CN112141239A

CN112141239A - Self-moving robot and auxiliary wheel thereof

Info

Publication number: CN112141239A
Application number: CN201910570398.5A
Authority: CN
Inventors: 王祯
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-12-29
Also published as: JP7117347B2; JP2021006987A

Abstract

The embodiment of the invention discloses a self-moving robot and auxiliary wheels thereof, wherein the self-moving robot comprises a robot body, the bottom of the robot body is provided with an obstacle crossing assembly, the obstacle crossing assembly comprises a first roller and a second roller which are arranged in a front-back mode by taking the traveling direction of the robot as the front direction, the distance from the lowest point of the first roller to the bottom of the robot body is smaller than the distance from the lowest point of the second roller to the bottom of the robot body, and the diameter of the first roller is not equal to that of the second roller. According to the self-moving robot and the auxiliary wheels thereof provided by the embodiment of the invention, the first roller wheel firstly contacts with the obstacle and lifts the robot, and the self-moving robot continues to walk to enable the second roller wheel to contact with the obstacle and cross over the obstacle, so that the obstacle crossing height of the robot is improved, the passing rate of the robot is improved, and the use experience of the robot is improved.

Description

Self-moving robot and auxiliary wheel thereof

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

With the progress of science and technology, robots have advanced into the lives of more and more people and play an important role in the lives of people.

The robot advances on the ground and mainly relies on the drive wheel to keep steadily through supplementary universal wheel, and subaerial difficult to avoid has the barrier, generally raises the fuselage through the universal wheel when surmounting the barrier so that whole fuselage crosses from the barrier, but the universal wheel of present stage generally is single wheel body structure, and the wheel footpath is fixed and limited, and it is limited that it surmounts the barrier height promptly, causes the percent of pass of robot relatively poor, brings the inconvenience for people's use.

Disclosure of Invention

In view of this, the embodiment of the present invention provides a self-moving robot and an auxiliary wheel thereof, which improve the passing rate of the robot by increasing the obstacle crossing height of the auxiliary wheel.

In a first aspect, the self-moving robot provided in the embodiments of the present invention includes a body, the bottom of the body is provided with an obstacle crossing assembly, the obstacle crossing assembly includes a first roller and a second roller arranged in front and back, a distance from a lowest point of the first roller to the bottom of the body is smaller than a distance from a lowest point of the second roller to the bottom of the body, and a diameter of the first roller is not equal to a diameter of the second roller.

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

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

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

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

Further, a wheel carrier is arranged at the front end of the bottom of the machine body, and the first roller and the second roller are both positioned on the wheel carrier.

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

Further, the periphery of the wheel carrier is circular, and the wheel carrier is rotatably mounted on the machine body.

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

Furthermore, a body column is arranged at the bottom of the machine body, one end, far away from the bottom of the machine body, of the machine body column is inserted into the wheel carrier, the wheel carrier rotates relative to the machine body column, a first end face bearing is arranged between the bottom of the machine body and the wheel carrier, and an inner ring of the first end face bearing is sleeved on the machine body column; or the like, or, alternatively,

the machine body is characterized in that the wheel frame is provided with a wheel frame column facing the bottom of the machine body, one end, far away from the wheel frame, of the wheel frame column is inserted into the bottom of the machine body, the wheel frame column rotates relative to the bottom of the machine body, a second end face bearing is arranged between the bottom of the machine body and the wheel frame, and an 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 machine body is 5-15 mm smaller than the distance from the lowest point of the second roller to the bottom of the machine body.

Further, the climbing height of the machine 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.

Furthermore, the first roller comprises first sub-rollers which are arranged side by side in pairs, and a space is formed between the two first sub-rollers.

Further, the second roller is arranged in the space and is semi-surrounded by the two first sub-rollers.

In a second aspect, the self-moving robot provided in the embodiment of the present invention includes a body, wherein an obstacle crossing assembly is disposed at a bottom of the body, and a direction of travel of the robot is a forward direction, the obstacle crossing assembly includes a wheel carrier disposed at a front end of the bottom of the body, and a first roller and a second roller which are arranged in a front-back manner, wherein a distance from a lowest point of the first roller to the bottom of the body is smaller than a distance from a lowest point of the second roller to the bottom of the body, and the first roller and the second roller are both disposed on the wheel carrier.

In a third aspect, an auxiliary wheel provided in an embodiment of the present invention includes a first roller and a second roller arranged in front of and behind a bottom of a mounting apparatus, where a distance from a lowest point of the first roller to the mounting apparatus is smaller than a distance from a lowest point of the second roller to the mounting apparatus, and a diameter of the first roller is not equal to a diameter of the second roller.

In a fourth aspect, the auxiliary wheel provided in the embodiments of the present invention includes a wheel carrier, and a first roller and a second roller arranged in front and at back below the wheel carrier, where the wheel carrier is disposed at a bottom of the mounting device, and a distance from a lowest point of the first roller to the wheel carrier is smaller than a distance from a lowest point of the second roller to the wheel carrier.

According to the self-moving robot and the auxiliary wheels thereof provided by the embodiment of the invention, the first idler wheel and the second idler wheel are arranged at the front and back of the bottom of the robot body along the advancing direction of the robot, the diameter of the first idler wheel is not equal to that of the second idler wheel, the distance from the lowest point of the first idler wheel to the bottom of the robot body is less than that from the lowest point of the second idler wheel to the bottom of the robot body, the first idler wheel firstly contacts with an obstacle and lifts up the robot, and the robot is continuously walked to enable the second idler wheel to contact with the obstacle and cross the obstacle, so that the obstacle crossing height of the robot is improved, the passing rate of the robot is improved, and.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic cross-sectional view of a self-moving robot according to a first embodiment of the present invention;

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

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

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

fig. 5 is a schematic side view of a self-moving robot according to a first embodiment of the present invention;

fig. 6 is an exploded perspective view of an auxiliary wheel according to a third embodiment of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to implement the embodiments of the present invention by using technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. Furthermore, the terms "coupled" or "electrically connected" are intended to encompass any direct or indirect electrical coupling. Thus, if a first device couples to a second device, that connection may be through a direct electrical coupling or through an indirect electrical coupling via other devices and couplings. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Example one

Referring to fig. 1, a cross-sectional view of a self-moving robot according to a first embodiment of the present invention is shown, the self-moving robot includes a body 10 and an obstacle crossing assembly 20, where the self-moving robot includes but is not limited to a floor sweeping robot. For example, the self-moving robot is a sweeping robot, a self-moving air purifying robot, a self-moving mower, a window cleaning robot, a solar panel cleaning robot, an unmanned aerial vehicle, an AGV cart, a security robot, a guest greeting robot, a nursing robot, and the like.

The machine body 10 has a machine body bottom 110, the obstacle crossing assembly 20 is disposed on the machine body bottom 110 and faces a walking surface of the self-moving robot, the obstacle crossing assembly 20 includes a first roller 210 and a second roller 220, and the first roller 210 and the second roller 220 are respectively arranged in front and back below the machine body bottom 110 with a traveling direction of the self-moving robot being a forward direction, as shown by arrows in the figure, that is, the first roller 210 is located in front of the second roller 220 along the traveling direction of the self-moving robot.

The distance from the lowest point of the first roller 210 to the bottom of the machine body 110 is smaller than the distance from the lowest point of the second roller 220 to the bottom of the machine body 110, wherein the first roller 210 is located in front of the second roller 220 when the self-moving robot travels on a flat traveling surface, and the first roller 210 is in a suspended state, that is, a gap is formed between the lowest point of the first roller 210 and the traveling surface, so that when an obstacle exists on the traveling surface during the traveling of the self-moving robot, the first roller 210 first contacts with the obstacle and then climbs up the obstacle, so that the front end of the machine body 10 is lifted, and when the self-moving robot continues to travel, the second roller 220 contacts with the obstacle again and then climbs up and crosses over the obstacle; without the first roller 210, when the second roller 220 encounters the obstacle with a higher height, it is difficult for the second roller 20 to directly pass over the obstacle, and even the obstacle is easily caught under the machine body 10, for example, the obstacle pushes up the front end of the machine body, thereby affecting the normal traveling of the self-moving robot. The self-moving robot of the embodiment of the invention, through the arrangement of the first roller 210 as the transition of the obstacle crossing of the second roller 220, since the arrangement position of the first roller 210 is higher, the height difference between the first roller 210 and the top of the obstacle can be reduced, the first roller 210 can conveniently climb on the obstacle, after the first roller 210 climbs on the obstacle, the height of the front end of the machine body 10 is raised, and therefore the height of the second roller 220 is certainly raised, and further the height between the second roller 220 and the top of the obstacle can be reduced, so that the second roller 220 can conveniently climb on the obstacle, and further the obstacle crossing assembly 20 can smoothly climb on and cross the higher obstacle, that is, the obstacle crossing height of the self-moving robot can be raised, and the passing rate of the self-moving robot can be improved, the user experience is improved.

In addition, it should be noted that the diameter of the first roller 210 is not equal to the diameter of the second roller 220, that is, the first roller 210 and the second roller 220 are designed as big and small wheels, and when 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, so as to ensure that the distance from the lowest point of the first roller 210 to the bottom 110 of the machine body is smaller than the distance from the lowest point of the second roller 220 to the bottom 110 of the machine body; when the diameter of the first roller 210 is smaller than the diameter of the second roller 220, the installation height of the first roller 210 and the second roller 220 is not required to be too large, so that the distance from the lowest point of the first roller 210 to the bottom 110 of the machine body can be ensured to be smaller than the distance from the lowest point of the second roller 220 to the bottom 110 of the machine 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. in an implementation form of this embodiment, the diameter of the first roller 210 is 40mm, and the diameter of the second roller 220 is 35 mm.

Here, since the diameter of the first roller 210 is larger than that of the second roller 220, if the two are installed at the same height, it cannot be satisfied that the distance from the lowest point of the first roller 210 to the bottom 110 of the machine body is smaller than that from the lowest point of the second roller 220 to the bottom 110 of the machine body, and it is achieved that the first roller 210 and the second roller 220 are arranged in a step shape on the bottom 110 of the machine body, that is, the installation height of the first roller 210 is higher and the installation height of the second roller 220 is lower. In this embodiment, by the arrangement of the first roller 210 and the second roller 220 with large and small diameters, on one hand, the center of gravity of the first roller 210 can be lowered, when the first roller 210 contacts with the obstacle, the lower part of the first roller 210 contacts with the obstacle (the height of the center of the roller contacts with the obstacle is avoided as much as possible), so that the impact sound between the first roller 210 and the obstacle can be reduced, and the use experience of the robot is improved; on the other hand, the roller with the larger wheel diameter has higher obstacle crossing height, and through the arrangement of the first roller 210 with the large diameter, the obstacle crossing height of the first roller 210 can be further improved, so that the obstacle crossing height of the first roller 210 climbs up and crosses a higher obstacle more smoothly, the obstacle crossing efficiency of the obstacle crossing assembly 20 is further improved, and the use experience of the robot is further improved.

In addition, in order to ensure that the second roller 220 can smoothly climb up an obstacle after the first roller 210 climbs up the obstacle, and avoid the obstacle from being stuck between the first roller 210 and the second roller 220, the wheel bodies of the first roller 210 and the second roller 220 are partially overlapped in the arrangement of the first roller 210 and the second roller 220.

Further, the machine body bottom 110 is further provided with a driving wheel 30, and the distance from the lowest point of the driving wheel 30 and the lowest point of the second roller 220 to the machine body bottom 110 is substantially the same. Specifically, the driving wheel 30 is a power component of the self-moving robot, and can drive the machine body 10 to move on a walking surface, generally, the driving wheel 30 is disposed at a central position of the machine body 10, that is, at a middle position of the machine body bottom 110, and then the obstacle crossing assembly 20 is correspondingly disposed in front of the driving wheel 30; by the structural design that 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 machine body are the same, that is, the second roller 220 and the lowest point of the driving wheel 30 are at the same level, the second roller 220 and the lowest point of the driving wheel 30 can be ensured to be simultaneously contacted with a walking surface, so that the contact point of the self-moving robot with the walking surface during the traveling process can be increased, and the stability of the self-moving robot in the traveling diagram can be improved.

It is conceivable that, since a shock absorbing structure is generally connected above the driving wheel 30 and the machine body 10 generally has a heavy weight, the distance from the lowest point of the second roller 220 to the bottom 110 of the machine body is slightly smaller than the distance from the lowest point of the driving wheel 30 to the bottom 110 of the machine body, and the two are not at the same height, that is, the height of the lowest point of the second roller 220 is slightly higher than the height of the lowest point of the driving wheel 30, so that the self-moving robot can ensure that the second roller 220 and the lowest point of the driving wheel 30 are simultaneously in contact with a walking surface due to the self-weight and the action of the damping elasticity during the running.

In addition, in order to improve the obstacle crossing capability of the obstacle crossing assembly 30, even if the first roller 210 quickly and smoothly climbs an obstacle, the distance between the center of the first roller 210 and the front edge of the machine body 10 is 30-50 mm, and in the preferred embodiment, the distance between the center of the first roller 210 and the front edge of the machine body 10 is 40 mm.

In other preferred embodiments of the present invention, the obstacle crossing assembly 20 further includes a wheel frame 230, the wheel frame 230 is disposed at the front end of the machine body bottom 110, and the first roller 210 and the second roller 220 are both disposed on the wheel frame 230. It should be noted that, by disposing the first roller 210 and the second roller 220 on the same wheel frame 230, the following priority is given: firstly, the obstacle crossing assembly 20 is convenient to mount and dismount, for example, the wheel frame is directly mounted on the machine body through a rotating shaft; and secondly, the bottom space of the machine body is saved. Taking the sweeping robot as an example, one wheel carrier only needs a small installation space, and other parts needing to be installed at the front end of the bottom of the machine body, such as an edge brush, a downward-looking sensor, a battery and the like, can be reasonably arranged in other spaces.

Specifically, the wheel frame 230 includes a wheel frame wall 2301 disposed away from the machine body bottom 110, and the first wheel 210 and the second wheel 220 are respectively mounted on the same or different heights of the wheel frame wall 2301 (see the description of the above embodiment for specific mounting heights), so that a distance from the lowest point of the first wheel 210 to the machine body bottom 110 is smaller than a distance from the lowest point of the second wheel 220 to the machine body bottom 110, that is, the first wheel 210 is suspended.

In an implementation manner of the embodiment of the present invention, a first wheel axle 2101 and a second wheel axle 2201 are respectively disposed through the first wheel 210 and the second wheel 220, the first wheel 210 and the second wheel 220 can respectively rotate around the first wheel axle 2101 and the second wheel axle 2201, and two ends of the first wheel axle 2101 and the second wheel axle 2201 are respectively connected to the wheel frame wall 2301, so as to fix the first wheel 210 and the second wheel 220 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 slope may be matched with the contour shape of the first roller 210, so that the outer contour of the first roller 210 may be ensured to contact with an obstacle, the obstacle crossing success rate may be prevented from being affected by the contact between the wheel frame 230 and the obstacle, and the obstacle crossing efficiency of the obstacle crossing assembly 20 may be further improved.

In addition, the outer circumference of the wheel frame 230 is circular, and the wheel frame 230 is rotatably mounted on the machine body 10. Specifically, the outer circumference of the wheel frame 230 is designed to be circular, and the wheel frame 230 with circular design is connected to the upper bottom 110 of the machine body and can rotate relative to the bottom 110 of the machine body, so that the obstacle crossing assembly 30 has a universal wheel function, thereby enriching the traveling direction of the self-moving robot, realizing turning of the self-moving robot, and the like, and improving the intelligence and coverage area of the self-moving robot.

Further, a bearing 240 for rotating the wheel frame 230 with respect to the machine body bottom 110 is disposed between the machine body bottom 110 and the wheel frame 230.

Here, the bearings 240 are respectively connected to the wheel frame 230 and the machine body bottom 110, and the arrangement of the bearings 240 can improve the smoothness of the rotation of the wheel frame 230 relative to the machine body bottom 110, particularly when the self weight of the machine body 10 is large, the friction force between the wheel frame 230 and the machine body bottom 110 during the relative rotation is large, and at this time, the friction force between the two during the rotation can be reduced by the bearings 240.

Specifically, as shown in fig. 1, in one implementation manner of the embodiment of the present invention, the body bottom 110 is provided with a body pillar 120, an end of the body pillar 120 away from the body bottom 110 is inserted into the wheel frame 230, and the wheel frame 230 rotates relative to the body pillar 120; the bearing 240 is a first end face bearing, and an inner ring of the first end face bearing is sleeved on the body column 120. Here, the body pillar 120 faces the wheel frame 230 and is connected to the body bottom 110, a free end of the body pillar 120 passes through an inner ring of the first end bearing and is inserted into the wheel frame 230, so that both end surfaces of the first end bearing are in contact with the wheel frame 230 and the body bottom 110, respectively, the wheel frame 230 freely rotates with respect to the body pillar 120, that is, with respect to the body bottom 110, and the smooth degree of rotation of the wheel frame 230 with respect to the body bottom 110 can be improved by the arrangement of the first end bearing, thereby improving the use quality of the self-moving robot.

In addition, referring 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 machine body bottom 110, an end of the wheel frame column 2302 away from the wheel frame 230 is inserted into the machine body bottom 110, and the wheel frame column 2302 rotates relative to the machine body bottom 110; the bearing 240 is a second end face bearing, and an inner ring of the second end face bearing is sleeved on the wheel frame column 2302. Here, the wheel frame column 2302 is connected to one side of the wheel frame 230 facing the machine body bottom 110, an end of the wheel frame column 2302 away from the wheel frame 230 is inserted into a through hole of the machine body bottom 110, the wheel frame column 2302 rotates freely relative to the machine body bottom 110 together with the wheel frame 230, the bearing 240 is a second end surface bearing, an inner ring of the second end surface bearing is sleeved on the wheel frame column 2302 and is disposed between the wheel frame 230 and the machine body bottom 110, and the smooth degree of the free rotation of the wheel frame 230 relative to the machine body bottom 110 can be improved by the arrangement of the second end surface bearing, so that the use quality of the robot is improved.

In a preferred embodiment of the present invention, in order to ensure that the obstacle crossing assembly 20 has a suitable obstacle crossing height, i.e. a high passing rate, and at the same time, has a small structural design of the intelligent robot device, and a usage scenario of the self-moving robot, a distance from the lowest point of the first roller 210 to the bottom 110 of the machine body is 5 to 15mm smaller than a distance from the lowest point of the second roller 220 to the bottom 110 of the machine body, i.e. a suspension height of the first roller 210 on a flat walking surface is 5 to 15mm, and at this time, the obstacle crossing height of the self-moving robot can be raised from the original 10mm to 20 mm.

Further, in another preferred embodiment of the present invention, the distance from the lowest point of the first roller 210 to the bottom 110 of the machine body is less than 12.5mm from the lowest point of the first roller 210 to the bottom 110 of the machine body.

In addition, the distance 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 is described by specific numerical values, and the general structure is designed as follows: assuming that the climbing height of the machine body 10 is a threshold height H, 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, because the first roller 210 needs to contact with the obstacle to perform the function of assisting the climbing height, it is therefore defined that the height difference H from the lowest point of the second roller 220 to the lowest point of the first roller 210 is less than the threshold height H, that is, H/2 is more than or equal to H and less than H, so that the obstacle with the height of the threshold height H is divided into two sections, one section is H-H and climbs by the first roller 210, then, the height of the machine body 10 is raised, the second roller 220 continues to climb to the height of the height difference h, thereby allowing the obstacle crossing assembly 20 to easily clear the obstacle at the threshold height H.

In another preferred embodiment of the present invention, referring to fig. 3, the self-moving robot further includes an adjusting member 40, the adjusting member 40 is used for adjusting a distance from a lowest point of the first roller 210 to the bottom 110 of the body, and the adjusting member 40 is disposed between the first roller 210 and the wheel frame 230.

Specifically, in one possible embodiment, 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 thereof, 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, the adjusting rod 410 passes through the through hole and is fixed and adjusted in length of the adjusting rod 410 at two sides of the frame plate 430 by the fixing nuts 440 arranged at two sides of the frame plate 430, one end of the adjusting rod 410 far away from the wheel frame 230 is connected to the top of the U-shaped frame 420, two ends of the first wheel axle 2101 passing through the first roller 210 are respectively connected to two side walls of the U-shaped frame 420, so that the upper half part of the first roller 40 is sunk into the U-shaped groove of the U-shaped frame 420.

In this way, according to 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, that is, the distance between the lowest point of the first roller 210 and the bottom 110 of the machine body can be adjusted, when the self-moving robot encounters a walking surface with a high obstacle during use, the distance between the lowest point of the first roller 210 and the frame plate 430 can be reduced, 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 increased, so that the self-moving robot can adapt to environments with different terrains, and the use range of the self-moving robot is further increased.

Referring to fig. 4 and 5, in another preferred embodiment of the present invention, the first roller 210 includes a pair of first sub-rollers 211 arranged side by side, the two first sub-rollers 211 are separated by a distance D, that is, the two first sub-rollers 211 are arranged side by side in front of the second roller 220 in a traveling direction of the self-moving robot (e.g., arrow direction in the figure), and the two first sub-rollers 211 are arranged at the distance D, so that the first roller 210 contacting the obstacle earlier has a larger contact area, which is beneficial for the first roller 210 to climb up the obstacle smoothly, and the moving direction deviation caused by the local stress on the first roller 210 is avoided, thereby improving the traveling stability of the self-moving robot.

Further, the second roller 220 is disposed within the distance D and is half surrounded by the two first sub-rollers 211. Specifically, the second roller 220 is disposed behind the two first sub-rollers 211 in the traveling direction of the mounting apparatus and within the distance D, here, the first roller 210 and the second roller 220 are crossed in the rotation direction, but do not completely overlap, that is, the two first sub rollers 211 semi-surround the second roller 220, so that the second roller 220 rapidly contacts the obstacle after the first roller 210 climbs the obstacle, thereby climbing up the obstacle, avoiding the second roller 220 from contacting the obstacle after the first roller 210 passes over the obstacle, thereby causing the obstacle to be caught between the second roller 220 and the first roller 210, so that the obstacle crossing assembly 20 cannot smoothly cross the obstacle, the design can further improve the barrier passing rate and the passing efficiency of the self-moving robot.

In addition, referring to fig. 4 and 5, in another preferred embodiment of the present invention, a rear obstacle crossing assembly 50 may be further disposed on the machine body bottom 110, and the rear obstacle crossing assembly 50 is disposed behind the machine body bottom 110 along the advancing direction of the self-moving robot, that is, the obstacle crossing assembly 20 and the rear obstacle crossing assembly 50 are respectively disposed in front of and behind the driving wheel 30.

Here, in order to improve the stability of the self-moving robot during traveling, as shown in the drawing, there are generally two rear obstacle crossing assemblies 50, one obstacle crossing assembly 20, and three assemblies are arranged in a triangular shape at the machine body bottom 110, wherein the obstacle crossing assembly 20 is disposed at the front center of the machine body bottom 110, and the two rear obstacle crossing assemblies 50 are disposed at the rear sides of the machine body bottom 110, respectively; of course, the number and arrangement form of the rear obstacle detouring assemblies 50 and the obstacle detouring assemblies 20 are not limited in the embodiments of the present invention, and if two rear obstacle detouring assemblies 50 and two obstacle detouring assemblies 20 are provided, the rear obstacle detouring assemblies may be arranged in a quadrilateral shape along four sides of the machine body bottom 110.

In addition, the specific structure of the rear obstacle crossing assembly 50, the present invention and the embodiments of the present invention are not limited to the specific structure, and may be a common universal wheel structure, but in a preferred embodiment, the rear obstacle crossing assembly 50 has the same structure as the obstacle crossing assembly 20.

Example two

The embodiment of the invention also provides another self-moving robot which comprises a robot body, wherein the bottom of the robot body is provided with an obstacle crossing assembly, the obstacle crossing assembly takes the traveling direction of the robot as the front direction, the obstacle crossing assembly comprises a wheel carrier arranged at the front end of the bottom of the robot body, and a first roller and a second roller which are arranged in front and at the back, the distance from the lowest point of the first roller to the bottom of the robot body is smaller than the distance from the lowest point of the second roller to the bottom of the robot body, and the first roller and the second roller are both positioned on the wheel carrier.

It should be noted that the self-moving robot of the present embodiment does not limit the size of the diameters of the first roller and the second roller compared to the self-moving robot of the first embodiment, but it is emphasized that the first roller and the second roller are both disposed on the wheel carrier located at the front end of the bottom of the machine 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, which is not repeated herein.

EXAMPLE III

Referring to fig. 6, an exploded schematic view of a three-dimensional structure of an auxiliary wheel according to a third embodiment of the present invention is shown, where the auxiliary wheel is an obstacle crossing assembly in the second embodiment, that is, the obstacle crossing assembly 20 in the first embodiment, the auxiliary wheel includes a wheel frame 230, and a first roller 210 and a second roller 220 arranged in front of and behind the wheel frame 230, the wheel frame 230 is disposed at the bottom of a mounting apparatus, a distance from a lowest point of the first roller 210 to the wheel frame 230 is smaller than a distance from a lowest point of the second roller 220 to the wheel frame 230, and a size relationship between diameters of the first roller 210 and the second roller 220 is not limited herein, but it is emphasized that the first roller 210 and the second roller 220 are disposed on the wheel frame 230, and for specific and other connection structures and corresponding technical effects of the auxiliary wheel of the present embodiment, refer to the first, second, third, and corresponding technical effects of the above, The description of the second embodiment is omitted here for brevity.

Example four

The embodiment of the invention also provides another auxiliary wheel which comprises a first roller and a second roller which are arranged at the bottom of the mounting equipment in a front-back manner, wherein the distance from the lowest point of the first roller to the mounting equipment is less than the distance from the lowest point of the second roller to the mounting equipment, and the diameter of the first roller is not equal to that of the second roller.

It should be noted that, the auxiliary wheel in this embodiment is the obstacle crossing assembly in the first embodiment, and compared with the obstacle crossing assembly (auxiliary wheel) in the second and third embodiments, it is not limited on whether the first roller and the second roller are arranged on the same structure, but it is emphasized that the size relationship of the diameters of the first roller and the second roller, that is, the diameter of the first roller is not equal to the diameter of the second roller.

Application examples

The sweeping robot small department cleans a bedroom and a balcony of an owner, a glass sliding door is arranged between the bedroom and the balcony, the bottom of the sliding door is provided with a sliding rail for a sliding switch of the sliding door, the sliding rail is 18mm higher than the floor and 40mm wide, the small department can move towards the balcony according to a preset cleaning route after the bedroom of the owner is cleaned, at the moment, the small department can enter the balcony only by crossing the sliding rail between the bedroom and the balcony, the small department senses that an obstacle (sliding rail) exists in the front through a sensor carried by the small department when approaching the sliding rail, the obstacle avoiding component controls the moving speed to slow down and continues to move forwards, a first roller of the obstacle avoiding component arranged at the front end of the small department is in a suspended state when contacting the sliding rail, the suspended height is 10mm, a second roller of the obstacle avoiding component arranged behind the first roller and a driving wheel of the small department walk on the floor together with the driving wheel of the small department, the small department continues to approach the sliding rail, the first roller contacts with the slide rail first, because the first roller is suspended for 10mm and the slide rail is 18mm higher than the floor, the lowest point of the first roller is only 8mm away from the top of the slide rail, the first roller can easily climb up under the push of the driving wheel, the front end of the small department is lifted after the first roller climbs the slide rail, the second roller is correspondingly lifted up at the moment, so that the second roller is suspended, namely the height from the lowest point of the second roller to the top of the slide rail is necessarily less than 18mm, possibly about 10mm, the climbing height is easy for the second roller, the second roller can easily climb up the slide rail under the push of the driving wheel, under the continuous push of the driving wheel, the first roller and the second roller can climb down from the slide rail, so that the obstacle crossing assembly crosses an obstacle (slide rail), under the continuous action of the driving wheel, the driving wheel can cross the obstacle (slide rail), and other obstacle crossing assemblies can cross obstacles (sliding rails) in the same way, so that the kids can smoothly enter the balcony of the owner to complete the given cleaning task.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The self-moving robot comprises a robot body and is characterized in that an obstacle crossing assembly is arranged at the bottom of the robot body, the obstacle crossing assembly comprises a first roller and a second roller which are arranged in a front-back mode, the distance from the lowest point of the first roller to the bottom of the robot body is smaller than the distance from the lowest point of the second roller to the bottom of the robot body, and the diameter of the first roller is not equal to that of the second roller.

2. The robot of claim 1, wherein a diameter of the first roller is greater than a diameter of the second roller.

3. A robot as claimed in claim 1, wherein the wheels of the first and second rollers partially overlap.

4. The robot as claimed in claim 1, wherein the bottom of the body is further provided with a driving wheel, and the lowest point of the driving wheel and the lowest point of the second roller are at the same distance from the bottom of the body.

5. The robot as claimed in claim 1, wherein the distance between the center of the first roller and the front edge of the body is 30-50 mm.

6. A robot as claimed in any of claims 1 to 5, wherein a wheel carrier is provided at the front end of the bottom of the body, and the first and second rollers are both located on the wheel carrier.

7. The robot of claim 6, wherein the front end of the wheel carrier is provided with a slope, and the slope is a straight slope or an arc slope.

8. A robot as claimed in claim 6, wherein the wheel carrier is circular in circumference and is rotatably mounted on the body.

9. The robot according to claim 6, further comprising an adjusting member for adjusting a distance from a lowest point of the first roller to a bottom of the body, the adjusting member being provided between the first roller and the wheel carrier.

10. A robot as claimed in claim 6,

a body column is arranged at the bottom of the machine body, one end, far away from the bottom of the machine body, of the machine body column is inserted into the wheel carrier, the wheel carrier rotates relative to the machine body column, a first end face bearing is arranged between the bottom of the machine body and the wheel carrier, and an inner ring of the first end face bearing is sleeved on the machine body column; or the like, or, alternatively,

11. The robot as claimed in any one of claims 1 to 5, wherein the distance from the lowest point of the first roller to the bottom of the body is 5 to 15mm smaller than the distance from the lowest point of the second roller to the bottom of the body.

12. The robot of any one of claims 1-5, wherein the body's climb height is a threshold height, and the difference in height from the second roller lowest point to the first roller lowest point is no less than 1/2 of the threshold height.

13. A robot as claimed in any of claims 1 to 5, wherein the first rollers comprise pairs of first sub-rollers arranged side by side with a spacing therebetween.

14. A robot as set forth in claim 13 wherein said second roller is disposed within said gap and is semi-enclosed by two of said first sub-rollers.

15. The utility model provides a self-moving robot, includes the organism, its characterized in that, the organism bottom is equipped with hinders the subassembly more to the advancing direction of robot is forward, hinder the subassembly more including establishing the wheel carrier of the front end of organism bottom and first gyro wheel and the second gyro wheel of arranging around, wherein, the distance of first gyro wheel minimum to the organism bottom is less than the distance of second gyro wheel minimum to the organism bottom, first gyro wheel and second gyro wheel all are located on the wheel carrier.

16. The auxiliary wheel is characterized by comprising a first roller and a second roller which are arranged at the bottom of mounting equipment in a front-back mode, wherein the distance from the lowest point of the first roller to the mounting equipment is smaller than the distance from the lowest point of the second roller to the mounting equipment, and the diameter of the first roller is not equal to that of the second roller.

17. The auxiliary wheel is characterized by comprising a wheel frame, a first roller and a second roller, wherein the first roller and the second roller are arranged in front and at back under the wheel frame, the wheel frame is arranged at the bottom of mounting equipment, and 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.