CN217072349U - Self-moving robot - Google Patents

Abstract

The application provides a self-moving robot, includes: a body (10); the driving wheel assembly (20) comprises a driving wheel (21) and a driving wheel bracket (22), and the driving wheel (21) is connected to the machine body (10) in a lifting manner through the driving wheel bracket (22); the magnetic assembly (30) comprises a first magnetic piece (31) arranged on the driving wheel bracket (22) and a second magnetic piece (32) arranged on the machine body (10), wherein the first magnetic piece (31) and the second magnetic piece (32) are used for generating mutual attractive force or repulsive force so as to increase the positive pressure of the driving wheel (21) on the traveling ground. The self-moving robot provided by the application increases the positive pressure of the driving wheel (21) on the traveling ground by arranging the magnetic assembly (30), thereby improving the obstacle crossing capability of the self-moving robot.

Description

Self-moving robot

Technical Field

The application relates to the technical field of small household appliances, in particular to a self-moving robot.

Background

With the continuous development of scientific technology, household appliances are more and more intelligent. The intelligent household appliance brings great convenience to life and work of users, and the sweeping robot is one of the intelligent household appliance. The floor sweeping robot can automatically finish the floor cleaning work in a room by means of certain artificial intelligence. The sweeping robot generally adopts a brush sweeping and vacuum mode to absorb the impurities on the ground into a garbage containing box of the sweeping robot, so that the function of cleaning the ground is completed.

In the related art, the driving wheels of the sweeping robot need to be lifted and lowered according to the change of the ground during working, so that the obstacle crossing capability of the robot is improved. The existing lifting obstacle crossing mechanism usually adopts a tension spring to realize the effect, and the lifting obstacle crossing mechanism can usually pass through a smaller obstacle, but when the obstacle is larger, the base of the sweeping robot can be jacked up, the driving wheel stretches out of the base of the robot under the action of gravity, and at the moment, part of tension of the tension spring is released, so that the sweeping robot reduces the grabbing force of the driving wheel when the obstacle crossing, and the obstacle crossing capability of the sweeping robot is reduced.

SUMMERY OF THE UTILITY MODEL

The application provides a self-moving robot, which increases the positive pressure of a driving wheel to the traveling ground by arranging a magnetic assembly, thereby improving the obstacle crossing capability of the self-moving robot.

In order to solve the above problems, the embodiment of the present application provides a technical solution that: a self-moving robot, comprising: a body; the driving wheel assembly comprises a driving wheel and a driving wheel bracket, and the driving wheel is connected to the machine body in a lifting manner through the driving wheel bracket; the magnetic assembly comprises a first magnetic part arranged on the driving wheel support and a second magnetic part arranged on the machine body, wherein the first magnetic part is used for generating mutual attraction or repulsion with the second magnetic part so as to increase the positive pressure of the driving wheel on the ground.

In one possible design, when the driving wheel moves from the inner dead center position to the preset position, a mutual attractive force is generated between the first magnetic piece and the second magnetic piece.

In a possible design, during the movement of the driving wheel from the preset position to the outer dead center position, the mutual attraction force between the first magnetic member and the second magnetic member gradually increases.

In one possible design, when the driving wheel moves to the outer dead center position, the component of the attractive force of the first magnetic member in the gravity direction is maximized.

In a possible design, when the driving wheel moves to the outer dead center position, the attractive force of the first magnetic member is in the gravity direction.

In a possible design, when the driving wheel moves to the outer dead center position, the first magnetic member and the second magnetic member are attached to each other.

In a possible design, the first magnetic member and/or the second magnetic member may be movably disposed, so that when the first magnetic member is separated from the second magnetic member, an abutting surface of the first magnetic member and the second magnetic member gradually decreases.

In one possible design, the second magnetic element is arranged to rotate.

In one possible design, the second magnetic member is an elastic member.

In a possible design, an elastic restoring element is arranged between the second magnetic element and the machine body.

In one possible design, the second magnetic member is a triangular prism-shaped structure or a rod-shaped structure and is rotatably disposed on the body through a second rotating shaft.

In one possible embodiment, the first magnetic element is of a cuboid structure and is fixedly arranged on the drive wheel carrier.

In a possible design, the self-moving robot further comprises an elastic connecting piece, the body is connected with the driving wheel support through the elastic connecting piece, and in the process that the driving wheel moves from the preset position to the outer dead center position, the tensile force of the elastic connecting piece on the driving wheel support is gradually reduced.

In one possible design, the driving wheel is rotatably connected to the machine body through the driving wheel bracket.

In a possible design, the driving wheel assembly further includes a driving member and a housing, the driving member is disposed in the housing and is in transmission connection with the driving wheel, and the housing constitutes the driving wheel support.

According to the self-moving robot provided by the application, the magnetic assembly is arranged to generate attractive force or repulsive force and comprises a first magnetic member and a second magnetic member, wherein the first magnetic member is arranged on the driving wheel bracket, the second magnetic member is arranged on the machine body, mutual attractive force or repulsive force can be generated between the first magnetic member and the second magnetic member, the attractive force or the repulsive force can be transmitted to the driving wheel through the driving wheel bracket, so that positive pressure (gripping force) of the driving wheel to the traveling ground is increased, the friction force between the driving wheel and the ground is increased, and the obstacle crossing capability of the self-moving robot is improved.

According to the self-moving robot that this application provided, because can produce mutual appeal or repulsion force between first magnetic force spare and the second magnetic force spare for the drive wheel can be faster land, grab the land fertility stronger, make the better transmission of power, more smooth of during operation walking also can clean to more complicated topography, has improved self-moving robot's environment adaptability.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a self-moving robot with a driving wheel located at an inner dead center position according to an embodiment.

Fig. 2 is a schematic structural diagram of a self-moving robot with a driving wheel in a middle position according to an embodiment.

Fig. 3 is a schematic structural diagram of a self-moving robot with a driving wheel located at a position of a top dead center according to an embodiment.

Fig. 4 is a force analysis diagram of the first magnetic member with the driving wheel in the neutral position.

Fig. 5 is a schematic structural diagram of the self-moving robot according to the second embodiment when the driving wheel is located at the inner dead center position.

Fig. 6 is a schematic structural diagram of the self-moving robot according to the second embodiment, in which the driving wheels are located at the middle position.

Fig. 7 is a schematic structural diagram of the self-moving robot according to the second embodiment when the driving wheel is located at the outer dead center position.

Reference numerals: 10. a body; 11. a base; 20. a drive wheel assembly; 21. a drive wheel; 22. a drive wheel support; 23. a first rotating shaft; 30. a magnetic assembly; 31. a first magnetic member; 32. a second magnetic member; 33. a second rotating shaft; 40. an elastic connecting piece.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "side", "front", "rear", and the like indicate orientations or positional relationships based on installation, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.

In the description of the present application, it should be noted that the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The embodiment of the application provides a self-moving robot, and the self-moving robot can be the sweeping robot or any intelligent mobile equipment with a driving wheel mechanism, and the application does not limit the sweeping robot. The self-moving robot generates attractive force or repulsive force by arranging the magnetic assembly, so that the positive pressure of the driving wheel to the traveling ground is increased, and the obstacle crossing capability of the self-moving robot is improved.

Fig. 1 is a schematic structural diagram of a self-moving robot with a driving wheel located at an inner dead center position according to an embodiment. Fig. 2 is a schematic structural diagram of a self-moving robot with a driving wheel in a middle position according to an embodiment. Fig. 3 is a schematic structural diagram of a self-moving robot with a driving wheel located at a position of a top dead center according to an embodiment. As shown in fig. 1 to 3, the self-moving robot provided by the embodiment of the present application includes a body 10, a driving wheel assembly 20, and a magnetic assembly 30.

The main body 10 is a main body of the self-moving robot, and includes a housing and various functional structures (e.g., a dust box, a negative pressure fan, etc.) disposed in the housing. The housing comprises a base 11, and a cleaning member (not shown) is mounted on the base 11 to clean the floor, and the cleaning member may be a rag or a rolling brush, for example. The base 11 is also provided with a driving wheel assembly 20, so that the robot can automatically walk.

The driving wheel assembly 20 comprises a driving wheel 21 and a driving wheel support 22, the driving wheel 21 is rotatably arranged at one end of the driving wheel support 22, and the other end of the driving wheel support 22 is movably connected with the base 11 of the machine body 10, so that the driving wheel 21 is connected to the machine body 10 in a lifting manner through the driving wheel support 22, and the self-moving robot has obstacle crossing capability.

As shown in fig. 1, the driving wheel 21 is liftable relative to the body 10, when the self-moving robot travels on a plane, the driving wheel assembly 20 receives the gravity of the self-moving robot and the limit action of the base 11, so that the driving wheel 21 is at the highest position relative to the base 11, the highest position is the inner dead center position of the driving wheel 21, and at this time, the driving wheel 21 is close to the base 11.

When the self-moving robot is lifted up or the base 11 is lifted up by an obstacle, the driving wheels 200 are extended away from the base 11 by the self-gravity. As shown in fig. 2 and 3, the position of the driving wheel 21 is lowered at this time, and when it is high enough to be picked up or jacked up from the mobile robot, the driving wheel 200 is moved to the lowest position (shown in fig. 3), which is the outer dead center position of the driving wheel 21, at which the driving wheel 21 is away from the base 11.

As shown in fig. 1-3, in the present embodiment, the driving wheel 21 is rotatably connected to the machine body 10 by a driving wheel bracket 22. At this time, the driving wheel 21 is rotatably disposed at one end of the driving wheel support 22, and the other end of the driving wheel support 22 is rotatably connected to the base 11 through the first rotating shaft 23, so that the driving wheel support 22 can drive the driving wheel 21 to swing between an inner dead point position and an outer dead point position, and further the driving wheel 21 is lifted relative to the base 11.

Alternatively, in other embodiments, the driving wheel support 22 may also move in other manners (e.g., extend and retract relative to the base 11) to achieve the lifting and lowering of the driving wheel 21 relative to the base 11, which is not limited in this application.

Further, in the embodiment of the present application, the driving wheel assembly 20 further includes a driving member disposed in the housing and in transmission connection with the driving wheel 21, and a housing constituting the driving wheel support 22.

That is, the housing of the driving wheel assembly 20 constitutes a driving wheel support 22, the driving wheel 21 is rotatably disposed at one end of the housing, the other end of the housing is rotatably connected with the base 11 through a first rotating shaft 23, and the driving member is disposed in the housing for transmitting the power of the power source to the driving wheel 21 to realize automatic walking of the robot.

Alternatively, the driving member may be any transmission mechanism such as a gear/rack, a worm wheel/worm or a belt, which is not limited in this application.

Alternatively, the power source may be an electric motor, which may be disposed in a housing of the machine body 10 or in a housing of the driving wheel assembly 20.

The self-moving robot provided by the embodiment of the application further comprises a magnetic assembly 30, the magnetic assembly 30 comprises a first magnetic member 31 arranged on the driving wheel support 22 and a second magnetic member 32 arranged on the machine body 10, and the first magnetic member 31 and the second magnetic member 32 are used for generating mutual attraction force or repulsion force so as to increase the positive pressure of the driving wheel 21 on the traveling ground.

According to the self-moving robot provided by the embodiment of the application, the magnetic assembly 30 is arranged to generate the attractive force or the repulsive force, the magnetic assembly 30 comprises the first magnetic member 31 and the second magnetic member 32, wherein the first magnetic member 31 is arranged on the driving wheel bracket 22, the second magnetic member 32 is arranged on the machine body 10, the first magnetic member 31 and the second magnetic member 32 can generate the mutual attractive force or the repulsive force, the attractive force or the repulsive force can be transmitted to the driving wheel 21 through the driving wheel bracket 22, so that the positive pressure (gripping force) of the driving wheel 21 on the traveling ground is increased, the friction force between the driving wheel 21 and the ground is increased, and the obstacle crossing capability of the self-moving robot is improved.

According to the self-moving robot provided by the embodiment of the application, because the first magnetic part 31 and the second magnetic part 32 can generate mutual attraction force or repulsion force, the driving wheel 21 can land quickly, the ground grabbing force is stronger, the power is better transmitted, the walking is smoother during working, the cleaning can be carried out aiming at more complex terrains, and the environment adaptive capacity of the self-moving robot is improved.

In the embodiment of the present application, if a mutual attractive force is generated between the first magnetic member 31 and the second magnetic member 32, the first magnetic member 31 and the second magnetic member 32 may be permanent magnets, and opposite magnetic poles of the first magnetic member 31 and the second magnetic member 32 are oppositely disposed, so that an attractive force can be generated therebetween. The permanent magnet may be an alnico permanent magnet alloy or an iron-chromium-cobalt permanent magnet alloy, but is not limited thereto.

Alternatively, one of the first and second magnetic members 31 and 32 may be a permanent magnet, and the other thereof may be a magnetic metal (magnetic material), for example, the magnetic metal may include at least one of iron, cobalt, or nickel.

In the embodiment of the present application, if a mutual repulsive force is generated between the first magnetic member 31 and the second magnetic member 32, the first magnetic member 31 and the second magnetic member 32 may be permanent magnets, and like magnetic poles of the first magnetic member 31 and the second magnetic member 32 are oppositely disposed, so that the repulsive force can be generated therebetween.

In this embodiment, the driving wheel support 22 can move relative to the base 11 to drive the driving wheel 21 to go up and down, and the first magnetic member 31 is disposed on the driving wheel support 22, and the second magnetic member 32 is disposed on the machine body 10, so that the driving wheel support 22 can also drive the first magnetic member 31 to move relative to the second magnetic member 32.

Alternatively, no matter to which position the first magnetic member 31 is moved relative to the second magnetic member 32, there is always a mutual attractive force or repulsive force between the first magnetic member 31 and the second magnetic member 32, so that a positive pressure can be always applied to the driving wheel 21.

Alternatively, when the driving wheel 21 is moved from the inner dead center position to the preset position by the driving wheel support 22, the first magnetic member 31 is also moved to the preset position, and when the first magnetic member 31 and the second magnetic member 32 are positioned close to each other, a mutual attraction force or a repulsion force is generated between the first magnetic member 31 and the second magnetic member 32, so that a positive pressure can be always applied to the driving wheel 21 (i.e. the positive pressure of the driving wheel 21 on the traveling floor is increased). That is, the interaction force between the first magnetic member 31 and the second magnetic member 32 does not exist all the time, and is generated only after moving to the predetermined position.

The preset position may be any position except for the inner dead center position, in which the self-moving robot can perform obstacle crossing, and the obstacle crossing capability can be improved by generating an interaction force between the first magnetic member 31 and the second magnetic member 32. When the driving wheel 21 is at the inner dead center position, there may be no interaction between the first magnetic member 31 and the second magnetic member 32 since there is no need to perform obstacle crossing.

Alternatively, when the driving wheel 21 continues to move after moving to the preset position through the driving wheel support 22, the interaction force (e.g., attraction force) generated between the first magnetic member 31 and the second magnetic member 32 may continuously increase, and the interaction force may reach a maximum when moving to the outer dead center position.

As shown in fig. 1 to 3, the self-moving robot provided by the embodiment of the present application further includes an elastic connection member 40, and the body 10 is connected to the driving wheel support 22 through the elastic connection member 40. During the movement of the driving wheel 21 from the preset position to the outer dead center position, the pulling force of the elastic connection member 40 to the driving wheel bracket 22 is gradually reduced. The elastic connection member 40 may be a tension spring, and the tension spring is in a stretched state.

One end of the tension spring is fixedly connected to the machine body 10, and the other end is fixedly connected to the driving wheel bracket 22. The two ends of the tension spring are provided with hooks which can be respectively hooked on the supporting columns arranged on the machine body 10 and the driving wheel bracket 22.

Alternatively, in other embodiments, the elastic connection member 40 may be other elastic structures, such as, but not limited to, a rubber band.

Under the influence of gravity, the drive wheel 21 rotates from the inner dead center position in fig. 1 to the intermediate position in fig. 2, and continues to move to the outer dead center position in fig. 3. When the driving wheel 21 moves to a predetermined position (a position between the inner dead center position and the intermediate position shown in fig. 2), a mutual attractive force is generated between the first magnetic member 31 and the second magnetic member 32, as the driving wheel 21 continues to move outward, the first magnetic member 31 gradually approaches the second magnetic member 32, the attractive force between the first magnetic member 31 and the second magnetic member 32 gradually increases, and when the driving wheel moves to the outer dead center position, the mutual attractive force between the first magnetic member 31 and the second magnetic member 32 reaches a maximum.

Meanwhile, part of the tension spring is gradually released (i.e., the tension of the tension spring gradually decreases), and the attractive force between the first magnetic member 31 and the second magnetic member 32 can compensate for the tension loss of the tension spring, and the attractive force between the first magnetic member 31 and the second magnetic member 32 gradually increases with the gradual decrease of the tension spring until the attractive force between the first magnetic member 31 and the second magnetic member 32 reaches the maximum when the driving wheel moves to the outer dead center position.

Alternatively, in other embodiments, the preset position may be any position between an inner dead center position and an outer dead center position, and when the driving wheel 21 moves to the preset position, a mutual attractive force or a repulsive force is generated between the first magnetic member 31 and the second magnetic member 32. For example, the preset position may be a top dead center position.

Fig. 4 is a force analysis diagram of the first magnetic member 31 when the driving wheel 21 is located at the neutral position. As shown in fig. 4, when the driving wheel 21 is located at the intermediate position shown in fig. 2, the first magnetic member 31 receives the attraction force F obliquely downward from the second magnetic member 32, and the attraction force F obliquely downward is inclined forward. At this time, the attractive force F can be decomposed into two directional component forces, a component force F1 along the gravitational direction and a component force F2 along the traveling direction. At this time, the component force F1 increases the positive pressure (grip force) of the drive wheel 21. The component force F2 increases the drive potential energy in the forward direction of the drive wheel 21.

Further, in the present embodiment, when the driving wheel 21 moves to the outer dead center position, the component F1 of the attraction force of the first magnetic member 31 in the gravity direction is maximized. That is, in the outer dead point position, the effect of increasing the alignment pressure by the attractive force between the first magnetic member 31 and the second magnetic member 32 is maximized (the positive pressure applied to the driving wheel 21 is maximized), which is advantageous for improving the obstacle crossing ability of the self-propelled robot.

As shown in fig. 3, when the driving wheel 21 moves to the outer dead center position, the attractive force F received by the first magnetic member 31 is in the direction of gravity. At this time, the attraction force F received by the first magnetic member 31 is completely converted into a vertically downward force, the attraction force F is completely used for improving the ground gripping force of the driving wheel 21 without component force in other directions, the positive pressure of the driving wheel 31 on the ground is maximized, the ground gripping effect of the driving wheel 31 is in an optimal state, and the obstacle crossing capability of the self-moving robot is improved.

As shown in fig. 3, when the driving wheel 21 moves to the outer dead center position, the first magnetic member 31 and the second magnetic member 32 are attached to each other. Through the arrangement, on one hand, the attraction force F between the first magnetic piece 31 and the second magnetic piece 32 can be maximized, and the obstacle crossing capability of the self-moving robot is improved. On the other hand, the first magnetic member 31 and the second magnetic member 32 are bonded to each other, so that the movement of the driving wheel 21 (the driving wheel support 22) is restricted, and at this time, the driving wheel 21 cannot continue to rotate outward.

Optionally, in order to avoid damage to the structure of the first magnetic member 31 and the second magnetic member 32 due to multiple impacts between the first magnetic member 31 and the second magnetic member 32, a buffer structure (e.g., a rubber pad) may be further disposed on the abutting surface of the first magnetic member 31 and/or the second magnetic member 32, so as to buffer the impacts between the first magnetic member 31 and the second magnetic member 32, and improve the service lives of the first magnetic member 31 and the second magnetic member 32.

When the self-moving robot passes over an obstacle, the driving wheel 21 rotates by the gravity of the body 10, and the driving wheel 21 moves from the outer dead center position to the inner dead center position.

In the embodiment of the present application, the first magnetic member 31 and/or the second magnetic member 32 may be movably disposed, so that when the first magnetic member 31 is separated from the second magnetic member 32, an abutting surface of the first magnetic member 31 and the second magnetic member 32 is gradually reduced.

Specifically, the first magnetic member 31 is movably disposed on the driving wheel support 22, and/or the second magnetic member 32 is movably disposed on the machine body 10 (e.g. on an inner wall of a frame of the machine body 10), at least one of the first magnetic member 31 and the second magnetic member 32 is movably disposed, so that the first magnetic member 31 and the second magnetic member 32 which are jointed with each other can move oppositely when being separated, thereby realizing gradual separation, in the separation process, the abutting surfaces of the first magnetic member 31 and the second magnetic member 32 are gradually reduced, that is, the adsorption areas of the first magnetic member 31 and the second magnetic member 32 are gradually reduced, so that the attraction force between the first magnetic member 31 and the second magnetic member 32 can be relatively stably reduced, the driving wheel 21 is prevented from rapidly rotating due to the sudden drop of the attraction force, and the stable transition from the obstacle crossing state to the normal walking state of the self-moving robot is facilitated.

Alternatively, the movable setting may be a rotating setting or a sliding setting, but is not limited thereto.

Fig. 2 is also a schematic structural diagram of the first magnetic member 31 gradually disengaging from the second magnetic member 32 when the driving wheel 21 rotates from the outer dead center position to the inner dead center position. As shown in fig. 2, in the embodiment of the present application, the first magnetic member 31 is fixedly disposed on the driving wheel support 22, the second magnetic member 32 is rotatably disposed on the machine body 10, when the driving wheel 21 rotates from the outer dead point position to the inner dead point position, under the action of the mutual attraction force, the first magnetic member 31 drives the second magnetic member 32 to start rotating, and the abutting surface between the first magnetic member 31 and the second magnetic member 32 gradually decreases, so that the first magnetic member 31 can be smoothly separated from the second magnetic member 32.

As shown in fig. 1-3, the first magnetic member 31 is a rectangular parallelepiped and is fixedly disposed on the driving wheel support 22, the second magnetic member 32 is a triangular prism and is hinged to the machine body 10 through the second rotating shaft 33, when the driving wheel 21 is located at the outer dead center position, the first magnetic member 31 is adsorbed on the second magnetic member 32, when the driving wheel 21 rotates from the outer dead center position to the inner dead center position, the first magnetic member 31 drives the second magnetic member 32 to rotate, one corner of the triangular prism swings towards the first magnetic member 31, the adsorption area between the first magnetic member 31 and the second magnetic member 32 is gradually reduced, and the first magnetic member 31 is gradually separated from the second magnetic member 32.

Alternatively, when the first magnetic member 31 is disengaged from the second magnetic member 32 and is away from the second magnetic member 32 such that there is no longer a mutual attraction therebetween, the second magnetic member 32 may be restored to the original position by gravity.

Alternatively, an elastic restoring member (not shown) may be disposed between the second magnetic member 32 and the body 10, and the second magnetic member 32 is restored by the elastic restoring member. The elastic restoring member may be an elastic member such as a torsion spring.

Alternatively, in other embodiments, the first magnetic member 31 and/or the second magnetic member 32 may have other shapes, for example, the cross section of the second magnetic member 32 that is rotatably disposed may also have an oval shape, a racetrack shape, etc., but is not limited thereto.

Optionally, in other embodiments, the first magnetic member 31 and/or the second magnetic member 32 are elastic members, and are elastically deformable, so that when the two are separated from each other, the elastic members in the two are subjected to tensile deformation, and the abutting surfaces (absorption areas) of the two can be gradually reduced, so that the attractive force between the first magnetic member 31 and the second magnetic member 32 can be relatively smoothly reduced, the driving wheel 21 is prevented from rapidly rotating around due to a sudden drop of the attractive force, and the mobile robot is favorably and smoothly transited from the obstacle crossing state to the normal walking state. And when the mutual attraction force between the two does not exist any more, the second magnetic member 32 can be restored to the original shape under the action of the self internal deformation force.

Fig. 5 is a schematic structural diagram of the self-moving robot according to the second embodiment when the driving wheel 21 is located at the inner dead center position. Fig. 6 is a schematic structural diagram of the self-moving robot according to the second embodiment in which the driving wheel 21 is located at the intermediate position. Fig. 7 is a schematic structural diagram of the self-moving robot according to the second embodiment when the driving wheel 21 is located at the outer dead center position.

As shown in fig. 5-7, compared to the embodiment shown in fig. 1-4, in this embodiment, the second magnetic member 32 is a rod-shaped structure, one end of which is rotatably disposed on the machine body 10 via the second rotating shaft 33, and the other end of which forms a free end. When the driving wheel 21 is located at the outer dead center position, the first magnetic member 31 can be attached to the side wall of the rod-like structure. When the driving wheel 21 starts to rotate from the outer dead center position to the inner dead center position, the first magnetic member 31 drives the free end of the second magnetic member 32 to rotate, the absorption area between the first magnetic member 31 and the second magnetic member 32 gradually decreases, and the first magnetic member 31 gradually separates from the second magnetic member 32.

Alternatively, when the first magnetic member 31 is disengaged from the second magnetic member 32 and is away from the second magnetic member 32 such that there is no mutual attraction therebetween, the second magnetic member 32 may be restored to the original position by gravity or an elastic restoring member.

The self-moving robot provided by the embodiment of the present application may include a plurality of driving wheels (i.e. a plurality of sets of driving wheel assemblies), for example, two driving wheels, and are oppositely disposed on two opposite sides of the base 11. The self-moving robot may further include support wheels to provide balanced support to the body 10. The support wheels may be, for example, universal wheels.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (15)

1. A self-moving robot, comprising:

a body (10);

the driving wheel assembly (20) comprises a driving wheel (21) and a driving wheel bracket (22), and the driving wheel (21) is connected to the machine body (10) in a lifting manner through the driving wheel bracket (22);

the magnetic assembly (30) comprises a first magnetic piece (31) arranged on the driving wheel bracket (22) and a second magnetic piece (32) arranged on the machine body (10), wherein the first magnetic piece (31) and the second magnetic piece (32) are used for generating mutual attractive force or repulsive force so as to increase the positive pressure of the driving wheel (21) on the traveling ground.

2. The self-propelled robot as recited in claim 1, wherein the first magnetic member (31) and the second magnetic member (32) generate a mutual attractive force when the driving wheel (21) moves from a top dead center position to a preset position.

3. A self-moving robot according to claim 2, characterized in that the mutual attraction between the first magnetic member (31) and the second magnetic member (32) increases gradually during the movement of the driving wheel (21) from the preset position to the outer dead center position.

4. A self-propelled robot according to claim 2 or 3, wherein the component of the attractive force of the first magnetic member (31) in the direction of gravity is maximized when the driving wheel (21) is moved to the outer dead center position.

5. A self-propelled robot according to claim 4, characterized in that the attraction force to which said first magnetic member (31) is subjected when said driving wheel (21) is moved to the outer dead centre position is in the direction of gravity.

6. A self-moving robot according to claim 2 or 3, characterized in that the first magnetic member (31) and the second magnetic member (32) are attached to each other when the driving wheel (21) moves to the outer dead center position.

7. A self-moving robot according to claim 6, characterized in that the first magnetic member (31) and/or the second magnetic member (32) are movably arranged, so that when the first magnetic member (31) is separated from the second magnetic member (32), the abutting surface of the first magnetic member (31) and the second magnetic member (32) is gradually reduced.

8. A self-moving robot according to claim 7, characterized in that said second magnetic member (32) is rotatably arranged.

9. A self-moving robot according to claim 7, characterized in that said second magnetic member (32) is an elastic member.

10. A self-propelled robot according to claim 8, characterized in that an elastic return element is provided between said second magnetic element (32) and said body (10).

11. The self-moving robot as claimed in claim 8, wherein the second magnetic member (32) is of a triangular prism-like structure or a rod-like structure and is rotatably installed on the body (10) by a second rotating shaft (33).

12. A self-propelled robot according to claim 11, wherein said first magnetic member (31) is of a rectangular parallelepiped configuration and is fixedly mounted on said drive wheel support (22).

13. The self-propelled robot as recited in claim 3, further comprising an elastic connection member (40), wherein the body (10) is connected to the driving wheel support (22) through the elastic connection member (40), and wherein a pulling force of the elastic connection member (40) on the driving wheel support (22) is gradually reduced during the movement of the driving wheel (21) from the preset position to the outer dead center position.

14. A self-moving robot according to any of claims 1-3, characterized in that the driving wheel (21) is rotatably connected to the machine body (10) by means of the driving wheel support (22).

15. A self-moving robot according to claim 14, characterized in that said driving wheel assembly (20) further comprises a driving member and a housing, said driving member being provided in said housing and being in driving connection with said driving wheel (21), said housing constituting said driving wheel support (22).

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