting portions spaced apart along the circumferential direction. The interior of the second mounting portion is hollowed out, and a second mounting space for accommodating the roller assembly is formed between two adjacent second mounting portions. Each second mounting portion is provided with a second protrusion extending into the second mounting space, and the second protrusion is rotatably connected to the roller assembly. The roller assembly includes a roller body, which includes a first cylinder and a second cylinder that are detachably connected to each other. The interiors of the first cylinder and the second cylinder are both hollowed out, and the axis of the roller body is perpendicular to the axis of the wheel body. Alternatively, the continuous switching wheel includes: a wheel body and a roller assembly; the wheel body includes a support portion, a first mounting portion, and a second mounting portion; A plurality of first mounting portions are spaced apart along the circumferential direction of the support portion, and a plurality of second mounting portions are spaced apart along the circumferential direction of the support portion, with the plurality of first mounting portions and the plurality of second mounting portions arranged side by side; A first mounting space is formed between two adjacent first mounting parts, and a second mounting space is formed between two adjacent second mounting parts, with the first mounting spaces and the second mounting spaces being staggered. Alternatively, the continuous switching wheel includes: A wheel body and a roller assembly; the wheel body includes two third support portions arranged side by side and coaxially. The third support portion is provided with a plurality of third mounting portions spaced apart along the circumferential direction. The interior of each third mounting portion is hollowed out. A third mounting space for accommodating the roller assembly is formed between two adjacent third mounting portions. A through shaft is provided between two adjacent third mounting portions, and the roller assembly is sleeved on the through shaft. The roller assembly includes a roller body, which includes a first cylinder and a second cylinder that are detachably connected to each other. The interiors of the first cylinder and the second cylinder are both hollowed out, and the axis of the roller body is perpendicular to the axis of the wheel body.

5. The motion mechanism according to claim 3, characterized in that, The airless tire includes: An inner ring, an outer ring disposed outside the inner ring, and a plurality of spoke units connecting the inner ring and the outer ring; The same spoke unit includes two abutting portions located on opposite sides in a radial direction, and is configured as follows: The two abutting portions can move away from each other as the gap between the outer ring and the inner ring decreases; In adjacent spoke units, the two abutting portions belonging to different spoke units can move closer to each other as the gap between the outer ring and the inner ring decreases.

6. The motion mechanism according to claim 5, characterized in that, The outer surface of the outer ring has a tread pattern, which includes a plurality of raised structure combinations arranged in a ring array. Each of the raised structure combinations extends along the axial direction of the outer surface of the outer ring, and each of the raised structure combinations includes one or more raised structures.

7. The motion mechanism according to claim 1, characterized in that, The motion mechanism also includes a first linkage assembly, each of the two ends of the first linkage assembly having a plurality of first wheel axle holes, and the motor shafts of the drive motors of the left first wheel and the right first wheel are fixed inside the first wheel axle holes; The multiple first wheel axle holes have different orientations. When the motor shafts of the drive motors of the left first wheel and the right first wheel are installed into one of the first wheel axle holes, the left first wheel and the right first wheel have a preset first included angle with the center line of the machine body. Each of the two ends of the first linkage assembly is provided with a first angle adjustment mechanism, and the motor shafts of the drive motors of the left first wheel and the right first wheel are fixed to the first linkage assembly through the first angle adjustment mechanism; the first angle adjustment mechanism includes an end gear or a steering servo.

8. The motion mechanism according to claim 1, characterized in that, The motion mechanism also includes a first linkage assembly; The first connecting rod assembly includes a first connecting beam, with its two ends connected to the motor shafts of the drive motors of the left first wheel and the right first wheel, respectively, to drive the left first wheel and the right first wheel to float up and down. A first shaft sleeve and one of a first shaft are disposed at the middle position of the first connecting beam. The other of the first shaft sleeve and the first shaft are disposed along the center line on the machine body, with the first shaft inserted into the first shaft sleeve. The motion mechanism further includes a second linkage assembly, which includes a second connecting beam. The two ends of the second connecting beam are respectively connected to the motor shafts of the drive motors of the left second wheel and the right second wheel to drive the left second wheel and the right second wheel to float up and down. A second shaft sleeve and one of the second shafts are provided in the middle of the second connecting beam. The other of the second shafts is provided on the machine body along the center line. The second shaft is inserted into the second shaft sleeve.

9. The motion mechanism according to claim 1, characterized in that, The outer sides of the left first wheel, the right first wheel, the left second wheel, and the right second wheel are detachably provided with anti-slip mechanisms, which are used to prevent lateral displacement of the left first wheel, the right first wheel, the left second wheel, and the right second wheel.

10. A lawnmower robot, characterized in that, It includes a lawn mowing mechanism, a camera module, a collision sensor, a main controller, and a motion mechanism as described in any one of claims 1 to 9; The main controller is connected to the mowing mechanism, the camera module, the collision sensor, and the left and right motor drivers in the motion mechanism.

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