阅读说明：本技术 自移动机器人及其驱动装置 (Self-moving robot and driving device thereof ) 是由 尹相超 刘亚 郭豹 张为刘 于 2020-05-12 设计创作，主要内容包括：本发明实施例公开了一种自移动机器人及其驱动装置,其中,自移动机器人包括两个驱动装置,所述驱动装置可旋转的设置在所述自移动机器人的底部,每个所述驱动装置均包括轮组以及设于所述轮组外周并沿所述轮组外周转动的履带；所述轮组包括呈三角形设置第一轮体、第二轮体以及第三轮体,所述履带包括在平面行走时平行于行走表面的承载段和提供越障斜面的第一越障段,所述承载段位于所述第一轮体和所述第二轮体之间,所述第一越障段位于所述第二轮体和所述第三轮体之间。本发明实施例的自移动机器人及其驱动装置,可以提升自移动机器人运行的平稳性和越障能力。(The embodiment of the invention discloses a self-moving robot and a driving device thereof, wherein the self-moving robot comprises two driving devices, the driving devices are rotatably arranged at the bottom of the self-moving robot, and each driving device comprises a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set; the wheel set sets up first wheel body, second wheel body and third wheel body including being triangle-shaped, the track includes the first section of hindering more that is on a parallel with the bearing section on walking surface and provides the inclined plane of hindering more when the plane walking, bear the section and be located first wheel body with between the second wheel body, first hinder more the section is located the second wheel body with between the third wheel body. The self-moving robot and the driving device thereof provided by the embodiment of the invention can improve the running stability and obstacle crossing capability of the self-moving robot.)

1. The self-moving robot is characterized by comprising two driving devices, wherein the driving devices are rotatably arranged at the bottom of the self-moving robot and each driving device comprises a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set;

the wheel set sets up first wheel body, second wheel body and third wheel body including being triangle-shaped, the track includes the first section of hindering more that is on a parallel with the bearing section on walking surface and provides the inclined plane of hindering more when the plane walking, bear the section and be located first wheel body with between the second wheel body, first hinder more the section is located the second wheel body with between the third wheel body.

2. The self-propelled robot of claim 1, wherein the triangle is a first obtuse triangle having the second wheel as an obtuse vertex.

3. The self-moving robot of claim 1, further comprising a drive motor at least partially positioned above the track.

4. The self-moving robot according to claim 3, wherein the drive motor is located between the first wheel and the second wheel.

5. The self-propelled robot of claim 3, wherein the drive motor is drivingly connected to the third wheel.

6. The self-moving robot according to claim 1, wherein the driving device further comprises a wheel frame and a rotating shaft, the wheel frame is mounted on the wheel frame, and the wheel frame is rotatably connected to the body of the self-moving robot through the rotating shaft.

7. The self-propelled robot of claim 6, wherein the bearing segment forms an obstacle crossing ramp when the wheel carriage rotates the second wheel to be raised as a result of obstacle crossing travel.

8. The self-moving robot according to claim 6, further provided with a suction port, wherein the rotation shaft is located between a front side and a rear side of the suction port.

9. The self-propelled robot of claim 6, wherein the axis of rotation is coaxial with the second wheel.

10. The self-moving robot as claimed in claim 6, further comprising an elastic member, wherein both ends of the elastic member are respectively connected to the wheel frame and the body of the self-moving robot.

11. The self-propelled robot of claim 2, wherein the wheel assembly further includes a fourth wheel disposed in a second obtuse triangle with the first wheel and the second wheel, the first wheel being an obtuse vertex of the second obtuse triangle, the track further including a second obstacle crossing segment providing an obstacle crossing ramp, the second obstacle crossing segment being located between the first wheel and the fourth wheel.

12. The self-moving robot is characterized by comprising two driving devices, wherein the driving devices are rotatably arranged at the bottom of the self-moving robot and each driving device comprises a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set;

the wheel set comprises a first wheel body, a second wheel body and a third wheel body which are arranged in a triangular shape, the crawler belt comprises a bearing section which is parallel to a walking surface when the crawler belt walks on a plane and a first obstacle crossing section which provides an obstacle crossing inclined plane, the bearing section is positioned between the first wheel body and the second wheel body, the first obstacle crossing section is positioned between the second wheel body and the third wheel body,

when the self-moving robot walks on a plane, the self-moving robot is supported by the first wheel body and the second wheel body of the two driving devices.

13. The self-propelled robot of claim 12, wherein the triangle is a first obtuse triangle having an obtuse vertex, the second wheel, the wheel set further comprising a fourth wheel having a second obtuse triangle, the first wheel being an obtuse vertex, the second wheel, the track further comprising a second obstacle crossing segment providing an obstacle crossing ramp, the second obstacle crossing segment being positioned between the first wheel and the fourth wheel.

14. A driving device is characterized by comprising a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set;

the wheel set sets up first wheel body, second wheel body and third wheel body including being triangle-shaped, the track includes the first section of hindering more that is on a parallel with the bearing section on walking surface and provides the inclined plane of hindering more when the plane walking, bear the section and be located first wheel body with between the second wheel body, first hinder more the section is located the second wheel body with between the third wheel body.

15. The drive of claim 14, wherein the triangle is a first obtuse triangle having an obtuse vertex on the second wheel.

16. The drive of claim 15, wherein the wheel assembly further includes a fourth wheel disposed in a second obtuse triangle with the first wheel and the second wheel, the first wheel being an obtuse vertex of the second obtuse triangle, the track further including a second obstacle crossing section providing an obstacle crossing ramp, the second obstacle crossing section being located between the first wheel and the fourth wheel.

17. A driving device is characterized by comprising a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set;

the crawler belt comprises a first wheel body, a second wheel body and a track, wherein the wheel set comprises the first wheel body and the second wheel body; when walking on a plane, the bearing section is parallel to the walking surface; when the first wheel body or the second wheel body is lifted, the bearing section forms an obstacle crossing inclined surface.

Technical Field

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

Background

The three-point supporting robot has the advantages that the three-point supporting robot in the prior market adopts a three-point wheel type walking driving mode, two wheels are used as driving wheels, one wheel is used as a steering wheel, the driving mode is poor in stability, the steering wheel is resistance in the walking obstacle crossing process, the walking obstacle crossing of the robot is not facilitated, and particularly, the driving force is insufficient when the obstacle crossing is performed, and the obstacle crossing is difficult; another crawler-type driving wheel uses two sets of crawler wheels, each set of crawler wheel only supports the machine a little by a little, and the machine needs to be supported by the aid of a steering wheel in an auxiliary mode, and due to the existence of the steering wheel, resistance in the obstacle crossing process is large, so that the machine is difficult to cross an obstacle.

Disclosure of Invention

In view of this, embodiments of the present invention provide a self-moving robot and a driving device thereof, which can improve the running stability and obstacle crossing capability of the self-moving robot.

In a first aspect, the self-moving robot provided in the embodiment of the present invention includes two driving devices, where the driving devices are rotatably disposed at the bottom of the self-moving robot, and each driving device includes a wheel set and a track disposed on and rotating along the periphery of the wheel set;

the wheel set sets up first wheel body, second wheel body and third wheel body including being triangle-shaped, the track includes the first section of hindering more that is on a parallel with the bearing section on walking surface and provides the inclined plane of hindering more when the plane walking, bear the section and be located first wheel body with between the second wheel body, first hinder more the section is located the second wheel body with between the third wheel body.

Further, the triangle is a first obtuse triangle with the second wheel body as an obtuse vertex.

Further, the self-moving robot further comprises a driving motor, and the driving motor is at least partially positioned above the crawler.

Further, the driving motor is located between the first wheel body and the second wheel body.

Further, the driving motor is in transmission connection with the third wheel body.

Further, the driving device further comprises a wheel carrier and a rotating shaft, the wheel set is mounted on the wheel carrier, and the wheel carrier is rotatably connected to the body of the self-moving robot through the rotating shaft.

Further, when the wheel frame rotates and the second wheel body is lifted due to obstacle crossing walking, the bearing section forms an obstacle crossing inclined surface.

Further, the self-moving robot is further provided with a suction port, and the rotation shaft is located between a front side and a rear side of the suction port.

Further, the rotational axis is coaxial with the second wheel.

Further, the self-moving robot further comprises an elastic element, and two ends of the elastic element are respectively connected to the wheel carrier and the body of the self-moving robot.

Further, the wheel set further comprises a fourth wheel body which is arranged with the first wheel body and the second wheel body in a second obtuse triangle shape, the first wheel body is an obtuse vertex of the second obtuse triangle, the track further comprises a second obstacle crossing section which provides an obstacle crossing inclined surface, and the second obstacle crossing section is located between the first wheel body and the fourth wheel body.

In a second aspect, the self-moving robot provided in the embodiment of the present invention includes two driving devices, the driving devices are rotatably disposed at the bottom of the self-moving robot, each driving device includes a wheel set and a track disposed at and rotating along the periphery of the wheel set;

the wheel set comprises a first wheel body, a second wheel body and a third wheel body which are arranged in a triangular shape, the crawler belt comprises a bearing section which is parallel to a walking surface when the crawler belt walks on a plane and a first obstacle crossing section which provides an obstacle crossing inclined plane, the bearing section is positioned between the first wheel body and the second wheel body, the first obstacle crossing section is positioned between the second wheel body and the third wheel body,

when the self-moving robot walks on a plane, the self-moving robot is supported by the first wheel body and the second wheel body of the two driving devices.

Further, the triangle is that the second wheel body is a first obtuse triangle of an obtuse vertex, the wheel set further comprises a fourth wheel body, the first wheel body and the second wheel body are the second obtuse triangle, the first wheel body is the obtuse vertex of the second obtuse triangle, the track further comprises a second obstacle crossing section for providing an obstacle crossing inclined surface, and the second obstacle crossing section is located between the first wheel body and the fourth wheel body.

In a third aspect, the driving device provided by the embodiment of the present invention includes a wheel set and a track disposed on and rotating along an outer periphery of the wheel set;

the wheel set sets up first wheel body, second wheel body and third wheel body including being triangle-shaped, the track includes the first section of hindering more that is on a parallel with the bearing section on walking surface and provides the inclined plane of hindering more when the plane walking, bear the section and be located first wheel body with between the second wheel body, first hinder more the section is located the second wheel body with between the third wheel body.

Further, the triangle is a first obtuse triangle with the second wheel body as an obtuse vertex.

Further, the wheel set further comprises a fourth wheel body which is arranged with the first wheel body and the second wheel body in a second obtuse triangle shape, the first wheel body is an obtuse vertex of the second obtuse triangle, the track further comprises a second obstacle crossing section which provides an obstacle crossing inclined surface, and the second obstacle crossing section is located between the first wheel body and the fourth wheel body.

In a fourth aspect, the driving device provided by the embodiment of the present invention includes a wheel set and a track disposed on and rotating along an outer periphery of the wheel set; the crawler belt comprises a first wheel body, a second wheel body and a track, wherein the wheel set comprises the first wheel body and the second wheel body; when walking on a plane, the bearing section is parallel to the walking surface; when the first wheel body or the second wheel body is lifted, the bearing section forms an obstacle crossing inclined surface.

According to the self-moving robot and the driving device thereof, the two driving devices are arranged at the bottom of the self-moving robot, and each driving device supports equipment through two points of the first wheel body and the second wheel body, so that the running stability of the robot is improved; and the second wheel body and the third wheel body support the track together to lift the obstacle crossing inclined plane, so that the obstacle crossing capability of the equipment during operation is improved.

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 perspective view of a self-moving robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driving apparatus of a self-moving robot according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a driving apparatus of a self-moving robot according to an embodiment of the present invention;

fig. 4a is a schematic side view of a driving apparatus of a self-moving robot according to an embodiment of the present invention during normal traveling;

fig. 4b is a schematic side view of a driving apparatus of a self-moving robot according to an embodiment of the present invention during obstacle crossing traveling;

fig. 5 is a schematic diagram of another structure of a driving apparatus for a self-moving robot according to an 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

At present, a sweeping robot on the market is mainly divided into a wheel type and a crawler type according to a driving form, wherein the wheel type is mainly characterized in that two wheels are arranged on the left side and the right side of the robot as driving wheels, and a universal wheel is arranged in front of the robot, wherein the universal wheel plays a role in steering and also plays a role in supporting the robot together with the two driving wheels, but the stability of the three-point supporting robot is poor, the universal wheel crosses the resistance of an obstacle in the moving process of the robot, the walking of the robot is not facilitated, particularly, when the driving force is insufficient, the obstacle is difficult to cross, so that a user has the problem that when using a product, the robot cannot reach in many places or is easily trapped in some places, and the user experience is poor; the crawler belts are generally arranged on two sides of the machine respectively by adopting two groups of crawler belts, but each group of crawler belts only has one point to be in contact with the ground, and the machine is supported in an auxiliary mode by means of universal wheels, so that the advantages of the crawler belts cannot be effectively exerted, and the universal wheels are also used for overcoming the resistance of obstacles in the advancing process of the machine, and particularly when the driving force is insufficient, the obstacle crossing failure is easily caused, and the user experience is poor.

The main idea of an embodiment of the invention is to provide a self-moving robot and a driving device thereof, when the self-moving robot is used, the driving devices are arranged on two sides of the bottom of the robot, and each driving device is supported by the first wheel body and the second wheel body in a grounding mode respectively, so that the robot can be supported by the four points in the grounding mode, the running stability of the robot is ensured, universal wheels are not needed for supporting, the resistance is reduced for obstacle crossing of the robot, meanwhile, the second wheel body and the third wheel body of the driving device support a track together to form an obstacle crossing inclined plane, and the obstacle crossing capability of the device during running is improved.

Referring to fig. 1, a schematic perspective view of a self-moving robot according to an embodiment of the present invention is shown, the self-moving robot includes two driving devices 10, the driving devices 10 are rotatably disposed at a bottom of the self-moving robot, each driving device 10 includes a wheel set 110 and a track 120, the wheel set 110 includes a first wheel 111, a second wheel 112 and a third wheel 113 (which are disposed in a triangular shape and cannot be shown inside the robot, refer to fig. 2); the track 120 includes a first obstacle crossing section 121 and the carrier section 122.

Here, the self-moving robot includes, but is not limited to, any one of a sweeping robot, a goods sweeping robot, a shopping guide robot, and a temperature measuring robot, and the embodiment is described by taking the sweeping robot as an example; in addition, the invention and the embodiment of the invention mainly improve the driving device of the bottom of the self-moving robot.

Wherein, the caterpillar track 120 is arranged on the periphery of the wheel set 110 and can rotate along the periphery of the wheel set 110; the bearing section 122 is located between the first wheel 111 and the second wheel 112, and is parallel to the running surface when running on a plane; the first obstacle crossing section 121 is located between the second wheel body 112 and the third wheel body 113, and provides an obstacle crossing slope when the vehicle travels over an obstacle.

Specifically, referring to fig. 2, which is a schematic structural diagram of a driving device of a self-moving robot according to an embodiment of the present invention, the first wheel body 111, the second wheel body 112, and the third wheel body 113 form the wheel set 110 disposed in a triangle, the track 120 is sleeved on the periphery of the wheel set 110, and when one wheel body in the wheel set 110 rotates, the track 120 may be driven to rotate, so as to drive the other wheel bodies to rotate together.

When the self-moving robot walks on a plane, that is, the driving devices 10 walk on the plane, that is, in a normal motion state of the self-moving robot, the bearing section 122 is parallel to the walking surface, and at this time, the heights of the lowest points of the first wheel body 111 and the second wheel body 112 are equal, one driving device 10 has two points supported on the walking surface, and the bottom of the self-moving robot is provided with two driving devices 10, which are generally oppositely arranged on two sides of the bottom of the self-moving robot, so that the self-moving robot has four points supported on the walking surface, thereby improving the smoothness of the self-moving robot during traveling.

It should be noted that, here, the bearing section 122 is only limited to be parallel to the walking surface when the self-moving robot walks on a plane, that is, the heights of the lowest points of the first wheel body 111 and the second wheel body 112 are equal when the self-moving robot walks on a plane, the wheel diameters of the first wheel body 111 and the second wheel body 112 are not limited, and the sizes may be selected to be the same or different, and it is only necessary to ensure that the line connecting the lowest point of the first wheel body 111 and the second wheel body 112 is parallel to the walking surface when the self-moving robot walks on a plane.

When the self-moving robot walks across obstacles, that is, the driving device 10 needs to climb over obstacles, that is, in an obstacle-crossing motion state of the self-moving robot, the first obstacle-crossing section 121 may provide an obstacle-crossing slope, at this time, the height of the lowest point of the third wheel 113 is higher than the height of the lowest point of the second wheel 112, that is, the lowest point of the third wheel 113 is higher than the line between the lowest point of the first wheel 111 and the lowest point of the second wheel 112 in a normal state, which enables the third wheel 113 and the first wheel 112 to support the track 120 as an obstacle-crossing slope, that is, the first obstacle-crossing section 121, when the driving device 10 carries the self-moving robot to travel along a horizontal supporting surface, an obstacle in front of the self-moving robot first contacts with the first obstacle-crossing section 121, and then under the driving force, the front of the self-moving robot is lifted, and then the driving device 10 carries the self-moving robot to cross the obstacle, that is, the obstacle crossing capability of the self-moving robot can be greatly improved by the obstacle crossing inclined surface of the first obstacle crossing section 121.

In addition, generally, the self-moving robot is provided with two driving devices 10, and the two driving devices 10 are oppositely arranged at two sides of the bottom of the self-moving robot, it is conceivable that one self-moving robot can be matched with three, four or more driving devices 10, for example, when one self-moving robot is matched with three driving devices 10, two driving devices 10 are arranged in front of and behind one side of the self-moving robot, and a third driving device 10 is arranged at the middle position of the other side of the self-moving robot; when one self-moving robot is matched with four driving devices 10, two driving devices 10 are arranged in front of and behind one side of the self-moving robot, and the other two driving devices 10 are arranged in front of and behind the other side of the self-moving robot.

In fig. 1, the third wheel 113 is located at a position obliquely above the second wheel 112 and is not shown inside the machine, and it can be known from the above description of the embodiment that the third wheel 113 and the second wheel 112 support the first obstacle crossing section 121, providing the obstacle crossing inclined plane can greatly improve the obstacle crossing capability of the self-moving robot, another driving device 10 has a front point and a rear point supporting walking surfaces, that is, positions where the first wheel 111 and the second wheel 112 are in contact with the crawler 120, and the bottom of the self-moving robot is provided with at least two driving devices 10, that is, the self-moving robot has at least four points supporting the ground, which can ensure the running stability of the self-moving robot, and further, no other universal wheels are needed to be used as auxiliary supports, and can avoid unnecessary obstacle crossing resistance increase due to the existence of the universal wheels when an obstacle is crossed, thereby further improving the obstacle crossing capability of the self-moving robot during operation.

Further, in order to ensure that the first obstacle crossing section 121 is located in front of the traveling direction of the self-moving robot, the obstacle crossing slope may be provided, and the triangle may be a first obtuse triangle having the second wheel 112 as an obtuse vertex.

Specifically, when the wheel set 110 is disposed, the third wheel 113 is disposed on the outer side of the first wheel 111 and the second wheel 112, and the lowest point of the third wheel 113 is located above the second wheel 112 during a normal movement of the self-moving robot, so that the wheel set 110 is disposed in the first obtuse triangle, and the second wheel 112 and the third wheel 113 can support the first obstacle crossing section 121 to become the obstacle crossing slope.

In addition, referring to fig. 3, for a schematic perspective view of a driving apparatus of a self-moving robot according to an embodiment of the present invention, the driving apparatus 10 further includes a driving motor 130, and the driving motor 130 is at least partially located above the caterpillar track 120. It should be noted that the lowest point of the driving motor 130 is not necessarily higher than the highest point of the track, but the driving motor is located above the track in a corresponding vertical direction (a longitudinal direction is a front-back direction of the self-moving robot, and a transverse direction is a direction perpendicular to the longitudinal direction) at the same transverse position of the self-moving robot.

Specifically, driving motor 130 includes motor body and pivot, the spindle nose of pivot can also the selective joining runner, the pivot or the runner with wheel body transmission in the wheelset 110 is connected, for the wheelset 110 provides drive power, and then drives track 120 rotates, accomplishes the walking on the loading end from mobile robot. The transmission connection includes, but is not limited to, the connection with the wheel body of the wheel set 110 through the reduction box 131, and it is also conceivable that the transmission connection between the driving motor 130 and the wheel set 110 is realized through a transmission structure such as a chain, a belt, etc. A frame body is arranged above the crawler 120, and at least part of the driving motor 130 is located above the crawler 120, which means that the motor body of the driving motor 130 is arranged on the frame body, and the shaft head of the rotating wheel or the rotating shaft or the reduction gearbox 131 extends out of the frame body, i.e. out of the crawler 120. This allows the wheel set 110 surrounded by the driving motor 130 and the caterpillar track 120 to be stacked up and down, thereby saving the lateral space of the driving device 10, facilitating the arrangement of functional modules inside the self-moving robot using the driving device 10, and realizing the structural vision of machine miniaturization.

Further, the driving motor 130 is in transmission connection with the third wheel 113.

As to which wheel body of the wheel set 11 the driving motor 130 is in driving connection with, generally, the wheel body with a larger wrap angle of the track 120 is selected, please refer to fig. 2, here, it is preferable to select the driving motor 130 to be connected with the wheel bodies at two acute angles of the first obtuse triangle, i.e. the third wheel body 113 and the first wheel body 111 as shown in the figure, because the larger the wrap angle is, the better the driving effect is, and this is beneficial to improve the performance of the driving device 10; particularly, the third wheel body 113 is selected to be in transmission connection with the driving motor 130, because the third wheel body 113 is an end portion of the first obstacle crossing section 121, and the driving motor 130 and the third wheel body 113 can rapidly transmit driving force to the first obstacle crossing section 121, which is beneficial to further improving the obstacle crossing and climbing capabilities of the driving device 10.

In addition, the driving motor 130 is preferably disposed between the first wheel 111 and the second wheel 112, that is, the driving motor 130 is disposed on a frame body between the first wheel 111 and the second wheel 112, which is beneficial to reasonably utilizing the space above the first wheel 111 and the second wheel 112, and thus the structural vision of machine miniaturization can be further realized; on the other hand, the driving motor 130 may be closer to the third wheel 113, so as to reduce the transmission distance, improve the transmission performance of the driving motor 130 to the third wheel 113, and contribute to improving the driving performance of the driving device 10.

Further, the driving device 10 further includes a wheel frame 140 and a rotating shaft 150, the wheel set 110 is mounted on the wheel frame 140, and the wheel frame 140 is rotatably connected to the body of the self-moving robot through the rotating shaft 150.

Specifically, each wheel body of the wheel set 110 is mounted on the wheel frame 140, the specific shape of the wheel frame 14 matches the shape of the wheel set 110, and the wheel set 110 and the track 120 are partially wrapped, it can be understood that the driving motor 130 is on the wheel frame 140 above the track 120; in addition, the driving device 10 further includes a housing 160 for carrying the self-moving robot body, the housing 160 is half wrapped around the wheel set 110, the caterpillar track 120, the driving motor 130 and the wheel carrier 140, and the housing 160 and the wheel carrier 140 are rotatably connected through the rotating shaft 150, since the housing 160 is used for carrying the self-moving robot body, i.e. the two are generally fixedly connected, it is equivalent to that the wheel carrier 140 is rotatably connected to the body of the self-moving robot through the rotating shaft 150; specifically, one end of the rotating shaft 150 is connected to the housing 160, and the other end is connected to the wheel carrier 140, and the wheel carrier 140 can rotate around the rotating shaft 150, that is, the wheel carrier 140 rotates relative to the housing 160, that is, the wheel carrier 140 rotates relative to the body of the self-moving robot.

Further, referring to fig. 4a and 4b, fig. 4a is a schematic structural view of the driving device 10 walking on a plane or turning over a short obstacle, and fig. 4b is a schematic structural view of the driving device 10 turning over a high obstacle.

Here, when the self-moving robot encounters an obstacle higher than the height of the chassis during traveling, the chassis is lifted by the obstacle, and at this time, the wheel frame 14 rotates relative to the housing 160, and then the track 120 and the wheel set 110 are driven to rotate, so that the second wheel 112 is lifted to change the track surface between the first wheel 111 and the second wheel 112, that is, the bearing section 122, into an obstacle crossing inclined surface, so that the driving device 10 can climb up the higher obstacle to complete an obstacle crossing action.

In addition, the rotation axis 150 is coaxial with the second wheel 112 at the obtuse vertex of the first obtuse triangle.

Specifically, the rotation shaft 150 is limited to be located at the obtuse vertex of the first obtuse triangle, that is, the rotation shaft 150 is coaxial with the second wheel 112 at the obtuse vertex, and the rotation shaft 150 is coaxial with the second wheel 112 as shown in the figures of the embodiment of the present invention, such a design can ensure that the crawler belt 120 always keeps touching the ground and keeps a certain pressure on the ground at the second wheel 112, so that the crawler belt 120 can provide enough pressure on the ground to overcome obstacles, and the success rate of obstacle crossing of the self-moving robot is improved.

Further, referring to fig. 1, the self-moving robot is further provided with a suction port 20, and the rotation shaft 150 is located between a front side and a rear side of the suction port 20.

Specifically, the suction port 20 is provided at the bottom of the self-moving robot, a cleaning brush for cleaning the floor is provided in the suction port 20, the rotating shafts 150 of the two driving devices 10 are respectively provided at both ends of the suction port 20, and the rotating shaft 150 of each driving device 10 is respectively located between the front side and the rear side of the suction port 20.

In addition, referring to fig. 4a and 4b, in another preferred embodiment of the present invention, the driving device 10 further includes an elastic element 170, and two ends of the elastic element 170 are respectively connected to the wheel frame 140 and the body of the self-moving robot.

Here, the elastic element 170 includes, but is not limited to, a spring, one end of the elastic element 170 is connected to the wheel frame 140 at the third wheel body 113, and the other end is connected to the top of the housing 60, and since the housing 160 is used for carrying the self-moving robot body, i.e. both are generally fixedly connected, the other end corresponding to the elastic element 170 is connected to the body of the self-moving robot. When the driving device 10 drives the self-moving robot to travel on a flat ground, the elastic element 170 is in a stretched state, and the track 12 between the first wheel 111 and the second wheel 112 is in contact with the ground, as shown in fig. 4 a; when the driving device 10 encounters an obstacle higher than the chassis of the machine body during traveling, the first obstacle crossing section 121 will contact the obstacle first, and continue to move forward under the driving of the track 120, and want to climb up the obstacle, and during climbing, the first obstacle crossing section 121 is pressed by the obstacle, and at this time, the elastic element 18 returns to a natural length or is compressed, and further drives the wheel carrier 140 to rotate around the rotating shaft 150, that is, the wheel set 110 rotates relative to the machine body above the driving device 10, and further drives the track 120 to rotate, and the track surface between the first wheel 111 and the second wheel 112 is changed into another obstacle crossing inclined surface, so that the driving device 10 can quickly climb up the obstacle, complete obstacle crossing action, and further improve the obstacle crossing capability of the self-moving robot, as shown in fig. 4 b; after the driving device 10 passes over the obstacle, under the elastic force of the elastic element 170, the wheel carrier 140 is driven to rotate reversely around the rotating shaft 150, so that the track surface between the first wheel 111 and the second wheel 112 returns to the flat state before the obstacle crossing, as shown in fig. 4a, and performs a normal traveling motion.

When the driving device 10 with the structure meets a high obstacle, the angle of the wheel set 110 relative to the machine body can be automatically adjusted, so that an obstacle crossing inclined plane can be added, the obstacle crossing capability of the self-moving robot is improved, the self-moving robot can fast and smoothly cross the obstacle, the angle of the wheel set 110 relative to the machine body is automatically adjusted to return to a conventional state after the self-moving robot crosses the obstacle, and then the self-moving robot performs conventional advancing motion, so that the operation flexibility of the self-moving robot is improved.

The driving device 10 in the above embodiment can only solve the technical problem of one-way obstacle crossing, and when an obstacle is encountered behind the driving device 10, that is, when the driving device 10 encounters an obstacle during backward movement, it is a common practice to turn the self-moving robot in situ, that is, turn around the self-moving robot, and then cross the obstacle by using the method in the above embodiment, which obviously greatly reduces the traveling efficiency of the self-moving robot.

In order to solve the above technical problem, please refer to fig. 5, which is a schematic structural diagram of a driving apparatus of a self-moving robot according to an embodiment of the present invention, in another preferred embodiment of the present invention, the wheel set 11 further includes a fourth wheel 114 disposed to form a second obtuse triangle with the first wheel 111 and the second wheel 112, the first wheel 111 is an obtuse vertex of the second obtuse triangle, the crawler 120 further includes a second obstacle crossing section 123 providing an obstacle crossing slope when the crawler travels over an obstacle, and the second obstacle crossing section 123 is located between the first wheel 111 and the fourth wheel 114.

Specifically, when the self-moving robot needs to walk across an obstacle in a reverse direction, that is, when the driving device 10 needs to climb over an obstacle in a reverse direction, that is, in a reverse obstacle-crossing motion state of the self-moving robot, the second obstacle-crossing section 123 may provide a reverse obstacle-crossing slope, in which the height of the lowest point of the fourth wheel 114 is higher than the height of the lowest point of the first wheel 111, that is, the lowest point of the fourth wheel 114 is higher than the line between the lowest point of the first wheel 111 and the lowest point of the second wheel 112 in a normal state, so that the fourth wheel 114 and the first wheel 111 support the crawler 120 to form an obstacle-crossing slope, that is, the second obstacle-crossing section 123, and when the driving device 10 carries the self-moving robot to travel along a horizontal supporting surface in a reverse direction, an obstacle in front of the self-moving robot first comes into contact with the second obstacle-crossing section 123 and then under the driving force, the self-moving robot is provided with the fourth wheel body 114, and one side of the fourth wheel body is lifted, so that the driving device 10 carries the self-moving robot to cross the obstacle, that is, the obstacle crossing slope provided by the second obstacle crossing section 123 can greatly improve the reverse obstacle crossing capability of the self-moving robot, so that the self-moving robot can perform two-way obstacle crossing, and the flexibility and the traveling efficiency of the self-moving robot are improved.

The embodiment of the invention also provides another self-moving robot, which comprises a driving device, wherein the driving device is rotatably arranged at the bottom of the self-moving robot, and each driving device comprises a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set.

The wheel set comprises a first wheel body, a second wheel body and a third wheel body which are arranged in a triangular mode, the crawler belt comprises a bearing section which is parallel to the walking surface when the crawler belt walks on a plane and a first obstacle crossing section which provides an obstacle crossing inclined plane when the crawler belt walks on an obstacle crossing plane, the bearing section is located between the first wheel body and the second wheel body, the first obstacle crossing section is located between the second wheel body and the third wheel body, and the specific structure of the crawler belt can refer to the description of the above embodiment and the corresponding description drawings.

It should be noted that in this embodiment, when the self-moving robot needs to be limited to travel on a plane, the self-moving robot is supported by the first wheel body and the second wheel body of the two driving devices, that is, the two driving devices in this embodiment can provide four-point support for the self-moving robot, so that the stability of the self-moving robot during traveling can be improved by the design, and further, other universal wheels are not needed to be used as auxiliary supports, and unnecessary obstacle crossing resistance can be prevented from being increased due to the existence of the universal wheels when an obstacle is crossed; meanwhile, the third wheel body and the second wheel body support the first obstacle crossing section which provides the obstacle crossing inclined plane, so that the obstacle crossing capability of the self-moving robot can be greatly improved.

Furthermore, the triangle is that the second wheel body is a first obtuse triangle of an obtuse vertex, the wheel set further comprises a fourth wheel body which is arranged with the first wheel body and the second wheel body in a second obtuse triangle, the first wheel body is the obtuse vertex of the second obtuse triangle, the track further comprises a second obstacle crossing section which provides an obstacle crossing inclined surface when the track is over obstacle walking, and the second obstacle crossing section is located between the first wheel body and the fourth wheel body. In this embodiment, when the self-moving robot needs to walk across the obstacle in the reverse direction, the second obstacle crossing section between the first wheel body and the fourth wheel body can provide a reverse obstacle crossing inclined surface, so that the reverse obstacle crossing capability of the self-moving robot can be greatly improved, the self-moving robot can realize bidirectional obstacle crossing, and the flexibility and the traveling efficiency of the self-moving robot are improved.

Furthermore, the embodiment of the invention also provides a driving device which comprises a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set.

The wheel set sets up first wheel body, second wheel body and third wheel body including being triangle-shaped, the track includes the section of bearing that is on a parallel with the walking surface when the plane walking and provides the first section of hindering more that hinders the inclined plane when hindering more the walking, bear the section and be located first wheel body with between the second wheel body, first hinder more the section is located the second wheel body with between the third wheel body.

It should be noted that, the driving device in this embodiment is the driving device of the self-moving robot in the above embodiment, and for the specific structure, reference may be made to the description of the above embodiment and the drawings in the specification, which are not described herein again.

The driving device in this embodiment may be applied to a self-moving apparatus including, but not limited to, the self-moving robot described above, where two driving devices are disposed at a bottom of the self-moving apparatus, so that the first wheel body and the second wheel body of the two driving devices provide four-point support for the self-moving apparatus, and thus the design may improve stability of the self-moving apparatus during traveling, and further, no other universal wheel is needed to be used as an auxiliary support, and unnecessary obstacle crossing resistance increase due to the existence of the universal wheel during obstacle crossing may be avoided; meanwhile, the third wheel body and the second wheel body support the first obstacle crossing section which provides the obstacle crossing inclined plane, so that the obstacle crossing capability of the self-moving equipment can be greatly improved.

Furthermore, the triangle is a first obtuse triangle with the second wheel body as an obtuse vertex, and the structure can ensure that the first obstacle crossing section can provide the obstacle crossing inclined plane in front of the traveling direction of the self-moving equipment, so that the self-moving equipment can conveniently cross the obstacle.

Furthermore, the wheel set further comprises a fourth wheel body which is arranged in a second obtuse triangle with the first wheel body and the second wheel body, the first wheel body is an obtuse vertex of the second obtuse triangle, the track further comprises a second obstacle crossing section which provides an obstacle crossing inclined surface when the track crosses obstacles and walks, and the second obstacle crossing section is located between the first wheel body and the fourth wheel body. In this embodiment, in order to solve the technical problem of reverse obstacle crossing of the self-moving device, when the self-moving robot needs to walk in a reverse obstacle crossing manner, the second obstacle crossing section between the first wheel body and the fourth wheel body can provide a reverse obstacle crossing inclined surface, which greatly improves the reverse obstacle crossing capability of the self-moving robot, so that the self-moving robot can realize bidirectional obstacle crossing, thereby improving the flexibility and the traveling efficiency of the self-moving robot.

Furthermore, the embodiment of the invention also provides another driving device, which comprises a wheel set and a crawler belt arranged on the periphery of the wheel set and rotating along the periphery of the wheel set; the crawler belt comprises a first wheel body, a second wheel body and a track, wherein the wheel set comprises the first wheel body and the second wheel body; when walking on a plane, the bearing section is parallel to the walking surface; when the first wheel body or the second wheel body is lifted due to obstacle crossing walking, the bearing section forms an obstacle crossing inclined surface.

The driving device in this embodiment may also be applied to a self-moving device such as a sweeping robot, a shopping guide robot, a goods sweeping robot, a temperature measuring robot, and the like, the driving device is disposed at the bottom of the self-moving device and provides a driving force for the self-moving device to travel, and the first wheel body and the second wheel body of the two driving devices may provide four-point support for the self-moving device, so as to improve stability of the self-moving device during traveling, and further, without using other universal wheels as auxiliary supports, and avoid increasing unnecessary obstacle crossing resistance due to the existence of the universal wheels when obstacle crossing; meanwhile, the bearing section between the first wheel body and the second wheel body can be lifted when the self-moving equipment walks across the obstacle, so that the bearing section forms an obstacle crossing inclined surface, and the obstacle crossing capability of the self-moving equipment can be greatly improved.

It should be particularly pointed out that, in the case that structures of the above embodiments and the implementation manners thereof are not in conflict, the structures of the parts mentioned in the implementation manners of the above embodiments may be combined with each other, and in order to avoid repetition, a technical scheme obtained after combination is not described herein again, but the technical scheme obtained after combination also belongs to the protection scope of the present invention.

Application examples

When the sweeping robot is used for executing a sweeping task arranged by a master, when the robot travels on a flat floor of a living room, the driving devices arranged on the left side and the right side below the machine base are respectively contacted with the floor, the driving devices are wrapped in the track belt, the first wheel bodies and the second wheel bodies are positioned at the same height and are parallel to the plane of the floor, a bearing section is formed between the first wheel bodies and the second wheel bodies, the front point and the rear point of the bearing section are supported on the floor, and then the driving devices on the two sides have four points to be supported on the floor, so that the robot can stably travel on the floor to better complete the task arranged by the master; when the Xiaoming people need to enter the kitchen to continue cleaning after the Xiaoming people finishes cleaning the drawing room, a floor tile which is 2CM higher than the floor plane of the drawing room is arranged at the door frame between the drawing room and the kitchen, the Xiaoming people drive the drive device to move towards the floor tile, a third wheel body is further arranged in a track of the drive device, the third wheel body is arranged above the second wheel body in a replacing manner, a barrier crossing inclined plane is further supported in front of the bottom of the machine through the second wheel body and the third wheel body, the barrier crossing inclined plane can be contacted with the edge of the floor tile when the Xiaoming people move towards the floor tile, the second wheel body can be lifted under the action of the drive force, the second wheel body can climb onto the floor tile, then the first wheel body is driven to climb onto the floor tile, and the Xiaoming people can successfully climb over the floor tile; when the Xiaoming is cleaning a room of a small owner, the Xiaoming can encounter a building block discarded by the small owner on a cleaning route, the thickness of the building block is 5CM, at the moment, the obstacle crossing inclined surface between the second wheel body and the third wheel body can be contacted with the building block under the driving of the driving device, meanwhile, under the driving of the driving force, the building block can extrude a track on the periphery of the wheel set (the first wheel body, the second wheel body and the third wheel body), the track and the wheel set can rotate around the axis of the second wheel body, so that the bearing section between the first wheel body and the second wheel body rotates, the wheel set and the track are changed into another obstacle crossing inclined surface crossing the building block, and the driving device is favorable for driving the Xiaoming to fast cross the building block, and the capacity of the Xiaoming crossing higher obstacles is further improved. Or when the small clear land climbs the steep slope, the front end of the small clear land is jacked up by the slope, the whole driving device rotates around the rotating shaft under the action of the elastic element, the second wheel body is lifted, and the bearing section between the first wheel body and the second wheel body forms an obstacle crossing inclined surface, so that the small clear obstacle crossing capability is further improved, and the steep slope with higher slope can be climbed.

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.