The invention relates to a self-moving robot and a control method thereof. The self-moving robot comprises a chassis and a linkage device arranged on the chassis. The advancing direction of the self-moving robot is recorded as the front, the advancing direction deviating from the self-moving robot is recorded as the rear, and the linkage device comprises a walking mechanism and a transmission mechanism in transmission connection with the walking mechanism. The walking mechanism comprises driving wheels and universal wheels which are connected in a floating mode and distributed on the chassis front and back. The transmission mechanism is configured to drive the universal wheels to move in the direction opposite to the moving direction of the driving wheels when the driving wheels move relative to the chassis. And when the universal wheels move relative to the chassis, the driving wheels are driven to move in the direction opposite to the moving direction of the universal wheels. According to the self-moving robot, through the linkage device, the inclination degree of the chassis can be reduced when the chassis crosses an obstacle, so that the self-moving robot has good stability, and the situation that the self-moving robot rolls over in the moving process is reduced.

    本公开涉及一种自移动机器人及其控制方法,其中自移动机器人包括底盘以及设置在底盘上的联动装置。以自移动机器人行进的方向记为前方,以背离其行进的方向记为后方,联动装置包括行走机构以及与行走机构传动连接的传动机构。行走机构包括浮动连接且前后分布在底盘上的驱动轮、万向轮。传动机构被构造为当驱动轮相对于底盘运动时,带动万向轮朝与驱动轮运动方向相反的方向运动;以及当万向轮相对于底盘运动时,带动驱动轮朝与万向轮运动方向相反的方向运动。本公开的自移动机器人通过联动装置能够使底盘在跨越障碍物时的倾斜程度变下,使自移动机器人具有良好的稳定性,降低自移动机器人在移动过程中出现侧翻的状况。


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    Title :

    Self-moving robot and control method thereof


    Additional title:

    自移动机器人及其控制方法


    Contributors:
    SUN CHAO (author)

    Publication date :

    2024-06-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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