CN112141239A - Self-moving robot and auxiliary wheel thereof - Google Patents

Abstract

The embodiment of the present invention discloses a self-moving robot and its auxiliary wheels. The self-moving robot includes a body, and an obstacle surmounting component is arranged at the bottom of the body. Taking the traveling direction of the robot as the forward direction, the obstacle surmounting component includes a front and rear arrangement. The first roller and the second roller, wherein, the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body, and the diameter of the first roller and The diameters of the second rollers are not equal. In the self-moving robot and its auxiliary wheels provided by the embodiments of the present invention, the first roller first contacts the obstacle and lifts the machine, and continues to walk so that the second roller contacts the obstacle and crosses the obstacle, thereby increasing the obstacle-crossing height of the robot , to improve the pass rate of the robot and improve the experience of the robot.

Description

Self-moving robot and its auxiliary wheels

technical field

The invention belongs to the technical field of artificial intelligence, and particularly relates to a self-moving robot and an auxiliary wheel thereof.

Background technique

With the advancement of science and technology, robots have entered more and more people's lives and play an important role in people's lives.

The robot travels on the ground mainly by the driving wheel, and is kept stable by the auxiliary universal wheel, and there will inevitably be obstacles on the ground. However, at this stage, the universal wheel is generally a single-wheel structure with a fixed and limited wheel diameter, that is, its obstacle-crossing height is limited, resulting in a poor passing rate of the robot, which brings inconvenience to people's use.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present invention provide a self-moving robot and its auxiliary wheel, which can improve the passing rate of the robot by increasing the obstacle clearance height of the auxiliary wheel.

In the first aspect, the self-moving robot provided by the embodiment of the present invention includes a body, and an obstacle-crossing component is arranged at the bottom of the body, and the moving direction of the robot is taken as the forward direction. Two rollers, wherein the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body, and the diameter of the first roller and the diameter of the second roller are different equal.

Further, the diameter of the first roller is larger than the diameter of the second roller.

Further, the wheel bodies of the first roller and the second roller are partially overlapped.

Further, the bottom of the body is also provided with a driving wheel, and the distances from the lowest point of the driving wheel and the lowest point of the second roller to the bottom of the body are the same.

Further, the distance between the center of the first roller and the front edge of the body is 30-50 mm.

Further, the front end of the bottom of the body is provided with a wheel frame, and the first roller and the second roller are both located on the wheel frame.

Further, the front end of the wheel frame is provided with a slope, and the slope is a straight slope or an arc slope.

Further, the outer circumference of the wheel frame is circular, and the wheel frame is rotatably mounted on the body.

Further, the self-moving robot further includes an adjusting member for adjusting the distance from the lowest point of the first roller to the bottom of the body, and the adjusting member is arranged between the first roller and the wheel frame .

Further, the bottom of the body is provided with a body column, the end of the body column away from the bottom of the body is inserted into the wheel frame, the wheel frame rotates relative to the body column, and the bottom of the body and the wheel frame are inserted. A first end bearing is arranged between, and the inner ring of the first end bearing is sleeved on the body column; or,

The wheel frame is provided with a wheel frame column facing the bottom of the body, the end of the wheel frame column away from the wheel frame is inserted into the bottom of the body, the wheel frame column rotates relative to the bottom of the body, and the bottom of the body is A second end face bearing is arranged between the wheel frame and the wheel frame, and the inner ring of the second end face bearing is sleeved on the wheel frame column.

Further, the distance from the lowest point of the first roller to the bottom of the body is 5-15 mm smaller than the distance from the lowest point of the second roller to the bottom of the body.

Further, the climbing height of the body is a threshold height, and the height difference between the lowest point of the second roller and the lowest point of the first roller is not less than 1/2 of the threshold height.

Further, the first roller includes a pair of first sub-rollers arranged side by side, and the two first sub-rollers are separated by a distance.

Further, the second roller is arranged within the interval and is half surrounded by the two first sub-rollers.

In the second aspect, the self-moving robot provided by the embodiment of the present invention includes a body, and an obstacle-surmounting component is arranged at the bottom of the body, and the forward direction of the robot is the traveling direction. The wheel frame and the front and rear first rollers and the second rollers, wherein the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body, and the first roller Both a roller and a second roller are located on the wheel frame.

In a third aspect, an auxiliary wheel provided by an embodiment of the present invention includes a first roller and a second roller arranged at the bottom of the installation device and arranged in front and rear, wherein the distance from the lowest point of the first roller to the installation device is smaller than the distance from the lowest point of the first roller to the installation device. The distance from the lowest point of the second roller to the installation device, and the diameter of the first roller is not equal to the diameter of the second roller.

In a fourth aspect, the auxiliary wheel provided by the embodiment of the present invention includes a wheel frame and a first roller and a second roller arranged in front and rear under the wheel frame, and the wheel is erected on the bottom of the installation device, wherein the The distance from the lowest point of the first roller to the wheel frame is smaller than the distance from the lowest point of the second roller to the wheel frame.

In the self-moving robot and its auxiliary wheels provided by the embodiments of the present invention, first rollers and second rollers are arranged at the bottom of the body along the advancing direction of the robot. The diameter of the first roller and the diameter of the second roller are not equal, and the first roller The distance from the lowest point to the bottom of the machine is less than the distance from the lowest point of the second roller to the bottom of the machine. The first roller first touches the obstacle and lifts the machine, and continues to walk so that the second roller contacts the obstacle and goes over the obstacle, so as to lift the machine. The obstacle height of the robot can improve the passing rate of the robot and improve the user experience of the robot.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

The accompanying drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic cross-sectional structure diagram of a self-moving robot according to a first embodiment of the present invention;

2 is a partial cross-sectional structural schematic diagram of a self-moving robot according to the first embodiment of the present invention;

3 is a schematic diagram of a connection structure of a first roller of a self-moving robot according to the first embodiment of the present invention;

FIG. 4 is a schematic diagram of the bottom structure of a self-moving robot according to the first embodiment of the present invention;

5 is a schematic structural diagram of a side surface of a self-moving robot according to the first embodiment of the present invention;

6 is an exploded schematic diagram of a three-dimensional structure of an auxiliary wheel provided by the third embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be described in detail below with the accompanying drawings and examples, so as to fully understand and implement the implementation process of how the present invention applies technical means to solve technical problems and achieve technical effects.

As used in the specification and claims, certain terms are used to refer to particular components. It should be understood by those skilled in the art that hardware manufacturers may refer to the same component by different nouns. The description and claims do not use the difference in name as a way to distinguish components, but use the difference in function of the components as a criterion for distinguishing. As mentioned in the entire specification and claims, "comprising" is an open-ended term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range, and basically achieve the technical effect. Furthermore, the term "coupled" or "electrically connected" herein includes any means of direct and indirect electrical coupling. Therefore, if a first device is described as being coupled to a second device, it means that the first device can be directly electrically coupled to the second device, or indirectly electrically coupled through other devices or coupling means connected to the second device. Subsequent descriptions in the specification are preferred embodiments for implementing the present invention, however, the descriptions are for the purpose of illustrating the general principles of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention should be determined by the appended claims.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or system comprising a series of elements includes not only those elements, but also Other elements not expressly listed or inherent to such a process, method, commodity or system are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or system that includes the element.

specific embodiment

Example 1

Please refer to FIG. 1 , which is a schematic cross-sectional structure diagram of a self-moving robot according to the first embodiment of the present invention. The self-moving robot includes a body 10 and an obstacle surmounting component 20 . The self-moving robot here includes but is not limited to So the sweeping robot. For example, the self-moving robot is a sweeping robot, a self-moving air cleaning robot, an automatic lawn mower, a window cleaning robot, a solar panel cleaning robot, an unmanned aerial vehicle, an AGV car, a security robot, a welcome robot, a nursing robot, and the like.

The body 10 has a body bottom 110 on which the obstacle surmounting assembly 20 is disposed and faces the walking surface of the self-moving robot. The obstacle surmounting assembly 20 includes a first roller 210 and a second roller 220, taking the traveling direction of the self-moving robot as the forward direction, the direction shown by the arrow in the figure, the first roller 210 and the second roller 220 are respectively arranged under the bottom 110 of the body , that is, the first roller 210 is located in front of the second roller 220 along the traveling direction of the self-moving robot.

Wherein, the distance from the lowest point of the first roller 210 to the bottom 110 of the body is smaller than the distance from the lowest point of the second roller 220 to the bottom 110 of the body. Here, the self-moving robot travels on a flat walking surface When the first roller 210 is located in front of the second roller 220, and the first roller 210 is in a suspended state, that is, there is a gap between the lowest point of the first roller 210 and the running surface, so When the self-moving robot encounters an obstacle on the walking surface, the first roller 210 will first come into contact with the obstacle, and then climb up the obstacle, so that the front end of the body 10 is blocked by the obstacle. Lift up, when moving forward, the second roller 220 contacts the obstacle again, and then climbs up and goes over the obstacle; if there is no first roller 210, when the second roller 220 encounters a higher height When the obstacle is mentioned, it is difficult for the second roller 20 to go over the obstacle directly, and it is even easy for the obstacle to get stuck under the body 10. For example, the obstacle pushes up the front end of the body, thereby affecting the automatic Normal travel of the mobile robot. In the self-moving robot according to the embodiment of the present invention, the setting of the first roller 210 is used as a transition for the second roller 220 to overcome obstacles. Since the setting position of the first roller 210 is high, the The height difference between the first roller 210 and the top of the obstacle is convenient for the first roller 210 to climb up the obstacle, and after the first roller 210 climbs the obstacle, the The height of the front end of the body 10 is bound to increase the height of the second roller 220, thereby reducing the height between the second roller 220 and the top of the obstacle, which is convenient for the second roller 220 to climb up the obstacle, so that the obstacle-crossing component 20 can smoothly climb up and go over the higher obstacle, that is, the obstacle-crossing height of the self-moving robot can be increased, and the passing rate of the self-moving robot can be improved, Improve user experience.

In addition, it should be pointed out that the diameter of the first roller 210 and the diameter of the second roller 220 are not equal, that is, the first roller 210 and the second roller 220 are designed as large and small rollers. If the diameter of the first roller 210 is larger than the diameter of the second roller 220, the installation height of the first roller 210 must be higher than the installation height of the second roller 220 to ensure that the first roller 210 is the lowest The distance from the point to the bottom 110 of the body is smaller than the distance from the lowest point of the second roller 220 to the bottom 110 of the body; when the diameter of the first roller 210 is smaller than the diameter of the second roller 220, for the first roller 220 The installation heights of the first roller 210 and the second roller 220 do not have too many requirements, so that the distance from the lowest point of the first roller 210 to the bottom 110 of the body is smaller than the distance from the lowest point of the second roller 220 to the The distance from the bottom 110 of the body.

In other preferred embodiments of the present invention, as shown in the figures, the diameter of the first roller 210 is larger than the diameter of the second roller 220. For example, in an achievable form of this embodiment, the The diameter of the first roller 210 is 40 mm, and the diameter of the second roller 220 is 35 mm.

Here, since the diameter of the first roller 210 is larger than the diameter of the second roller 220, if the installation heights of the two are the same, the distance from the lowest point of the first roller 210 to the bottom 110 of the body cannot be less than For the distance from the lowest point of the second roller 220 to the bottom 110 of the body, an achievable way is that the first roller 210 and the second roller 220 are arranged in steps on the bottom 110 of the body, that is, The installation height of the first roller 210 is relatively high, and the installation height of the second roller 220 is relatively low. In this embodiment, by setting the first roller 210 and the second roller 220 with large and small diameters, on the one hand, the center of gravity of the first roller 210 can be lowered. When the first roller 210 is connected to the obstacle When the object is in contact, the lower part of the first roller 210 is brought into contact with the obstacle (try to avoid contact with the obstacle at the height of the center of the roller), which can reduce the impact sound between the two and improve the use experience of the robot; another On the other hand, the rollers with larger wheel diameters have higher obstacle-crossing heights. By setting the large-diameter first rollers 210, the obstacle-crossing heights of the first rollers 210 can be further increased, so that they can climb up and go over higher obstacles. Obstacles with high heights are smoother, thereby improving the obstacle-surmounting efficiency of the obstacle-surmounting component 20 and further improving the use experience of the robot.

In addition, in order to ensure that the second roller 220 can climb up the obstacle smoothly after the first roller 210 climbs the obstacle, and prevent the obstacle from being stuck between the first roller 210 and the second roller 220 , in the setting of the first roller 210 and the second roller 220, the wheel bodies of the first roller 210 and the second roller 220 must partially overlap.

Further, the bottom 110 of the body is further provided with a driving wheel 30 , and the distances from the lowest point of the driving wheel 30 and the lowest point of the second roller 220 to the bottom 110 of the body are substantially the same. Specifically, the driving wheel 30 is a power component of the self-moving robot, which can drive the body 10 to move on the walking surface. Generally, the driving wheel 30 will be located in the center of the body 10, that is, set In the middle position of the bottom 110 of the body, the obstacle surmounting assembly 20 is correspondingly arranged in front of the driving wheel 30; from the lowest point of the driving wheel 30 and the lowest point of the second roller 220 to the The structural design with the same distance from the bottom 110 of the body, that is, the lowest point of the second roller 220 and the driving wheel 30 are at the same level, which can ensure that the lowest point of the second roller 220 and the driving wheel 30 are at the same time Contact with the walking surface can increase the contact points of the self-moving robot with the walking surface when traveling, and improve the stability of the self-moving robot in the traveling map.

It is conceivable that, since the top of the driving wheel 30 is generally connected to a shock-absorbing structure and the body 10 generally has a heavier weight, the distance from the lowest point of the second roller 220 to the bottom 110 of the body Slightly smaller than the distance from the lowest point of the driving wheel 30 to the bottom 110 of the body, the two are not the same height, that is, the height of the lowest point of the second roller 220 will be slightly higher than the lowest point of the driving wheel 30. The height of the self-moving robot can also ensure that the lowest points of the second roller 220 and the driving wheel 30 are in contact with the running surface at the same time due to the effect of self-weight and cushioning elasticity when the self-moving robot travels.

In addition, in order to improve the obstacle-surmounting capability of the obstacle-surmounting component 30, even if the first roller 210 climbs the obstacle quickly and smoothly, the distance between the center of the first roller 210 and the front edge of the body 10 is The distance between the center of the first roller 210 and the front edge of the body 10 is 40mm in a preferred embodiment.

In other preferred embodiments of the present invention, the obstacle surmounting assembly 20 further includes a wheel frame 230 , the wheel frame 230 is arranged at the front end of the bottom 110 of the body, and the first roller 210 and the second roller 220 are both on the wheel carrier 230 . It should be specially pointed out that setting the first roller 210 and the second roller 220 on the same wheel frame 230 has the following priorities: 1. It is convenient for the installation and removal of the obstacle crossing assembly 20. For example, the wheel frame is directly installed on the wheel frame through the rotating shaft. Second, save the bottom space of the body. Taking a sweeping robot as an example, a wheel frame only needs a small installation space, and the remaining space can reasonably arrange other components that need to be installed at the bottom front end of the body, such as side brushes, down-view sensors, batteries, and so on.

Specifically, the wheel frame 230 includes a wheel frame wall 2301 disposed away from the bottom 110 of the body, and the first roller 210 and the second roller 220 are respectively installed on the same or different heights of the wheel frame wall 2301 (specifically Please refer to the description of the above embodiment for the installation height), so that the distance from the lowest point of the first roller 210 to the bottom 110 of the body is smaller than the distance from the lowest point of the second roller 220 to the bottom 110 of the body, that is, the The structure in which the first roller 210 is suspended.

In an implementation manner of the embodiment of the present invention, the first roller 210 and the second roller 220 are respectively provided with a first axle 2101 and a second axle 2201, and the first roller 210 and the The second roller 220 can rotate around the first wheel shaft 2101 and the second wheel shaft 2201 respectively, and both ends of the first wheel shaft 2101 and the second wheel shaft 2201 are respectively connected to the wheel frame wall 2301 to The first roller 210 and the second roller 220 are fixed on the wheel frame 230 .

Further, the front end of the wheel frame 230 is provided with a slope, and the slope is a straight slope or an arc slope. Here, the setting of the slope can be matched with the contour shape of the first roller 210, which can ensure that the outer contour of the first roller 210 is in contact with the obstacle, so as to prevent the wheel frame 230 from being affected by the contact with the obstacle. The success rate of obstacle surmounting is improved, thereby improving the obstacle surmounting efficiency of the obstacle surmounting component 20 .

In addition, the outer circumference of the wheel frame 230 is circular, and the wheel frame 230 is rotatably mounted on the body 10 . Specifically, the outer circumference of the wheel frame 230 is a circular design, and the circular design of the wheel frame 230 is connected to the upper body bottom 110 and can rotate relative to the body bottom 110 , so that the design makes The obstacle surmounting component 30 has a universal wheel function, so as to enrich the traveling direction of the self-moving robot, realize the turning of the self-moving robot, etc., and improve the intelligence and coverage area of the self-moving robot.

Further, a bearing 240 for rotating the wheel frame 230 relative to the body bottom 110 is provided between the body bottom 110 and the wheel frame 230 .

Here, the bearing 240 is respectively connected with the wheel frame 230 and the bottom 110 of the body, and the arrangement of the bearing 240 can improve the smoothness of the rotation of the wheel frame 230 relative to the bottom 110 of the body, especially When the body 10 has a large self-weight, the friction force between the wheel frame 230 and the body bottom 110 is relatively large during relative rotation. At this time, the bearing 240 can reduce the friction force during rotation between the two.

Specifically, as shown in FIG. 1 , in one of the possible implementations of the embodiments of the present invention, the body bottom 110 is provided with a body column 120 , and the end of the body column 120 away from the body bottom 110 is inserted into the body The wheel frame 230 rotates relative to the body column 120 ; the bearing 240 is a first end bearing, and the inner ring of the first end bearing is sleeved on the body column 120 . Here, the body column 120 faces the wheel frame 230 and is connected to the body bottom 110 , and the free end of the body column 120 passes through the inner ring of the first end bearing and is inserted into the wheel on the frame 230, so that the two end faces of the first end face bearing are in contact with the wheel frame 230 and the body bottom 110 respectively, and the wheel frame 230 is free to rotate relative to the body column 120, that is, relative to the body. The bottom 110 is free to rotate, and the arrangement of the first end bearing can improve the smoothness of the rotation of the wheel frame 230 relative to the bottom 110 of the body, and improve the use quality of the self-moving robot.

In addition, please refer to FIG. 2 , in another implementation manner of the embodiment of the present invention, the wheel frame 230 is provided with a wheel frame column 2302 facing the bottom 110 of the body, and the wheel frame column 2302 is away from the One end of the wheel frame 230 is inserted into the body bottom 110, and the wheel frame column 2302 rotates relative to the body bottom 110; the bearing 240 is a second end bearing, and the inner ring of the second end bearing is sleeved on the on the wheel carrier column 2302. Here, the wheel frame 230 is connected with the wheel frame column 2302 on the side facing the body bottom 110 , and the end of the wheel frame column 2302 away from the wheel frame 230 is penetrated through the passage of the body bottom 110 . In the hole, the wheel frame column 2302 together with the wheel frame 230 is free to rotate relative to the body bottom 110. The bearing 240 is a second end bearing, which is arranged between the wheel frame 230 and the body bottom 110. In addition, the inner ring of the second end face bearing is sleeved on the wheel frame column 2302. The arrangement of the second end face bearing can improve the smoothness of the free rotation of the wheel frame 230 relative to the body bottom 110. Improve the quality of use of the robot.

In a preferred embodiment of the present invention, in order to ensure that the obstacle surmounting component 20 has a suitable obstacle surmounting height, that is, a higher passing rate, and at the same time has a small structure design of the intelligent robot equipment, and the self-movement In the usage scenario of the robot, the distance from the lowest point of the first roller 210 to the bottom 110 of the body is 5-15 mm smaller than the distance from the lowest point of the second roller 220 to the bottom 110 of the body, that is, walking on a flat surface The suspended height of the first roller 210 on the surface is 5-15 mm, and at this time, the obstacle-crossing height of the self-moving robot can be increased from the original 10 mm to 20 mm.

Further, in other preferred embodiments of the present invention, the distance from the lowest point of the first roller 210 to the bottom 110 of the body is 12.5 smaller than the distance from the lowest point of the first roller 210 to the bottom 110 of the body mm.

In addition, the above describes the distances from the lowest point of the first roller 210 and the lowest point of the second roller 220 to the bottom 110 of the machine body through specific numerical values. The climbing height is the threshold height H, then at this time, the height difference h from the lowest point of the second roller 220 to the lowest point of the first roller 210 is not less than H/2 of the threshold height. In other preferred embodiments of the present invention In the embodiment, considering that the first roller 210 needs to be in contact with an obstacle before it can play the role of assisting the climbing height, it is necessary to limit the lowest point of the second roller 220 to the lowest point of the first roller 210 The height difference h is less than the threshold height H, that is, H/2≥h<H, so the obstacle with a height of the threshold height H is divided into two sections, one section is H-h climbed by the first roller 210, and then The height of the body 10 is raised, and the second roller 220 continues to climb the height of the height difference h, so that the obstacle crossing component 20 can easily cross the obstacle at the threshold height H.

And, referring to FIG. 3 , in other preferred embodiments of the present invention, the self-moving robot further includes an adjusting member 40 , and the adjusting member 40 is used to adjust the lowest point of the first roller 210 to the body The distance between the bottom 110 and the adjusting member 40 is provided between the first roller 210 and the wheel frame 230 .

Specifically, in a feasible implementation manner, the adjusting member 40 includes an adjusting rod 410 , a U-shaped frame 420 , a frame plate 430 and a fixing nut 440 . The adjusting rod 410 is provided with threads around the body, the two ends of the frame plate 430 are connected to the side wall 3301 of the wheel frame 230, the frame plate 430 is provided with a through hole, and the adjusting rod 410 passes through The through hole is fixed and the length of the adjusting rod 410 on both sides of the shelf plate 430 is adjusted by the fixing nuts 440 provided on both sides of the shelf One end of the wheel frame 230 is connected to the top of the U-shaped frame 420, and both ends of the first axle 2101 passing through the first roller 210 are respectively connected to the two side walls of the U-shaped frame 420, so that all the The upper half of the first roller 40 sinks into the U-shaped groove of the U-shaped frame 420 .

In this way, in the structure of the embodiment of the present invention, by adjusting the positions of the fixing nuts 440 on both sides of the frame plate 430, the distance between the lowest point of the first roller 210 and the frame plate 430 can be adjusted. Adjustment, that is, to realize the adjustment of the distance between the lowest point of the first roller 210 and the bottom 110 of the body, when the self-moving robot encounters a walking surface with high obstacles, it can be adjusted The distance between the lowest point of the first roller 210 and the frame plate 430 is adjusted to be smaller, otherwise, when the walking surface is flat, the distance between the lowest point of the first roller 210 and the frame plate 430 can be adjusted. By increasing the size, the self-moving robot can adapt to environments with different terrains, thereby increasing the use range of the self-moving robot.

Please refer to FIG. 4 and FIG. 5 , in other preferred embodiments of the present invention, the first rollers 210 include first sub-rollers 211 arranged in pairs and side by side, and the two first sub-rollers 211 are spaced apart from each other. A distance D, that is, the two first sub-rollers 211 are arranged side by side in front of the second roller 220 in the traveling direction of the self-moving robot (in the direction of the arrow in the figure), and the two first sub-rollers The distance D is set between the 211, so the design can ensure that the first roller 210 that touches the obstacle earlier has a larger contact area, which is beneficial for the first roller 210 to climb the obstacle smoothly and avoid the obstacle. Due to the partial force of the first roller 210, the movement direction is shifted, which improves the stability of the self-moving robot during traveling.

Further, the second roller 220 is set within the distance D and is half surrounded by the two first sub-rollers 211 . Specifically, the second roller 220 is arranged behind the two first sub-rollers 211 along the traveling direction of the installation equipment, and is located within the distance D. Here, the first roller 210 and the The second rollers 220 cross in the direction of rotation, but do not overlap completely, that is, the two first sub-rollers 211 enclose the second roller 220 in half, so that the first roller 210 can climb on the first roller 210. After getting on the obstacle, the second roller 220 quickly contacts the obstacle, and then climbs up the obstacle, so as to avoid the second roller 220 touching the obstacle after the first roller 210 passes the obstacle, As a result, the obstacle is stuck between the second roller 220 and the first roller 210, so that the obstacle-surmounting component 20 cannot smoothly pass over the obstacle. This design can further improve the self-moving robot. obstacle passing rate and passing efficiency.

In addition, please refer to FIG. 4 and FIG. 5 , in other preferred embodiments of the present invention, the bottom 110 of the body may also be provided with a rear barrier-crossing assembly 50 , and the rear barrier-crossing assembly 50 moves along the self-movement. The forward direction of the robot is set at the rear of the bottom 110 of the body, that is, the obstacle surmounting assembly 20 and the rear obstacle surmounting component 50 are respectively located in front of and behind the driving wheel 30 .

Here, in order to improve the stability of the self-moving robot when it travels, as shown in the figure, there are generally two rear obstacle surmounting components 50 and one obstacle surmounting component 20 , and the three are in the body The bottom 110 is arranged in a triangular shape, wherein the obstacle surmounting assembly 20 is arranged in the center of the front of the bottom 110 of the body, and the two rear obstacle surmounting components 50 are respectively arranged on both sides of the rear of the bottom 110 of the body; Of course, the present invention and the embodiments of the present invention do not specifically limit the number and arrangement of the rear obstacle surmounting components 50 and the obstacle surmounting components 20. For example, the rear obstacle surmounting components 50 and the obstacle surmounting components 20 are arranged in two, and the bottom 110 of the body can also be arranged in a quadrangle along the four sides.

In addition, the present invention and the embodiments of the present invention do not specifically limit the specific structure of the rear obstacle surmounting assembly 50, which may be a common universal wheel structure. Of course, in a preferred embodiment, the rear obstacle surmounting The module 50 has the same structure as the above-mentioned obstacle clearance module 20 .

Embodiment 2

An embodiment of the present invention also provides another self-moving robot, which includes a body, and an obstacle surmounting component is arranged at the bottom of the body, and the forward direction of the robot is the traveling direction, and the obstacle surmounting component includes a The front wheel frame and the first and second rollers arranged in the front and rear, wherein the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body, so Both the first roller and the second roller are located on the wheel frame.

It should be pointed out here that, compared with the self-moving robot of the first embodiment, the self-moving robot of this embodiment does not limit the relationship between the diameters of the first roller and the second roller, but it should be emphasized that all Both the first roller and the second roller are arranged on the wheel frame at the front end of the bottom of the body. For other structures and corresponding technical effects of the self-moving robot of this embodiment, please refer to the description of the first embodiment above, which will not be repeated here.

Embodiment 3

Please refer to FIG. 6 , which is an exploded schematic diagram of a three-dimensional structure of an auxiliary wheel provided by the third embodiment of the present invention. The auxiliary wheel is the obstacle surmounting component in the above second embodiment, that is, all the above first embodiment. In the obstacle crossing assembly 20, the auxiliary wheel includes a wheel frame 230 and a first roller 210 and a second roller 220 arranged in front and rear below the wheel frame 230, and the wheel frame 230 is arranged at the bottom of the installation equipment, wherein , the distance from the lowest point of the first roller 210 to the wheel frame 230 is smaller than the distance from the lowest point of the second roller 220 to the wheel frame 230 , and the distance between the first roller 210 and the second roller is not The size relationship of the diameter of 220 is limited, but it should be emphasized that the first roller 210 and the second roller 220 are both arranged on the wheel frame 230. Please refer to the above description of the first and second embodiments for the connection structure and the corresponding technical effects, which will not be repeated here.

Embodiment 4

The embodiment of the present invention also provides another auxiliary wheel, which includes a first roller and a second roller arranged at the bottom of the installation device and arranged in front and rear, wherein the distance from the lowest point of the first roller to the installation device is smaller than that of the installation device. The distance from the lowest point of the second roller to the installation device, and the diameter of the first roller is not equal to the diameter of the second roller.

It should be pointed out here that the auxiliary wheel in this embodiment is the obstacle surmounting assembly in the above first embodiment, and is not exactly the same as the obstacle surmounting assembly (auxiliary wheel) in the second and third embodiments. Whether the first roller and the second roller are provided with the same structure is limited, but the emphasis is on the relationship between the diameters of the first roller and the second roller, that is, the diameter of the first roller and the The diameters of the second rollers are not equal. In addition, for the details of the auxiliary wheels of this embodiment, other connection structures and corresponding technical effects, please refer to the descriptions of the first, second and third embodiments above, which are not omitted here. Repeat.

Application Example

The cleaning robot Xiaoke needs to clean the master's bedroom and balcony, but there is a glass sliding door between the master's bedroom and the balcony. The bottom of the sliding door has a sliding rail for the sliding door's sliding switch. The sliding rail is 18mm above the floor, and There is a width of 40mm. After cleaning the master's bedroom, Xiaoke will follow the established cleaning route to the balcony. At this time, it needs to cross the sliding rail between the bedroom and the balcony to enter the balcony. Xiaoke will carry it when it is close to the sliding rail. The sensor senses that there is an obstacle (slide rail) in front of it, so it controls it to slow down the travel speed and continue to move forward. The first roller of the obstacle avoidance component set at the front of the Xiaoke is in a suspended state when it contacts the slide rail, and the suspended height is It is 10mm, and the second roller of the obstacle avoidance assembly behind the first roller walks on the floor together with the driving wheel of Xiaoke. Since it is suspended by 10mm and the slide rail is 18mm above the floor, the lowest point of the first roller is only 8mm away from the top of the slide rail. At this height, the first roller can easily climb up under the push of the driving wheel. After climbing on the slide rail, the front end of Xiaoke is raised, and the second roller is also raised accordingly, so that the second roller is also suspended, that is, the height from the lowest point of the second roller to the top of the slide rail must be Less than 18mm, maybe about 10mm, this climbing height is easy for the second roller. Under the push of the driving wheel, the second roller can also easily climb up the slide rail, and under the continuous push of the driving wheel, the first The first roller and the second roller can climb down from the slide rail, so that the obstacle-crossing assembly can pass the obstacle (slide rail), and the driving wheel itself can pass the obstacle (slide rail) under the continuous action of the driving wheel, and other obstacles. The components can use the same square to cross obstacles (rails), so that Xiaoke can smoothly enter the owner's balcony to complete the predetermined cleaning task.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (17)

1. A self-moving robot, comprising a body, is characterized in that, the bottom of the body is provided with an obstacle-crossing assembly, taking the direction of travel of the robot as a forward direction, and the obstacle-crossing assembly includes a first roller and a second wheel that are arranged back and forth. A roller, wherein the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body, and the diameter of the first roller is the same as the diameter of the second roller not equal. 2 . The robot of claim 1 , wherein the diameter of the first roller is larger than the diameter of the second roller. 3 . 3 . The robot of claim 1 , wherein the wheel bodies of the first roller and the second roller are partially overlapped. 4 . 4 . The robot according to claim 1 , wherein the bottom of the body is further provided with a driving wheel, and the distances from the lowest point of the driving wheel and the lowest point of the second roller to the bottom of the body are the same. 5 . 5 . The robot according to claim 1 , wherein the distance between the center of the first roller and the front edge of the body is 30-50 mm. 6 . 6 . The robot according to claim 1 , wherein the front end of the bottom of the body is provided with a wheel frame, and the first roller and the second roller are both located on the wheel frame. 7 . 7 . The robot according to claim 6 , wherein the front end of the wheel frame is provided with a slope, and the slope is a straight slope or an arc slope. 8 . 8 . The robot according to claim 6 , wherein the outer circumference of the wheel frame is circular, and the wheel frame is rotatably mounted on the body. 9 . 9 . The robot according to claim 6 , further comprising an adjusting member for adjusting the distance from the lowest point of the first roller to the bottom of the body, and the adjusting member is provided on the first roller. 10 . and the wheel carrier. 10. The robot of claim 6, wherein The bottom of the body is provided with a body column, the end of the body column away from the bottom of the body is inserted into the wheel frame, the wheel frame rotates relative to the body column, and there is a space between the bottom of the body and the wheel frame. a first end bearing, the inner ring of the first end bearing is sleeved on the body column; or, The wheel frame is provided with a wheel frame column facing the bottom of the body, the end of the wheel frame column away from the wheel frame is inserted into the bottom of the body, the wheel frame column rotates relative to the bottom of the body, and the bottom of the body is A second end face bearing is arranged between the wheel frame and the wheel frame, and the inner ring of the second end face bearing is sleeved on the wheel frame column. 11. The robot according to any one of claims 1-5, wherein the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body 5～15mm. 12. The robot according to any one of claims 1-5, wherein the climbing height of the body is a threshold height, and the height difference from the lowest point of the second roller to the lowest point of the first roller is not less than 1/2 of the threshold height. 13 . The robot according to claim 1 , wherein the first roller comprises a pair of first sub-rollers arranged side by side, and the two first sub-rollers are separated by a distance. 14 . 14 . The robot of claim 13 , wherein the second rollers are arranged within the interval and half-surrounded by the two first sub-rollers. 15 . 15. A self-moving robot comprising a body, wherein the bottom of the body is provided with an obstacle surmounting assembly, taking the traveling direction of the robot as the forward direction, and the obstacle surmounting assembly comprises a wheel arranged at the front end of the bottom of the body. The frame and the first and second rollers arranged in front and back, wherein the distance from the lowest point of the first roller to the bottom of the body is smaller than the distance from the lowest point of the second roller to the bottom of the body, and the first Both the roller and the second roller are located on the wheel frame. 16. An auxiliary wheel, characterized in that it comprises a first roller and a second roller arranged at the bottom of the installation device and arranged in front and rear, wherein the distance from the lowest point of the first roller to the installation device is smaller than that of the second roller. The distance from the lowest point of the roller to the installation device, and the diameter of the first roller is not equal to the diameter of the second roller. 17. An auxiliary wheel, characterized in that it comprises a wheel frame and a first roller and a second roller arranged in front and back under the wheel frame, the wheel is erected on the bottom of the installation equipment, wherein the first roller The distance from the lowest point of the roller to the wheel frame is smaller than the distance from the lowest point of the second roller to the wheel frame.

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