CN220331288U

CN220331288U - Self-moving device

Info

Publication number: CN220331288U
Application number: CN202321520016.6U
Authority: CN
Inventors: 李韬; 赵金勇; 高亭
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2023-06-14
Filing date: 2023-06-14
Publication date: 2024-01-12
Anticipated expiration: 2033-06-14

Abstract

The application discloses a self-moving device. The self-moving device includes a device body movable in a traveling direction on a moving surface. The self-moving device also comprises a moving wheel assembly, wherein the moving wheel assembly comprises a bracket and a moving wheel. Wherein the bracket has a guide surface that is close to the front side of the apparatus body with respect to the moving wheel. The guide surface is provided obliquely with respect to the traveling direction, and is also provided toward the front side of the apparatus main body and the moving surface. In this way, the guide surface can guide the moving wheel to cross the obstacle during obstacle crossing of the self-moving device, so as to reduce the driving force required by obstacle crossing of the self-moving device, and thus the obstacle crossing performance of the self-moving device can be improved.

Description

Self-moving device

Technical Field

The application relates to the technical field of robots, in particular to a self-moving device.

Background

Currently, service robots such as air cleaning robots are widely used. The movement of the service robot mainly relies on the drive wheels on its chassis to provide the driving force. And the front end of the chassis of the service robot is also provided with a universal wheel, and the universal wheel can realize multidirectional rotation. However, the current service robot requires a larger driving force when surmounting the obstacle, which means that the current service robot has poorer obstacle surmounting performance.

Disclosure of Invention

The present application provides a self-moving device capable of improving obstacle crossing performance of the self-moving device.

The application provides a self-moving device, comprising: a device body movable on a moving surface in a traveling direction, wherein both sides of the device body in the traveling direction are a front side and a rear side, respectively, and the traveling direction is directed from the rear side to the front side; the moving wheel assembly comprises a bracket and a moving wheel, the bracket is arranged on the device main body, and the moving wheel is rotatably arranged on the bracket; the support is provided with a guide surface, the guide surface is close to the front side relative to the moving wheel, the guide surface is obliquely arranged relative to the travelling direction, and the guide surface is also arranged towards the front side and the moving surface.

In an embodiment of the present application, the angle between the guiding surface and the moving surface is 20 ° to 40 °.

In an embodiment of the present application, the self-moving device further has a height direction perpendicular to the moving surface; the guide surface has a target outer edge near the rear side in the traveling direction; wherein the maximum distance between the outer edge of the target and the moving surface in the height direction is less than or equal to 10mm.

In one embodiment of the present application, a stent comprises: a connection unit connected to the device main body; the guide part is connected to one side of the connecting part facing the moving surface, the guide part is close to the front side relative to the moving wheel, and the guide surface is positioned at one side of the guide part facing away from the connecting part; wherein, the maximum distance between the end of the guiding part close to the moving wheel and the moving wheel is less than or equal to 5mm.

In one embodiment of the present application, the number of moving wheel assemblies is at least two, a portion of the moving wheel assemblies are disposed near the front side, and the remaining moving wheel assemblies are disposed near the rear side.

In one embodiment of the present application, the moving wheel assembly further comprises: the rotating shaft is in transmission connection with the bracket; and at least two rotating bearings, wherein each rotating bearing is arranged on the device main body, and the rotating shaft rotatably penetrates through each rotating bearing.

In an embodiment of the present application, the self-moving device further comprises a drive wheel assembly; the drive wheel assembly includes: the driving piece is arranged on the device main body; the driving piece rotates around a central axis by driving the driving wheel to drive the device main body to move; the driving wheel comprises a hub and a tire, the tire is sleeved on the periphery of the hub, a flange structure is arranged on the periphery of the hub in a protruding mode, and the tire and the flange structure are sequentially arranged along the extending direction of the central axis.

In an embodiment of the present application, the driving wheel is further configured to spin in a preset rotation direction to drive the device body to move; the flange structure extends along a preset rotation direction and a direction away from the central axis.

In an embodiment of the present application, the self-moving device further has a width direction, wherein the width direction is perpendicular to the traveling direction and parallel to the moving surface; wherein, in the width direction, the drive wheel is disposed near the side of the device main body, and the flange structure is relatively located near the middle position of the device main body.

In an embodiment of the present application, the self-moving device further comprises a drive wheel assembly; the drive wheel assembly includes: the bearing piece is arranged on the device main body; the driving wheel is arranged on the bearing piece and is configured to rotate around a central axis so as to drive the device body to move; the bearing piece is provided with a protection part, the protection part is arranged opposite to the driving wheel in the direction vertical to the central axis, and the protection part and the driving wheel are in contact with each other or are spaced from each other.

In an embodiment of the present application, the maximum distance between the guard portion and the driving wheel is less than or equal to 5mm.

In an embodiment of the present application, the self-moving device further comprises a drive wheel assembly; the drive wheel assembly includes: the bearing piece comprises a fixing part and a swinging part, the fixing part is arranged on the device main body, and the swinging part is arranged on the fixing part in a swinging way through a swinging shaft; the elastic piece is respectively connected with the fixed part and the swinging part and is used for driving the swinging part to swing towards the moving surface; and a driving wheel rotatably provided to the swing portion, the driving wheel being for driving the apparatus body to move.

In an embodiment of the present application, the self-moving device further comprises a drive wheel assembly; the drive wheel assembly includes: the direct-drive driving element is arranged on the device main body; and the driving wheel is directly connected with the direct-drive driving element in a transmission way, and the direct-drive driving element drives the driving wheel to rotate so as to drive the device main body to move.

The beneficial effects of this application are: unlike the prior art, the present application provides a self-moving device. The self-moving device includes a device body movable in a traveling direction on a moving surface. The self-moving device also comprises a moving wheel assembly, wherein the moving wheel assembly comprises a bracket and a moving wheel. Wherein the bracket has a guide surface that is close to the front side of the apparatus body with respect to the moving wheel. The guide surface is provided obliquely with respect to the traveling direction, and is also provided toward the front side of the apparatus main body and the moving surface. In this way, the guide surface can guide the moving wheel to cross the obstacle during obstacle crossing of the self-moving device, so as to reduce the driving force required by obstacle crossing of the self-moving device, and thus the obstacle crossing performance of the self-moving device can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an embodiment of a self-moving device of the present application;

FIG. 2 is a schematic bottom view of the self-moving device of FIG. 1;

FIG. 3 is a schematic view of an embodiment of a mobile wheel assembly of the present application;

FIG. 4 is a schematic cross-sectional view of an embodiment of a mobile wheel assembly of the present application;

FIG. 5 is a schematic structural view of an embodiment of a drive wheel assembly of the present application;

FIG. 6 is a schematic view of an exploded construction of the drive wheel assembly of FIG. 5;

FIG. 7 is a schematic view of an embodiment of a drive wheel of the present application;

fig. 8 is a schematic side view of the drive wheel of fig. 7.

Reference numerals illustrate:

10 self-moving device; 11a device body; 11a front side; 11b rear side; 20 moving surfaces; 30, moving the wheel assembly; 31 a bracket; 311 guiding surfaces; 312 the outer edge of the target; 313 connection parts; 314 a guide; 32 moving wheels; 33 a rotation shaft; 34 a rotating bearing; a 40 drive wheel assembly; 41 driving member; 42 driving wheels; a hub 421; 422 a tire; 423 flange structure; 43 carriers; 431 a guard; 432 fixing portions; 433 a swing portion; 434 swinging shaft; 44 an elastic member; 45 cushioning member.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the skill of the art without inventive effort. Furthermore, it should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application. In this application, unless otherwise indicated, terms of orientation such as "upper", "lower", "left" and "right" are generally used to refer to the directions of the drawings in which the device is actually used or in an operating state.

In the present application, unless explicitly specified and limited otherwise, the terms "connected," "stacked," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The present application provides a self-moving device, which is described in detail below. It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of a self-moving device according to the present application, and fig. 2 is a schematic bottom structural diagram of the self-moving device shown in fig. 1.

In one embodiment, the self-moving device 10 is capable of moving in a direction of travel (as indicated by arrow X in fig. 1 and 2, the same applies below) on the moving surface 20. The self-moving device 10 may be specifically a service robot such as an air cleaning robot, a housekeeper robot, a smart mower, etc., and the self-moving device 10 moves on the moving surface 20 to provide various services to the user. Alternatively, the self-moving device 10 may be a cleaning robot, etc., and the moving surface 20 is a surface to be cleaned by the self-moving device 10, and the self-moving device 10 moves on the moving surface 20 to clean a region passing by the surface. The embodiments of the present application are described by taking a service robot as an example, which is only needed for discussion, and is not limited thereby.

Specifically, the self-moving device 10 includes a device body 11. The device body 11, as the name implies, is the basic carrier of the self-moving device 10, and serves to carry and protect the remaining components of the self-moving device 10. The self-moving device 10 also includes a drive wheel assembly 40. The driving wheel assembly 40 is provided to the device body 11 for driving the device body 11 to move in the traveling direction on the moving surface 20. The self-moving device 10 also includes a moving wheel assembly 30. The moving wheel assembly 30 is provided to the apparatus body 11 for assisting the movement of the apparatus body 11 during the movement of the apparatus body 11.

Further, the apparatus main body 11 is provided with a front side 11a and a rear side 11b on both sides in the traveling direction, and the traveling direction is directed from the rear side 11b to the front side 11a. The self-moving device 10 also has a width direction (as indicated by an arrow Y in fig. 2, the following is the same). The width direction is perpendicular to the traveling direction, and the width direction is also parallel to the moving surface 20. The self-moving device 10 also has a height direction (as indicated by arrow Z in fig. 1, the same applies below). The height direction is perpendicular to the moving surface 20.

The number of the driving wheel assemblies 40 is at least two, and a part of the driving wheel assemblies 40 are located on one side of the apparatus body 11 in the width direction, and the remaining driving wheel assemblies 40 are located on the other side of the apparatus body 11 in the width direction. Fig. 2 exemplarily shows that the number of driving wheel assemblies 40 is two, and the apparatus body 11 is provided with one set of driving wheel assemblies 40 on each side in the width direction. The mobile wheel assembly 30 may include, in particular, a universal wheel. The number of the moving wheel assemblies 30 is at least two, a part of the moving wheel assemblies 30 is disposed near the front side 11a of the apparatus body 11, and the remaining moving wheel assemblies 30 are disposed near the rear side 11b of the apparatus body 11. Fig. 2 exemplarily shows that the number of the moving wheel assemblies 30 is two, and the apparatus body 11 is provided with one group of the moving wheel assemblies 30 near the front side 11a, and the apparatus body 11 is provided with one group of the moving wheel assemblies 30 near the rear side 11 b.

The embodiment considers that the length of the service robot in the height direction is larger, that is, the height of the service robot is higher, so that the service robot has higher requirements on stability in the moving process. In view of this, the present embodiment improves the stability of the self-moving device 10 during movement by providing the moving wheel assemblies 30 at the positions of the device body 11 near the front side 11a and the rear side 11b, respectively.

The following describes the moving wheel assembly 30 of the embodiments of the present application.

Referring to fig. 3 and fig. 4 together, fig. 3 is a schematic structural diagram of an embodiment of the moving wheel assembly of the present application, and fig. 4 is a schematic sectional structural diagram of an embodiment of the moving wheel assembly of the present application.

In one embodiment, the moving wheel assembly 30 includes a bracket 31 and a moving wheel 32. The stand 31 is disposed on the device body 11, the moving wheel 32 is rotatably disposed on the stand 31, that is, the moving wheel 32 can roll relative to the stand 31, and the moving wheel 32 is used for assisting the device body 11 to move during the movement of the device body 11. For the case that the moving wheel assembly 30 includes universal wheels, the bracket 31 is rotatably connected with the device main body 11, and the bracket 31 can rotate around an axis perpendicular to the moving surface 20, so as to drive the moving wheel 32 to rotate around the axis, that is, the moving wheel 32 is the universal wheels. The moving wheel 32 in this embodiment is a follower wheel, and the moving wheel 32 rotates along with the movement of the device body 11, specifically includes rolling the moving wheel 32 relative to the bracket 31 and rotating the moving wheel 32 around the aforementioned axis.

In one embodiment, the bracket 31 has a guide surface 311. The guide surface 311 is close to the front side 11a of the apparatus body 11 with respect to the moving wheel 32. The guide surface 311 is provided obliquely to the traveling direction, and the guide surface 311 is also provided toward the front side 11a of the apparatus main body 11 and the moving surface 20. In this way, the guide surface 311 can guide the moving wheel 32 to cross the obstacle during obstacle crossing of the self-moving device 10, so as to reduce the driving force required for obstacle crossing of the self-moving device 10, thereby improving obstacle crossing performance of the self-moving device 10.

Further, during obstacle crossing from the mobile device 10, the guide surface 311 contacts an obstacle (e.g., a step shown by a broken line in fig. 4, etc.) prior to the moving wheel 32. The driving force provided by the driving wheel assembly 40 to the self-moving device 10 is F _{Driving of} The method comprises the steps of carrying out a first treatment on the surface of the The gravity applied to the guide surface 311 is G; the friction force applied to the guide surface 311 by the obstacle is f; the supporting force applied to the guide surface 311 by the obstacle is Fn; the guide surface 311 forms an angle θ with the moving surface 20 as shown in fig. 4.

The method meets the following conditions: g+f=cos θ=fn=sin θ;

F _{driving of} ＝Fn*cosθ+f*sinθ；

f=μ×fn, where μ is the coefficient of friction, and μ < 1.

Thus, it is possible to obtain: f (F) _{Driving of} =g (1+μ×tan θ)/(μ -tan θ). It can be seen that the greater the angle θ between the guide surface 311 and the moving surface 20, the driving force F provided by the driving wheel assembly 40 to the self-moving device 10 _{Driving of} The smaller. Also, when the dimension of the obstacle in the height direction is constant, the angle θ between the guide surface 311 and the moving surface 20 also affects the guide surface 311Area size. In combination with the foregoing, the present embodiment preferably has an angle θ between the guide surface 311 and the moving surface 20 of 20 ° to 40 °, for example, 20 °, 25 °, 30 °, 35 °, 40 °, or the like. Not only can the driving force provided by the driving wheel assembly 40 to the self-moving device 10 be reduced, so that the requirement of the self-moving device 10 for the driving force is reduced, namely the obstacle crossing performance of the self-moving device 10 is improved; it is also possible to avoid the excessive size of the holder 31 due to the excessive area of the guide surface 311.

In one embodiment, considering that the moving wheel 32 may be made of a flexible material, the moving wheel 32 is compressed to deform when the self-moving device 10 is supported on the moving surface 20 by the moving wheel 32. In view of this, the present embodiment is described with respect to the characteristics before the movement wheel 32 is deformed.

Specifically, the guide surface 311 has a target outer edge 312 near the rear side 11b of the apparatus main body 11 in the traveling direction. When the self-moving device 10 is supported on the moving surface 20 by the moving wheel 32, the moving wheel 32 is pressed to deform, and the target outer edge 312 is tangential to the outer edge of the moving wheel 32. The maximum distance H in the height direction between the target outer edge 312 and the moving surface 20 is less than or equal to 10mm, for example, 2mm, 4mm, 6mm, 8mm, 10mm, etc., as shown in fig. 4. In other words, when the moving wheel 32 is not deformed by pressing, the distance between the target outer edge 312 and the moving surface 20 in the height direction is less than or equal to 10mm. In this way, the present embodiment can facilitate the moving wheel 32 to roll when contacting an obstacle, so as to facilitate the moving device 10 to cross the obstacle, further improve the obstacle crossing performance of the moving device 10, and reduce the risk of the moving wheel 32 getting stuck.

The bracket 31 includes a connection portion 313 and a guide portion 314. The connection portion 313 is connected to the apparatus main body 11. The guide portion 314 is connected to a side of the connection portion 313 facing the moving surface 20, and the guide portion 314 is close to the front side 11a of the device body 11 relative to the moving wheel 32, wherein the guide surface 311 is located at a side of the guide portion 314 facing away from the connection portion 313. The maximum distance M of the guide 314 from the moving wheel 32 near the end of the moving wheel 32 is less than or equal to 5mm, such as 1mm, 2mm, 3mm, 4mm, 5mm, etc., as shown in fig. 4. In other words, when the moving wheel 32 is not deformed by pressing, the end of the guide 314 close to the moving wheel 32 is spaced from the moving wheel 32 by less than or equal to 5mm. In this way, the distance between the guiding portion 314 and the moving wheel 32 is smaller in this embodiment, so that the risk of the carpet being caught in the moving wheel 32 and causing the moving wheel 32 to be jammed can be reduced.

In an embodiment, in the case that the moving wheel 32 is a universal wheel, the moving wheel assembly 30 further includes a rotating shaft 33 and a rotating bearing 34. The rotating shaft 33 is in transmission connection with the bracket 31, the rotating bearing 34 is arranged on the device main body 11, and the rotating shaft 33 rotatably penetrates through the rotating bearing 34, so that the bracket 31 is in rotational connection with the device main body 11. The axis about which the bracket 31 and the moving wheel 32 rotate is the axis of the rotating shaft 33.

Further, the number of the rolling bearings 34 in the present embodiment is at least two, each rolling bearing 34 is disposed on the device main body 11, and the rotation shaft 33 rotatably penetrates each rolling bearing 34. In other words, the present embodiment can reduce the frictional vibration of the moving device 32 and the machine during movement by increasing the number of the rotating bearings 34, and thus can reduce the operation noise of the self-moving device 10.

The drive wheel assembly 40 of the embodiments of the present application is described below.

Referring to fig. 5 to 8, fig. 5 is a schematic structural diagram of an embodiment of the driving wheel assembly of the present application, fig. 6 is a schematic exploded structural diagram of the driving wheel assembly of fig. 5, fig. 7 is a schematic structural diagram of an embodiment of the driving wheel of the present application, and fig. 8 is a schematic side view of the driving wheel of fig. 7.

In one embodiment, the drive wheel assembly 40 includes a drive member 41 and a drive wheel 42. The driving element 41 is provided in the apparatus main body 11. The driving wheel 42 is drivingly connected to the driving member 41, and the driving member 41 rotates about a central axis (as shown by O in fig. 8, the same applies hereinafter) by driving the driving wheel 42 to move the device body 11. The driving wheel 42 is also configured to spin in a preset rotational direction (as indicated by arrow C in fig. 8, the same applies below) to drive the device body 11 to move.

Further, the driving member 41 may be a direct-drive driving element such as a direct-drive motor. In this way, the driving member 41 in this embodiment adopts the direct driving element, so that the driving member 41 is directly connected with the driving wheel 42 in a transmission manner, and a transmission mechanism between the driving member 41 and the driving wheel 42 is omitted, thereby achieving the purpose of simplifying the driving wheel assembly 40. The specific structure of the direct drive motor belongs to the understanding scope of those skilled in the art, and will not be described herein.

In one embodiment, as shown in fig. 7 and 8, the driving wheel 42 includes a hub 421 and a tire 422, and the tire 422 is sleeved on the outer periphery of the hub 421. The outer peripheral surface of the hub 421 is also provided with a flange structure 423. The tire 422 and the flange structure 423 are disposed in order along the extending direction of the central axis. Further, in the width direction, the driving wheel 42 is disposed near the side of the apparatus main body 11, and the flange structure 423 is located near the middle position of the apparatus main body 11 with respect to the tire 422, that is, the flange structure 423 is located inside the tire 422. In this way, when the vehicle moves obliquely from the mobile device 10 to surmount the obstacle, the flange structure 423 of the driving wheel 42 can directly contact the obstacle, and the mechanism driving mode provided by the flange structure 423 replaces the tire 422 friction driving mode, so that the load requirement of the tire 422 can be reduced, the tire 422 is prevented from slipping, and the capability of moving obliquely from the mobile device 10 to surmount the obstacle is improved.

Further, the flange structure 423 extends in a preset rotational direction and a direction away from the central axis, as shown in fig. 8. In this way, when the obstacle surmounting device 10 is tilted, the load requirement of the tire 422 can be further reduced, the tire 422 is prevented from slipping, and the obstacle surmounting capability of the moving device 10 is further improved.

In one embodiment, the drive wheel assembly 40 further includes a carrier 43. The carrier 43 is disposed on the device body 11, and the driving wheel 42 is rotatably disposed on the carrier 43. The carrier 43 is provided with a guard 431. The guard portion 431 is provided opposite to the driving wheel 42 in a direction perpendicular to the central axis, and the guard portion 431 and the driving wheel 42 are in contact with each other or spaced apart from each other.

The present embodiment contemplates that the drive wheel 42 may be formed of a flexible material such that the drive wheel 42 is compressed to deform when the self-moving device 10 is supported on the moving surface 20 by the drive wheel 42. When the driving wheel 42 is not deformed by pressing, the guard 431 is spaced apart from the driving wheel 42; when the driving wheel 42 is deformed by being pressed, the protecting portion 431 and the driving wheel 42 may be in contact with each other or still be spaced apart from each other. The maximum distance N of the guard 431 from the driving wheel 42 is less than or equal to 5mm, for example 1mm, 2mm, 3mm, 4mm, 5mm, etc., as shown in fig. 5. In other words, when the driving wheel 42 is not deformed by pressing, the distance between the protecting portion 431 and the driving wheel 42 is less than or equal to 5mm. In this way, the distance between the protecting portion 431 and the driving wheel 42 is smaller, so that the risk of the carpet being caught in the driving wheel 42 and causing the driving wheel 42 to be jammed can be reduced.

In one embodiment, the carrier 43 includes a fixing portion 432 and a swinging portion 433. The fixing portion 432 is provided to the apparatus body 11, and the swing portion 433 is swingably provided to the fixing portion 432 by a swing shaft 434. The driving wheel 42 is rotatably provided to the swing portion 433. The drive wheel assembly 40 also includes a resilient member 44. The elastic member 44 is connected to the fixing portion 432 and the swinging portion 433, respectively, and the elastic member 44 is configured to drive the swinging portion 433 to swing toward the moving surface 20.

In this way, the swing portion 433 of the present embodiment has a tendency to swing toward the moving surface 20 through the elastic member 44, that is, the elastic member 44 provides additional pressure to the driving wheel 42, so that the driving wheel 42 is pressed against the moving surface 20, which can increase the grip of the driving wheel 42, and further is beneficial to improving the obstacle detouring performance of the self-moving device 10.

For example, the fixing portion 432 is provided with a through hole, and a portion of the swing portion 433 near the swing shaft 434 passes through the through hole. The elastic member 44 may be a tension spring or the like. One end of the elastic member 44 is connected to the fixed portion 432, and the other end is connected to a portion of the swing portion 433 that protrudes from the through hole, so that the swing portion 433 has a tendency to swing toward the moving surface 20. Both ends of the swing shaft 434 are connected to the fixing portion 432 through one end cap, respectively, to assemble the swing shaft 434 to the fixing portion 432. The drive wheel assembly 40 also includes a bumper 45. The buffer 45 is interposed between the end of the swing portion 433 away from the swing shaft 434 and the fixed portion 432. On the one hand, the buffer member 45 plays a role of buffering and damping; on the other hand, the buffer 45 can also restrict the relative position between the fixed portion 432 and the swing portion 433.

It should be noted that, the driving wheel assembly 40 of the present embodiment adopts a modular design. The modular drive wheel assembly 40 as a whole participates in the construction of the self-moving device 10. The modular drive wheel assembly 40 is more efficient in assembly and manufacture, more reliable in construction, and less yaw during operation, thereby resulting in less noise from the overall mobile device 10 during operation.

The technical scheme provided by the embodiment of the application is explained below in combination with a specific application scene.

Application scenario one:

the self-moving device 10 is an air cleaning robot. The self-moving device 10 includes a device body 11. The apparatus body 11 is movable on the moving surface 20 in the traveling direction. The self-moving device 10 also includes a moving wheel assembly 30. The moving wheel assembly 30 includes a bracket 31 and a moving wheel 32. The stand 31 is provided to the apparatus main body 11, and the moving wheel 32 is rotatably provided to the stand 31. The carriage 31 has a guide surface 311, the guide surface 311 is disposed near the front side 11a of the device body 11 on the moving surface 20 with respect to the moving wheel 32, the guide surface 311 is disposed obliquely with respect to the traveling direction, and the guide surface 311 is also disposed toward the front side 11a and the moving surface 20.

When the self-moving device 10 encounters an obstacle such as a step during movement, the self-moving device 10 itself has a certain initial velocity and mass, so that the self-moving device 10 can use its own inertia, and the guide surface 311 can guide the moving wheel 32 to contact the obstacle to cross the obstacle. Wherein, the guide surface 311 and the moving surface 20 have a specific included angle, so that the requirement of the moving wheel 32 for driving force is lower when the moving wheel passes over the obstacle, thereby improving the obstacle-passing performance of the self-moving device 10.

Also, the self-moving device 10 further includes a drive wheel assembly 40. The drive wheel assembly 40 includes a drive member 41 and a drive wheel 42. The driving element 41 is provided in the apparatus main body 11. The driving wheel 42 is in transmission connection with the driving member 41, and the driving member 41 rotates by driving the driving wheel 42 to drive the device body 11 to move. When the self-moving device 10 is inclined to move over the obstacle, the moving wheel 32 firstly passes over the obstacle, then the flange structure 423 on the driving wheel 42 contacts the obstacle, and the mechanism driving mode provided by the flange structure 423 replaces the tire 422 friction driving mode, so that the load requirement of the tire 422 can be reduced, the tire 422 is prevented from slipping, and the capability of the self-moving device 10 for inclined to move over the obstacle is improved.

In addition, in normal operation of the self-moving device 10, the gear train of the self-moving device 10 has no interference or collision, and has low friction, which means that the overall working noise of the self-moving device 10 is low.

And (2) an application scene II:

The bracket 31 includes a connection portion 313 and a guide portion 314. The connection portion 313 is connected to the apparatus main body 11. The guide portion 314 is connected to a side of the connection portion 313 facing the moving surface 20, and the guide portion 314 is close to the front side 11a of the device body 11 relative to the moving wheel 32, wherein the guide surface 311 is located at a side of the guide portion 314 facing away from the connection portion 313. When passing through a carpet from the mobile device 10, it is contemplated that if there is insufficient friction between the carpet and the floor, the carpet may be caught in the moving wheel 32 and cause the moving wheel 32 to jam. Therefore, the maximum distance between the end of the guiding portion 314 near the moving wheel 32 and the moving wheel 32 is less than or equal to 5mm, that is, the distance between the guiding portion 314 and the moving wheel 32 is smaller, so that the risk of the carpet being involved in the moving wheel 32 and causing the moving wheel 32 to be blocked can be reduced.

Also, the self-moving device 10 further includes a drive wheel assembly 40. The drive wheel assembly 40 includes a drive member 41 and a drive wheel 42. The driving element 41 is provided in the apparatus main body 11. The driving wheel 42 is in transmission connection with the driving member 41, and the driving member 41 rotates by driving the driving wheel 42 to drive the device body 11 to move. The drive wheel assembly 40 further comprises a carrier 43. The carrier 43 is disposed on the device body 11, and the driving wheel 42 is rotatably disposed on the carrier 43. The carrier 43 is provided with a guard 431. The protecting portion 431 is disposed opposite to the driving wheel 42, and the protecting portion 431 is in contact with or spaced apart from the driving wheel 42. When passing through the carpet from the mobile device 10, it is contemplated that if there is insufficient friction between the carpet and the floor, the carpet may be caught in the drive wheel 42 and cause the drive wheel 42 to become stuck. Therefore, the maximum distance between the protecting portion 431 and the driving wheel 42 is less than or equal to 5mm, that is, the distance between the protecting portion 431 and the driving wheel 42 is smaller, so that the risk of the carpet being involved in the driving wheel 42 and causing the driving wheel 42 to be locked can be reduced.

The foregoing has outlined the detailed description of the self-mobile device provided herein, and the detailed description has been presented herein to illustrate the principles and embodiments of the present application and to provide a convenient understanding of the method and its core concepts; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A self-moving device, comprising:

a device body movable on a moving surface along a traveling direction, wherein both sides of the device body in the traveling direction are a front side and a rear side, respectively, from which the traveling direction is directed to the front side; and

the moving wheel assembly comprises a bracket and a moving wheel, the bracket is arranged on the device main body, and the moving wheel is rotatably arranged on the bracket;

the support is provided with a guide surface, the guide surface is close to the front side relative to the moving wheel, the guide surface is obliquely arranged relative to the travelling direction, and the guide surface is also arranged towards the front side and the moving surface.

2. The self-moving device according to claim 1, wherein,

the included angle between the guide surface and the moving surface is 20-40 degrees.

3. The self-moving device according to claim 1, wherein,

the self-moving device also has a height direction perpendicular to the moving surface;

the guide surface has a target outer edge near the rear side in the traveling direction;

wherein a maximum distance between the target outer edge and the moving surface in the height direction is less than or equal to 10mm.

4. The self-moving device according to claim 1, wherein,

the bracket comprises:

a connection unit connected to the device main body; and

the guide part is connected to one side of the connecting part facing the moving surface, the guide part is close to the front side relative to the moving wheel, and the guide surface is positioned on one side of the guide part facing away from the connecting part;

wherein the maximum distance between the end part of the guide part, which is close to the moving wheel, and the moving wheel is less than or equal to 5mm.

5. The self-moving device according to any one of claim 1 to 4, wherein,

the number of the moving wheel assemblies is at least two, part of the moving wheel assemblies are arranged close to the front side, and the rest of the moving wheel assemblies are arranged close to the rear side.

6. The self-moving device according to any one of claim 1 to 4, wherein,

the mobile wheel assembly further includes:

the rotating shaft is in transmission connection with the bracket; and

and the rotating shafts are rotatably arranged on the rotating bearings in a penetrating way.

7. The self-moving device according to any one of claim 1 to 4, wherein,

the self-moving device further comprises a driving wheel assembly;

the drive wheel assembly includes:

a driving member provided to the apparatus main body; and

the driving wheel is in transmission connection with the driving piece, and the driving piece rotates around a central axis by driving the driving wheel to drive the device main body to move;

the driving wheel comprises a hub and a tire, the tire is sleeved on the periphery of the hub, a flange structure is arranged on the periphery of the hub in a protruding mode, and the tire and the flange structure are sequentially arranged along the extending direction of the central axis.

8. The self-moving device according to claim 7, wherein,

the driving wheel is further configured to rotate in a preset rotation direction to drive the device body to move;

the flange structure extends along the preset rotation direction and the direction away from the central axis.

9. The self-moving device according to claim 7, wherein,

the self-moving device also has a width direction perpendicular to the travel direction and parallel to the moving face;

wherein, in the width direction, the driving wheel is arranged near the side of the device main body, and the flange structure is arranged near the middle part of the device main body relative to the tire.

10. The self-moving device according to any one of claim 1 to 4, wherein,

the self-moving device further comprises a driving wheel assembly;

the drive wheel assembly includes:

the bearing piece is arranged on the device main body; and

a driving wheel disposed on the carrier, the driving wheel being configured to rotate around a central axis to drive the device body to move;

the bearing piece is provided with a protection part, the protection part is arranged opposite to the driving wheel in the direction perpendicular to the central axis, and the protection part and the driving wheel are in contact or interval with each other.

11. The self-moving device according to claim 10, wherein,

the maximum distance between the protection part and the driving wheel is less than or equal to 5mm.

12. The self-moving device according to any one of claim 1 to 4, wherein,

the self-moving device further comprises a driving wheel assembly;

the drive wheel assembly includes:

the bearing piece comprises a fixing part and a swinging part, the fixing part is arranged on the device main body, and the swinging part is arranged on the fixing part in a swinging way through a swinging shaft;

the elastic piece is respectively connected with the fixed part and the swinging part and is used for driving the swinging part to swing towards the moving surface; and

the driving wheel is rotatably arranged on the swinging part and is used for driving the device main body to move.

13. The self-moving device according to any one of claim 1 to 4, wherein,

the self-moving device further comprises a driving wheel assembly;

the drive wheel assembly includes:

a direct drive driving element provided to the device main body; and

the driving wheel is directly connected with the direct-drive driving element in a transmission way, and the direct-drive driving element drives the driving wheel to rotate to drive the device main body to move.