robot

Abstract

The application provides a robot, which comprises a body, a walking mechanism arranged on the body and used at least for providing driving force for the body, and a driving mechanism arranged on the body and configured to drive the walking mechanism to rotate relative to the body and extend when the robot is in a pre-obstacle-crossing state, so that the walking mechanism is in an extended state and the front end of the body is lifted; the walking mechanism is configured to rotate relative to the body and contract under the interference of an obstacle when the robot is in an obstacle-crossing state, so that the walking mechanism rotates from the extended state to a contracted state and crosses the obstacle. The driving mechanism drives the walking mechanism to rotate relative to the body and extend when the robot is in the pre-obstacle-crossing state, so that the front end of the body is lifted; and the walking mechanism can rotate relative to the body and contract under the interference of an obstacle when the robot is in the obstacle-crossing state, so that the obstacle is crossed, so that the robot can smoothly pass through the obstacle, and thus the risk of the robot being stuck and the like can be reduced.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, specifically to a robot. Background Technology

[0002] During the movement of a robot, it is inevitable to encounter obstacles, such as thresholds, sliding door tracks, and steps. However, when a robot encounters an obstacle, the obstacle will hinder the robot's movement and cause it to get stuck. Therefore, how to reduce the risk of robots getting stuck when encountering obstacles is a technical problem that urgently needs to be solved in this field. Utility Model Content

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

[0004] To solve the above-mentioned technical problems, the technical solution adopted in this application is conceived as follows: This application provides a robot, the robot including: a body; a walking mechanism disposed on the body, at least for providing driving force to the body; a drive mechanism disposed on the body, the drive mechanism being configured to drive the walking mechanism to rotate and extend relative to the body when the robot is in a pre-obstacle crossing state, so that the walking mechanism is in an extended state to raise the front end of the body; the walking mechanism is configured to rotate and retract relative to the body under the interference of the obstacle when the robot is in an obstacle crossing state, so that the walking mechanism rotates from the extended state to the retracted state to cross the obstacle.

[0005] In some embodiments, the drive mechanism is further configured to reset after driving the walking mechanism to the extended state and before the robot crosses an obstacle, so as to separate from the walking mechanism.

[0006] In some embodiments, the robot further includes: a first pivot, and a walking mechanism rotatably disposed on the body about the first pivot; wherein, when the walking mechanism is in the extended state, the line connecting the pivot point of the walking mechanism on the walking surface of the robot and the first pivot forms a right angle or an acute angle between the walking surface and the side near the rear end of the body.

[0007] In some embodiments, when the robot is in a pre-obstacle-crossing state, the walking mechanism, driven by the drive mechanism, rotates from a retracted state to an extended state relative to the first axis along a preset rotation direction; when the robot is in an obstacle-crossing state and the walking mechanism contacts the obstacle, the walking mechanism, under the interference of the obstacle, rotates from the extended state to a retracted state relative to the first axis along the opposite direction of the preset rotation direction; wherein, the opposite direction of the preset rotation direction has a displacement component from the front end of the body to the rear end of the body.

[0008] In some embodiments, the included angle is greater than or equal to 45° and less than or equal to 90°.

[0009] In some embodiments, the walking mechanism includes: a drive wheel assembly rotatably disposed on a first pivot; and a reset assembly disposed between the body and the drive wheel assembly. The reset assembly is used to store a restoring force toward the body when the drive wheel assembly rotates in the robot's pre-obstacle crossing state, and is also used to reset the drive wheel assembly when it contacts an obstacle in the robot's obstacle crossing state, so as to drive the drive wheel assembly to rotate from an extended state to a retracted state.

[0010] In some embodiments, the reset component includes a spring.

[0011] In some embodiments, the drive mechanism includes: a drive member disposed on the body; and a swing assembly connected to the drive member; wherein the drive member is used at least to drive the swing assembly to rotate when the robot is in a pre-obstacle crossing state, so that the swing assembly pushes the walking mechanism to rotate.

[0012] In some embodiments, the oscillating assembly further includes: a gear connected to a drive member; an oscillating body rotatably disposed on the body, and the oscillating body is provided with a rack, the rack being meshed with the gear; wherein the gear is used to rotate under the drive of the drive member and drive the oscillating body to rotate.

[0013] In some embodiments, the rack is arranged in an arc shape.

[0014] In some embodiments, the robot further includes a rear auxiliary wheel, disposed on the body and positioned relative to the rear end of the walking mechanism close to the body.

[0015] In some embodiments, the robot further includes a cleaning component disposed on the body.

[0016] The beneficial effects of the embodiments of this application, which differ from the prior art, are as follows: This application provides a robot, which includes a body, a walking mechanism, and a drive mechanism. The walking mechanism is disposed on the body and is used to provide driving force to the body at least. The drive mechanism is disposed on the body and is configured to drive the walking mechanism to rotate and extend relative to the body when the robot is in a pre-obstacle crossing state, so that the walking mechanism is in an extended state to raise the front end of the body. The walking mechanism is configured to rotate and retract relative to the body under the interference of the obstacle when the robot is in an obstacle crossing state, so that the walking mechanism rotates from the extended state to the retracted state to cross the obstacle. By configuring the drive mechanism to drive the walking mechanism to rotate and extend relative to the body when the robot is in the pre-obstacle-crossing state, the walking mechanism is in the extended state, raising the front end of the body. This makes the area of ​​the body's bottom near the front end higher than the obstacle, allowing the front end of the body to cross the obstacle, thus achieving obstacle crossing. Simultaneously, the walking mechanism is configured to rotate and retract relative to the body under the interference of the obstacle when the robot is in the obstacle-crossing state, so that the walking mechanism rotates from the extended state to the retracted state to cross the obstacle. This allows the walking mechanism to move above the obstacle or pass over the obstacle, thereby achieving obstacle crossing and reducing the risk of the walking mechanism getting stuck or slipping at the obstacle. In this way, the robot can smoothly pass through obstacles, achieving overall obstacle crossing and reducing the risk of robot getting stuck or colliding with obstacles, thus improving the robot's reliability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0018] Figure 1 This is a structural schematic diagram of an embodiment of the robot provided in this application;

[0019] Figure 2 This is a schematic diagram of another embodiment of the robot provided in this application;

[0020] Figure 3 This is a structural schematic diagram of yet another embodiment of the robot provided in this application;

[0021] Figure 4 This is a schematic diagram of the structure of the robot walking mechanism and drive mechanism provided in this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] This application provides a robot 100. Please refer to... Figures 1 to 4 , Figure 1 This is a structural schematic diagram of an embodiment of the robot provided in this application; Figure 2 This is a schematic diagram of another embodiment of the robot provided in this application; Figure 3 This is a structural schematic diagram of yet another embodiment of the robot provided in this application; Figure 4 This is a schematic diagram of the robot's walking mechanism and drive mechanism working together, as provided in this application. The robot 100 includes a body 10, a walking mechanism 20, and a drive mechanism 30. The walking mechanism 20 is located on the body 10 and is used to provide driving force to the body 10. The drive mechanism 30 is located on the body 10 and is configured to drive the walking mechanism 20 to rotate and extend relative to the body 10 when the robot 100 is in a pre-obstacle-crossing state, so that the walking mechanism 20 is in an extended state to raise the front end 11 of the body 10. When the robot 100 is in an obstacle-crossing state, the walking mechanism 20 is configured to rotate and retract relative to the body 10 under the interference of an obstacle 200, so that the walking mechanism 20 rotates from an extended state to a retracted state to cross the obstacle 200.

[0028] The robot 100 can be a cleaning device, such as a robotic vacuum cleaner 100, a sweeping and mopping robot, a carpet cleaner, a sink cleaner, etc., but is not limited to these. The body 10 can serve as the basic carrier of the robot 100. The body 10 can be a one-piece structure or a combined structure formed by the cooperation of multiple parts. The robot 100 can also be a mobile device with other functions. This application uses the robot 100 as a cleaning device as an example for introduction.

[0029] The walking mechanism 20 may be located at the bottom 13 of the body 10; alternatively, the walking mechanism 20 may be located at the side 14 of the body 10, with at least a portion extending from the side 14 to the bottom 13 of the body 10. When the robot 100 is in normal driving mode, the walking mechanism 20 contacts the walking surface 300 to provide driving force to the body 10. The normal driving mode of the robot 100 includes a forward state and may also include a backward state.

[0030] like Figure 1As shown, when the robot 100 is in its normal driving state, the walking mechanism 20 is in a retracted state and is in contact with the walking surface 300, so that the walking mechanism 20 can provide driving force to the body 10. Figure 2 As shown, when the robot 100 encounters an obstacle 200, the walking mechanism 20 can rotate from a retracted state to an extended state under the action of the drive mechanism 30, so as to raise the front end 11 of the body 10.

[0031] The main body 10 has a front end 11 and a rear end 12 that are positioned opposite each other. The front end 11 is located at the end of the main body 10 closer to the front when the robot 100 is in a forward-moving state, and the rear end 12 is located at the end of the main body 10 closer to the rear when the robot 100 is in a forward-moving state. The robot 100 may include two locomotion mechanisms 20, which are positioned opposite each other on opposite sides of the main body 10 along a path perpendicular to the front end 11 and the rear end 12, and the arrangement direction of the two locomotion mechanisms 20 is perpendicular to the arrangement direction of the top and bottom 13 of the main body 10.

[0032] When the robot 100 is moving forward, it may encounter obstacles such as thresholds, sliding door tracks, or steps. The robot 100 provided in this application can traverse these obstacles, reducing the risk of the robot 100 getting stuck when encountering them. The obstacle 200 described in the following embodiments can be a threshold, sliding door track, or step, but is not limited to these.

[0033] For ease of description, the movement states of robot 100 can be divided into the following sequence: forward movement state, pre-obstacle crossing state, and obstacle crossing state. The obstacle crossing state includes the obstacle crossing state of the front end 11 and the obstacle crossing state of the walking mechanism 20. After the obstacle crossing state ends, robot 100 re-enters the forward movement state.

[0034] Please continue to refer to Figures 1 to 3When the robot 100 is in a forward-moving state, if the robot 100 detects an obstacle 200 within a preset distance ahead, it enters a pre-obstacle-crossing state. In the pre-obstacle-crossing state, the drive mechanism 30 drives the walking mechanism 20 to rotate and extend relative to the body 10, so that the walking mechanism 20 is in an extended state. During the extension process, the walking mechanism 20 has at least a displacement component toward the walking surface 300, so that the walking mechanism 20 lifts the front end 11 of the body 10 under the action of the reaction force of the walking surface 300, thereby raising the front end 11 of the body 10. After the front end 11 of the body 10 is raised, the robot 100 enters the obstacle-crossing state. In the obstacle-crossing state, the walking mechanism 20 continues to provide driving force to the body 10, so that the area of ​​the bottom 13 of the body 10 near the front end 11 moves to above the obstacle 200, thereby realizing the obstacle crossing of the front end 11. After the front end 11 crosses the obstacle, when the walking mechanism 20 comes into contact with the obstacle 200, the walking mechanism 20 can rotate and retract relative to the body 10 under the interference of the obstacle 200, so that the walking mechanism 20 rotates from the extended state to the retracted state to cross the obstacle 200. After the walking mechanism 20 retracts, the body 10 can continue to move forward under the action of inertia, so that the walking mechanism 20 moves to above the obstacle 200 or passes over the obstacle 200, thereby realizing the obstacle crossing of the walking mechanism 20. After the walking mechanism 20 crosses the obstacle, it can continue to provide driving force to the body 10, so that the robot 100 can enter the forward state again, which can reduce the risk of the robot 100 getting stuck when it encounters the obstacle 200.

[0035] By configuring the drive mechanism 30 to drive the walking mechanism 20 to rotate and extend relative to the body 10 when the robot 100 is in a pre-obstacle-crossing state, the walking mechanism 20 is in an extended state, raising the front end 11 of the body 10. This raises the area of ​​the bottom 13 of the body 10 near the front end 11 above the obstacle 200, allowing the front end 11 of the body 10 to cross the obstacle 200, thus achieving obstacle crossing of the front end 11. Simultaneously, the walking mechanism 20 is configured to, when the robot 100 is in an obstacle-crossing state, rotate relative to the body 10 under the interference of the obstacle 200. Rotating and retracting the walking mechanism 20 from its extended state to its retracted state allows it to move above or pass over the obstacle 200, thus enabling it to overcome the obstacle. This reduces the risk of the walking mechanism 20 getting stuck or slipping at the obstacle, allowing the robot 100 to pass over the obstacle 200 smoothly. This also reduces the risk of the robot 100 getting stuck or colliding with the obstacle 200, thereby improving the reliability of the robot 100.

[0036] Furthermore, when the robot 100 is in an obstacle-crossing state, by causing the walking mechanism 20 to rotate and retract relative to the body 10 under the interference of the obstacle 200, the walking mechanism 20 can automatically avoid the obstacle 200 under the interference of the obstacle 200. Compared with other schemes that require the drive mechanism 30 to drive the walking mechanism 20 to retract, this automatic retraction mechanism can reduce the driving frequency of the drive mechanism 30 on the walking mechanism 20, thereby reducing the load on the drive mechanism 30. This not only extends the service life of the drive mechanism 30, but also reduces energy consumption and improves energy utilization efficiency.

[0037] In some embodiments, the drive mechanism 30 is further configured to reset after the drive walking mechanism 20 is rotated to the extended state and before the robot 100 crosses the obstacle, so as to separate from the walking mechanism 20.

[0038] When the robot 100 is in the pre-obstacle crossing state, if the drive mechanism 30 rotates in the preset direction when it drives the walking mechanism 20 to rotate and extend relative to the body 10, then after the walking mechanism 20 rotates to the extended state and before the robot 100 crosses the obstacle, the drive mechanism 30 will rotate in the opposite direction to the preset direction to achieve a reset. At this time, the reset direction of the drive mechanism 30 is also the opposite direction to the preset direction.

[0039] The drive mechanism 30 is used to drive the walking mechanism 20 from a retracted state to an extended state when the robot 100 encounters an obstacle 200 during its forward movement, so that the walking mechanism 20 can raise the front end 11 of the body 10. After completing this action, before the robot 100 enters the obstacle-crossing state, the drive mechanism 30 can reverse and reset to separate itself from the walking mechanism 20. When the drive mechanism 30 reverses and resets, it will not drive the walking mechanism 20 to rotate, so that the walking mechanism 20 can remain in the extended state. By resetting the drive mechanism 30 and separating it from the walking mechanism 20 before the robot 100 crosses the obstacle, the drive mechanism 30 will not obstruct the rotation of the walking mechanism 20 when the robot 100 is in the obstacle-crossing state. This allows the walking mechanism 20 to rotate from the extended state to the retracted state under the interference of the obstacle 200, thereby realizing the automatic retraction of the walking mechanism 20 and improving the feasibility of automatic retraction of the walking mechanism 20.

[0040] The walking mechanism 20 can provide driving force to the body 10 when the robot 100 is in normal driving state and when the front end 11 is overcoming obstacles (of course, the walking mechanism 20 can continuously output driving force, but when it is overcoming obstacles, that is, when the walking mechanism 20 rotates from the extended state to the retracted state under the interference of the obstacle 200, the driving force to the body 10 is insufficient or there is no driving force because the resistance force with the walking surface 300 is insufficient or there is a gap. However, at this time, the body 10 can continue to move forward under the action of inertial force).

[0041] In some embodiments, the robot 100 further includes a first motor (not shown) and a first suspension arm (not shown). The first motor is disposed on the body 10 and connected to the walking mechanism 20. The walking mechanism 20 can convert the electrical energy of the first motor into rotational force and utilize the friction between its radial surface and the walking surface 300 of the robot 100 to convert the rotational force into a driving force for moving the body 10. The first suspension arm is disposed on the body 10 and connected to the walking mechanism 20. The first suspension arm can provide pressure to the walking mechanism 20 toward the walking surface 300 of the robot 100 to increase the contact area and friction between the radial surface of the walking mechanism 20 and the walking surface 300 of the robot 100, thereby further improving the driving force provided by the walking mechanism 20 to the body 10 and reducing the energy consumption of the first motor.

[0042] In some embodiments, please continue to refer to Figure 2 The robot 100 also includes a first pivot 40. A walking mechanism 20 is rotatably mounted on the body 10 around the first pivot 40. Specifically, the first pivot 40 is fixed to the body 10, and the walking mechanism 20 is rotatably connected to the first pivot 40. The first pivot 40 is a rotary joint that allows the walking mechanism 20 to rotate around and relative to the first pivot 40, so that the walking mechanism 20 can rotate around and relative to the first pivot 40 when rotating from a retracted state to an extended state and from an extended state to a retracted state.

[0043] When the robot 100 is in the pre-obstacle-crossing state, the walking mechanism 20, driven by the drive mechanism 30, rotates from the retracted state to the extended state relative to the first rotating axis 40 along a preset rotation direction. When the robot 100 is in the obstacle-crossing state and the walking mechanism 20 contacts the obstacle 200, the walking mechanism 20, under the interference of the obstacle 200, rotates from the extended state to the retracted state relative to the first rotating axis 40 in the opposite direction of the preset rotation direction. The preset rotation direction has a displacement component from the rear end 12 to the front end 11 of the body 10, and the opposite direction of the preset rotation direction has a displacement component from the front end 11 to the rear end 12 of the body 10.

[0044] Understandably, when the robot 100 is in the pre-obstacle-crossing state, the walking mechanism 20, driven by the drive mechanism 30, moves in a circular motion from the rear end 12 to the front end 11 of the body 10 toward the walking surface 300 until it extends. At this time, the movement trajectory of the walking mechanism 20 is an arc-shaped trajectory, and the preset rotation direction of the walking mechanism 20 has a displacement component from the rear end 12 to the front end 11 of the body 10. When the robot 100 is in the obstacle-crossing state and the walking mechanism 20 comes into contact with the obstacle 200, the walking mechanism 20, under the interference of the obstacle 200, moves in a circular motion from the front end 11 to the rear end 12 of the body 10 toward the walking surface 300 until it retracts. At this time, the movement trajectory of the walking mechanism 20 is also an arc-shaped trajectory, and the opposite direction of the preset rotation direction of the walking mechanism 20 has a displacement component from the front end 11 to the rear end 12 of the body 10.

[0045] Since the obstacle 200 is located in the area of ​​the walking mechanism 20 near the front end 11 of the body 10, and the direction of the impact force of the obstacle 200 on the walking mechanism 20 when the robot 100 crosses the obstacle is towards the rear end 12 of the body 10. By making the walking mechanism 20 rotate to the extended state relative to the first axis 40 along a preset rotation direction when the robot 100 is in the pre-obstacle crossing state, and the preset rotation direction has a displacement component from the rear end 12 to the front end 11 of the body 10, the walking mechanism 20 can rotate from the extended state to the retracted state in the opposite direction of the preset rotation direction under the interference of the obstacle 200 when the robot 100 crosses the obstacle, thereby improving the feasibility of the walking mechanism 20 automatically crossing obstacles, and thus improving the obstacle crossing ability of the robot 100.

[0046] When the preset rotation direction is clockwise, the opposite direction is counterclockwise; similarly, when the preset rotation direction is counterclockwise, the opposite direction is clockwise.

[0047] Please continue to refer to Figure 2When the walking mechanism 20 is in the extended state, the line connecting the fulcrum of the walking mechanism 20 on the walking surface 300 of the robot 100 and the first rotating shaft 40 forms a right angle or acute angle α between the side of the walking mechanism 20 near the rear end 12 of the main body 10 and the walking surface 300. This prevents the walking mechanism 20 from automatically or under interference from the walking surface 300 in the extended state, allowing the walking mechanism 20 to be stably supported on the walking surface 300. Furthermore, it provides driving force to the main body 10 in the initial stage when the robot 100 enters obstacle-crossing mode, i.e., when the front end 11 crosses the obstacle, enabling the front end 11 of the main body 10 to smoothly cross the obstacle 200. Since the walking mechanism 20 also provides driving force to the main body 10 when the front end 11 crosses the obstacle, the main body 10 has greater inertial force when the walking mechanism 20 retracts under the interference of the obstacle 200, allowing the walking mechanism 20 to smoothly cross the obstacle 200, thereby improving the obstacle-crossing ability and stability of the robot 100.

[0048] In some embodiments, the included angle α is greater than or equal to 45° and less than or equal to 90°.

[0049] The angle α between the line connecting the fulcrum of the walking mechanism 20 on the walking surface 300 of the robot 100 and the first rotating shaft 40 on the side near the rear end 12 and the walking surface 300 can be 45°, 45.5°, 47°, 48.8°, 49.5°, 50°, 51.2°, 53.35°, 55°, 55.8°, 56°, 57°, 57.66°, 58.88°, 60°, 61°, 63°, 65°, 66°, 68.5°, 69°, 70°, 72.35°, 75.8°, 77.7°, 78.9°, 80°, 81°, 82.66°, 84°, 85.5°, 87°, 88.5°, 90°, etc., but is not limited to these. The specific values ​​can be selected according to the actual situation. As long as the line connecting the fulcrum of the walking mechanism 20 on the walking surface 300 of the robot 100 and the first rotating shaft 40 is within the range of 45° to 90° between the walking surface 300 and the side near the rear end 12.

[0050] By ensuring that the line connecting the fulcrum of the walking mechanism 20 on the walking surface 300 of the robot 100 and the first rotating shaft 40 forms an angle α between the line near the rear end 12 and the walking surface 300 within the range of 45° to 90°, on the one hand, the walking mechanism 20 can be stably supported on the walking surface 300 and provide driving force to the body 10 when the front end 11 crosses obstacles, thereby improving the obstacle-crossing ability of the robot 100; on the other hand, the walking mechanism 20 can retract under the interference of the obstacle 200, thereby raising the walking mechanism 20 and enabling the walking mechanism 20 to cross obstacles smoothly, reducing the risk of the robot 100 failing to cross obstacles due to the low position of the walking mechanism 20, and thus the risk of the robot 100 getting stuck at the obstacle 200, thereby further improving the obstacle-crossing ability of the robot 100.

[0051] In some embodiments, the walking mechanism 20 includes a drive wheel assembly 21 and a reset assembly (not shown). The drive wheel assembly 21 is rotatably disposed on the first shaft 40. The reset assembly is disposed between the body 10 and the drive wheel assembly 21.

[0052] The drive wheel assembly 21 is rotatably connected to the first rotating shaft 40. The drive wheel assembly 21 can rotate around and relative to the first rotating shaft 40, so that the drive wheel assembly 21 can rotate around and relative to the first rotating shaft 40 when rotating from the retracted state to the extended state and from the extended state to the retracted state.

[0053] The reset mechanism stores the restoring force toward the body 10 when the drive wheel assembly 21 rotates in the robot 100's pre-obstacle-crossing state, and also resets the drive wheel assembly 21 when it contacts the obstacle 200 in the obstacle-crossing state, thereby driving the drive wheel assembly 21 from the extended state to the retracted state. Specifically, during the process of the drive wheel assembly 21 rotating from the retracted state to the extended state in the robot 100's pre-obstacle-crossing state, the reset mechanism can store the restoring force toward the body 10; when the drive wheel assembly 21 contacts the obstacle 200 in the obstacle-crossing state, the reset mechanism can reset and release the restoring force toward the body 10, so that the reset mechanism can drive the drive wheel assembly 21 from the extended state to the retracted state.

[0054] In some embodiments, the reset component includes a spring.

[0055] When the robot 100 is in the pre-obstacle crossing state, during the process of the drive wheel assembly 21 rotating from the retracted state to the extended state, the spring is stretched and stores the elastic restoring force toward the body 10; when the robot 100 is in the obstacle crossing state, when the drive wheel assembly 21 contacts the obstacle 200, the spring can recover its elastic deformation under the trigger of the obstacle 200 and release the elastic restoring force toward the body 10, so that the spring can drive the drive wheel assembly 21 to rotate from the extended state to the retracted state, thereby realizing the automatic retraction of the drive assembly.

[0056] By using a spring as the reset component, the following beneficial effects can be achieved: Firstly, due to the good elastic properties of the spring, it can instantly reset upon being triggered by the obstacle 200 and release the restoring force toward the body 10, thereby improving the retraction efficiency of the drive wheel assembly 21 and reducing the interference time between the drive wheel assembly 21 and the obstacle 200. This reduces or avoids wear caused by the long interference time between the drive wheel assembly 21 and the obstacle 200, thus helping to extend the service life of the drive wheel assembly 21. Secondly, the mechanical movement of the drive wheel assembly 21 driven by the spring is more efficient than other types of drive devices, reducing energy loss. Thirdly, the spring is highly adaptable, and different types and specifications of springs can be selected as needed to meet the structural requirements of the robot 100, thereby improving the flexibility and versatility of the reset component.

[0057] In some embodiments, please continue to refer to Figure 4 The drive mechanism 30 includes a drive member 31 and a swing assembly 32. The drive member 31 is disposed on the body 10. The swing assembly 32 is connected to the drive member 31. The drive member 31 is used at least to drive the swing assembly 32 to rotate when the robot 100 is in a pre-obstacle crossing state, so that the swing assembly 32 pushes the walking mechanism 20 to rotate.

[0058] The drive component 31 can be a motor or other power device, mounted on the body 10 to provide driving force for the swing drive. When the robot 100 is in the pre-obstacle-crossing state, the drive component 31 can drive the swing assembly 32 to rotate in a preset direction, causing the swing assembly 32 to push the walking mechanism 20 to rotate, thereby causing the walking mechanism 20 to rotate from a retracted state to an extended state. The drive component 31 can also drive the swing assembly 32 to rotate in the opposite direction of the preset direction after the walking mechanism 20 has rotated to the extended state and before the robot 100 crosses the obstacle, so that the swing assembly 32 resets, thereby separating the swing assembly 32 from the walking mechanism 20.

[0059] In some embodiments, when the walking mechanism 20 is in the retracted state, the swing component 32 can abut against the walking mechanism 20, so that when the robot 100 is in the pre-obstacle crossing state and the drive member 31 drives the swing component 32 to rotate, the swing component 32 can push the walking mechanism 20 to rotate instantly, thereby improving the response efficiency of the walking mechanism 20. Of course, when the walking mechanism 20 is in the retracted state, the swing component 32 can also be spaced apart from the walking mechanism 20, so that when the walking mechanism 20 rotates from the extended state to the retracted state, there will be no interference between the walking mechanism 20 and the swing component 32, thereby reducing the risk of wear on the walking mechanism 20 and the swing component 32.

[0060] In some embodiments, please continue to refer to Figure 4 The swing assembly 32 also includes a gear 321 and a swing body 322. The gear 321 is connected to the drive member 31. The swing body 322 is rotatably mounted on the body 10, and a rack 323 is provided on the swing body 322, which meshes with the gear 321. The gear 321 is used to rotate under the drive of the drive member 31, thereby driving the swing body 322 to rotate.

[0061] Gear 321 can be connected to the drive shaft of drive member 31. The swing body 322 can be rotatably mounted on the body 10 via a second rotating shaft 324. The second rotating shaft 324 is fixed to the body 10, and the swing body 322 is rotatably connected to the second rotating shaft 324. The second rotating shaft 324 is a rotary joint, allowing the swing body 322 to rotate around and relative to the second rotating shaft 324. The swing body 322 is meshed with gear 321 via rack 323, enabling a transmission connection between the swing body 322 and gear 321, so that when gear 321 rotates under the drive of drive member 31, it can drive the swing body 322 to rotate.

[0062] When the robot 100 is in the pre-obstacle-crossing state, the drive unit 31 drives the gear 321 to rotate, so that the gear 321 drives the swing body 322 to rotate via the rack 323, thereby causing the swing body 322 to push the walking mechanism 20 to rotate in a preset direction. After the walking mechanism 20 switches to the extended state and before the robot 100 crosses the obstacle, the drive unit 31 drives the gear 321 to reverse, so that the gear 321 drives the swing body 322 to reverse, thereby separating the swing body 322 from the walking mechanism 20. The meshing transmission of the gear 321 and the rack 323 has high efficiency and reliability, which helps to reduce maintenance needs. In addition, this design allows for fine control of the movement of the swing body 322, thereby helping to improve the obstacle-crossing ability of the robot 100.

[0063] In some embodiments, the rack 323 and the swing body 322 can be two independent structures, which are joined together by a fixed connection. For example, the rack 323 can be fixed to the swing body 322 by at least one of the following connection methods: welding, bolting, pinning, and snap-fitting, but is not limited thereto.

[0064] In some embodiments, the rack 323 and the swing body 322 can be an integral structure. The rack 323 and the swing body 322 can be integrally formed by casting, forging, powder metallurgy or 3D printing, but are not limited thereto.

[0065] In some embodiments, the rack 323 is arranged in an arc shape. The arc-shaped rack 323 can better adapt to the needs of circular motion, so that the swing body 322 can swing along a preset motion trajectory within a certain range, thereby enabling the swing body 322 to push the walking mechanism 20 from the retracted state to the extended state; in addition, the arc-shaped structure can also improve the load-bearing capacity of the rack 323 and extend its service life.

[0066] In some embodiments, the swing body 322 is arranged in a fan shape. A rack 323 is disposed at the edge of the swing body 322 with the largest radial dimension. The end of the swing body 322 away from the rack 323 is rotatably disposed on the body 10 via a second pivot 324.

[0067] In some embodiments, the robot 100 further includes a rear auxiliary wheel 50. The rear auxiliary wheel 50 is disposed on the body 10 and is located near the rear end 12 of the body 10 relative to the walking mechanism 20.

[0068] When the robot 100 is in the pre-obstacle-crossing state, and the front end 11 of the body 10 is raised, the rear auxiliary wheel 50 can support the rear end 12 of the body 10 to reduce or avoid friction between the rear end 12 of the body 10 and the walking surface 300 of the robot 100. When the robot 100 is in the obstacle-crossing state at the front end 11, and the walking mechanism 20 provides driving force to the body 10 so that the robot 100 continues to move forward, the rear auxiliary wheel 50 can roll to reduce the friction between the rear auxiliary wheel 50 and the walking surface 300 of the robot 100, thereby reducing the energy consumption of the robot 100.

[0069] By setting the rear auxiliary wheel 50, on the one hand, the rear auxiliary wheel 50 can support the rear end 12 of the main body 10 to avoid the rear end 12 of the main body 10 from contacting the walking surface 300 of the robot 100, thereby reducing the risk of damage to the rear end 12 of the main body 10; on the other hand, when the robot 100 continues to move forward while the front end 11 is overcoming obstacles, the friction between the rear auxiliary wheel 50 and the walking surface 300 of the robot 100 is rolling friction, which can reduce the driving resistance of the robot 100 and thus reduce the energy consumption of the robot 100.

[0070] In some embodiments, the robot 100 further includes a cleaning component 60 disposed on the body 10. The cleaning component 60 may be a mop, brush, or vacuum cleaner, but is not limited thereto. The robot 100 uses the cleaning component 60 to clean the walking surface 300 or other areas to be cleaned.

[0071] This application provides a robot 100, which includes: a body 10; a walking mechanism 20 disposed on the body 10 and used to provide driving force for the body 10; and a drive mechanism 30 disposed on the body 10. The drive mechanism 30 is configured to drive the walking mechanism 20 to rotate and extend relative to the body 10 when the robot 100 is in a pre-obstacle crossing state, so that the walking mechanism 20 is in an extended state to raise the front end 11 of the body 10. The walking mechanism 20 is configured to rotate and retract relative to the body 10 under the interference of an obstacle 200 when the robot 100 is in an obstacle crossing state, so that the walking mechanism 20 rotates from an extended state to a retracted state to cross the obstacle 200. This application uses a drive mechanism 30 to drive the walking mechanism 20 to rotate and extend relative to the body 10 when the robot 100 is in a pre-obstacle crossing state, so as to raise the front end 11 of the body 10. The walking mechanism 20 can rotate and retract relative to the body 10 under the interference of the obstacle 200 when the robot 100 is in an obstacle crossing state, so as to cross the obstacle 200. This allows the robot 100 to pass through the obstacle 200 smoothly, thus reducing the risk of the robot 100 getting stuck.

[0072] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot, characterized in that, The robot includes: ontology; A walking mechanism, located on the body, is used to at least provide driving force to the body; A drive mechanism is provided on the body, and the drive mechanism is configured to drive the walking mechanism to rotate and extend relative to the body when the robot is in a pre-obstacle crossing state, so that the walking mechanism is in an extended state to raise the front end of the body; The walking mechanism is configured to rotate and retract relative to the body under the interference of the obstacle when the robot is in an obstacle-crossing state, so that the walking mechanism rotates from the extended state to the retracted state to cross the obstacle.

2. The robot according to claim 1, characterized in that, The drive mechanism is also configured to reset after driving the walking mechanism to the extended state and before the robot crosses the obstacle, so as to separate from the walking mechanism.

3. The robot according to claim 1, characterized in that, The robot also includes: A first pivot is provided, and the walking mechanism is rotatably mounted on the body about the first pivot; Wherein, when the walking mechanism is in the extended state, the line connecting the fulcrum of the walking mechanism on the robot's walking surface and the first rotating shaft forms a right angle or an acute angle with the walking surface on the side near the rear end of the body.

4. The robot according to claim 3, characterized in that, When the robot is in the pre-obstacle crossing state, the walking mechanism, driven by the driving mechanism, rotates from the retracted state to the extended state relative to the first rotating axis along a preset rotation direction. When the robot is in the obstacle-crossing state and the walking mechanism is in contact with the obstacle, the walking mechanism, under the interference of the obstacle, rotates from the extended state to the retracted state relative to the first axis in the opposite direction of the preset rotation direction. The opposite direction of the preset rotation direction has a displacement component from the front end to the rear end of the body.

5. The robot according to claim 3, characterized in that, The included angle is greater than or equal to 45° and less than or equal to 90°.

6. The robot according to claim 3, characterized in that, The walking mechanism includes: A drive wheel assembly is rotatably mounted on the first rotating shaft; A reset assembly is located between the body and the drive wheel assembly; The reset component is used to store a restoring force toward the body when the drive wheel assembly rotates in the robot's pre-obstacle-crossing state, and is also used to reset the drive wheel assembly when it contacts the obstacle in the robot's obstacle-crossing state, so as to drive the drive wheel assembly to rotate from the extended state to the retracted state.

7. The robot according to claim 6, characterized in that, The reset assembly includes a spring.

8. The robot according to any one of claims 1 to 7, characterized in that, The drive mechanism includes: A driving component is disposed on the body; A swing assembly connected to the drive component; The drive component is used at least to drive the swing assembly to rotate when the robot is in the pre-obstacle crossing state, so that the swing assembly pushes the walking mechanism to rotate.

9. The robot according to claim 8, characterized in that, The swing assembly also includes: Gear, connected to the driving component; The swing body is rotatably mounted on the main body, and the swing body is provided with a rack, which is meshed with the gear; The gear is used to rotate under the drive of the driving member, and drives the swing body to rotate.

10. The robot according to claim 9, characterized in that, The rack is arranged in an arc shape.

11. The robot according to claim 1, characterized in that, The robot also includes: The rear auxiliary wheel is located on the main body and is positioned relative to the walking mechanism near the rear end of the main body.

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

Images