Moving wheel assembly and walking equipment

Abstract

The utility model discloses a moving wheel assembly and walking equipment, the moving wheel assembly comprises a mounting seat, a moving wheel and an obstacle crossing auxiliary part, and the moving wheel is rotatably connected with the mounting seat; the obstacle crossing auxiliary component is arranged in a plate shape and comprises a guide part which is arranged in the advancing direction of the moving wheels and located in front of the moving wheels, the side edge, used for making contact with an obstacle, of the guide part is obliquely arranged, and the lowest point of the guide part is not higher than the maximum obstacle crossing height of the moving wheels. The moving wheel assembly is simple in overall structure and small in occupied space, and the obstacle crossing ability of the moving wheel assembly is improved to the maximum extent in the limited space. And the contact surface between the side edge of the obstacle crossing auxiliary component and the obstacle is small, so that the moving wheel cannot have large steering resistance, the moving wheel can smoothly correct the advancing direction during obstacle crossing, and it is guaranteed that the moving wheel can smoothly cross the obstacle.

Description

Technical Field

[0001] The utility model relates to the technical field of walking equipment, in particular to a moving wheel assembly and a walking equipment. Background Art

[0002] A lawnmower robot is a robot that can automatically perform lawnmowing tasks and has been widely used in fields such as agriculture and sports fields.

[0003] Referring to the comparative document CN117183623A, in order to enable the lawn mower robot to smoothly overcome obstacles during use, an auxiliary roller is arranged in front of the moving wheel assembly of the lawn mower robot. When the moving wheel assembly of the lawn mower robot overcomes obstacles, the auxiliary roller just assists the moving wheel assembly to smoothly overcome obstacles.

[0004] However, the mobile wheel assembly uses auxiliary rollers, which takes up a large space. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a moving wheel assembly and a walking device, which can reduce the obstacle resistance and effectively reduce the occupied space of the moving wheel assembly.

[0006] In a first aspect, an embodiment of the present application provides a moving wheel assembly, comprising:

[0007] Mounting seat;

[0008] A moving wheel, rotatably connected to the mounting seat;

[0009] An obstacle-crossing assisting component is provided in a plate-shaped body, and includes a guiding portion in the direction of travel of the moving wheel and in front of the moving wheel, the guiding portion is provided with an inclined side for contacting an obstacle, and the lowest point of the guiding portion is not higher than the maximum obstacle-crossing height of the moving wheel.

[0010] According to some embodiments of the present utility model, the obstacle-crossing auxiliary component further includes a connecting portion, which extends along the traveling direction of the moving wheel, wherein one end of the connecting portion is connected to the mounting seat, and the other end of the connecting portion is connected to the guiding portion.

[0011] According to some embodiments of the utility model, the guiding portion includes a first side edge, a second side edge and a third side edge connected in sequence, the first side edge and the third side edge are also respectively connected to the connecting portion, and the second side edge is used to contact an obstacle in the direction of travel and tilt upward toward the direction of travel.

[0012] According to some embodiments of the present invention, the lowest point of the second side is not higher than the maximum obstacle crossing height of the moving wheel, and the highest point of the second side is higher than the maximum obstacle crossing height of the moving wheel.

[0013] According to some embodiments of the present invention, the inclination angle of the side of the guide portion for contacting the obstacle is 35-45°.

[0014] According to some embodiments of the present invention, the height of the lowest point of the guide portion from the ground is one quarter to one third of the height of the highest point of the moving wheel from the ground.

[0015] According to some embodiments of the utility model, the connecting portion includes a first connecting section and a second connecting section, the first connecting section is connected to the mounting seat, one end of the second connecting section is connected to the first connecting section and is set at an angle, the other end of the second connecting section is connected to the guide portion and is set at an angle, and an avoidance gap is provided between the guide portion and the first connecting section.

[0016] According to some embodiments of the present invention, the side edge of the guide portion for contacting the obstacle is an outwardly protruding arc edge.

[0017] According to some embodiments of the present invention, the obstacle-crossing auxiliary component is a sheet metal structure having one layer or a sheet metal structure having multiple layers stacked together.

[0018] In a second aspect, the present application discloses a walking device, comprising the above-mentioned moving wheel assembly.

[0019] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: compared with the auxiliary rollers provided on the front side of the obstacle-crossing auxiliary component, the overall structure of the obstacle-crossing auxiliary component is simple and occupies little space. Accordingly, when the obstacle-crossing auxiliary component is applied to the moving wheel, the overall structure of the moving wheel assembly is simple and occupies little space, and the moving wheel assembly maximizes the obstacle-crossing capability within a limited space. At the same time, the weight of the moving wheel assembly is also relatively light, and its weight reduction effect is also helpful for performances such as obstacle-crossing and steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the moving wheel assembly of an embodiment of the utility model;

[0021] Figure 2 It is a schematic structural diagram of a mounting base and an obstacle-crossing auxiliary component of an embodiment of the utility model;

[0022] Figure 3 The figure is a schematic diagram of the overall structure of the lawn mowing robot according to an embodiment of the present utility model.

[0023] The meanings of the reference numerals are as follows:

[0024] 10. Vehicle body; 20. Moving wheel assembly; 30. Rear drive wheel; 100. Mounting seat; 110. Top plate; 120. Side plate; 130. First rotating shaft; 140. Second rotating shaft; 200. Connecting seat; 300. Moving wheel; 400. Obstacle crossing auxiliary component; 410. Connecting part; 411. First connecting section; 412. Second connecting section; 420. Guide part; 421. First side; 422. Second side; 423. Third side; 430. Avoidance gap. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0030] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0031] See also Figure 1 and Figure 2 , a moving wheel assembly 20 provided in an embodiment of the utility model is mainly used in a lawn mowing robot, but is not limited to being used only in a lawn mowing robot.

[0032] Specifically, the moving wheel assembly 20 includes a mounting seat 100, a moving wheel 300 and an obstacle crossing auxiliary component 400, wherein the moving wheel 300 is rotatably connected to the mounting seat 100; the obstacle crossing auxiliary component 400 is arranged in a plate-shaped body, and the obstacle crossing auxiliary component 400 includes a guide portion 420 in the moving direction of the moving wheel 300 and located in front of the moving wheel 300, and the guide portion 420 is inclined to contact the obstacle, and the lowest point of the guide portion 420 is not higher than the maximum obstacle crossing height of the moving wheel 300.

[0033] The moving direction of the moving wheel 300 refers to the forward moving direction of the lawn mowing robot, and does not include the backward moving direction of the lawn mowing robot.

[0034] Specifically, when the walking device is moving, if the moving wheel assembly 20 encounters an obstacle higher than the lowest point of the obstacle-crossing auxiliary component 400, since the obstacle-crossing auxiliary component 400 is at least partially located in front of the moving wheel 300 in the moving direction, the obstacle-crossing auxiliary component 400 first abuts against the obstacle in front. Figure 3 ) continues to drive the walking device to move forward, the obstacle-crossing auxiliary component 400 slides upward at an angle relative to the obstacle, and the moving wheel 300 is gradually lifted upward along with the obstacle-crossing auxiliary component 400. More specifically, the head of the walking device is lifted upward with the rear driving wheel 30 as a fulcrum. Therefore, under the action of the rear driving wheel 30, the moving wheel 300 of the walking device can smoothly cross the obstacle to avoid problems such as jamming and slipping of the walking device.

[0035] Among them, the lowest point of the guide part 420 is not higher than the maximum obstacle crossing height of the moving wheel 300, or in other words, the lowest point of the guide part 420 is lower than or equal to the maximum obstacle crossing height. Therefore, when the moving wheel 300 passes through an obstacle that it cannot pass smoothly by itself, the obstacle crossing auxiliary component 400 can assist the moving wheel 300 to pass smoothly over the obstacle that was previously difficult to pass.

[0036] Moreover, compared with the auxiliary rollers provided on the front side of the obstacle-crossing auxiliary component 400, the obstacle-crossing auxiliary component 400 in the present application has a simple overall structure and occupies a small space. Accordingly, when the obstacle-crossing auxiliary component 400 is applied to the moving wheel 300, the moving wheel assembly 20 has a simple overall structure and occupies a small space, and the moving wheel assembly 20 maximizes the obstacle-crossing capability within a limited space. In addition, the weight of the moving wheel assembly 20 is also relatively light, and its weight reduction effect is also helpful for performances such as obstacle-crossing and steering.

[0037] In addition, the contact surface between the side of the obstacle-crossing auxiliary component 400 and the obstacle is small, which will not cause the moving wheel 300 to have a large steering resistance. In this way, the moving wheel 300 can smoothly correct its direction of travel when crossing an obstacle, so that it can smoothly cross the obstacle. In addition, the auxiliary wheel often has the problem of grass entanglement at the position of its rotating shaft. The present application adopts a plate-shaped obstacle-crossing auxiliary component 400, which does not need to be provided with a rotating shaft. Accordingly, the obstacle-crossing auxiliary component 400 of the present application does not have the problem of grass entanglement at the rotating shaft when it is used, thereby ensuring the smoothness of the moving wheel assembly 20 in the process of moving on the lawn.

[0038] In some embodiments, see Figure 1 to Figure 2 The obstacle-crossing auxiliary component 400 includes a connecting portion 410 and the above-mentioned guiding portion 420, wherein the connecting portion 410 is connected to the side plate 120 of the mounting seat 100 and extends forward along the traveling direction of the moving wheel 300, and the guiding portion 420 is connected to an end of the connecting portion 410 away from the mounting seat 100, so that the guiding portion 420 is located in front of the traveling direction of the moving wheel 300. The side edge of the guiding portion 420 used to contact the obstacle is inclined, and for the convenience of description, the side edge is defined as the second side edge 422 described below. It can be understood that the second side edge 422 is inclined, and when the moving wheel assembly 20 crosses the obstacle, the obstacle-crossing auxiliary component 400 can smoothly slide upward relative to the obstacle through the second side edge 422, thereby lifting the moving wheel 300 upward, so that the traveling direction of the moving wheel 300 is an inclined upward direction, so that the moving wheel 300 can smoothly cross the obstacle under the action of the rear drive wheel 30.

[0039] Moreover, the obstacle-crossing auxiliary component 400 is composed of a connecting portion 410 and a guiding portion 420. The obstacle-crossing auxiliary component 400 has a simple overall structure and occupies a small space. Therefore, when the obstacle-crossing auxiliary component 400 is applied to the moving wheel 300, the moving wheel assembly 20 has a simple overall structure and occupies a small space. The moving wheel assembly 20 maximizes the obstacle-crossing capability within a limited space. Similarly, with the structure of the obstacle-crossing auxiliary component 400, the weight of the moving wheel assembly 20 is also light, and the weight reduction effect is also helpful for performances such as obstacle-crossing and steering.

[0040] In some embodiments, see Figure 1 to Figure 2The guide portion 420 includes a first side edge 421, a second side edge 422 and a third side edge 423 connected in sequence, wherein the first side edge 421 and the third side edge 423 are also connected to the connecting portion 410 respectively, the first side edge 421 is the upper top edge of the guide portion 420, the second side edge 422 is used to contact obstacles in the traveling direction and tilt upward in the traveling direction, and the third side edge 423 is the side edge of the guide portion 420 close to the side plate 120 of the mounting seat 100, thereby, the guide portion 420 is roughly set in an inverted triangle. It can be understood that the guide portion 420 is roughly set in a triangular shape, and the overall strength of the guide portion 420 is relatively large when used, so the obstacle-crossing auxiliary component 400 is not easy to deform when used, thereby ensuring the service life of the obstacle-crossing auxiliary component 400. At the same time, the guide portion 420 also forms a second side edge 422 that is tilted upward, or in other words, the second side edge 422 is a hypotenuse that is tilted upward. Therefore, when the moving wheel 300 overcomes an obstacle, the second side edge 422 can smoothly slide relative to the obstacle to lift the height of the moving wheel 300, so that the moving wheel 300 can smoothly overcome the obstacle.

[0041] In other possible embodiments, the side edge of the guide portion 420 that contacts the obstacle is a convex arc edge, or the second side edge 422 is a convex arc edge (not shown in the figure). It can be understood that the second side edge 422 is set as a convex arc edge, and when the moving wheel assembly 20 overcomes an obstacle, the obstacle-overcoming auxiliary component 400 can smoothly slide relative to the obstacle through the second side edge 422, thereby lifting the moving wheel 300 upward, so that the moving wheel 300 moves in an inclined upward direction, thereby ensuring that the moving wheel 300 can smoothly overcome the obstacle.

[0042] For further information, see Figure 1 to Figure 2 , the lowest point of the second side 422 is lower than or equal to the maximum obstacle crossing height of the moving wheel 300, and the highest point of the second side 422 is higher than the maximum obstacle crossing height of the moving wheel 300. Specifically, the maximum obstacle crossing height of the moving wheel 300 is one quarter to one third of the height of the highest point of the moving wheel 300 from the ground, and accordingly, the lowest point of the second side 422 is set to be less than one quarter of the height of the moving wheel 300 as much as possible, and the highest point of the second side 422 is set to be more than one third of the height of the moving wheel 300 as much as possible.

[0043] It can be understood that the lowest point of the second side 422 is set as much as possible below one-fourth of the height of the moving wheel 300, and the height of the guide part 420 is set low enough, so that the obstacle-crossing auxiliary component 400 can assist the moving wheel 300 to smoothly cross most obstacles that the moving wheel 300 cannot smoothly cross independently; the highest point of the second side 422 is set as much as possible above one-third of the height of the moving wheel 300, and the height of the guide part 420 is set high enough, so that the obstacle-crossing auxiliary component 400 can assist the moving wheel 300 to smoothly cross sufficiently high obstacles.

[0044] In some embodiments, see Figure 1 to Figure 2 , the inclination angle of one side of the guide portion 420 for contacting the obstacle is 35-45°, more specifically, the upward inclination angle of the second side 422 is set at 35-45°, such as 35 degrees, 40 degrees or 45 degrees. It can be understood that the upward inclination angle of the second side 422 is set at least 35 degrees. In this way, the inclination angle of the second side 422 is large enough to avoid the obstacle avoidance and obstacle crossing auxiliary component 400 from extending forward for a long distance to meet the requirement of lifting the moving wheel 300 to a suitable height. Therefore, the setting of the second side 422 in this angle range ensures that the obstacle avoidance and obstacle crossing auxiliary component 400 does not occupy a large space. At the same time, the upward inclination angle of the second side 422 is less than or equal to 45 degrees. With this configuration, the inclination angle of the second side 422 is small enough, and the obstacle avoidance and obstacle crossing auxiliary component 400, driven by the rear driving wheel 30, can slide relative to the obstacle through the second side 422, thereby raising the height of the moving wheel 300 and preventing the obstacle avoidance and obstacle crossing auxiliary component 400 from being stuck on the obstacle.

[0045] Furthermore, the first side edge 421 is a convex arc edge and is smoothly connected to the second side edge 422. It can be understood that the second side edge 422 of the obstacle-crossing auxiliary component 400 is a convex arc edge. This arrangement reduces the sharp corners of the obstacle-crossing auxiliary component 400, thereby effectively preventing the user from being injured when in contact; at the same time, the obstacle-crossing auxiliary component 400 is equivalent to cutting off a part of the material, reducing the weight of the obstacle-crossing auxiliary component 400. In addition, the first side edge 421 is smoothly connected to the second side edge 422. This arrangement allows the obstacle to smoothly slide to the second side edge 422 when the obstacle-crossing auxiliary component 400 is in contact with an obstacle, so as to lift the height of the moving wheel 300.

[0046] In some embodiments, see Figure 1 to Figure 2 The connecting portion 410 includes a first connecting section 411 and a second connecting section 412. One end of the first connecting section 411 is connected to the side plate 120 of the mounting seat 100. One end of the second connecting section 412 is connected to the other end of the first connecting section 411 and is set at an angle. The other end of the second connecting section 412 is connected to the guide portion 420 and is set at an angle. Thus, there is an avoidance gap 430 between the guide portion 420 and the first connecting section 411. More specifically, an avoidance gap 430 is formed between the guide portion 420 and the side plate 120 of the mounting seat 100. With such a configuration, when the lawn mower robot turns left or right, the avoidance gap 430 effectively reduces the resistance of the flowers and plants to the lawn mower robot, thereby ensuring that the lawn mower robot can turn left or right smoothly.

[0047] In some embodiments, see Figure 1 to Figure 2, the lowest point of the second side edge 422 is located within the axial projection area of ​​the moving wheel 300, more specifically, the lowest point of the second side edge 422 is located within the axial projection area of ​​the moving wheel 300. It can be understood that when the obstacle-crossing auxiliary component 400 guides the moving wheel 300 to cross an obstacle, the moving wheel 300 can be smoothly pressed against the obstacle during the relative sliding process of the obstacle-crossing auxiliary component 400 relative to the obstacle through the second side edge 422, thereby further enabling the obstacle-crossing auxiliary component 400 to assist the moving wheel 300 to smoothly cross the obstacle and reduce the shaking of the lawn mowing robot.

[0048] In some embodiments, the lowest point of the guide 420 is at a height of one quarter to one third of the highest point of the moving wheel 300 from the ground. Specifically, when the moving wheel 300 faces an obstacle located between 1 / 4 and 1 / 3 of the height of the moving wheel 300, the moving wheel 300 has a poor obstacle crossing effect. Therefore, the lowest point of the guide 420 is at a height of one quarter to one third of the highest point of the moving wheel 300 from the ground. In this way, the lowest point of the guide 420 is set at a lower height, and the obstacle crossing auxiliary component 400 can assist the moving wheel 300 to smoothly cross obstacles that are difficult for it to smoothly cross.

[0049] In some specific embodiments, referring to Figure 1 and Figure 2 The mounting base 100 includes a top plate 110 and two side plates 120, wherein the top plate 110 is used to be mounted on the chassis of the lawn mowing robot, one side plate 120 is connected to the left end of the top plate 110, and the other side plate 120 is connected to the right end of the top plate 110, and the two side plates 120 are arranged opposite to each other. At the same time, the moving wheel assembly 20 also includes a first rotating shaft 130 and a second rotating shaft 140, the first rotating shaft 130 is connected to the top plate 110 in a vertical direction to be rotatably connected to the chassis of the walking device, the second rotating shaft 140 is connected to the two side plates 120 in a horizontal direction, and the moving wheel 300 is sleeved on the second rotating shaft 140 and is rotatably connected to the second rotating shaft 140. Two obstacle-crossing auxiliary components 400 are provided, one obstacle-crossing auxiliary component 400 is connected to one side plate 120, and extends forward along the travel direction of the moving wheel 300 to the front of the moving wheel 300, so as to form a guide portion 420 in front of the travel direction of the moving wheel 300; similarly, the other obstacle-crossing auxiliary component 400 is connected to the other side plate 120, and extends forward along the travel direction of the moving wheel 300 to the front of the moving wheel 300, so as to form a guide portion 420 in front of the travel direction of the moving wheel 300.

[0050] Specifically, when the moving wheel assembly 20 is applied to a walking device, such as a lawn mowing robot, the first rotating shaft 130 can be directly connected to the chassis of the walking device, or the first rotating shaft 130 can also be rotatably provided with a connecting seat 200, and the side of the connecting seat 200 is provided with a buckle, and the connecting seat 200 is assembled to the front or other position of the chassis of the walking device through the buckle, and the walking device can move forward using the moving wheel assembly 20. It can be understood that during the driving process of the walking device, the moving wheel assembly 20 is rotatably provided on the chassis of the walking device around the vertical axis through the first rotating shaft 130, and the walking device can flexibly turn through the moving wheel assembly 20 to clean lawns and other places.

[0051] In addition, the mounting base 100 and the two obstacle-crossing auxiliary components 400 adopt the above-mentioned connection method. The two obstacle-crossing auxiliary components 400 are located on the left and right sides of the moving wheel 300 so as to be able to lift the moving wheel 300 when overcoming obstacles; and, although the two obstacle-crossing auxiliary components 400 extend in front of the moving direction of the moving wheel 300, they are not arranged directly in front of the moving wheel 300, or in other words, in the left and right directions, the obstacle-crossing auxiliary components 400 and the moving wheel 300 are in a staggered state. Therefore, when the moving wheel assembly 20 overcomes obstacles, the two obstacle-crossing auxiliary components 400 will not interfere with the fit between the moving wheel 300 and the obstacle, thereby ensuring that the moving wheel 300 can smoothly crawl along the obstacle.

[0052] In addition, two obstacle-crossing auxiliary components 400 are provided, and the moving wheel 300 is located between the two obstacle-crossing auxiliary components 400, that is, one obstacle-crossing auxiliary component 400 is located on the left side of the moving wheel 300, and the other obstacle-crossing auxiliary component 400 is located on the right side of the moving wheel 300. Therefore, when the moving wheel assembly 20 crosses an obstacle, the obstacle-crossing auxiliary components 400 on the left and right sides cooperate to lift the height of the moving wheel 300, so that the moving direction of the moving wheel 300 is inclined upward, so that the moving wheel 300 can smoothly cross the obstacle. It can be understood that two obstacle-crossing auxiliary components 400 are provided, and the two obstacle-crossing auxiliary components 400 can stably support the left and right sides of the moving wheel assembly 20 to prevent the moving wheel assembly 20 from flipping left and right during the lifting process.

[0053] In some embodiments, referring to Figure 1 and Figure 2, the obstacle climbing auxiliary component 400 is a sheet metal structure of one layer or a sheet metal structure of multiple layers stacked. If the obstacle climbing auxiliary component 400 is a sheet metal structure of one layer, the obstacle climbing auxiliary component 400 is a sheet metal part that is integrally connected to the side panel 120. With such a configuration, the moving wheel assembly 20 does not need to produce the obstacle climbing auxiliary component 400 separately during preparation, thereby ensuring that the moving wheel assembly 20 has a low cost during production. Alternatively, the obstacle climbing auxiliary component 400 is a sheet metal part that is assembled and connected to the side panel 120. For example, the obstacle climbing auxiliary component 400 is fixedly connected to the side panel 120 by bolts. It can be understood that compared with the material strength of the mounting base 100, the obstacle climbing auxiliary component 400 can select a metal material with greater strength and smoother surface to ensure that the obstacle climbing auxiliary component 400 can more smoothly assist the moving wheel 300 in overcoming obstacles and has a longer service life. In addition, when the second side 422 of the obstacle-crossing auxiliary component 400 is seriously worn, or the obstacle-crossing auxiliary component 400 is bent, the staff can easily replace the new obstacle-crossing auxiliary component 400 to ensure the obstacle-crossing effect of the moving wheel assembly 20. If the obstacle-crossing auxiliary component 400 is a sheet metal structure with multiple layers stacked, for example, the obstacle-crossing auxiliary component 400 is a double-layer sheet metal component, one layer of sheet metal component is integrally connected to the mounting seat 100, and the other layer of sheet metal component is assembled and connected to the mounting seat 100, so as to ensure the strength of the obstacle-crossing auxiliary component 400.

[0054] The present application also discloses a lawn mowing robot, referring to Figures 1 to 3 , including a rear drive wheel 30 of the vehicle body 10 and the above-mentioned moving wheel assembly 20, wherein the rear drive wheel 30 is arranged at the rear part of the vehicle body 10, and is used to drive the lawn mowing robot to move forward in a straight line; the mounting seat 100 is connected to the front part of the vehicle body 10, and is located in the middle position in the width direction of the vehicle body 10.

[0055] Specifically, when the walking device is moving, if the moving wheel assembly 20 encounters an obstacle higher than the lowest point of the obstacle-crossing auxiliary component 400, since the obstacle-crossing auxiliary component 400 is at least partially located in front of the moving direction of the moving wheel 300, the obstacle-crossing auxiliary component 400 first abuts against the obstacle in front. As the rear drive wheel 30 of the walking device continues to drive the walking device forward, the obstacle-crossing auxiliary component 400 slides upwardly with respect to the obstacle, and the moving wheel 300 gradually rises upward along with the obstacle-crossing auxiliary component 400. More precisely, the head of the walking device is lifted upward with the rear drive wheel 30 as the fulcrum. Therefore, under the action of the rear drive wheel 30, the moving wheel 300 can smoothly cross the obstacle to avoid problems such as jamming and slipping of the walking device.

[0056] The technical means disclosed in the solution of the utility model are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications are also regarded as the protection scope of the utility model.

Claims

1. A moving wheel assembly, characterized in that: include: Mounting seat; A moving wheel, rotatably connected to the mounting seat; An obstacle-crossing assisting component is provided in a plate-shaped body, and includes a guiding portion in the direction of travel of the moving wheel and located in front of the moving wheel, the guiding portion is provided with an inclined side for contacting an obstacle, and the lowest point of the guiding portion is not higher than the maximum obstacle-crossing height of the moving wheel.

2. The moving wheel assembly according to claim 1, characterized in that: The obstacle-crossing auxiliary component further includes a connecting portion, which extends along the traveling direction of the moving wheel, one end of which is connected to the mounting seat, and the other end of which is connected to the guiding portion.

3. The moving wheel assembly according to claim 2, characterized in that: The guiding portion includes a first side, a second side and a third side connected in sequence, the first side and the third side are also connected to the connecting portion respectively, and the second side is used to contact an obstacle in the traveling direction and tilt upward toward the traveling direction.

4. The moving wheel assembly according to claim 3, characterized in that: The lowest point of the second side is not higher than the maximum obstacle crossing height of the moving wheel, and the highest point of the second side is higher than the maximum obstacle crossing height of the moving wheel.

5. The moving wheel assembly according to claim 2, characterized in that: The connecting portion includes a first connecting section and a second connecting section, the first connecting section is connected to the mounting seat, one end of the second connecting section is connected to the first connecting section and is arranged at an angle, the other end of the second connecting section is connected to the guide portion and is arranged at an angle, and an avoidance gap is provided between the guide portion and the first connecting section.

6. The moving wheel assembly according to claim 1, characterized in that: The inclination angle of the side of the guide portion for contacting the obstacle is 35-45°.

7. The moving wheel assembly according to claim 1, characterized in that: The height of the lowest point of the guide portion from the ground is one quarter to one third of the height of the highest point of the moving wheel from the ground.

8. The moving wheel assembly according to claim 1, characterized in that: The side edge of the guide portion for contacting the obstacle is an outwardly protruding arc edge.

9. The moving wheel assembly according to claim 1, characterized in that: The obstacle-crossing auxiliary component is a sheet metal structure having one layer or a sheet metal structure having multiple layers stacked on top of each other.

10. A walking device, characterized in that: A moving wheel assembly comprising any one of claims 1 to 9.

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