Movement mechanism, lawn mowing robot, control method, and computer program product

Abstract

The present application relates to the technical field of movement mechanisms, and provides a movement mechanism, a lawn mowing robot, a control method, and a computer program product. The movement mechanism provided in the present application comprises: a machine body, a first wheel set, and a second wheel set; the first wheel set and the second wheel set are connected to opposite front and rear ends of the machine body, respectively; the first wheel set comprises two first wheels, and the two first wheels are symmetrically arranged on two sides of a center line of the machine body; the second wheel set comprises two second wheels, and the two second wheels are symmetrically arranged on two sides of the center line of the machine body; at least one of the first wheels forms a first angle with the center line of the machine body, and / or at least one of the second wheels forms a second angle with the center line of the machine body.

Description

Motion mechanisms, lawnmower robots, control methods and computer program products Cross-references

[0001] This application claims priority to Chinese application CN202422966123.2 (An Omnidirectional Wheel and a Lawn-Mowing Robot), filed November 29, 2024; Chinese application CN202422960186.7 (An Omnidirectional Wheel and a Lawn-Mowing Robot), filed November 29, 2024; and Chinese application CN202422972865.6 (A Lawn-Mowing Robot), filed November 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This specification relates to the technical field of motion mechanisms, and in particular to a motion mechanism, a lawnmower robot, a control method, and a computer program product. Background Technology

[0003] A motion mechanism can be used to carry or mount working components and move them to meet the mobility needs of various working components. A motion mechanism may include a body for mounting the working components and one or more wheels (e.g., 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 transport components, lawn mowing components, etc. Motion mechanisms are suitable for different work environments, and different work environments have corresponding requirements for the body and wheel arrangement of the motion mechanism. In some usage scenarios, such as those with limited turning space, a four-wheel drive motion mechanism is required to achieve on-the-spot turning. However, when a four-wheel drive motion mechanism turns on the spot, the wheels will experience continuous sliding friction, which not only easily leads to slippage and increases the risk of loss of control on slopes, but also reduces wheel life. In some usage scenarios with soft ground, such as lawns, the wheels of the motion mechanism may also damage the soft ground when turning. Summary of the Invention

[0004] This specification provides a motion mechanism according to one or more embodiments, including a 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 body; the first wheel set includes two first wheels, which are symmetrically arranged on both sides of the centerline of the body; the second wheel set includes two second wheels, which are symmetrically arranged on both sides of the centerline of the body; at least one of the first wheels has a first angle with the centerline of the body, and / or at least one of the second wheels has a second angle with the centerline of the body.

[0005] In some embodiments, the two first wheels have a first angle with the centerline of the body, the front end of the first wheel is close to the centerline of the body, and the rear end of the first wheel is away from the centerline of the body.

[0006] In some embodiments, the two second wheels have a second included angle with the centerline of the body, the front ends of the second wheels are away from the centerline of the body, and the rear ends of the second wheels are close to the centerline of the body.

[0007] In some embodiments, the first wheel is configured to float up and down relative to the body.

[0008] In some embodiments, the motion mechanism includes a linkage assembly, the middle portion of which is rotatably connected to the front end of the body, the linkage assembly being configured to drive the two first wheels to float up and down.

[0009] In some embodiments, a first hub motor is provided inside each of the two first wheels, and the motor shaft of the first hub motor is directly or indirectly fixedly connected to the connecting rod assembly; the connecting rod assembly includes a connecting beam, with one of the first wheels connected to each end of the connecting beam, and a shaft sleeve and one of the shafts provided in the middle of the connecting beam; the shaft sleeve and the other of the shafts are provided on the machine body along the center line, and the shaft is inserted into the shaft sleeve.

[0010] In some embodiments, the linkage assembly further includes two motor mounting plates, each having a first groove, and the connecting beam having second grooves at both ends. The first grooves and the second grooves cooperate to form a space for accommodating the motor shaft, and the motor mounting plates are used to cooperate with the ends of the connecting beam to clamp the motor shaft.

[0011] In some embodiments, the motor shaft is provided with two parallel first limiting planes, the first groove has a second limiting plane that abuts against one of the first limiting planes, and the second groove has a third limiting plane that abuts against the other first limiting plane.

[0012] In some embodiments, the linkage assembly includes a connecting beam, a left wheel connector, a right wheel connector, and a body connector; a pivot sleeve and a pivot are disposed at the middle position of the body connector, and the pivot sleeve and the other pivot are disposed along the center line on the body, the pivot being inserted into the pivot sleeve, the connecting beam being detachably connected to the body connector, and both ends of the connecting beam being detachably connected to the left wheel connector and the right wheel connector, respectively, and the left wheel connector and the right wheel connector are respectively configured to detachably connect to one of the first wheels.

[0013] In some embodiments, the body connector has a third groove for accommodating the connecting beam, the length direction of the third groove being perpendicular to the center line, and the body connector is further provided with a first mounting plate, the connecting beam being clamped between the first mounting plate and the body connector.

[0014] In some embodiments, the left wheel connector has a fourth groove for accommodating the connecting beam, the fourth groove extending toward the body connector in a direction perpendicular to the center line, the left wheel connector is provided with a second mounting plate, and the connecting beam is clamped between the second mounting plate and the left wheel connector; the right wheel connector has a fifth groove for accommodating the connecting beam, the fifth groove extending toward the body connector in a direction perpendicular to the center line, the right wheel connector is provided with a third mounting plate, and the connecting beam is clamped between the third mounting plate and the right wheel connector.

[0015] In some embodiments, both the left wheel connector and the right wheel connector are provided with at least one weight-reducing hole.

[0016] In some embodiments, both first wheels are omnidirectional wheels, and both second wheels are either omnidirectional wheels or both are solid wheels.

[0017] In some embodiments, the omnidirectional wheel includes: a roller cage, the roller cage including a support portion and a first mounting portion, the support portion having a first connecting end face, a plurality of first mounting portions being spaced apart along the circumferential direction of the support portion, a first mounting space being formed between two adjacent first mounting portions, the first mounting portion having a first mounting end face, the first mounting end face being in the same plane as the first connecting end face, the first mounting portion having a first receiving groove extending from the first mounting end face into the first mounting portion; a first end cap, the first end cap being detachably connected to the roller cage, and the first end cap being located on a side close to the first connecting end face, the first end cap being configured to close the first receiving groove to form a first mounting hole, the opening of the first mounting hole facing the first mounting space; a roller assembly, the roller assembly being disposed in the first mounting space, the roller assembly including a roller shaft and a roller wheel, the two ends of the roller shaft being respectively fixed in a first mounting hole; the roller wheel being sleeved on the roller shaft and configured to be rotatable relative to the roller shaft, the axis of the roller shaft being perpendicular to the axis of the roller cage.

[0018] In some embodiments, the support portion has a second connecting end face, and a plurality of second mounting portions are spaced apart in the circumferential direction of the support portion. A second mounting space is formed between two adjacent second mounting portions. The second mounting portion has a second mounting end face, which is parallel to and far away from the first mounting end face. The second mounting end face and the second connecting end face are on the same plane. A second receiving groove is provided on the second mounting portion, which extends from the second mounting end face into the interior of the second mounting portion. The omnidirectional wheel also includes a second end cap, which is detachably connected to the roller retainer. The second end cap is located on the side close to the second connecting end face. The second end cap is configured to close the second receiving groove to form a second mounting hole. The opening of the second mounting hole faces the second mounting space. The roller assembly is also provided in the second mounting space. When the roller assembly is provided in the second mounting space, both ends of the roller shaft are respectively fixed in a second mounting hole, and the roller wheel is sleeved on the roller shaft.

[0019] In some embodiments, the first mounting portion and the second mounting portion are arranged crosswise in the circumferential direction of the support portion.

[0020] In some embodiments, the first mounting portion extends from the first mounting end face towards the direction close to the second mounting end face, and the cross-sectional area of ​​the first mounting portion gradually decreases; the second mounting portion extends from the second mounting end face towards the direction close to the first mounting end face, and the cross-sectional area of ​​the second mounting portion gradually decreases.

[0021] In some embodiments, the roller assembly further includes two bearings, one of which is located near the front end of the roller shaft and the other near the rear end of the roller shaft, the bearings being located between the roller shaft and the roller wheel.

[0022] In some embodiments, the roller wheel includes a hard roller core and a soft roller skin, the hard roller core being sleeved around the roller shaft, and the soft roller skin being sleeved around the hard roller core and configured to rotate together with the hard roller core relative to the roller shaft.

[0023] In some embodiments, the interior of the roller core has a first cavity and a second cavity, the radius of the first cavity is larger than that of the second cavity, the two second cavities are respectively connected to the two ends of the first cavity, the bearing is located in the second cavity, and the two ends of the roller shaft extend from one of the second cavities respectively.

[0024] In some embodiments, the outer surface of the roller core has a recess, and the inner surface of the roller skin has a limiting protrusion adapted to the recess, the limiting protrusion abutting against the recess to restrict the movement of the roller skin.

[0025] In some embodiments, the first end cap includes a first connecting portion and a second connecting portion, the second connecting portion being spaced apart along the circumferential direction of the first connecting portion, the first connecting portion being adapted to the support portion, and the second connecting portion being adapted to the first mounting portion; the second end cap includes a third connecting portion and a fourth connecting portion, the fourth connecting portion being spaced apart along the circumferential direction of the third connecting portion, the third connecting portion being adapted to the support portion, and the fourth connecting portion being adapted to the second mounting portion.

[0026] In some embodiments, the omnidirectional 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 has a plurality of first mounting portions spaced apart circumferentially, the interior of the first mounting portions 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 has a first protrusion extending into the first mounting space, and the first protrusion is rotatably connected to the roller assembly; the second support portion has a plurality of second mounting portions spaced apart circumferentially, the interior of the second mounting portions 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 has 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, 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.

[0027] In some embodiments, a first stiffener is provided axially inside the first cylinder, a second stiffener perpendicular to the first stiffener is provided at the middle position inside the first cylinder, a third stiffener is provided axially inside the second cylinder, and a fourth stiffener perpendicular to the third stiffener is provided at the middle position inside the second cylinder.

[0028] In some embodiments, the first cylinder is provided with a first positioning post and a first positioning hole inside, and the second cylinder is provided with a second positioning hole that cooperates with the first positioning post and a second positioning post that cooperates with the first positioning hole inside.

[0029] In some embodiments, the roller assembly further includes a roller sleeve disposed around the periphery of the roller body, the roller sleeve being configured to rotate with the roller body.

[0030] In some embodiments, the outer surface of the roller body is provided with a plurality of annular recesses along the axial direction, the central axis of the annular recesses being perpendicular to the axis of the roller body; the inner surface of the roller sleeve is provided with a plurality of annular limiting protrusions adapted to the recesses along the axial direction, the central axis of the annular limiting protrusions being perpendicular to the axis of the roller body, and the annular limiting protrusions abutting against the recesses to restrict the movement of the roller sleeve relative to the roller body.

[0031] In some embodiments, the cross-section of the roller sleeve is spindle-shaped, with a larger middle section and smaller ends along its axial direction.

[0032] In some embodiments, the first mounting portion and the second mounting portion are arranged crosswise in the circumferential direction of the wheel body.

[0033] In some embodiments, the first support portion and the second support portion are integrally formed.

[0034] In some embodiments, the first support portion and the second support portion are detachably connected.

[0035] In some embodiments, the omnidirectional 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, a plurality of second mounting portions are spaced apart along the circumferential direction of the support portion, and the plurality of first mounting portions and the plurality of second mounting portions are arranged side by side; a first mounting space is formed between two adjacent first mounting portions, a second mounting space is formed between two adjacent second mounting portions, and the first mounting spaces and the second mounting spaces are staggered.

[0036] In some embodiments, the support portion of the wheel body includes a first support portion and a second support portion, the first support portion and the second support portion are arranged side by side, the first support portion is provided with a first mounting portion, and the second support portion is provided with a second mounting portion.

[0037] In some embodiments, the wheel body includes the support portion and a first end cap and a second end cap disposed on both sides of the support portion; the first end cap covers the support portion and the first mounting portion, and the second end cap covers the support portion and the second mounting portion.

[0038] In some embodiments, both the first mounting portion and the second mounting portion include: an outer inclined surface facing the outer side of the wheel body and an inner inclined surface facing the inner side of the wheel body.

[0039] In some embodiments, the outer inclined surface and the inner inclined surface are symmetrically arranged with respect to a radial plane of the wheel body.

[0040] In some embodiments, the angle between the outer inclined surface and a radial plane of the wheel body is smaller than the angle between the inner inclined surface and the radial plane of the wheel body.

[0041] In some embodiments, the inner inclined surface of the first mounting portion extends into the second mounting space; and / or, the inner inclined surface of the second mounting portion extends into the first mounting space.

[0042] In some embodiments, the first wheel is configured to adjust its corresponding first included angle relative to the body.

[0043] In some embodiments, the body includes: a linkage assembly, each of the two ends of the linkage assembly having a plurality of first wheel axle holes, the motor shaft of the first wheel hub motor of the first wheel being fixed inside the first wheel axle hole; the plurality of first wheel axle holes having different orientations, and when the motor shaft of the first wheel hub motor of the first wheel is installed in one of the first wheel axle holes, there is a preset first included angle between the first wheel and the centerline of the body.

[0044] In some embodiments, the body includes: a linkage assembly, each of the two ends of the linkage assembly being provided with a first angle adjustment mechanism, and the motor shaft of the first hub motor of the first wheel being fixed to the linkage assembly through the first angle adjustment mechanism; the first angle adjustment mechanism includes an end gear or a steering servo.

[0045] In some embodiments, the angle of the first included angle is equal to the angle of the second included angle; or the angle of the first included angle is not equal to the angle of the second included angle.

[0046] In some embodiments, the first included angle is 15 to 45° and the second included angle is 10 to 45°; or, the first included angle is 15 to 45° and the second included angle is 5 to 30°.

[0047] In some embodiments, at least one of the first wheels has a first tilt angle with respect to the transverse plane in which the body is located, and / or at least one of the second wheels has a second tilt angle with respect to respect to the transverse plane in which the body is located.

[0048] In some embodiments, the two first wheels have a first tilt angle with the transverse plane in which the body is located, the upper end of the first wheel is close to the centerline of the body, and the lower end of the first wheel is far away from the centerline of the body.

[0049] In some embodiments, the two second wheels have a second tilt angle with respect to the transverse plane in which the body is located, with the upper end of the second wheel close to the centerline of the body and the lower end of the second wheel away from the centerline of the body.

[0050] In some embodiments, the outer side of the first wheel and / or the second wheel is detachably provided with an anti-slip mechanism, the anti-slip mechanism being used to prevent lateral displacement of the first wheel and / or the second wheel.

[0051] In some embodiments, the anti-skid mechanism includes a disc-shaped structure mounted on the side of the first wheel or the second wheel, the outer edge of the disc-shaped structure protruding or flush with the outer peripheral surface of the first wheel or the second wheel.

[0052] In some embodiments, the anti-skid mechanism includes a plurality of rod-shaped structures arranged in a ring array mounted on the side of the first wheel or the second wheel, the outer edges of the rod-shaped structures protruding beyond the outer peripheral surface of the first wheel or the second wheel.

[0053] In some embodiments, the motion mechanism further includes: a first electronic speed controller and a second electronic speed controller, wherein the first electronic speed controller is used to control the first wheel and the second wheel located on a first side of the body, and the second electronic speed controller is used to control the first wheel and the second wheel located on a second side of the body.

[0054] This specification provides one or more embodiments of a lawnmower robot, including the motion mechanism described in any of the above.

[0055] This specification provides one or more embodiments of a control method for a motion mechanism, applicable to any of the motion mechanisms described above. The control method includes: determining the rotation center of the motion mechanism; obtaining the linear velocity of the rotation center and the rotational angular velocity of the motion mechanism; obtaining the rotational states of two first wheels and two second wheels based on the rotation center, the linear velocity of the rotation center, and the rotational angular velocity of the motion mechanism; and driving the motion of the motion mechanism based on the obtained rotational states of the two first wheels and two second wheels.

[0056] In some embodiments, the rotation state includes at least one of rotational speed and rotational direction.

[0057] In some embodiments, determining the rotation center of the motion mechanism includes: determining a rotation center selection range based on the type of the first wheel, the first included angle of the first wheel, the type of the second wheel, and the second included angle of the second wheel, and determining the rotation center of the motion mechanism from the rotation center selection range; or, determining a rotation center selection range based on the type of the first wheel, the first included angle of the first wheel, the type of the second wheel, the second included angle of the second wheel, and the center of gravity of the motion mechanism, and determining the rotation center of the motion mechanism from the rotation center selection range; or, specifying the rotation center of the motion mechanism based on a rotation space that restricts the rotation of the motion mechanism.

[0058] In some embodiments, determining a rotation center selection range based on the type of the first wheel, the first included angle of the first wheel, the type of the second wheel, and the second included angle of the second wheel includes: obtaining a wear safety area for each of the first wheels and a wear safety area for each of the second wheels based on the type of the first wheel, the first included angle of the first wheel, the type of the second wheel, and the second included angle of the second wheel; and determining the rotation center selection range based on the superposition of the wear safety areas of the two first wheels and the wear safety areas of the two second wheels.

[0059] In some embodiments, the types of the first wheel and the second wheel include solid wheel types, wherein the wear-safe area of ​​the solid wheel type is two fan-shaped areas with a common vertex arranged in a mirror image relative to the plane in which the wheel body is located; and / or, the types of the first wheel and the second wheel include omnidirectional wheel types, wherein the wear-safe area of ​​the omnidirectional wheel type is a global area.

[0060] In some embodiments, the wear safety zone of the solid wheel type is preset based on the pressure of the contact surface of the solid wheel, the tread design of the solid wheel, and / or the hardness of the road surface on which the motion mechanism travels.

[0061] In some embodiments, obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism includes: obtaining a preset travel trajectory of the motion mechanism based on the target working area of ​​the motion mechanism; obtaining the current coordinates of the geometric center point of the motion mechanism; selecting the destination coordinates of the geometric center point of the motion mechanism from the preset travel trajectory; obtaining an execution trajectory that allows the geometric center point of the motion mechanism to reach the destination coordinates; and obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism based on the execution trajectory.

[0062] In some embodiments, obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism includes: obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism based on user input signals.

[0063] In some embodiments, obtaining the rotational states of the two first wheels and the two second wheels based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotational angular velocity of the motion mechanism includes: obtaining the rotational speed of the wheel body, wherein the wheel body is either the first wheel or the second wheel, the first wheel includes a left front wheel and a right front wheel, and the second wheel includes a left rear wheel and a right rear wheel; the rotational speed of the wheel body is: Where ω is the rotational speed of the wheel; R is the radius of rotation of the wheel; δ is the angle between the actual direction of motion of the wheel and the plane in which the wheel is located; and V is the linear velocity of the rotation center of the motion mechanism. π is the first included angle or the second included angle corresponding to the wheel body; π is the radius of the wheel body.

[0064] In some embodiments, the control method further includes: adjusting the first included angle and / or the second included angle based on the load change of the motion mechanism.

[0065] In some embodiments, adjusting the first angle and / or the second angle based on the load change of the motion mechanism includes: reducing the first angle when the center of gravity of the motion mechanism and its load is close to the first wheel; and reducing the second angle when the center of gravity of the motion mechanism and its load is close to the second wheel.

[0066] In some embodiments, the control method further includes: adjusting at least one of the first included angle and the second included angle based on the working state of the motion mechanism.

[0067] In some embodiments, the first wheel is an omnidirectional wheel and the second wheel is a solid wheel. The control method further includes: adjusting the second included angle based on the steering torque requirement, wherein the second included angle is less than or equal to the sideslip angle of the second wheel.

[0068] In some embodiments, adjusting the first angle and / or the second angle based on the working state of the motion mechanism includes: when the motion mechanism is in a climbing state, reducing at least one of the first angle and the second angle.

[0069] This specification provides a motion mechanism according to one or more embodiments, including: a first wheel set and a second wheel set, the first wheel set and the second wheel set being respectively connected to opposite front and rear ends of a body, the first wheel set including two first wheels symmetrically arranged on both sides of the centerline of the body, the second wheel set including two second wheels symmetrically arranged on both sides of the centerline of the body, at least one of the first wheels having a first angle with the centerline of the body, and / or at least one of the second wheels having a second angle with the centerline of the body; a parameter acquisition module for determining the rotation center of the motion mechanism and acquiring the linear velocity and angular velocity of the rotation center of the motion mechanism; a rotation state acquisition module for acquiring the rotation states of the two first wheels and the two second wheels based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the angular velocity of the rotation mechanism; and a drive module for driving the motion mechanism based on the acquired rotation states of the two first wheels and the two second wheels.

[0070] This specification provides one or more embodiments of a computer program product, including computer code, which, when at least a portion of the computer code is executed by a processor, enables the implementation of any of the control methods described above.

[0071] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) by setting the first wheel and / or the second wheel to have an angle with the centerline of the machine body, the rotation center can be set closer to the geometric center of the motion mechanism as a whole, reducing the space required for steering; (2) by setting the first wheel and / or the second wheel to have an angle with the centerline of the machine body, the rotation center can be set closer 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; (3) by setting the second wheel to have a second angle with the centerline of the machine body, the second wheel can provide a greater steering torque when steering, reducing the risk of slippage; (4) the first wheel can float up and down relative to the machine body, ensuring that all four wheels of the lawnmower robot can contact the ground when driving on uneven roads, improving the grip of the wheels, and further improving the passability of the lawnmower robot; (5) two Each first wheel is equipped with a first wheel hub motor. The motor shaft of the first wheel hub motor is fixedly connected to the connecting rod assembly. The middle part of the connecting rod assembly is rotatably connected to the front end of the machine body, thereby driving the two first wheels to float up and down. (6) The left wheel connector and the right wheel connector are detachably connected to one first wheel. By replacing the left wheel connector and the right wheel connector, the first included angle between the first wheel and the center line of the machine body can be adjusted. (7) 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 two first wheels can be adjusted to adapt to different usage scenarios. (8) The roller assembly is fixed by the cooperation of the first end cover and the roller retainer. (9) 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 taken off the roller retainer to achieve quick cleaning of debris. (10) 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; (11) The first mounting part and the second mounting part are designed as hollow structures to reduce weight and save materials; (12) 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; (13) 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; (14) 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 the performance of resisting lateral pressure; (15) By opening multiple first wheel shaft holes with different orientations on the connecting rod assembly, the first wheel can adjust its first included angle; (16) By setting a first angle adjustment mechanism, the first wheel can adjust its first included angle; (17) By giving the first wheel a first tilt angle, the wear on soft ground during steering is reduced;(18) By giving the second wheel a second tilt angle, reduce the wear on the soft ground during the turning process; (19) By arranging an anti-skid mechanism, prevent the lateral displacement of the first wheel or the second wheel, and prevent the motion mechanism from skidding; (20) By obtaining the rotation state of the two first wheels and the two second wheels respectively through the position of the rotation center of the motion mechanism, the linear velocity and angular velocity of the rotation center, the precise control of the overall motion of the motion mechanism can be achieved; (21) By determining the rotation center from the rotation center selection range, and by determining the rotation center selection range through the superposition of the wear safety area, the wear on the soft ground can be controlled, reduced or even avoided; (22) Adjust the first included angle and / or the second included angle according to the load change so that the rotation center is close to the center of gravity, thereby precisely controlling the motion trajectory of the machine body and the load on the machine body; (23) When the motion mechanism is in the climbing state, reduce the first included angle or the second included angle to obtain greater forward driving force and avoid the motion mechanism from skidding; (24) When the first wheel is an omnidirectional wheel and the second wheel is an omnidirectional wheel, the first wheel is a omnidirectional wheel and the second wheel is a omnidirectional wheel. When the wheel is a solid wheel, the wear on the lawn is reduced by controlling the second included angle to be less than or equal to the side slip angle of the second wheel; (25) During forward movement, the second wheel is self-cleaning by the side slip movement between the second wheel and the ground, combined with the tread design; (26) The first wheel and the second wheel on the first side and the first wheel and the second wheel on the second side are controlled by the first electronic speed controller and the second electronic speed controller respectively, so that the two electronic speed controllers can have the same or similar working conditions; (27) The first wheel and the second wheel on the first side and the first wheel and the second wheel on the second side are controlled by the first electronic speed controller and the second electronic speed controller respectively, so as to avoid long-distance wiring when the design load changes, reduce the complexity of the result and the degree of electromagnetic interference; (28) The first wheel and the second wheel on the first side and the first wheel and the second wheel on the second side are controlled by the first electronic speed controller and the second electronic speed controller respectively, so as to reduce the change of the total output power and the total heat dissipation power of each electronic speed controller when the load changes dynamically during use, and reduce the design requirements. 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

[0072] 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.

[0073] Figures 1 to 3 are schematic diagrams of motion mechanisms according to some embodiments of this specification.

[0074] Figures 4 to 7 are schematic diagrams of motion mechanisms of wheel bodies with tilt angles according to some embodiments of this specification.

[0075] Figure 8 is a schematic diagram of the assembly scheme of the first and second wheels of the motion mechanism according to some embodiments of this specification.

[0076] Figure 9 is a top view schematic diagram of a motion mechanism according to some embodiments of this specification.

[0077] Figure 10 is a perspective view of a linkage assembly of a motion mechanism according to some embodiments of this specification.

[0078] Figure 11 is a bottom view schematic diagram of the linkage assembly of a motion mechanism according to some embodiments of this specification.

[0079] Figure 12 is a cross-sectional schematic diagram of a linkage assembly of a motion mechanism according to some embodiments of this specification.

[0080] Figure 13 is a perspective view of a linkage assembly of a motion mechanism according to some other embodiments of this specification.

[0081] Figure 14 is an exploded view of the linkage assembly of a motion mechanism according to some other embodiments of this specification.

[0082] Figure 15 is a schematic diagram of another motion mechanism according to some embodiments of this specification.

[0083] Figure 16 is a schematic diagram of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0084] Figure 17 is an exploded view of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0085] Figure 18 is a schematic diagram of the roller cage, first end cap, and second end cap of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0086] Figures 19 and 20 are schematic diagrams of the roller cages of the omnidirectional wheels of the motion mechanism shown in some embodiments of this specification.

[0087] Figure 21 is a schematic diagram of the roller assembly of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0088] Figure 22 is a cross-sectional schematic diagram of the roller assembly of the omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0089] Figure 23 is an exploded view of the roller assembly of the omnidirectional wheel of a motion mechanism according to some embodiments of this specification.

[0090] Figure 24 is a schematic diagram of an omnidirectional wheel of a motion mechanism according to some other embodiments of this specification.

[0091] Figure 25 is a schematic diagram of the first and second support portions of the omnidirectional wheel of a motion mechanism according to some other embodiments of this specification.

[0092] Figure 26 is an exploded view of the roller body of an omnidirectional wheel of a motion mechanism according to some other embodiments of this specification.

[0093] Figure 27 is a cross-sectional schematic diagram of the roller assembly of the omnidirectional wheel of a motion mechanism according to some other embodiments of this specification.

[0094] Figure 28 is a schematic diagram of the roller sleeve of an omnidirectional wheel of a motion mechanism according to some other embodiments of this specification.

[0095] Figure 29 is a schematic diagram of the rod-like structure of the first or second wheel of the motion mechanism shown in some embodiments of this specification.

[0096] Figure 30 is a flowchart illustrating a control method for a motion mechanism according to some embodiments of this specification.

[0097] Figure 31 is a schematic diagram of the rotation center selection range of the control method of the motion mechanism according to some embodiments of this specification.

[0098] Figure 32 is a schematic diagram of the rotation center selection range of the control method of the motion mechanism shown in some embodiments of this specification.

[0099] Figure 33 is a schematic diagram of the rotation center selection range of the control method of the motion mechanism according to some embodiments of this specification.

[0100] Figure 34 is a schematic diagram of the angular relationship of the motion mechanism according to some embodiments of this specification.

[0101] Figure 35 is a schematic diagram of some tire treads of a second wheel using solid tires, according to some embodiments of this specification.

[0102] Figure 36 is a schematic diagram of some other tire treads of a second wheel using solid tires, according to some embodiments of this specification.

[0103] Figure 37 is a schematic diagram of the motion mechanism shown in some embodiments of this specification.

[0104] Figure 38 is a diagram showing the relationship between steering torque, rotation center offset, and second included angle when the second wheel is a solid wheel in a motion mechanism according to some embodiments of this specification.

[0105] In the diagram, the markings are as follows: 10. Body; 11. First wheel; 111. First hub motor; 1111. Motor shaft; 1112. First limiting plane; 12. Second wheel; 121. Second hub motor; 1211. Motor shaft; 2. Linkage assembly; 21. Connecting beam; 210. Connecting beam bend; 211. Shaft sleeve; 212. 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; 241. Fifth groove; 242. Third mounting plate; 25. 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 cavity; 33 212 Second cavity; 33213 Recess; 3322 Roller skin; 33221 Limiting protrusion; 33222 Annular protrusion; 333 Bearing; 34 Hub 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; 413 Third mounting space; 4131 Third protrusion; 4132 Third positioning hole; 414 Fourth mounting space; 4141 Mounting flange; 4 142 First through hole; 4143 Third protrusion; 4144 Third positioning post; 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. Detailed Implementation

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] In this specification, solid wheels can include purely solid wheels made of elastic materials such as rubber, solid wheels having an inner tube (e.g., an inflatable inner tube) and an elastic solid outer tire (e.g., a rubber outer tire), and airless tires made of elastic materials such as rubber and having a hollow structure. In this specification, a solid wheel can refer to a tire that does not include rollers and can only move in its rolling direction. In this specification, omnidirectional wheels can include single-row omnidirectional wheels, double-row omnidirectional wheels (or continuously switching wheels), and Mecanum wheels.

[0111] 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, such as four wheels, mounted on the body, to achieve functions such as planar movement, turning, climbing, and descending.

[0112] The working components mounted on the motion mechanism can include transport components, lawn mowing components, etc. The motion mechanism is suitable for different work environments, and different work environments have corresponding requirements for the mechanism's body and wheel arrangement. In some usage scenarios, such as those with limited turning space, a four-wheel drive motion mechanism is required to achieve on-the-spot turning. However, when a four-wheel drive motion mechanism turns on the spot, the wheels will experience continuous sliding friction, which not only easily leads to slippage and increases the risk of loss of control on slopes, but also reduces wheel life. In usage scenarios with soft ground, such as lawns, the wheels of the motion mechanism may also damage the soft ground when turning.

[0113] In some related embodiments, the four-wheel drive mechanism can be equipped with a steering motor on the front wheels, achieving on-the-spot steering by deflecting the front wheels to a certain angle. The rotation center of the mechanism during steering coincides with the line connecting the rear wheel contact point. This embodiment is costly and requires waiting for the front wheels to deflect completely before performing the steering action. When the vehicle is stationary, the deflection of the front wheels can easily damage soft ground.

[0114] In other related embodiments, the four-wheel drive mechanism can configure the front wheels as omnidirectional wheels, with the center of rotation of the mechanism coinciding with the line connecting the rear wheel contact points during steering, resulting in a certain lateral movement of the front wheels. However, the front wheels no longer provide yaw force to the vehicle body during steering, and the lateral movement of the front wheels generates significant resistance.

[0115] One or more embodiments of this specification provide a motion mechanism in which the front or rear wheel has an angle with the centerline of the machine body, thereby providing additional deflection force when the front wheel is an omnidirectional wheel, while bringing the rotation center of the machine body closer to the center of the machine body, reducing the space required for the machine body to rotate, and controlling the motion trajectory of the working parts more efficiently.

[0116] Figures 1 to 3 are schematic diagrams of motion mechanisms according to some embodiments of this specification. Referring to Figures 1 to 3, in one or more embodiments of this specification, the motion mechanism may include: a body 10, a first wheel assembly, and a second wheel assembly, the first wheel assembly and the second wheel assembly being respectively connected to opposite front and rear ends of the body. In some embodiments, the first wheel assembly includes two first wheels 11, symmetrically arranged on both sides of the centerline of the body 10. In some embodiments, the second wheel assembly includes two second wheels 12, symmetrically arranged on both sides of the centerline of the body 10.

[0117] 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 can be configured to have a forward direction (as shown in FIG. 1), and the centerline of the body 10 can be parallel to the forward direction. In some embodiments, the centerline can 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 can be the midline parallel to opposite sides of the rectangle; if the projection of the body 10 is a circle, the centerline can be a diameter of the circle; if the projection of the body 10 is an ellipse, the centerline can be the major axis or minor axis of the ellipse. For example, referring to FIG. 1, the dashed line A in FIG. 1 shows the centerline of the body 10.

[0118] In some embodiments, at least one of the first wheels 11 forms a first angle with the centerline of the body 10. For example, the motion mechanism includes two first wheels 11, each forming a first angle with the centerline of the body 10. In some embodiments, at least one of the second wheels 12 forms a second angle with the centerline of the body 10. For example, the motion mechanism includes two second wheels 12, each forming a second angle with the centerline of the body 10.

[0119] In some embodiments, the first included angle may be the angle between a plane perpendicular to the rotation axis of the first wheel 11 (or the axis of the motor shaft of the motor driving the first wheel 11) and the vertical plane containing the centerline of the body 10. In some embodiments, the second included angle may be the angle between a plane perpendicular to the rotation axis of the second wheel 12 (or the axis of the motor shaft of the motor driving the second wheel 12) and the vertical plane containing the centerline of the body 10.

[0120] In some embodiments, the first included angle may be the angle between the direction in which the first wheel 11 generates the driving force and the centerline of the body 10. In some embodiments, the second included angle may be the angle between the direction in which the second wheel 12 generates the driving force and the centerline of the body 10.

[0121] 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 hub motors, each independently connected to two first wheels 11 and two second wheels 12. In other embodiments, the four-wheel drive motion mechanism can be a front and rear wheel grouped drive mechanism, for example, where motor power is distributed to the first wheel group and the second wheel group via a transfer case or a central differential, and then distributed to the two first wheels 11 (e.g., the left and right front wheels) or the two second wheels 12 (e.g., the left and right rear wheels) via the differential.

[0122] In one or more embodiments of this specification, the two first wheels 11 form a first angle with the centerline of the body 10, with the front end of the first wheel 11 close to the centerline of the body 10 and the rear end of the first wheel 11 away from the centerline of the body 10. In some embodiments, the two first wheels 11 form an inward-facing configuration (e.g., an inward-facing configuration formed from a top-down view in the forward direction of the vehicle).

[0123] In some embodiments, both first wheels 11 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 (e.g., a continuously switching 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 conventional 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 two first wheels 11 have driving capability. In some embodiments, the two first wheels 11 form an inward octagonal structure such that the direction of the rollers of each first wheel 11 in contact with the ground deflects towards the inside of the body 10 (e.g., towards the centerline of the body 10).

[0124] In one or more embodiments of this specification, the two second wheels 12 form a second angle with the centerline of the body 10, with the front ends of the second wheels 12 away from the centerline of the body 10 and the rear ends of the second wheels 12 close to the centerline of the body 10. In some embodiments, the two second wheels 12 form an outward-facing configuration (e.g., an outward-facing configuration formed from a top-down view in the forward direction of the vehicle).

[0125] In some embodiments, both second wheels 12 are omnidirectional wheels. In some embodiments, both second wheels 12 have driving capability. In some embodiments, the two second wheels 12 form an outward octagonal configuration such that the direction of the rollers of each second wheel 12 in contact with the ground deflects towards the inside of the body 10 (e.g., towards the centerline of the body 10). In some embodiments, both the first wheel 11 and the second wheel 12 are omnidirectional wheels. In this embodiment, the center of rotation of the body 10 can be any point, and the minimum center of rotation of the body 10 can be the center of the body 10. In some embodiments, the minimum center of rotation can be the center around which the rotation occupies the smallest area.

[0126] In other embodiments, both second wheels 12 are solid wheels. In some embodiments, the first wheel 11 is an omnidirectional wheel and the second wheel 12 is a solid wheel. 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 two second wheels 12.

[0127] Figure 8 is a schematic diagram of the assembly scheme of the first and second wheels of the motion mechanism according to some embodiments of this specification. Referring to Figure 8, in one or more embodiments shown in Figure 8, the rectangular frame represents the body, the two gray squares at the top of the rectangular frame represent the first wheel, and the two gray squares at the bottom of the rectangular frame represent the second wheel. In one or more embodiments shown in Figure 8, the first wheel 11 includes a left front wheel and a right front wheel, and the second wheel 12 includes a left rear wheel and a right rear wheel.

[0128] Referring to Figure 8, in embodiment a, the left and right front wheels of the machine body are continuously interchangeable wheels, while the left and right rear wheels are solid wheels. In this embodiment, the left and right front wheels form a first angle with the centerline of the machine body (e.g., the dotted line in the figure). In this embodiment, the left and right rear wheels form a second angle with the centerline of the machine body (e.g., the dotted line in the figure).

[0129] In embodiment b, the left front wheel, right front wheel, left rear wheel, and right rear wheel of the machine body are all continuously interchangeable wheels. In this embodiment, the left front wheel and right front wheel have a first angle with the center line of the machine body (e.g., the dotted line in the figure). In this embodiment, the left rear wheel and right rear wheel have a second angle with the center line of the machine body (e.g., the dotted line in the figure).

[0130] In embodiment c, the left and right front wheels of the fuselage are continuously interchangeable wheels, and the left and right rear wheels are Mecanum wheels (i.e., Mecanum wheels). In this embodiment, the left and right front wheels form a first angle with the centerline of the fuselage (e.g., the dotted line in the figure). In this embodiment, the left and right rear wheels form a second angle with the centerline of the fuselage (e.g., the dotted line in the figure).

[0131] In embodiment d, the left and right front wheels of the fuselage are continuously interchangeable wheels, and the left and right rear wheels are Mecanum wheels (i.e., Mecanum wheels). In this embodiment, the left and right front wheels form a first angle with the centerline of the fuselage (e.g., the dotted line in the figure). In this embodiment, the left and right rear wheels do not form an angle with the centerline of the fuselage (e.g., the dotted line in the figure). In a further embodiment of embodiment d, the outer side of the left rear wheel (the side away from the centerline of the fuselage) is located inside the outermost endpoint of the left front wheel (the endpoint away from the centerline of the fuselage), and the outer side of the right rear wheel is located inside the outermost endpoint of the right front wheel.

[0132] In embodiment e, the left and right front wheels of the machine body are continuously interchangeable wheels, and the left and right rear wheels are continuously interchangeable wheels detachably equipped with anti-slip baffles. In this embodiment, the anti-slip baffles are disc-shaped structures installed on the side of the wheel body, used to transform the continuously interchangeable wheels into wheels with an effect similar to solid wheels when equipped with anti-slip baffles. In this embodiment, the left and right front wheels have a first angle with the centerline of the machine body (e.g., the dotted line in the figure). In this embodiment, the left and right rear wheels have a second angle with the centerline of the machine body (e.g., the dotted line in the figure).

[0133] In embodiment f, the left and right front wheels of the machine are continuously interchangeable wheels, while the left and right rear wheels are Mecanum wheels (i.e., Mecanum wheels) detachably equipped with anti-slip guards. In this embodiment, the anti-slip guard is a disc-shaped structure mounted on the side of the wheel, used to transform the Mecanum wheel into a wheel with an effect similar to a solid wheel when equipped with the anti-slip guard. In this embodiment, the left and right front wheels form a first angle with the centerline of the machine (e.g., the dotted line in the figure). In this embodiment, the left and right rear wheels form a second angle with the centerline of the machine (e.g., the dotted line in the figure).

[0134] In embodiment g, the left and right front wheels of the aircraft are continuously interchangeable wheels, while the left and right rear wheels are Mecanum wheels (i.e., Mecanum wheels) detachably equipped with anti-slip guards. In this embodiment, the anti-slip guard is a disc-shaped structure mounted on the side of the wheel, which transforms the Mecanum wheel into a wheel with an effect similar to a solid wheel when equipped with the anti-slip guard, providing better anti-slip capability and better climbing performance. In this embodiment, the left and right front wheels form a first angle with the centerline of the aircraft (e.g., the dotted line in the figure). In this embodiment, the left and right rear wheels do not form an angle with the centerline of the aircraft (e.g., the dotted line in the figure). In a further embodiment of embodiment g, the outer side of the anti-skid baffle of the left rear wheel (the side away from the center line of the engine body) is flush with or located inside the outermost end point of the left front wheel (the end point away from the center line of the engine body), and the outer side of the anti-skid baffle of the right rear wheel is flush with or located inside the outermost end point of the right front wheel.

[0135] In embodiments b, c, and d above, the rotation center of the machine body can be arbitrarily set. Therefore, the rotation center can be selected as the machine body center or close to it, thereby reducing the space required for rotation, providing a stronger ability to rotate in place, and reducing wear on the ground. In embodiments a, e, f, and g above, the rotation center of the machine body can be controlled by a control method to bring it closer to the machine body center, thereby reducing the space required for rotation, providing a stronger ability to rotate in place, and reducing wear on the ground. Since the rotation center can be configured closer to the machine body center, and the working parts are usually arranged at the machine body center, the rotation center can be configured closer to the machine body center, thereby controlling the movement trajectory of the working parts more efficiently. In some embodiments, the working parts may include the blade motor involved in the mowing working parts. In this embodiment, configuring the rotation center of the machine body closer to the machine body center can more efficiently control the movement trajectory of the blade motor's rotation axis, thereby precisely controlling the mowing movement trajectory.

[0136] In the above embodiments a, b, c, e, and f, during steering, the outward octagonal arrangement formed by the second included angle between the left and right rear wheels and the centerline of the machine body enables the left and right rear wheels to provide greater steering torque and reduce the risk of slippage.

[0137] In embodiments a, b, c, e, and f above, during forward movement, the left and right rear wheels exhibit lateral movement relative to the ground. Combined with the tire tread design, this allows for self-cleaning of the left and right rear wheels during movement. In some further embodiments, the grooves in the tire treads of the left and right rear wheels extend parallel to the forward direction or at an angle less than 90° to the forward direction. When the left and right rear wheels laterally move relative to the ground, objects within the grooves can move backward along the grooves and detach from the left or right rear wheel due to the friction provided by the ground, thereby achieving the aforementioned self-cleaning.

[0138] In embodiments b, c, and d above, the machine body has a strong obstacle-crossing ability and can prevent the outer edges of the wheels from getting stuck on obstacles (such as curbs, stones, tree roots, etc.). In embodiments a, e, f, and g above, the machine body has a strong anti-skid ability and can provide better climbing performance.

[0139] In one or more embodiments of this specification, the first wheel 11 is configured to float up and down relative to the body 10 to adaptively adjust the position of the first wheel 11 (i.e., the front wheel) relative to the body 10 according to the conditions of the work site. In some embodiments, configuring the first wheel 11 to float up and down relative to the body 10 also facilitates climbing or descending slopes.

[0140] Figure 9 is a top view of a motion mechanism according to some embodiments of this specification, and Figure 10 is a perspective view of a linkage assembly of a motion mechanism according to some embodiments of this specification. Referring to Figures 9 and 10, in one or more embodiments of this specification, the motion mechanism includes: a linkage assembly 2, the middle portion of which is rotatably connected to the front end of the body 10, and the linkage assembly 2 is configured to drive two first wheels 11 to float up and down.

[0141] In some embodiments, configuring the linkage assembly 2 to drive the two first wheels 11 to float up and down may include: the linkage assembly 2 being rotatably connected to the front end of the body 10, thereby forming a lever between the two first wheels 11, such that when one first wheel 11 is raised, the other first wheel 11 can be lowered, thereby achieving adaptive up and down floating of the two first wheels 11 based on ground conditions.

[0142] In other embodiments, configuring the linkage assembly 2 to drive the two first wheels 11 to float up and down may include: the linkage assembly 2 being connected to the front end of the body 10 via one or more elastic members, thereby enabling the linkage assembly 2 and the two first wheels 11 as a whole to float up and down relative to the front end of the body 10.

[0143] In some other embodiments, the linkage assembly 2 is configured to drive the two first wheels 11 to float up and down, and may also include: the linkage assembly 2 and the two first wheels 11 as a whole can float up and down relative to the front end of the body 10, while the two first wheels 11 can rotate relative to a certain rotation axis in the middle of the linkage assembly to form a lever.

[0144] In one or more embodiments of this specification, a first hub motor 111 is provided inside each of the two first wheels 11, and the motor shaft 1111 of the first hub motor 111 is directly or indirectly fixedly connected to the connecting rod assembly 2. In some embodiments, the two first hub motors 111 independently drive the two first wheels 11. In some embodiments, the housing of the first hub motor 111 is fixed to the first wheel 11, and the motor shaft 1111 of the first hub motor 111 is fixed to the connecting rod assembly 2. When the first hub motor 111 is working, the housing of the first hub motor 111 and the motor shaft 1111 of the first hub motor 111 rotate relative to each other, thereby causing the first wheel 11 to rotate relative to the connecting rod assembly 2.

[0145] In some embodiments, the middle portion of the linkage assembly 2 is rotatably connected to the front end of the body 10, thereby enabling the two first wheels 11 (e.g., omnidirectional wheels) to float up and down.

[0146] In some embodiments, the second wheel assembly includes two second wheels 12, each containing a second hub motor 121. The motor shaft 1211 of the second hub motor 121 is fixedly connected to the body 10. In some embodiments, the two second hub motors 121 independently drive the two second wheels 12. In some embodiments, the housing of the second hub motor 121 is fixed to the second wheel 12, and the motor shaft 1211 of the second hub motor 121 is fixed to the body 10. When the second hub motor 121 operates, the housing of the second hub motor 121 and the motor shaft 1211 of the second hub motor 121 rotate relative to each other, thereby causing the second wheel 12 to rotate relative to the body 10.

[0147] In some embodiments, since the two first wheels 11 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 two first wheels 11 can float up and down, they can ensure that all four wheels of the motion mechanism (such as the two first wheels 11 and the two second wheels 12) can contact the ground when traveling on uneven roads. This not only reduces the burden on the wheels but also improves the grip of the wheels. Furthermore, both the two first wheels 11 and the two second wheels 12 are equipped with hub motors (such as the first hub motor 111 and the second hub motor 121), thereby further improving the passability of the body 10 and its mounted working parts.

[0148] In some embodiments, referring to FIG10, the linkage assembly 2 includes a connecting beam 21, with a first wheel 11 connected to each end of the connecting beam 21. A rotating shaft sleeve 211 and a rotating shaft 212 are disposed at the middle position of the connecting beam 21, and the other rotating shaft 212 is disposed on the body 10, with the rotating shaft 212 inserted into the rotating shaft sleeve 211. For example, the rotating shaft sleeve 211 is disposed at the middle position of the connecting beam 21, and the rotating shaft 212 is disposed on the body 10 along the center line A, with the rotating shaft 212 inserted into the rotating shaft sleeve 211. This structure is simple, reliable, and low in cost. Furthermore, the friction between the rotating shaft sleeve 211 and the rotating shaft 212 can be reduced by incorporating bearings, thereby improving the reliability of the rotational connection.

[0149] In some embodiments, the central region of the connecting beam 21 may extend along the width direction of the body 10, for example, extending in the left-right direction as shown in FIG. 11. In some embodiments, referring to FIG. 11, both ends of the connecting beam 21 may have connecting beam bends 210 for connecting the first wheel 11 to the connecting beam 21. In some embodiments, since the first wheel 11 is connected to the connecting beam bends 210 of the connecting beam 21, the included angle between the connecting beam bends 210 and the central region of the connecting beam 21 determines the first included angle between the first wheel 11 and the centerline A of the body 10. In some embodiments, by replacing the connecting beam 21 with a connecting beam bend 210 having a different bending angle and correspondingly assembling the first wheel 11, the size of the first included angle between the first wheel 11 and the body 10 can be adjusted.

[0150] In some embodiments, the connecting beam 21 can be made by bending a round tube as shown in Figures 10 and 11, or it can be made by other profiles such as rectangular tubes or solid round steel, as long as the strength and rigidity requirements are met. The process of using profile bending is simple and low in cost.

[0151] In some embodiments, referring to Figures 11 and 12, Figure 12 shows a cross-section of the connecting rod assembly 2 mating with the motor shaft 1111. The connecting rod assembly 2 also includes two motor mounting plates 22, each with a first groove 221. The 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 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.

[0152] In some embodiments, as shown in FIG12, the motor shaft 1111 is provided with 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 first hub motor 111 more securely fixed.

[0153] In other embodiments, referring to FIG13, the linkage assembly 2 includes a connecting beam 21, a left wheel connector 23, a right wheel connector 24, and a body connector 25. In some embodiments, one of a pivot sleeve 211 and a pivot 212 is disposed at the middle position of the body connector 25, and the other of the pivot sleeve 211 and the pivot 212 is disposed along the center line A on the body 10, with the pivot 212 inserted into the pivot sleeve 211. For example, the pivot sleeve 211 is disposed at the middle position of the body connector 25, and the pivot 212 is disposed along the center line A on the body 10, with the pivot 212 inserted into the pivot sleeve 211.

[0154] In some embodiments, the connecting beam 21 is detachably connected to the body connecting member 25, and both ends of the 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 each configured to detachably connect to a first wheel 11. When it is necessary to adjust the first included angle between the first wheel 11 and the centerline 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-cost.

[0155] In this embodiment, referring to Figure 14, the body connector 25 has a third groove 251 for accommodating the 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 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 connecting beam 21. The connecting beam 21 can slide in the third groove 251. During installation, the position of the first wheel 11 can be adjusted by adjusting the position of the connecting beam 21 to ensure that the two first wheels 11 are symmetrically arranged with respect to the center line A of the body 10.

[0156] In this embodiment, the left wheel connector 23 has a fourth groove 231 for accommodating the 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 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 connected by bolts to clamp the 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 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 connecting beam 21.

[0158] In this embodiment, the two ends of the 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 two first wheels 11 can be adjusted to adapt to different usage scenarios.

[0159] In this embodiment, as shown in Figures 13 and 14, at least one weight-reducing hole 26 is provided on both the left wheel connector 23 and the right wheel connector 24, thereby reducing the weight, reducing the use of production materials, and lowering production costs.

[0160] In one or more embodiments of this specification, the two first wheels 11 may be arranged in an inward-pointing manner as shown in FIG9. In some related embodiments, the two first wheels 11 may also be arranged in an outward-pointing manner as shown in FIG15.

[0161] In one or more embodiments of this specification, the first angle between the first wheel 11 and the centerline A of the body 10 can be any angle. In some embodiments, when the two first wheels 11 are arranged in an inward-pointing manner, the first angle can be 1° to 79°, such as 30°, 40°, 45°, 50°, 60°, 75°, etc. In some embodiments, when the two first wheels 11 are arranged in an outward-pointing manner, the first angle can be 101° to 179°, such as 105°, 110°, 120°, 130°, 135°, 140°, 150°, 165°, 170°, 175°, etc.

[0162] Figure 16 is a schematic diagram of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification, and Figure 17 is an exploded view of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification. Referring to Figures 16 and 17, in one or more embodiments of this specification, the omnidirectional wheel used in the first wheel 11 or the second wheel 12 may include a continuously switching wheel. 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.

[0163] 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.

[0164] In some embodiments, the roller retainer 31 is also connected to a hub motor (e.g., a first hub motor 111 for driving the first wheel 11, or a second hub motor 121 for driving the second wheel 12), which can drive the roller retainer 31 to rotate, thereby enabling the omnidirectional wheel to move.

[0165] 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.

[0166] In some embodiments, referring to FIG19, 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.

[0167] In some embodiments, as shown in Figures 18 and 19, 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.

[0168] In some embodiments, as shown in Figures 16 and 18, the roller assembly 33 is disposed in a first mounting space 313. As shown in Figures 18 and 21, 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 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.

[0169] 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.

[0170] 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.

[0171] In some embodiments, as shown in FIG20, 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.

[0172] In some embodiments, as shown in FIG19 and FIG20, the second mounting end face 3141 is parallel to and far apart 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, and a second receiving groove 3142 is provided on the second mounting part 314, the second receiving groove 3142 extending from the second mounting end face 3141 into the interior of the second mounting part 314.

[0173] In some embodiments, as shown in Figures 18 and 20, the omnidirectional wheel further includes a second end cap 35, which is detachably connected to the roller holder 31 and is located on the side near the second connection 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.

[0174] In some embodiments, as shown in Figures 18 and 21, a roller assembly 33 is also disposed within the second mounting space 315, and when the roller assembly 33 is disposed within the second mounting space 315, both ends of the roller shaft 331 are respectively fixed in a second mounting hole 3143. Exemplarily, the roller assembly 33 is disposed within a second mounting space 315, each side of which 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, a 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.

[0175] 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.

[0176] 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.

[0177] 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, referring to Figures 19 and 20, the first mounting end face 3121 faces the right side of the figure, and the second mounting end face 3141 faces the left side of the figure.

[0178] 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.

[0179] 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.

[0180] In some embodiments, as shown in Figures 17 and 18, 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.

[0181] In some embodiments, as shown in Figures 19 and 20, the first mounting portion 312 extends from the first mounting end face 3121 toward the direction close 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 close 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 of the roller assembly 33, and the combination of their intersecting arrangement along the circumferential direction of the support portion 311 achieves full utilization of the space in the circumferential direction of the support portion 311.

[0182] In some embodiments, as shown in Figures 19 and 20, the first mounting portion 312 and the second mounting portion 314 are arranged crosswise along the circumferential direction of the support portion 311. Correspondingly, as shown in Figures 16 and 18, 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 portion 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.

[0183] In some embodiments, as shown in FIG22, the roller assembly 33 further includes two bearings 333, one bearing 333 being located near the front end of the roller shaft 331 and the other bearing 333 being located near the rear end of the roller shaft 331, with the bearings 333 positioned 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.

[0184] In some embodiments, as shown in FIG22, 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 for the roller wheel 332, 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.

[0185] In some embodiments, as shown in FIG22, 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 respectively. 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 arranged in the two second cavities 33212, and the second cavities 33212 limit the bearings 333, making the rotation process more stable.

[0186] In some embodiments, as shown in Figures 22 and 23, 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 adapted to the recess 33213. The limiting protrusion 33221 abuts against the recess 33213 to restrict the movement of the roller skin 3322. By the limiting protrusion 33221 abutting against the recess 33213, the roller skin 3322 is more stable when it is sleeved on the roller core 3321. When the roller wheel 332 rotates, the roller skin 3322 can withstand greater frictional force, preventing the roller skin 3322 from falling off the roller core 3321.

[0187] In some embodiments, as shown in FIG21, a plurality of annular protrusions 33222 are provided at intervals on the outer surface of the roller soft skin 3322. The annular protrusions 33222 can increase the friction between the omnidirectional wheel and the ground when moving, preventing the omnidirectional wheel from spinning in place and being unable to move forward.

[0188] Referring again to Figures 16 to 23, in one or more embodiments of this specification, the omnidirectional wheel used in the first wheel 11 or the second wheel 12 may include a continuously switching wheel. 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.

[0189] 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 in FIG16, the first mounting portion 312 is located on the right side of a radial plane of the wheel body, and the second mounting portion 314 is located on the left side of the same radial plane of the wheel body, where the radial plane refers to a virtual radial plane at the center of the wheel body.

[0190] 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.

[0191] In some embodiments, referring to FIG16, 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. In some embodiments, referring to FIG16, the surface of the second mounting portion 314 facing the center of the wheel body has an inner bevel 300b, and the surface of the second end cap 35 away from the center of the wheel body has an outer bevel 300a.

[0192] In some embodiments, referring to FIG16, 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.

[0193] 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.

[0194] In some embodiments, referring to FIG16, 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.

[0195] Figure 24 is a schematic diagram of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification; Figure 25 is a schematic diagram of a first support portion and a second support portion of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification; and Figure 26 is an exploded view of the roller body of an omnidirectional wheel of a motion mechanism according to some embodiments of this specification. Referring to Figures 24 to 26, in one or more embodiments of this specification, the omnidirectional wheel used in the first wheel 11 or the second wheel 12 may include a continuously switching wheel. 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 spaced apart circumferentially on the first support portion 411, the interior of the first mounting portions 4111 is hollowed out, 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 a 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 412, the interior of the second mounting portions 4121 is hollowed out, 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.

[0196] 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.

[0197] In some embodiments, referring to Figures 26 to 28, 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, in Figure 26, the first cylindrical body 4211 and the second cylindrical body 4212 are symmetrical about one axial direction of the roller body 421. In some embodiments, the interiors of the first cylindrical body 4211 and the second cylindrical body 4212 are both hollowed out, and the axis of the roller body 421 is perpendicular to the axis of the wheel body 41.

[0198] 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.

[0199] In some embodiments, the first cylinder 4211 and the second cylinder 4212 can be fastened together by snap-fit, bolted together, or simply glued together.

[0200] In some embodiments, as shown in FIG26, a first rib 42111 is axially arranged inside the first cylinder 4211, a second rib 42112 perpendicular to the first rib 42111 is arranged at the middle position inside the first cylinder 4211, a third rib 42121 is axially arranged inside the second cylinder 4212, and a fourth rib 42122 perpendicular to the third rib 42121 is arranged at the middle position inside the second cylinder 4212. The ribs can improve the strength, rigidity, and local stability of the roller body, thereby increasing the service life of the roller assembly.

[0201] 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.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] In some embodiments, as shown in FIG26, 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.

[0206] 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.

[0207] In some embodiments, as shown in FIG27, the roller assembly 42 further includes a roller sleeve 422 sleeved around the roller body 421, the roller sleeve 422 being 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, thereby increasing 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.

[0208] In some embodiments, as shown in Figures 26 to 28, the outer surface of the roller body 421 is provided with a plurality of 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 a plurality of 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. Alternatively, the limiting protrusions can 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.

[0209] In some embodiments, the cross-section of the roller sleeve 422 can be 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.

[0210] In some embodiments, as shown in FIG24, the first mounting portion 4111 and the second mounting portion 4121 are arranged crosswise in the circumferential direction of the wheel body 41, thereby reducing the size of the omnidirectional wheel while providing more roller assemblies, making the contact between the omnidirectional wheel and the ground smoother during operation and reducing the impact on the omnidirectional wheel.

[0211] 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.

[0212] In some embodiments, the first support portion 411 and the second support portion 412 may also be detachably connected. As shown in FIG25, 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 hub motor (for example, a part of a first hub motor 111 for driving the first wheel 11, or a part of a second hub motor 121 for driving the second wheel 12). A plurality of second protrusions 4131 are provided 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.

[0213] In some embodiments, the second support portion 412 has a through fourth mounting space 414, which is used to accommodate a hub motor (e.g., another part of a first hub motor 111 for driving the first wheel 11, or another part of a second hub motor 121 for driving the second wheel 12). 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 hub 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 hollow, 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.

[0214] 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.

[0215] Referring again to Figures 24 to 28, in one or more embodiments of this specification, the omnidirectional wheel used in the first wheel 11 or the second wheel 12 may include a continuously switching wheel. 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 mean that the first mounting portions 4111 and the second mounting portions 4121 are located on opposite sides of a radial plane of the wheel body 41. For example, as shown in Figure 24, the first mounting portion 4111 is located on the right side of a radial plane of the wheel body 41, and the second mounting portion 4121 is located on the left side of the same radial plane of the wheel body 41, where the radial plane refers to a virtual radial plane at the center of the wheel body 41.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] In some embodiments, referring to Figures 24 and 25, 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.

[0221] 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. In some embodiments, referring to FIG25, 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.

[0222] 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.

[0223] 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.

[0224] Referring again to Figures 1 to 3, and in conjunction with Figures 10 to 12, and Figures 13 and 14, in one or more embodiments of this specification, the motion mechanism may include a body 10 and two first wheels 11 (e.g., a left front wheel and a right front wheel) disposed on the body 10. The two first wheels 11 have a first angle with respect to the centerline of the body 10, and the first wheels 11 are configured to adjust their corresponding first angle 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. In some embodiments, the two first wheels 11 (e.g., the left front wheel and the right front wheel) are symmetrical with respect to the centerline (e.g., mirror-symmetrical with respect to the centerline). In some embodiments, each first wheel 11 is configured to independently adjust its corresponding first angle relative to the body 10.

[0225] In one or more embodiments of this specification, referring to Figures 10 to 12, the body 10 includes a connecting rod assembly 2, one end of which has a plurality of first wheel axle holes, and the motor shaft 1111 of the first wheel hub motor 111 of the first wheel 11 is fixed inside the first wheel axle hole. In some embodiments, the plurality of first wheel axle holes have different orientations, and when the motor shaft 1111 of the first wheel hub motor 111 of the first wheel 11 is installed in one of the first wheel axle holes, there is a preset first angle between the first wheel 11 and the centerline of the body 10.

[0226] In some embodiments, each of the two ends of the linkage assembly 2 is provided with a plurality of first wheel shaft holes with different orientations, so that the two first wheels 11 have a preset first angle with the center line of the body 10, and the two first wheels 11 can adjust their corresponding first angles independently.

[0227] In this embodiment, the connecting rod assembly 2 may include a connecting beam 21, which may be an integral structure, and a first wheel axle hole is formed on the connecting beam 21. In this embodiment, the 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.

[0228] In one or more embodiments of this specification, the body 10 includes: a linkage assembly 2, each of the two ends of the linkage assembly 2 is provided with a first angle adjustment mechanism, and the motor shaft 1111 of the first hub motor 111 of the first wheel 11 is fixed to the linkage assembly 2 through the first angle adjustment mechanism.

[0229] In some embodiments, as shown in Figures 13 and 14, the linkage assembly 2 includes a 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.

[0230] In this embodiment, the left wheel connector 23 has a fourth groove 231 for accommodating the 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 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 connected by bolts to clamp the connecting beam 21.

[0231] 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 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 connecting beam 21.

[0232] In this embodiment, different left wheel connectors 23 can be configured with different first wheel angles for the first wheel 11, and different right wheel connectors 24 can be configured with different first wheel angles for the first wheel 11. The first angle of the first wheel 11 currently mounted on the body 10 can be adjusted independently by replacing the left wheel connector 23 and / or the right wheel connector.

[0233] 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 linkage assembly 2 on the body 10), and the bevel gear is fixedly connected to the hub motor (e.g., the first hub motor 111 and the second hub motor 121), with the end gear disk meshing with the bevel gear. In a further embodiment of this embodiment, the end gear disk may be fixedly connected to the hub 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 hub motor. In some embodiments, the first included angle of the first wheel 11 currently mounted on the body 10 is adjusted by changing the bevel gear mounted to the hub motor or by changing the end gear plate mounted to the body 10 to adjust the angle between the output shaft of the hub motor and the body 10.

[0234] In some embodiments, the first angle adjustment mechanism may be a steering servo. In some embodiments, the steering servo is located within the first wheel 11 or the second wheel 12. In some embodiments, the steering servo includes a first hub motor 111 or a second hub motor 121, and a gear set, a position sensor, a control circuit, and an output shaft connected to the hub motor. In some embodiments, the output shaft of the steering servo may be fixedly connected to the body 10 (e.g., the linkage assembly 2 on the body 10). In some embodiments, the first included angle of the first wheel 11 is adjusted by the steering motor.

[0235] In one or more embodiments of this specification, at least one of the first wheels 11 forms a first angle with the centerline of the body 10, and / or at least one of the second wheels 12 forms a second angle with the centerline of the body 10. In some embodiments, the first angle may be equal to the second angle. In other embodiments, the first angle may be unequal to the second angle. In some embodiments, the first angles of the two first wheels 11 may be equal. In other embodiments, the first angles of the two first wheels 11 may be unequal. In some embodiments, the second angles of the two second wheels 12 may be equal. In other embodiments, the second angles of the two second wheels 12 may be unequal.

[0236] 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.

[0237] In some embodiments, the angle of the second included angle can be 10 to 45°, for example 20 to 35°, for example 25 to 30°. Exemplarily, the angle of the second included angle can be 10°, 12°, 15°, 16°, 18°, 20°, 24°, 25°, 28°, 30°, 35°, 38°, 40°, 42.5°, 45°, etc.

[0238] In other embodiments, the angle of the second included angle can be 5 to 30°, for example 10 to 28°, for example 15 to 20°. Exemplarily, the angle of the second included angle can be 5°, 6°, 7°, 9°, 10°, 12.5°, 14.6°, 15°, 18°, 20°, 21°, 23°, 25.5°, 26.8°, 29.99°, 30°, etc.

[0239] In some embodiments, the first included angle can be 15 to 45°, while the second included angle can be 10 to 45°. In other embodiments, the first included angle can be 15 to 45°, while the second included angle can be 5 to 30°.

[0240] In some embodiments, if the second wheel 12 is an omnidirectional wheel (e.g., a continuous switching wheel for a single row of rollers, a continuous switching wheel for a double row of rollers, or a Mecanum wheel), the second included angle can be 10 to 45°. In some embodiments, if the rear wheel 12 is a solid wheel, the second included angle can be 5 to 30°.

[0241] Figures 4 to 7 are schematic diagrams of motion mechanisms with tilted wheels according to some embodiments of this specification. Referring to Figures 4 to 7, in one or more embodiments of this specification, at least one of the first wheels 11 of the motion mechanism has a first tilt angle with the transverse plane where the body 10 is located, and / or at least one of the second wheels 12 has a second tilt angle with the transverse plane where the body 10 is located.

[0242] 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 first wheel 11 or the second wheel 12 and the transverse plane containing the body 10. In some embodiments, the plane containing the first wheel 11 or the second wheel 12 may be a plane perpendicular to the rotation axis of the first wheel 11 or the rotation axis of the second wheel 12. 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.

[0243] In some embodiments, a first tilt angle between at least one of the first wheels 11 and the transverse plane where the body 10 is located means that the first wheel 11 is not perpendicular to the plane on which the body 10 runs (e.g., the ground), but has an angle of not 0° with the ground. In some embodiments, a second tilt angle between at least one of the second wheels 12 and the transverse plane where the body 10 is located means that the second wheel 12 is not perpendicular to the plane on which the body 10 runs (e.g., the ground), but has an angle of not 0° 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°.

[0244] For example, as shown in Figure 7, the plane in which the second wheel 12 is located (e.g., the plane in which the dashed line X2 is located, the dashed line X3 shows the rotation axis of the second wheel 12, and the plane in which the dashed line X2 is located is perpendicular to the dashed line X3) has a second tilt angle with the transverse plane in which the body 10 is located (e.g., the plane in which the dashed line X1 is located).

[0245] In some embodiments, the inner diameter of the first wheel 11 facing the center of the body 10 is smaller than the outer diameter of the first wheel 11 away from the center of the body 10. In some embodiments, at least a portion of the tread of the first wheel 11 may lie on a first conical surface. In some embodiments, the middle portion of the tread of the first wheel 11 lies on the first conical surface. In other embodiments, the entire tread of the first wheel 11 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 first wheel 11 and the ground. In some embodiments, the base angle of the first conical surface may be equal to the first camber angle.

[0246] In some embodiments, the inner diameter of the second wheel 12 toward the center of the body 10 is smaller than the outer diameter of the second wheel 12 away from the center of the body 10. In some embodiments, at least a portion of the tread of the second wheel 12 may lie on a second conical surface. In some embodiments, the center of the tread of the second wheel 12 lies on the second conical surface. In other embodiments, the entire tread of the second wheel 12 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 second wheel 12 and the ground. In some embodiments, the base angle of the second conical surface may be equal to a first camber angle.

[0247] In some embodiments, the first wheel 11 is an omnidirectional wheel and has a first tilt angle. In other embodiments, the first wheel 11 is a solid wheel and has a first tilt angle. In some embodiments, the second wheel 12 is an omnidirectional wheel and has a second tilt angle. In other embodiments, the second wheel 12 is a solid wheel and has a second tilt angle.

[0248] In some embodiments, the first wheel 11 is an omnidirectional wheel, and the second wheel 12 is a solid wheel with a second tilt angle. In this embodiment, the second wheel 12 may experience some sideslip when turning. In some soft ground (such as lawns), the sideslip of the solid wheel can cause wear or even damage to the ground, such as crushing the grass on a lawn. In some embodiments, by setting the solid wheel to have a tilt angle, when the body 10 turns, the tilted solid wheel can turn within a certain range in a rolling manner, reducing the amount of sideslip of the solid wheel on soft ground, thereby reducing ground wear.

[0249] In some embodiments, the two first wheels 11 have a first tilt angle with the transverse plane where the body 10 is located. In some embodiments, the first tilt angles of the two first wheels 11 are the same. In some embodiments, the upper end of the first wheel 11 is close to the centerline of the body 10, and the lower end of the first wheel 11 is far from the centerline of the body 10.

[0250] In some embodiments, the two second wheels 12 have a second tilt angle with the transverse plane containing the body 10. In some embodiments, the second tilt angles of the two second wheels 12 are the same. In some embodiments, the upper end of the second wheel 12 is close to the centerline of the body 10, and the lower end of the second wheel 12 is far from the centerline of the body 10.

[0251] Figure 29 is a schematic diagram of the rod-like structure of the first or second wheel of a motion mechanism according to some embodiments of this specification. Referring to Figure 29, in one or more embodiments of this specification, the motion mechanism has an anti-slip mechanism. In some embodiments, the outer side of the first wheel 11 and / or the second wheel 12 is detachably provided with an anti-slip mechanism to prevent lateral displacement of the first wheel 11 and / or the second wheel 12. In some embodiments, the first wheel 11 is an omnidirectional wheel, and the outer side of the first wheel 11 is detachably provided with an anti-slip mechanism, so that the first wheel 11 can be converted into a solid wheel in some applications. In some embodiments, the second wheel 12 is an omnidirectional wheel, and the outer side of the second wheel 12 is detachably provided with an anti-slip mechanism, so that the second wheel 12 can be converted into a solid wheel in some applications.

[0252] In one or more embodiments of this specification, the anti-skid mechanism includes a disc-shaped structure mounted on the side of the first wheel 11 or the second wheel 12, the outer edge of the disc-shaped structure protruding or flush with the outer peripheral surface of the first wheel 11 or the second wheel 12.

[0253] In one or more embodiments of this specification, as shown in Figures 16 to 20, the first wheel 11 or the second wheel 12 may include a roller holder 31, with a disc-shaped structure 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 a 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 first wheel 11 or the second wheel 12 is larger than the projected area of ​​the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the first wheel 11 or the second wheel 12, thereby enabling the disc-shaped structure to replace other parts of the first wheel 11 or the second wheel 12 (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 first wheel 11 or the second wheel 12 to be converted into a solid wheel on both hard and soft surfaces. In this embodiment, the first wheel 11 or the second wheel 12 can be switched between an omnidirectional wheel and a solid wheel by installing and removing the disc-shaped structure.

[0254] 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 first wheel 11 or the second wheel 12 is equal to the projected area of ​​the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the first wheel 11 or the second wheel 12.

[0255] In some embodiments, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the first wheel 11 or the second wheel 12 may be smaller than the projected area of ​​the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the first wheel 11 or the second wheel 12. In this embodiment, the projection of the outer edge of the disc-shaped structure in the axial direction has a first radius. The projection of the roller holder 31 and the plurality of roller assemblies 33 in the axial direction of the first wheel 11 or the second wheel 12 has a second radius. The difference between the first radius and the second radius can be selected based on ground conditions so that the first wheel 11 or the second wheel 12, when equipped with the disc-shaped structure, can be used as an omnidirectional wheel on hard ground conditions and as a solid wheel on soft ground conditions. In this embodiment, on hard ground conditions (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, and the first wheel 11 or the second wheel 12 can be used as an omnidirectional wheel. On soft ground (such as lawn), the roller assembly 33 sinks after contacting the ground, and the disc structure contacts the ground. The first wheel 11 or the second wheel 12 can be used as a solid wheel and has certain omnidirectional characteristics when sliding sideways.

[0256] In one or more embodiments of this specification, as shown in Figures 24 and 25, the first wheel 11 or the second wheel 12 may include a wheel body 41, with a disc-shaped structure detachably fixed to the side of the wheel body 41. In some embodiments, the outer edge of the disc-shaped structure may cover a 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 first wheel 11 or the second wheel 12 is larger than the projected area of ​​the wheel body 41 and the plurality of roller assemblies 42 in the axial direction of the first wheel 11 or the second wheel 12. This allows the disc-shaped structure to replace other parts of the first wheel 11 or the second wheel 12 (e.g., to 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 first wheel 11 or the second wheel 12 to degenerate into a solid wheel on both hard and soft surfaces. In this embodiment, the first wheel 11 or the second wheel 12 can be switched between an omnidirectional wheel and a solid wheel by installing and removing the disc-shaped structure.

[0257] 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 first wheel 11 or the second wheel 12 is equal to the projected area of ​​the wheel body 41 and the plurality of roller assemblies 42 in the axial direction of the first wheel 11 or the second wheel 12.

[0258] In some embodiments, the projected area of ​​the outer edge of the disc-shaped structure in the axial direction of the first wheel 11 or the second wheel 12 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 first wheel 11 or the second wheel 12. 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 first wheel 11 or the second wheel 12 can be selected based on ground conditions. This allows the first wheel 11 or the second wheel 12, when equipped with the disc-shaped structure, to be used as an omnidirectional wheel on hard ground conditions and as a solid wheel on soft ground conditions. In this embodiment, on hard ground conditions (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 first wheel 11 or the second wheel 12 to be used as an omnidirectional wheel. On soft surfaces (such as lawns), the roller assembly 42 sinks after contacting the ground, and the disc-shaped structure contacts the ground. The first wheel 11 or the second wheel 12 can be used as a solid wheel and has certain omnidirectional characteristics when sliding sideways.

[0259] In one or more embodiments of this specification, referring to FIG29, the anti-skid mechanism includes a plurality of rod-shaped structures 5 arranged in a ring array and mounted on the side of the first wheel 11 or the second wheel 12, the outer edges of the rod-shaped structures 5 protruding or flush with the outer peripheral surface of the first wheel 11 or the second wheel 12.

[0260] In some embodiments, the first wheel 11 or the second wheel 12 may be an omnidirectional wheel. In some embodiments, the first wheel 11 or the second wheel 12 may be a Mecanum wheel (or Mecanum wheel, Mecanum wheel) as shown in FIG. 29. In some embodiments, the 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 has 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 may be 20°, 22°, 25°, 28°, 30°, 30.5°, 33.25°, 35°, 38°, 40°, 42°, 43.33°, or 45°.

[0261] 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 first wheel 11 or the second wheel 12. 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 first wheel 11 or the second wheel 12. 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.

[0262] In some embodiments, referring to FIG29, the rod-like structures 5 may be arranged in a circular array. In some embodiments, there is a gap between two rod-like structures 5. In some embodiments, the rod-like structures 5 may 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-like structures 5 may be arranged along the radial direction of the wheel body 61. In some embodiments, the rod-like structures 5 may be located in a radial plane of the wheel body 61. In some embodiments, the rod-like structures 5 may also have an angle with the radial plane of the wheel body 61.

[0263] In some embodiments, the rod-like structure 5 allows the first wheel 11 or the second wheel 12 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.

[0264] In one or more embodiments of this specification, as shown in Figures 16 to 20, the first wheel 11 or the second wheel 12 may include a roller retainer 31, and the rod-like structure 5 may be detachably fixed to the outer peripheral surface of the roller retainer 31. In some embodiments, the application of the anti-slip mechanism employing the rod-like structure 5 in the embodiments shown in Figures 16 to 20 can be referred to the application of the rod-like structure 5 in the embodiments of Mecanum wheels, and will not be repeated here.

[0265] In one or more embodiments of this specification, as shown in Figures 24 and 25, the first wheel 11 or the second wheel 12 may include a wheel body 41, and the rod-like structure 5 may be detachably fixed to the outer peripheral surface of the wheel body 41. In some embodiments, the application of the anti-slip mechanism using the rod-like structure 5 in the embodiments shown in Figures 24 and 25 can be referred to the application of the rod-like structure 5 in the embodiments of Mecanum wheels, and will not be repeated here.

[0266] In one or more embodiments of this specification, the motion mechanism further includes a first electronic speed controller and a second electronic speed controller. The first electronic speed controller is used to control a first wheel 11 and a second wheel 12 located on a first side (e.g., the left side) of the body 10, and the second electronic speed controller is used to control a first wheel 11 and a second wheel 12 located on a second side (e.g., the right side) of the body 10.

[0267] In some application scenarios, the electronic speed control design of the motion mechanism can be symmetrical. For example, both first wheels 11 have the same power, and both second wheels 12 have the same power, while the power of the first wheels 11 and second wheels 12 can be the same or different (i.e., the electronic speed control design of the first wheels 11 and second wheels 12 on one side is symmetrical to that on the other side). It is worth noting that even with a symmetrical electronic speed controller, asymmetrical output can be adopted for certain periods. For example, the power provided by the left electronic speed controller to the left first wheels 11 and second wheels 12 is greater than the power provided by the right electronic speed controller to the right first wheels 11 and second wheels 12, which can cause the motion mechanism to turn to the left. For example, the two first wheels 11 are low-torque omnidirectional wheels, and the two second wheels 12 are high-torque drive wheels. For example, the two first wheels 11 are solid wheels to provide auxiliary power, and the two second wheels 12 are load-bearing wheels to provide primary power. For example, each electronic speed controller can dynamically allocate the power ratio of the first wheel 11 and the second wheel 12 it controls based on factors such as terrain material and steep slope.

[0268] In one or more of the above embodiments, if the first electronic speed controller controls two first wheels 11 and the second electronic speed controller controls two second wheels 12, the total output power and / or heat dissipation power of the first and second electronic speed controllers may differ due to different operating conditions. In one or more of the above embodiments, if the design load of the first wheels 11 and the second wheels 12 changes during the preparation of the motion mechanism (for example, the first wheel 11 changes from low torque to high torque, and the second wheel 12 changes from high torque to low torque), it is necessary to change the connection method between the electronic speed controller and the motor, requiring long-distance wiring, increasing structural complexity, and increasing the degree of electromagnetic interference. In addition, if the motion mechanism is to adapt to the dynamic changes in the load of the first wheels 11 and the second wheels 12 during use, the output power and heat dissipation power of the two electronic speed controllers need to be designed according to the highest requirements, thereby increasing cost and design difficulty.

[0269] Based on this, in one or more embodiments of this specification, a first electronic speed controller controls the first wheel 11 and the second wheel 12 on one side, and a second electronic speed controller controls the first wheel 11 and the second wheel 12 on the other side. The electronic speed control design of the two electronic speed controllers is relatively symmetrical, and if the load on the first wheel 11 and the second wheel 12 changes, the circuit modifications are minimal. When the load on the first wheel 11 and the second wheel 12 dynamically changes during use, the total output power and total heat dissipation power of each electronic speed controller change little, resulting in lower design requirements.

[0270] In some application scenarios, motion mechanisms can be equipped with various sensors to achieve environmental perception (e.g., cameras, lasers, etc.). In some embodiments, sensors can be arranged at the front and rear ends of the body 10 to obtain a better field of view. In some embodiments, sensor data needs to be processed by integrated circuits, and due to limitations in signal transmission distance, the relevant integrated circuits need to be arranged close to the sensors. In some application scenarios, if two electronic speed controllers control the two first wheels 11 on the front side and the two second wheels 12 on the rear side respectively, the two electronic speed controllers need to be arranged at the front and rear sides of the body 10, which can easily cause electromagnetic interference with the sensors located at the front and rear ends. In one or more embodiments of this specification, the first electronic speed controller and the second electronic speed controller control the first wheel 11 and the second wheel 12 on the left side and the first wheel 11 and the second wheel 12 on the right side respectively. Therefore, the first electronic speed controller and the second electronic speed controller can be arranged on the left and right sides of the body 10, and they can be spaced at a reasonable distance from the sensors at the front and rear ends to reduce or avoid electromagnetic interference. At the same time, since the first electronic speed controller and the second electronic speed controller are arranged on the left and right sides of the body 10, sufficient space is provided for the arrangement of heat dissipation devices for the sensors and electronic speed controllers.

[0271] In one or more embodiments of this specification, a lawnmower robot is provided, which includes the motion mechanism described above. In some embodiments, the motion mechanism may include the floating link assembly described above, the omnidirectional wheels described above, the Mecanum wheels described above, the anti-slip mechanism described above, etc.

[0272] Figure 30 is a schematic flowchart illustrating a control method for a motion mechanism according to some embodiments of this specification. Referring to Figure 30, one or more embodiments of this specification provide a control method for a motion mechanism applicable to the aforementioned motion mechanism. In some embodiments, the control method for the motion mechanism may include the following steps.

[0273] Step s110: Determine the rotation center of the motion mechanism, and obtain the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism.

[0274] In some embodiments, the motion mechanism may include: a body 10, two first wheels 11 (e.g., two front wheels) disposed on the front side of the body 10, and two second wheels 12 (e.g., rear wheels) disposed on the rear side of the body 10. In some embodiments, the two first wheels 11 are symmetrically arranged on both sides of the centerline of the body 10, and the two second wheels 12 are symmetrically arranged on both sides of the centerline of the body 10. In some embodiments, the two first wheels 11 have a first angle with the centerline of the body 10, and the two second wheels 12 have a second angle with the centerline of the body 10.

[0275] In some embodiments, the rotation center can be determined based on the structure and travel strategy of the motion mechanism. In some embodiments, the structure of the motion mechanism refers to the type of the first wheel 11 and the second wheel 12, and the structure of the motion mechanism limits the postures that the motion mechanism can achieve during travel. In some embodiments, the travel strategy of the motion mechanism can be determined according to user needs. In some embodiments, the travel strategy of the motion mechanism can include at least the target working area of ​​the motion mechanism, the preset trajectory of the motion mechanism, and the execution trajectory from the geometric center point of the motion mechanism to the destination coordinates. In some embodiments, the motion mechanism can rotate around its geometric center, and the rotation center of the motion mechanism is its geometric center. In some use cases, the motion mechanism requires 180° turning, but the space in the forward direction of the motion mechanism is small, so the rotation center of the motion mechanism can be set to be located closer to the two second wheels 12. In other use cases, the rotation center of the motion mechanism can also be set to be located closer to the two first wheels 11.

[0276] In some embodiments, the rotation center of the motion mechanism can be determined by user input. In other embodiments, the rotation center of the motion mechanism can also be determined by rotation requirements within a preset route. In still other embodiments, the rotation center of the motion mechanism can be temporarily determined or changed based on environmental factors or unforeseen problems.

[0277] In some embodiments, the motion strategy of the motion mechanism is determined based on the usage scenario of the motion mechanism, the rotation center of the motion mechanism is determined based on the motion strategy of the motion mechanism, and the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism are further obtained based on the rotation center of the motion mechanism.

[0278] For example, the application scenario of the motion mechanism is linear motion, the rotation center of the motion mechanism can be the geometric center, the linear velocity of the rotation center of the motion mechanism can be the linear motion velocity of the motion mechanism, and the rotational angular velocity of the motion mechanism can be zero.

[0279] For example, the use case of the motion mechanism is turning in place. The rotation center of the motion mechanism can be the geometric center, the linear velocity of the rotation center of the motion mechanism can be zero, and the rotational angular velocity of the motion mechanism can be the required turning speed.

[0280] For example, the use case of the motion mechanism is steering. The rotation center of the motion mechanism can be set according to the steering trajectory. The linear velocity and steering speed of the rotation center of the motion mechanism can be determined according to factors such as the turning radius and the overall speed of completing the steering.

[0281] Step s120: Based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotation angular velocity of the motion mechanism, the rotation states of the two first wheels 11 and the two second wheels 12 are obtained respectively.

[0282] In some embodiments, the rotation state may include rotational speed and rotational direction. In some embodiments, the rotational speeds of the two first wheels 11, the rotational directions of the two first wheels 11, the rotational speeds of the two second wheels 12, and the rotational directions of the two second wheels 12 can be obtained based on the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism.

[0283] For example, the two first wheels 11 of the motion mechanism are omnidirectional wheels, and the two second wheels 12 are solid wheels. In this example, the motion mechanism is used for linear motion. The linear velocity of the center of rotation of the motion mechanism is the linear motion velocity of the motion mechanism, and the angular velocity of rotation of the motion mechanism is zero. Therefore, the rotation directions of the two first wheels 11 and the two second wheels 12 are both positive (e.g., the forward direction). The rotational speeds of the two first wheels 11 and the two second wheels 12 are determined based on the linear motion velocity.

[0284] For example, the two first wheels 11 and the two second wheels 12 of the motion mechanism are omnidirectional wheels. In this example, the motion mechanism is used for turning in place, the linear velocity of the center of rotation of the motion mechanism is zero, and the angular velocity of the motion mechanism is the required turning speed. In this scenario, the rotation direction of the outer first wheel 11 and the second wheel 12 can be positive (e.g., forward direction), and the rotation direction of the inner first wheel 11 and the second wheel 12 can be opposite (e.g., backward direction). The two first wheels 11 can have the same speed or a differential speed, and the two second wheels 12 can have the same speed or a differential speed.

[0285] Step s130: Based on the rotational states of the two first wheels 11 and the two second wheels 12 obtained respectively, drive the motion mechanism to move.

[0286] In some embodiments, based on the rotational speed and rotational direction of the two first wheels 11 and the two second wheels 12, the first hub motor 111 corresponding to each first wheel 11 and the second hub motor 121 corresponding to each second wheel 12 are instructed to work to drive the motion mechanism to achieve the motion planned by the travel strategy.

[0287] In some embodiments, in step s110, determining the rotation center of the motion mechanism may include: determining a rotation center selection range based on the type of the first wheel 11, the first included angle of the first wheel 11, the type of the second wheel 12, and the second included angle of the second wheel 12, and determining the rotation center of the motion mechanism from the rotation center selection range.

[0288] In some embodiments, determining a rotation center selection range based on the type of the first wheel 11, the first included angle of the first wheel 11, the type of the second wheel 12, and the second included angle of the second wheel 12 may include: obtaining a wear safety area for each first wheel 11 and a wear safety area for each second wheel 12 based on the type of the first wheel 11, the first included angle of the first wheel 11, the type of the second wheel 12, and the second included angle of the second wheel 12; and determining the rotation center selection range based on the superposition of the wear safety areas of the two first wheels 11 and the two second wheels 12.

[0289] In some embodiments, the type of the first wheel 11 and the type of the second wheel 12 include a solid wheel type, wherein the wear-safe area of ​​the solid wheel type is two fan-shaped areas with a common vertex arranged in a mirror image relative to the plane in which the wheel body is located.

[0290] In one or more embodiments of this specification, referring to Figure 31, the two first wheels 11 and two second wheels 12 of the motion mechanism are all solid wheels. When the motion mechanism rotates, each first wheel 11 and each second wheel 12 of the motion mechanism performs an arc motion around its respective center. The line connecting the center of the arc trajectory to the first wheel 11 or the second wheel 12 is A1. The axis of rotation of the first wheel 11 or the second wheel 12 is A2.

[0291] In some embodiments, during the rotation of the motion mechanism, in order to control (e.g., minimize) the wear or damage to the ground (e.g., lawn) caused by the circular motion of the first wheel 11 or the second wheel 12, the angle between the connecting line A1 and the rotation axis A2 shall not exceed the maximum deflection angle δ. max In other words, if the angle between line A1 and rotation axis A2 does not exceed the preset maximum deflection angle δ... max If this is the case, then the wear or damage to the ground caused by the motion mechanism during rotation is considered to be within a controllable or small range. In some embodiments, the maximum deflection angle δ maxIt can be set according to actual usage needs, such as based on ground conditions, the condition of the motion mechanism, or the effect of the motion mechanism in use.

[0292] In some embodiments, the wear safety zone for solid wheel types (e.g., the maximum deflection angle δ associated with the wear safety zone) max Parameters such as these can be preset and determined based on the pressure of the contact surface of the solid wheel, the tread design of the solid wheel, and / or the hardness of the road surface on which the motion mechanism travels.

[0293] In some embodiments, based on the maximum deflection angle δ max The determined deflectable range of the first wheel 11 or the second wheel 12 allows either the first wheel 11 or the second wheel 12 to deflect outwards or inwards, thereby forming a fan-shaped wear safety area. In some embodiments, the wear safety area can be two fan-shaped areas arranged mirror-images of the plane containing the wheel body, sharing a common vertex, with an included angle of 2δ. max .

[0294] Referring again to Figure 31, the shaded areas in Figure 31 show the respective wear safety zones for each first wheel 11 and each second wheel 12. In the embodiment shown in Figure 31, there is no first angle between the first wheel 11 and the centerline of the body 10 of the motion mechanism, and there is no second angle between the second wheel 12 and the centerline of the body 10 of the motion mechanism. In this embodiment, the four wear safety zones of the two first wheels 11 and the two second wheels 12 have no common area (i.e., the four wear safety zones do not overlap), so no matter where the center of rotation is determined, it is impossible to keep the wear or damage to the ground during rotation within a controllable or minimal range. In other words, in the relevant embodiment shown in Figure 31, the first wheel 11 without the first angle and the second wheel 12 without the second angle cannot achieve the effect of reducing wear and damage to the ground during operation.

[0295] In one or more embodiments of this specification, referring to Figure 32, the two first wheels 11 and two second wheels 12 of the motion mechanism are all solid wheels. When the motion mechanism rotates, each first wheel 11 and each second wheel 12 of the motion mechanism moves in an arc around its respective center. The shaded area in Figure 32 shows the wear safety area of ​​each first wheel 11 and each second wheel 12. In the embodiment shown in Figure 32, the first wheel 11 has a first angle with the center line of the body 10 of the motion mechanism, and the second wheel 12 has a second angle with the center line of the body 10 of the motion mechanism. In this embodiment, the four wear safety areas of the two first wheels 11 and the two second wheels 12 have a common area B1 (i.e., the overlapping part of the four wear safety areas, as shown by the solid frame line at the center of the body 10 in Figure 32), and the common area B1 is the range of the rotation center selection. When the rotation center is located inside the common area B1, the wear or damage to the ground caused by the motion mechanism during rotation is kept within a controllable or small range. In some embodiments, the rotation center selection range may be quadrilateral, such as a parallelogram, or a quadrilateral that is mirror-symmetric along the central axis.

[0296] In some embodiments, the type of the first wheel 11 and the type of the second wheel 12 include omnidirectional wheel types. The wear safety area for the omnidirectional wheel type is a global area.

[0297] In one or more embodiments of this specification, referring to Figure 33, both first wheels 11 of the motion mechanism are omnidirectional wheels, and both second wheels 12 of the motion mechanism are solid wheels. When the motion mechanism rotates, each second wheel 12 of the motion mechanism moves in an arc around its respective center. The shaded area in Figure 33 shows the wear safety area of ​​each second wheel 12. In the embodiment shown in Figure 33, there is a second included angle between the second wheel 12 and the center line of the body 10 of the motion mechanism. In this embodiment, the four wear safety areas of the two first wheels 11 and the two second wheels 12 have a common area B2 (i.e., the superposition of the four wear safety areas, as shown by the solid frame line at the center of the body 10 in Figure 32), and the common area B1 is the range of the rotation center selection. It should be noted that when the two first wheels 11 are omnidirectional wheels, since the wear safety area of ​​the omnidirectional wheel type is a global area, the common area B2 is actually the superposition of the two second wheels 12. When the center of rotation is located within the common area B2, the wear or damage to the ground caused by the motion mechanism during rotation is kept within a controllable or minimal range. In some embodiments, the area selected for the center of rotation may be quadrilateral, such as a parallelogram, or, for example, a quadrilateral that is mirror-symmetrical along the central axis.

[0298] In some embodiments, the rotation center of the motion mechanism can be determined from the rotation center selection range automatically based on the action strategy, or selected by the user from the rotation center selection range.

[0299] In other embodiments, in step s110, a rotation center selection range is determined based on the type of the first wheel 11, the first included angle of the first wheel 11, the type of the second wheel 12, the second included angle of the second wheel 12, and the center of gravity of the motion mechanism, and the rotation center of the motion mechanism is determined from the rotation center selection range.

[0300] In this embodiment, a preset rotation center selection range can be determined first based on the type of the first wheel 11, the first included angle of the first wheel 11, the type of the second wheel 12, and the second included angle of the second wheel 12. Then, based on the center of gravity of the motion mechanism, a rotation center selection range is determined from the preset rotation center selection range, and then the rotation center of the motion mechanism is determined from the rotation center selection range. In some embodiments, when the center of gravity of the motion mechanism changes due to changes in load (e.g., working parts), the maximum sideslip angle of the first wheel 11 and the second wheel 12 will change, and the optimal rotation center that does not wear down the ground will also shift. Therefore, it is necessary to adjust the position of the rotation center selection range according to the center of gravity, or to select the rotation center according to the center of gravity.

[0301] In this embodiment, determining the preset rotation center selection range can be similar to determining the common region B1 and the common region B2 in the previous embodiments, and will not be repeated here. In some embodiments, determining the rotation center selection range from the preset rotation center selection range based on the center of gravity of the motion mechanism may include determining a rotation center selection range close to the center of gravity of the motion mechanism from the preset rotation center range. For example, the rotation center selection range is divided into multiple block portions, and one or more block portions close to the center of gravity of the motion mechanism are selected from the multiple block portions. For example, the rotation center selection range is divided into multiple ring portions surrounding the center of gravity of the motion mechanism, such as multiple concentric ring portions, and one or more ring portions close to the center of gravity of the motion mechanism are selected from the multiple ring portions. In some embodiments, determining the rotation center of the motion mechanism from the rotation center selection range may be automatically set based on an action strategy, or it may be selected by the user from the rotation center selection range. In some embodiments, if the center of gravity of the rotation mechanism is located within the preset rotation center selection range, the center of gravity of the motion mechanism may be directly selected as the rotation center.

[0302] In some related embodiments, the center of rotation of the motion mechanism is the midpoint of the line connecting the two second wheels 12, which are solid wheels. In one or more embodiments of this specification, the center of rotation of the motion mechanism may be shifted forward based on the midpoint of the line connecting the two second wheels 12, which are omnidirectional wheels.

[0303] In some embodiments, a forward-shifted center of rotation can increase steering torque and reduce the probability of getting stuck when the wheels of the motion mechanism (e.g., the first wheel 11 and / or the second wheel 12) get stuck, slip, or encounter uneven terrain.

[0304] In some application scenarios, when a motion mechanism turns on a steep slope, the vertical movement of its center of gravity varies relative to different rotation centers. In some related embodiments, the rotation center of the two second wheels 12 using solid wheels is the midpoint of the line connecting the two second wheels 12, while the center of gravity is located between the first wheel 11 and the second wheel 12. When the motion mechanism turns upwards on a slope (e.g., the process of the motion mechanism rotating from a front-down posture to a front-up posture), the center of gravity of the motion mechanism shifts upwards, requiring the wheels to provide greater grip and increasing the risk of slippage. In one or more embodiments of this specification, the rotation center can be moved forward relative to the midpoint of the line connecting the two second wheels 12 using omnidirectional wheels, or even overlap with the center of gravity. The motion mechanism does not need to do extra work to shift the center of gravity upwards when turning on a slope, reducing the requirement for wheel grip. In some embodiments, if the rotation center is lower than the center of gravity, the center of gravity shifts downwards, further reducing the requirement for wheel grip.

[0305] In some embodiments, when the motion space is limited, a specifyable rotation center can increase the degree of freedom of the motion trajectory and reduce the probability that the motion mechanism will be trapped by obstacles.

[0306] For example, the problem with a motion mechanism where the second wheel 12 is a solid wheel in outdoor terrain is that the steering force is small and the traction force distribution between the two first wheels 11 and the two second wheels 12 is uneven, causing the first wheel 11 or the second wheel 12 to slip, resulting in loss of control of the motion mechanism and wear on the ground. In this embodiment, the steering torque of the motion mechanism can be improved by selecting the first included angle, the second included angle, and / or the rotation center.

[0307] In some embodiments, the steering torque of the motion mechanism of the second wheel 12 being a solid wheel is... Among them, F f F is the force generated by the first wheel 11 along the driving direction. b This refers to the force generated by the second wheel 12 along the driving direction; The angle (e.g., the first angle) between the direction of the driving force generated by the first wheel 11 and the direction of the central axis of the body 10; The angle between the direction of the driving force generated by the second wheel 12 and the direction of the central axis of the body 10 (e.g., the second angle); L is the length of the body 10; W f It is the width of the front side of the fuselage 10; W b It is the width of the rear side of the body 10; in this embodiment, Wf =W b The body 10 is rectangular. In this embodiment, the center of rotation is on the central axis of the body 10. In this embodiment, μ is the longitudinal distance of the center of rotation from the midpoint of the two second wheels 12.

[0308] Figure 38 illustrates the relationship between the steering torque, the rotation center offset, and the second included angle when the second wheel 12 is a solid wheel. In some embodiments, referring to Figure 38, the horizontal axis represents the longitudinal distance (i.e., μ) of the rotation center offset from the midpoint of the two second wheels 12, and the vertical axis represents the rotational torque. The four straight lines in Figure 38 correspond to the angles between the direction of the driving force generated by the second wheel 12 and the direction of the central axis of the body 10. The values ​​are the rotational torques at 0°, 10°, 20°, and 30°, respectively. The asterisks on each line in Figure 38 represent the farthest offset distance of the rotation center (i.e., the maximum value μ) without damaging the grass.

[0309] In some embodiments, when the second wheel 12 is a solid wheel, the driving force of the second wheel 12 is much greater than the driving force of the first wheel 11. This is relatively easy to achieve; the further the rotation center deviates from the midpoint of the two second wheels 12, the greater the steering torque. The maximum offset distance of the rotation center depends on the second included angle and the sideslip angle of the solid wheel (e.g., the second wheel 12). In some embodiments, the sideslip angle refers to the maximum angle between the direction of movement and the wheel orientation (e.g., the orientation of the second wheel 12) without damaging the grass. In some use cases, the sideslip angle of the solid wheel (e.g., the second wheel 12) on the lawn can be 20–30 degrees. Therefore, in some embodiments, the larger the second included angle of the solid wheel 12, the greater the steering torque. In some embodiments, when the second included angle is 20 degrees and the distance between the rotation center and the midpoint of the two second wheels 12 is 40% of the length of the body 10, the steering torque can be increased by 20–30% compared to a design with a second included angle of 0 degrees and the rotation center at the midpoint of the two second wheels 12.

[0310] For example, when both the first wheel 11 and the second wheel 12 of the motion mechanism are omnidirectional wheels, the motion mechanism can move in any direction. In this embodiment, since the grip generated by the omnidirectional wheel and the ground is less than that generated by the solid wheel and the ground, the motion mechanism may encounter difficulties in control due to insufficient grip when encountering one or more of slopes, slippery surfaces, and uneven terrain. To overcome this problem, the present invention proposes to satisfy the following conditions in the design of the first and second included angles: Among them, G i β represents the direction of gravity of the wheel (e.g., first wheel 11 or second wheel 12); β is the coefficient of friction of the omnidirectional wheel on the ground. ρ is the angle between the omnidirectional wheel and the central axis of the body 10 (e.g., the first angle or the second angle); p is the slope of the ground. For example, in some embodiments, when both the first and second angles are 45°, the motion mechanism has a more balanced grip when the slope is facing different directions.

[0311] In some usage scenarios, such as in off-road environments, the required grip in different directions may vary for the motion mechanism. In some embodiments, the motion mechanism may require greater longitudinal grip to cope with harsh environments such as slopes, uneven terrain, and / or slippery grass. Simultaneously, lateral translation may be less necessary; simply preventing slippage on slopes is sufficient. In this usage scenario, both the first and second angles can be less than 45 degrees to achieve stronger off-road capability, for example, meeting the requirements...

[0312] In some embodiments, the center of rotation can be selected as the center of the vehicle body. In other embodiments, for example, when the motion mechanism rotates on a slope, the relative position of the center of rotation and the center of gravity of the motion mechanism will affect the controllability of the motion mechanism. In this embodiment, if the center of gravity shifts upward during rotation, the four omnidirectional wheels need to provide greater grip, which may lead to difficulty in control due to slippage. In this embodiment, if the center of rotation and the center of gravity overlap, or if the center of rotation is lower than the center of gravity, the risk of slippage can be reduced.

[0313] In some embodiments, in step s110, the rotation center of the motion mechanism can be specified based on the rotation space that restricts its rotation. In some embodiments, the motion mechanism may be located in a usage scenario where the travel strategy is difficult to plan, such as when the motion mechanism is stuck in the environment or when there is insufficient rotation space. In this case, the user can take over the movement of the motion mechanism as needed and specify the rotation center of the motion mechanism, thereby helping the motion mechanism to get out of the stuck space, or directly operating the motion mechanism to get out of the stuck space.

[0314] In some embodiments, in step s110, obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism may include: obtaining a preset travel trajectory of the motion mechanism based on the target working area of ​​the motion mechanism, obtaining the current coordinates of the geometric center point of the motion mechanism, selecting the destination coordinates of the geometric center point of the motion mechanism from the preset travel trajectory; obtaining an execution trajectory that enables the geometric center point of the motion mechanism to reach the destination coordinates, and obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism based on the execution trajectory.

[0315] In some embodiments, obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism may include: obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism based on user input signals.

[0316] In some embodiments, in step s120, obtaining the rotational states of the two first wheels 11 and the two second wheels 12 based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotational angular velocity of the motion mechanism may include: obtaining the rotational speed of the wheel body, wherein the wheel body is the first wheel 11 or the second wheel 12, the first wheel 11 includes the left front wheel and the right front wheel, and the second wheel 12 includes the left rear wheel and the right rear wheel.

[0317] In some embodiments, as shown in Figure 34, the rotational speed of the wheel is: Where ω is the rotational speed of the wheel; R is the radius of rotation of the wheel; δ is the angle between the actual direction of motion of the wheel and the plane in which the wheel is located; and V is the linear velocity of the rotation center of the motion mechanism. π represents the first or second included angle of the wheel; π is the radius of the wheel.

[0318] For example, for the right front wheel, when the motion mechanism moves at coordinate (O) x O y When the right front wheel (one of the two first wheels 11) rotates around the center, the angle between the direction of motion of the right front wheel relative to the ground and the front of the motion mechanism is:

[0319] In this example, the sideslip angle of the right front wheel (e.g., the angle between the actual direction of movement of the right front wheel and the plane of the right front wheel) is: in, This refers to the deflection angle of the front wheels. In this embodiment, the left and right front wheels have the same deflection angle. In other embodiments, the left and right front wheels may have independent deflection angles.

[0320] In this example, the radius of rotation of the right front wheel is: Among them, W f This refers to the front wheel track. The front wheel track is a fixed value after the two front wheels are assembled.

[0321] In this example, given the linear velocity V and angular velocity ω of the motion mechanism, the rotational speed of the right front wheel is:

[0322] It should be noted that in this formula, the rotational speed ω of the right front wheel... rf =V rf / π f Among them, V rf Let π be the linear velocity of the right front wheel. f The radius of the front wheels (the radius of the left and right front wheels is the same). The linear velocity of the right front wheel is V. rf =V rf1 +V rf2 ;in, Its physical meaning is the linear velocity (ωR) of the motion mechanism at the right front wheel, formed by the rotational angular velocity of the motion mechanism. rf In the direction of the right front wheel's deflection ( / cos(δ)) rf The amount of )); Its physical meaning is the linear velocity (V) of the motion mechanism in the direction of deflection of the right front wheel. The component of the equation. The rotational speed ω of the right front wheel can be obtained by iterating the above formula. rf .

[0323] For example, for the right rear wheel, when the motion mechanism moves at coordinate (O) x O y When the right rear wheel (one of the two second wheels 12) rotates around the center, the angle between the direction of motion of the right rear wheel relative to the ground and the front of the motion mechanism is:

[0324] In this example, the sideslip angle of the right rear wheel (e.g., the angle between the actual direction of movement of the right rear wheel and the plane of the right rear wheel) is: in, This refers to the deflection angle of the rear wheels. In this embodiment, the left and right rear wheels have the same deflection angle. In other embodiments, the left and right rear wheels may have independent deflection angles.

[0325] In this example, the radius of rotation of the right rear wheel is: Among them, W b This refers to the rear wheel track. The rear wheel track is a fixed value after the two rear wheels are assembled.

[0326] In this example, given the linear velocity V and angular velocity ω of the motion mechanism, the rotational speed of the right rear wheel is:

[0327] It should be noted that in this formula, the rotational speed ω of the right rear wheel... rb =V rb / π b Among them, V rb Let π be the linear velocity of the right rear wheel. b The radius of the rear wheel (the radius of the left rear wheel is the same as that of the right rear wheel). The linear velocity V of the right rear wheel. rb =V rb1 +V rb2 ;in, Its physical meaning is the linear velocity (ωR) of the motion mechanism at the right rear wheel, formed by the rotational angular velocity of the motion mechanism. rb In the direction of the right rear wheel's deflection ( / cos(δ)) rb The amount of )); Its physical meaning is the linear velocity (V) of the motion mechanism in the direction of the right rear wheel's deflection. The component of the equation. The rotational speed ω of the right rear wheel can be obtained by iterating the above formula. rb .

[0328] For example, for the left front wheel, when the motion mechanism moves at coordinate (O) x O y When the left front wheel (the other of the two first wheels 11) rotates around the center, the angle between the direction of motion of the left front wheel relative to the ground and the front of the motion mechanism is:

[0329] In this example, the sideslip angle of the left front wheel (e.g., the angle between the actual direction of movement of the left front wheel and the plane of the left front wheel) is: in, This refers to the deflection angle of the front wheels. In this embodiment, the left and right front wheels have the same deflection angle. In other embodiments, the left and right front wheels may have independent deflection angles.

[0330] In this example, the radius of rotation of the left front wheel is: Among them, W f This refers to the front wheel track. The front wheel track is a fixed value after the two front wheels are assembled.

[0331] In this example, given the linear velocity V and angular velocity ω of the motion mechanism, the rotational speed of the left front wheel is:

[0332] It should be noted that in this formula, the rotational speed ω of the left front wheel... lf =V lf / π f Among them, V lf Let π be the linear velocity of the left front wheel. f The radius of the front wheels (the radius of the left front wheel is the same as that of the right front wheel). The linear velocity of the left front wheel is V. lf =V lf1 +V lf2 ;in, Its physical meaning is the linear velocity (ωR) of the motion mechanism at the left front wheel, formed by the rotational angular velocity of the motion mechanism. lf In the direction of deflection of the left front wheel ( / cos(δ)) lf The amount of )); Its physical meaning is the linear velocity (V) of the motion mechanism in the direction of deflection of the left front wheel. The component of the equation. The rotational speed ω of the left front wheel can be obtained by iterating the above formula. lf .

[0333] For example, for the left rear wheel, when the motion mechanism moves at coordinate (O) x O yWhen the left rear wheel (the other of the two second wheels 12) rotates around the center, the angle between the direction of motion of the left rear wheel relative to the ground and the front of the motion mechanism is:

[0334] In this example, the sideslip angle of the left rear wheel (e.g., the angle between the actual direction of movement of the left rear wheel and the plane of the left rear wheel) is: in, This refers to the deflection angle of the rear wheels. In this embodiment, the left and right rear wheels have the same deflection angle. In other embodiments, the left and right rear wheels may have independent deflection angles.

[0335] In this example, the radius of rotation of the left rear wheel is: Among them, W b This refers to the rear wheel track. The rear wheel track is a fixed value after the two rear wheels are assembled.

[0336] In this example, given the linear velocity V and angular velocity ω of the motion mechanism, the rotational speed of the left rear wheel is:

[0337] It should be noted that in this formula, the rotational speed ω of the left rear wheel... rb =V rb / π b Among them, V rb Let π be the linear velocity of the left rear wheel. b The radius of the rear wheel (the radius of the left rear wheel is the same as that of the right rear wheel). The linear velocity V of the left rear wheel. rb =V rb1 +V rb2 ;in, Its physical meaning is the linear velocity (ωR) of the motion mechanism at the left rear wheel, formed by the rotational angular velocity of the motion mechanism. rb In the direction of deflection of the left rear wheel ( / cos(δ)) rb The amount of )); Its physical meaning is the linear velocity (V) of the motion mechanism in the direction of deflection of the left rear wheel. The component of the equation. The rotational speed ω of the left rear wheel can be obtained by iterating the above formula. rb .

[0338] In one or more embodiments of this specification, the control method further includes adjusting a first angle and / or a second angle based on changes in the load of the motion mechanism. In some embodiments, adjusting the first angle and / or the second angle based on changes in the load of the motion mechanism may include reducing the first angle when the center of gravity of the motion mechanism and its load is close to the first wheel 11, so that the rotation center selection range can be close to or cover the center of gravity. In some embodiments, adjusting the first angle and / or the second angle based on changes in the load of the motion mechanism may further include reducing the second angle when the center of gravity of the motion mechanism and its load is close to the second wheel 12, so that the rotation center selection range can be close to or cover the center of gravity.

[0339] In one or more embodiments of this specification, the control method further includes: adjusting at least one of a first angle and a second angle based on the working state of the motion mechanism. In some embodiments, adjusting at least one of the first angle and the second angle based on the working state of the motion mechanism may include: when the motion mechanism is in a climbing state, reducing at least one of the first angle and the second angle to avoid the possibility of sideslipping, while increasing the driving force in the forward direction.

[0340] In one or more embodiments of this specification, the first wheel 11 is an omnidirectional wheel, and the second wheel 12 is a solid wheel. The control method further includes adjusting a second included angle based on the steering torque requirement, wherein the second included angle is less than or equal to the sideslip angle of the second wheel 12. In some embodiments, adjusting the second included angle based on the steering torque requirement may include increasing the size of the second included angle to increase the steering torque. In some embodiments, to ensure that the grass is not abraded when driving straight, the second included angle needs to be less than or equal to the sideslip angle of the second wheel 12. In some embodiments, the sideslip angle of the second wheel 12 is determined based on the tread pattern and ground pressure of the second wheel 12. In some embodiments, the sideslip angle of the second wheel 12 may be determined experimentally.

[0341] Figure 35 is a schematic diagram of some tire treads of a second wheel 12 using a solid wheel according to some embodiments of this specification. In some embodiments, referring to Figure 35, when the tire tread of the second wheel 12 is shallow, or the angle between the tire tread of the second wheel 12 and the axis of rotation of the second wheel 12 is small, or the number of tire treads on the second wheel 12 is small, or the ends of the tire tread of the second wheel 12 are relatively smooth, the sideslip angle of the second wheel 12 is large. In these embodiments, the second angle can also be selected with a correspondingly larger value. Specific selection methods and examples can be referred to Figure 38 and its description, and will not be repeated here.

[0342] Figure 36 is a schematic diagram of some other tread patterns of a second wheel 12 using a solid wheel, according to some embodiments of this specification. In some embodiments, referring to Figure 36, the sideslip angle of the second wheel 12 is smaller when the tread pattern of the second wheel 12 is deeper, or the angle between the tread pattern of the second wheel 12 and the axis of rotation of the second wheel 12 is larger, or the number of tread patterns on the second wheel 12 is greater, or the second wheel 12 is closer to a cylindrical shape. In these embodiments, the second angle can also be selected with a correspondingly smaller value. Specific selection methods and examples can be found in Figure 38 and its description, and will not be repeated here.

[0343] Figure 37 is a schematic diagram of the motion mechanism according to some embodiments of this specification. Referring to Figure 37, the motion mechanism may include a first wheel group and a second wheel group, which are respectively connected to the front and rear ends of the body 10. The first wheel group includes two first wheels 11 symmetrically arranged on both sides of the centerline of the body 10. The second wheel group includes two second wheels 12 symmetrically arranged on both sides of the centerline of the body 10. At least one of the first wheels 11 has a first angle with the centerline of the body 10, and / or at least one of the second wheels 12 has a second angle with the centerline of the body 10. In some embodiments, the motion mechanism may further include a parameter acquisition module, a rotation state acquisition module, and a drive module.

[0344] In some embodiments, the parameter acquisition module is used to determine the rotation center of the motion mechanism and acquire the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism.

[0345] In some embodiments, the rotation state acquisition module is used to acquire the rotation states of the two first wheels 11 and the two second wheels 12 based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotation angular velocity of the motion mechanism.

[0346] In some embodiments, the drive module is used to drive the motion mechanism based on the rotational states of the two first wheels 11 and the two second wheels 12, which are respectively acquired.

[0347] For more details on each module, please refer to the relevant descriptions in Figures 1 to 36, which will not be repeated here. It should be understood that the system and its modules shown in Figure 35 can be implemented in various ways.

[0348] For example, in some embodiments, the system and its modules can be implemented using hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the methods and systems described above can be implemented using computer-executable instructions and / or included in the control code of a processor, such as code provided in the memory of a programmable device on a media such as a disk, CD, or DVD-ROM. The systems and modules of this specification can be implemented not only with hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips and transistors, or programmable hardware devices such as field-programmable gate arrays and programmable logic devices, but also with software, for example, executed by various types of processors, or with a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0349] It should be noted that the above description of the system and its modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of this system, may arbitrarily combine the various modules without departing from these principles to form subsystems connected to other modules. Alternatively, some modules may be split to obtain more modules or multiple units under a single module. Such modifications are all within the scope of this specification.

[0350] In one or more embodiments of this specification, a computer program product is also provided, including computer instructions or computer code, which, when at least a portion of the computer instructions or computer code is executed by a processor, enables the implementation of the aforementioned control method for the motion mechanism. In some embodiments, the computer program product may involve only computer instructions or computer code, and may be carried on a storage medium or processing device. In other embodiments, the computer program product may be a storage medium or processing device containing the aforementioned computer instructions or computer code. The processing device may include one or more processors, and the storage medium.

[0351] In some embodiments, the processor may be a combination of one or more of the following processors: central processing unit (CPU), application-specific integrated circuit (ASIC), application-specific instruction set processor (ASIP), graphics processing unit (GPU), physical processing unit (PPU), digital signal processor (DSP), field-programmable gate array (FPGA), programmable logic device (PLD), programmable logic controller (PLC), reduced instruction set computer (RISC), and microprocessor.

[0352] In some embodiments, the storage medium may include one or more combinations of the following: mass storage, removable storage, volatile read-write memory, and read-only memory (ROM). Exemplary mass storage may include disks, optical disks, solid-state drives, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compressed hard disks, magnetic tapes, etc. Exemplary volatile read-write memory may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), dual data rate synchronous dynamic random access memory (DDRSDRAM), static random access memory (SRAM), silicon controlled retrieval memory (T-RAM), and zero-capacitance memory (Z-RAM), etc. Exemplary read-only memory may include masked read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compressed hard disk read-only memory (CD-ROM), and digital multifunction hard disk read-only memory, etc.

[0353] 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, Includes the main body (10), 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 two first wheels (11), which are symmetrically arranged on both sides of the center line of the body (10); The second wheel assembly includes two second wheels (12), which are symmetrically arranged on both sides of the center line of the body (10); At least one of the first wheels (11) has a first angle with the centerline of the body (10), and / or at least one of the second wheels (12) has a second angle with the centerline of the body (10).

2. The motion mechanism according to claim 1, characterized in that, The two first wheels (11) have a first angle with the center line of the body (10), the front end of the first wheel (11) is close to the center line of the body (10), and the rear end of the first wheel (11) is far away from the center line of the body (10).

3. The motion mechanism according to claim 1, characterized in that, The two second wheels (12) have a second included angle with the center line of the body (10), the front end of the second wheel (12) is away from the center line of the body (10), and the rear end of the second wheel (12) is close to the center line of the body (10).

4. The motion mechanism according to claim 1, characterized in that, The first wheel (11) is configured to float up and down relative to the body (10).

5. The motion mechanism according to claim 4, characterized in that, The motion mechanism includes a linkage assembly (2), the middle part of which is rotatably connected to the front end of the body (10), and the linkage assembly (2) is configured to drive the two first wheels (11) to float up and down.

6. The motion mechanism according to claim 5, characterized in that, Each of the two first wheels (11) is equipped with a first hub motor (111), and the motor shaft (1111) of the first hub motor (111) is directly or indirectly fixedly connected to the connecting rod assembly (2). The connecting rod assembly (2) includes a connecting beam (21), with one of the first wheels (11) connected to each end of the connecting beam (21). One of the rotating shaft sleeve (211) and the rotating shaft (212) is provided in the middle of the connecting beam (21). The other of the rotating shaft sleeve (211) and the rotating shaft (212) is provided on the machine body (10) along the center line. The rotating shaft (212) is inserted into the rotating shaft sleeve (211).

7. The motion mechanism according to claim 6, characterized in that, The connecting rod assembly (2) also includes two motor mounting plates (22), each of which has a first groove (221). The two ends of the connecting beam (21) have second grooves (213). The first groove (221) and the second groove (213) cooperate to form a space for accommodating the motor shaft (1111). The motor mounting plate (22) is used to cooperate with the end of the connecting beam (21) to clamp the motor shaft (1111).

8. The motion mechanism according to claim 7, characterized in that, The motor shaft (1111) is provided with 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).

9. The motion mechanism according to claim 5, characterized in that, The linkage assembly (2) includes a connecting beam (21), a left wheel connector (23), a right wheel connector (24), and a body connector (25); One of the rotating shaft sleeve (211) and the rotating shaft (212) is provided at the middle position of the body connector (25). The other of the rotating shaft sleeve (211) and the rotating shaft (212) is provided on the body (10) along the center line. The rotating shaft (212) is inserted into the rotating shaft sleeve (211). The connecting beam (21) is detachably connected to the body connector (25). The two ends of the connecting beam (21) are detachably connected to the left wheel connector (23) and the right wheel connector (24) respectively. The left wheel connector (23) and the right wheel connector (24) are respectively configured to detachably connect to one of the first wheels (11).

10. The motion mechanism according to claim 9, characterized in that, The body connector (25) has a third groove (251) for accommodating the connecting beam (21), the length direction of the third groove (251) being perpendicular to the center line, and a first mounting plate (252) is also provided on the body connector (25), and the connecting beam (21) is clamped between the first mounting plate (252) and the body connector (25).

11. The motion mechanism according to claim 10, characterized in that, The left wheel connector (23) has a fourth groove (231) for accommodating the connecting beam (21), the fourth groove (231) extends toward the body connector (25) in a direction perpendicular to the center line, the left wheel connector (23) is provided with a second mounting plate (232), and the connecting beam (21) is clamped between the second mounting plate (232) and the left wheel connector (23); 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. The right wheel connector (24) is provided with a third mounting plate (242). The connecting beam (21) is clamped between the third mounting plate (242) and the right wheel connector (24).

12. The motion mechanism according to claim 11, characterized in that, At least one weight-reducing hole (26) is provided on both the left wheel connector (23) and the right wheel connector (24).

13. The motion mechanism according to claim 1, characterized in that, Both first wheels (11) are omnidirectional wheels, and both second wheels (12) are either omnidirectional wheels or solid wheels.

14. The motion mechanism according to claim 13, characterized in that, The omnidirectional wheel includes a roller retainer (31), which includes a support portion (311) and a first mounting portion (312). The support portion (311) has a first connecting end face (3111). 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). 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) are on the same plane. A first receiving groove (3122) is provided on the first mounting portion (3122). The first receiving groove (3122) extends from the first mounting end face (3121) into the interior of the first mounting portion (312). A first end cap (32) is detachably connected to the roller holder (31) and is located on the side close to the first connecting end face (3111). The first end cap (32) is configured to close the first receiving groove (3122) to form a first mounting hole (3123), the opening of which faces the first mounting space (313). A roller assembly (33) is disposed in the first mounting space (313). The roller assembly (33) includes a roller shaft (331) and a roller wheel (332). Both ends of the roller shaft (331) are respectively fixed in a first mounting hole (3123). The roller wheel (332) is sleeved on the roller shaft (331) and configured to rotate relative to the roller shaft (331). The axis of the roller shaft (331) is perpendicular to the axis of the roller holder (31).

15. The motion mechanism according to claim 14, characterized in that, The support portion (311) has a second connecting end face (3112). Multiple second mounting portions (314) are spaced apart in the circumferential direction of the support portion (311). A second mounting space (315) is formed between two adjacent second mounting portions (314). Each second mounting portion (314) has a second mounting end face (3141), which is parallel to and far 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 portion (314), extending from the second mounting end face (3141) into the interior of the second mounting portion (314). The omnidirectional... The wheel also includes a second end cap (35), which is detachably connected to the roller holder (31) and 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 which faces the second mounting space (315). The 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), and the roller wheel (332) is sleeved on the roller shaft (331).

16. The motion mechanism according to claim 15, characterized in that, The first mounting part (312) and the second mounting part (314) are arranged crosswise in the circumferential direction of the support part (311).

17. The motion mechanism according to claim 15, characterized in that, The first mounting portion (312) extends from the first mounting end face (3121) toward the direction close 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 close to the first mounting end face (3121), and the cross-sectional area of ​​the second mounting portion (314) gradually decreases.

18. The motion mechanism according to claim 14, characterized in that, The roller assembly (33) also includes two bearings (333), one of which is located near the front end of the roller shaft (331) and the other is located near the rear end of the roller shaft (331), the bearings (333) being located between the roller shaft (331) and the roller wheel (332).

19. The motion mechanism according to claim 18, characterized in that, The roller (332) includes a hard roller core (3321) and a soft roller skin (3322). The hard roller core (3321) is sleeved around the roller shaft (331), and the soft roller skin (3322) is sleeved around the hard roller core (3321) and configured to rotate together with the hard roller core (3321) relative to the roller shaft (331).

20. The motion mechanism according to claim 19, characterized in that, 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). The two ends of the roller shaft (331) extend from one of the second cavities (33212).

21. The motion mechanism according to claim 20, characterized in that, 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).

22. The motion mechanism according to claim 15, characterized in that, 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). 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).

23. The motion mechanism according to claim 13, characterized in that, The omnidirectional wheel includes: a wheel body (41) and a roller assembly (42); the wheel body (41) includes a first support part (411) and a second support part (412) arranged side by side and coaxially. The first support portion (411) is provided with a plurality of first mounting portions (4111) spaced apart along the circumferential direction. The interior of the first mounting portion (4111) is hollowed out. A first mounting space (4112) for accommodating the roller assembly (42) is formed between two adjacent first mounting portions (4111). Each first mounting portion (4111) is provided with a first protrusion (4113) extending into the first mounting space (4112). The first protrusion (4113) is rotatably connected to the roller assembly (42). The second support portion (412) is provided with a plurality of second mounting portions (4121) spaced apart along the circumference. The interior of the second mounting portion (4121) is hollowed out. A second mounting space (4122) for accommodating the roller assembly (42) is formed between two adjacent second mounting portions (4121). Each second mounting portion (4121) is provided with a second protrusion (4123) extending into the second mounting space (4122). The second protrusion (4123) is rotatably connected to the roller assembly (42). The roller assembly (42) includes a roller body (421), which includes a first cylinder (4211) and a second cylinder (4212) that are detachably connected to each other. The interiors of the first cylinder (4211) and the second cylinder (4212) are both hollowed out. The axis of the roller body (421) is perpendicular to the axis of the wheel body (41).

24. The motion mechanism according to claim 23, characterized in that, The first cylindrical body (4211) has a first rib (42111) arranged axially inside, a second rib (42112) perpendicular to the first rib (42111) is arranged at the middle position inside the first cylindrical body (4211), a third rib (42121) is arranged axially inside the second cylindrical body (4212), and a fourth rib (42122) perpendicular to the third rib (42121) is arranged at the middle position inside the second cylindrical body (4212).

25. The motion mechanism according to claim 23, characterized in that, The first cylindrical body (4211) is provided with a first positioning post (42113) and a first positioning hole (42114) inside. The second cylindrical body (4212) is provided with a second positioning hole (42123) that cooperates with the first positioning post (42113) and a second positioning post (42124) that cooperates with the first positioning hole (42114) inside.

26. The motion mechanism according to claim 23, characterized in that, The roller assembly (42) further includes a roller sleeve (422) sleeved around the roller body (421), the roller sleeve (422) being configured to rotate with the roller body (421).

27. The motion mechanism according to claim 26, characterized in that, The outer surface of the roller body (421) is provided with a plurality of annular recesses (4213) along the axial direction, and 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 a plurality of annular limiting protrusions (4221) that are adapted to the recess (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 recess (4213) to restrict the movement of the roller sleeve (422) relative to the roller body (421).

28. The motion mechanism according to claim 27, characterized in that, The cross-section of the roller sleeve (422) is spindle-shaped with a larger middle and smaller ends along its axial direction.

29. The motion mechanism according to claim 23, characterized in that, The first mounting part (4111) and the second mounting part (4121) are arranged crosswise in the circumferential direction of the wheel body (41).

30. The motion mechanism according to claim 23, characterized in that, The first support part (411) and the second support part (412) are integrally formed.

31. The motion mechanism according to claim 23, characterized in that, The first support part (411) and the second support part (412) are detachably connected.

32. The motion mechanism according to claim 13, characterized in that, The omnidirectional wheel includes: a wheel body (41) and a roller assembly (42); the wheel body includes a support portion, a first mounting portion (4111) and a second mounting portion (4121); 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, and the plurality of first mounting portions (4111) and the plurality of second mounting portions (4121) are arranged side by side; 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 arranged alternately.

33. The motion mechanism according to claim 32, characterized in that, 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).

34. The motion mechanism according to claim 32, characterized in that, The wheel body includes the support portion and a first end cap and a second end cap disposed on both sides of the support portion; The first end cap covers the support portion and the first mounting portion, and the second end cap covers the support portion and the second mounting portion.

35. The motion mechanism according to claim 32, characterized in that, 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.

36. The motion mechanism according to claim 35, characterized in that, The outer inclined surface (400a) and the inner inclined surface (400b) are arranged symmetrically with respect to a radial plane of the wheel body (41).

37. The motion mechanism according to claim 35, characterized in that, 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).

38. The motion mechanism according to any one of claims 35 to 37, characterized in that, The inner inclined surface of the first mounting portion (4111) extends into the second mounting space (4122); And / or, the inner slope of the second mounting portion (4121) extends into the first mounting space (4112).

39. The motion mechanism according to claim 2, characterized in that, The first wheel (11) is configured to adjust its corresponding first included angle relative to the body (10).

40. The motion mechanism according to claim 39, characterized in that, The body (10) includes: a connecting rod assembly (2), each of the two ends of the connecting rod assembly (2) is provided with a plurality of first wheel axle holes, and the motor shaft (1111) of the first wheel hub motor (111) of the first wheel (11) is fixed inside the first wheel axle hole; The multiple first wheel axle holes have different orientations. When the motor shaft (1111) of the first wheel hub motor (111) of the first wheel (11) is installed into one of the first wheel axle holes, the first wheel (11) has a preset first included angle with the center line of the body (10).

41. The motion mechanism according to claim 39, characterized in that, The body (10) includes: a connecting rod assembly (2), each of the two ends of the connecting rod assembly (2) is provided with a first angle adjustment mechanism, and the motor shaft (1111) of the first hub motor (111) of the first wheel (11) is fixed to the connecting rod assembly (2) through the first angle adjustment mechanism; The first angle adjustment mechanism includes an end gear or a steering servo.

42. The motion mechanism according to claim 1, characterized in that, The angle of the first included angle is equal to the angle of the second included angle; or the angle of the first included angle is not equal to the angle of the second included angle.

43. The motion mechanism according to claim 1, characterized in that, The angle of the first included angle is 15 to 45°, and the angle of the second included angle is 10 to 45°; Alternatively, the first included angle is 15 to 45°, and the second included angle is 5 to 30°.

44. The motion mechanism according to claim 1, characterized in that, At least one of the first wheels (11) has a first tilt angle with the transverse plane where the body (10) is located, and / or at least one of the second wheels (12) has a second tilt angle with the transverse plane where the body (10) is located.

45. The motion mechanism according to claim 44, characterized in that, The two first wheels (11) have a first tilt angle between the two first wheels (11) and the transverse plane where the body (10) is located. The upper end of the first wheel (11) is close to the center line of the body (10), and the lower end of the first wheel (11) is far away from the center line of the body (10).

46. ​​The motion mechanism according to claim 44, characterized in that, The two second wheels (12) have a second tilt angle between them and the transverse plane of the body (10), with the upper end of the second wheel (12) close to the center line of the body (10) and the lower end of the second wheel (12) far away from the center line of the body (10).

47. The motion mechanism according to claim 1, characterized in that, The outer side of the first wheel (11) and / or the second wheel (12) is detachably provided with an anti-slip mechanism, which is used to prevent the lateral displacement of the first wheel (11) and / or the second wheel (12).

48. The motion mechanism according to claim 47, characterized in that, The anti-skid mechanism includes a disc-shaped structure installed on the side of the first wheel (11) or the second wheel (12), the outer edge of the disc-shaped structure protruding or flush with the outer peripheral surface of the first wheel (11) or the second wheel (12).

49. The motion mechanism according to claim 47, characterized in that, The anti-skid mechanism includes a plurality of rod-shaped structures (5) arranged in a ring array and installed on the side of the first wheel (11) or the second wheel (12), the outer edge of the rod-shaped structures (5) protruding from the outer peripheral surface of the first wheel (11) or the second wheel (12).

50. The motion mechanism according to claim 1, characterized in that, Also includes: A first electronic speed controller and a second electronic speed controller, wherein the first electronic speed controller is used to control the first wheel (11) and the second wheel (12) located on the first side of the body (10), and the second electronic speed controller is used to control the first wheel (11) and the second wheel (12) located on the second side of the body (10).

51. A lawnmower robot, characterized in that, Includes the motion mechanism described in any one of claims 1 to 50.

52. A method for controlling a motion mechanism, characterized in that, The control method, applicable to any one of claims 1 to 50, comprises: Determine the rotation center of the motion mechanism, and obtain the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism; The rotational states of the two first wheels (11) and the two second wheels (12) are obtained based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotational angular velocity of the motion mechanism, respectively. The motion mechanism is driven based on the rotational states of the two first wheels (11) and the two second wheels (12) obtained respectively.

53. The control method according to claim 52, characterized in that, The rotational state includes at least one of rotational speed and rotational direction.

54. The control method according to claim 52, characterized in that, Determining the rotation center of the motion mechanism includes: Based on the type of the first wheel (11), the first included angle of the first wheel (11), the type of the second wheel (12), and the second included angle of the second wheel (12), a rotation center selection range is determined, and the rotation center of the motion mechanism is determined from the rotation center selection range; Alternatively, based on the type of the first wheel (11), the first included angle of the first wheel (11), the type of the second wheel (12), the second included angle of the second wheel (12), and the center of gravity of the motion mechanism, a rotation center selection range is determined, and the rotation center of the motion mechanism is determined from the rotation center selection range; Alternatively, the rotation center of the motion mechanism may be specified based on the rotation space that restricts the rotation of the motion mechanism.

55. The control method according to claim 54, characterized in that, The determination of a rotation center selection range based on the type of the first wheel (11), the first included angle of the first wheel (11), the type of the second wheel (12), and the second included angle of the second wheel (12) includes: Based on the type of the first wheel (11), the first included angle of the first wheel (11), the type of the second wheel (12), and the second included angle of the second wheel (12), the wear safety area of ​​each first wheel (11) and the wear safety area of ​​each second wheel (12) are obtained; The range of the rotation center selection is determined based on the superposition of the wear safety areas of the two first wheels (11) and the wear safety areas of the two second wheels (12).

56. The control method according to claim 55, characterized in that, The types of the first wheel (11) and the second wheel (12) include solid wheel types, wherein the wear safety area of ​​the solid wheel type is two fan-shaped areas with a common vertex arranged in a mirror image with respect to the plane in which the wheel body is located; And / or, the type of the first wheel (11) and the type of the second wheel (12) include an omnidirectional wheel type, wherein the wear safety area of ​​the omnidirectional wheel type is a global area.

57. The control method according to claim 56, characterized in that, The wear safety zone for the solid wheel type is predetermined based on the pressure of the contact surface of the solid wheel, the tread design of the solid wheel, and / or the hardness of the road surface on which the moving mechanism travels.

58. The control method according to claim 52, characterized in that, The process of obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism includes: Based on the target working area of ​​the motion mechanism, obtain the preset driving trajectory of the motion mechanism, obtain the current coordinates of the geometric center point of the motion mechanism, and select the destination coordinates of the geometric center point of the motion mechanism from the preset driving trajectory. Obtain the execution trajectory that allows the geometric center point of the motion mechanism to reach the destination coordinates, and obtain the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism based on the execution trajectory.

59. The control method according to claim 52, characterized in that, The process of obtaining the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism includes: The linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism are obtained based on the user's input signal.

60. The control method according to claim 52 or 53, characterized in that, The method of obtaining the rotational states of the two first wheels (11) and the two second wheels (12) based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotational angular velocity of the motion mechanism includes: The rotational speed of the wheel is obtained, wherein the wheel is either the first wheel (11) or the second wheel (12), the first wheel (11) includes a left front wheel and a right front wheel, and the second wheel (12) includes a left rear wheel and a right rear wheel: The rotational speed of the wheel is: Where ω is the rotational speed of the wheel; R is the radius of rotation of the wheel; δ is the angle between the actual direction of motion of the wheel and the plane in which the wheel is located; and V is the linear velocity of the rotation center of the motion mechanism. π is the first included angle or the second included angle corresponding to the wheel body; π is the radius of the wheel body.

61. The control method according to claim 52, characterized in that, Also includes: Adjust the first included angle and / or the second included angle based on the load change of the motion mechanism.

62. The control method according to claim 61, characterized in that, The adjustment of the first angle and / or the second angle based on tire type and load changes of the motion mechanism includes: When the center of gravity of the motion mechanism and its load is close to the first wheel (11), the first included angle is reduced; When the center of gravity of the motion mechanism and its load is close to the second wheel (12), the second included angle is reduced.

63. The control method according to claim 52, characterized in that, Also includes: Adjust at least one of the first included angle and the second included angle based on the working state of the motion mechanism.

64. The control method according to claim 52, characterized in that, The first wheel (11) is an omnidirectional wheel, and the second wheel (12) is a solid wheel. The control method further includes: adjusting the second included angle based on the steering torque requirement, wherein the second included angle is less than or equal to the sideslip angle of the second wheel (12).

65. The control method according to claim 63, characterized in that, The adjustment of the first included angle and / or the second included angle based on the working state of the motion mechanism includes: When the motion mechanism is in a climbing state, at least one of the first included angle and the second included angle is reduced.

66. A motion mechanism, characterized in that, include: A first wheel group and a second wheel group are respectively connected to the front and rear ends of the body (10). The first wheel group includes two first wheels (11), which are symmetrically arranged on both sides of the center line of the body (10). The second wheel group includes two second wheels (12), which are symmetrically arranged on both sides of the center line of the body (10). At least one of the first wheels (11) has a first angle with the center line of the body (10), and / or at least one of the second wheels (12) has a second angle with the center line of the body (10). The parameter acquisition module is used to determine the rotation center of the motion mechanism and acquire the linear velocity of the rotation center of the motion mechanism and the rotational angular velocity of the motion mechanism. The rotation state acquisition module is used to acquire the rotation states of the two first wheels (11) and the two second wheels (12) based on the rotation center of the motion mechanism, the linear velocity of the rotation center of the motion mechanism, and the rotation angular velocity of the motion mechanism, respectively. A drive module is used to drive the motion mechanism based on the rotational states of the two first wheels (11) and the two second wheels (12) respectively.

67. A computer program product comprising computer code, which, when at least a portion of the computer code is executed by a processor, enables the control method as described in any one of claims 52 to 65.

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