Obstacle-crossing mechanism and robot

Abstract

The present invention relates to the field of welding technology, and in particular to an obstacle crossing mechanism and a robot. The obstacle crossing mechanism provided by the present invention includes a mounting frame, a clamping assembly, a driving assembly and a wheel assembly. The clamping assembly and the driving assembly are arranged on the mounting frame. The clamping assembly and the driving assembly can jointly lock the wheel assembly. The obstacle touches the driving assembly, so that the driving assembly is in an unlocked position, and the wheel assembly can float in a vertical direction relative to the mounting frame, so that the obstacle crossing mechanism can easily cross the obstacle and prevent the robot from having the problem of the body ups and downs during the obstacle crossing process. The robot provided by the present invention can prevent the robot from having the problem of the body ups and downs during the obstacle crossing process by applying the obstacle crossing mechanism mentioned above.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an obstacle crossing mechanism and a robot. Background Art

[0002] Existing robots include wheeled magnetic adsorption robots, tracked magnetic adsorption robots and wheel-track combined magnetic adsorption robots. When the robot passes through an obstacle, the body will be lifted up by the obstacle. The ups and downs of the body seriously restrict the use effect of the robot, such as affecting the welding quality, spraying quality, and inspection quality.

[0003] Based on this, it is urgent to invent an obstacle-crossing mechanism and a robot to solve the problem of the height fluctuation of the robot body when crossing obstacles. Summary of the invention

[0004] The purpose of the present invention is to provide an obstacle surmounting mechanism and a robot, so as to prevent the vehicle body of the robot from experiencing ups and downs when surmounting obstacles.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An obstacle crossing mechanism, comprising:

[0007] Mounting frame;

[0008] A clamping assembly, disposed on the mounting frame; and

[0009] A drive assembly and a wheel assembly, wherein the drive assembly is arranged on the mounting frame, the clamping assembly and the drive assembly can jointly lock the wheel assembly, an obstacle touches the drive assembly to put the drive assembly in an unlocked position, and the wheel assembly can float in a vertical direction relative to the mounting frame.

[0010] As a preferred solution, the driving assembly includes:

[0011] an active arm and a driven arm, wherein the mounting frame is provided with a pivot shaft, the active arm and the driven arm are pivotally connected to the pivot shaft respectively, the first end of the active arm is located above the wheel assembly, and the second end of the driven arm is located above the wheel assembly; and

[0012] A connecting member is slidably connected to the active arm, the driven arm and the mounting frame respectively, and an obstacle touches a position of the active arm away from the first end so that the first end and the second end are away from each other.

[0013] As a preferred solution, the active arm includes an active rod and a first protrusion, the active rod is pivotally connected to the pivot shaft, and the first end portion and the first protrusion are arranged on the active rod and located on both sides of the pivot shaft;

[0014] The driven arm comprises a driven rod and a second protrusion, the driven rod is pivotally connected to the pivot shaft, and the second end portion and the second protrusion are arranged on both sides of the pivot shaft;

[0015] The connecting member is provided with an arc groove and a vertical groove, the mounting frame is provided with a third protrusion, the first protrusion and the second protrusion are arranged in the arc groove, the third protrusion is arranged in the vertical groove, and the center of the arc groove is eccentrically arranged with respect to the pivot axis.

[0016] As a preferred embodiment, the active rod includes a first support rod, a first connecting rod and a second support rod connected in sequence, the driven rod includes a third support rod, a second connecting rod and a fourth support rod connected in sequence, the pivot shaft includes a first pivot shaft and a second pivot shaft distributed on both sides of the wheel assembly, the first support rod and the third support rod are pivoted to the first pivot shaft, the second support rod and the fourth support rod are pivoted to the second pivot shaft, and the clamping assembly, the first connecting rod and the second connecting rod can jointly clamp the wheel assembly.

[0017] As a preferred solution, the clamping assembly comprises:

[0018] A first clamping mechanism, comprising a first elastic member and a first clamping member, wherein two ends of the first elastic member are respectively connected to the mounting frame and the first clamping member; and

[0019] The second clamping mechanism includes a second elastic member and a second clamping member, wherein two ends of the second elastic member are respectively connected to the mounting frame and the second clamping member, and the first elastic member and the second elastic member jointly drive the first clamping member and the second clamping member to jointly clamp the wheel assembly.

[0020] As a preferred solution, the clamping assembly further includes:

[0021] a first guide rod, disposed on the mounting frame, wherein the first clamping member is passed through the first guide rod and can slide along the first guide rod; and

[0022] The second guide rod is arranged on the mounting frame, and the second clamping member is penetrated on the second guide rod and can slide along the second guide rod.

[0023] As a preferred embodiment, the first guide rods are arranged in two groups, the two groups of the first guide rods are located on both sides of the first elastic member and jointly clamp the first elastic member; the second guide rods are arranged in two groups, the two groups of the second guide rods are distributed on both sides of the second elastic member and jointly clamp the second elastic member.

[0024] As a preferred embodiment, the wheel assembly includes a clamping portion, a connecting portion and a wheel, the clamping portion is arranged at one end of the connecting portion, the clamping portion is arranged between the first clamping member and the second clamping member, and the wheel is rotatably arranged at the other end of the connecting portion.

[0025] As a preferred embodiment, a first trigger structure is provided on the clamping portion, a second trigger structure is provided on the first clamping member, and a third trigger structure is provided on the second clamping member. When the wheel assembly moves upward, the second trigger structure and the third trigger structure respectively cooperate with the first trigger structure to move the first clamping member and the second clamping member away from each other.

[0026] A robot comprises a vehicle body and the obstacle crossing mechanism as described above, wherein the mounting frame is connected to the vehicle body.

[0027] The beneficial effects of the present invention are:

[0028] The obstacle surmounting mechanism provided by the present invention includes a mounting frame, a clamping assembly, a driving assembly and a wheel assembly. The clamping assembly and the driving assembly are arranged on the mounting frame. The clamping assembly and the driving assembly can jointly lock the wheel assembly. When an obstacle touches the driving assembly, the driving assembly is in an unlocked position, and the wheel assembly can float in a vertical direction relative to the mounting frame, thereby enabling the obstacle surmounting mechanism to easily surmount obstacles and preventing the robot from experiencing the problem of ups and downs in the body of the robot during the obstacle surmounting process.

[0029] The robot provided by the present invention can prevent the problem of the robot body rising and falling during the obstacle crossing process by applying the obstacle crossing mechanism mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0031] Figure 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present invention;

[0032] Figure 2 The structure of the obstacle crossing mechanism provided by the embodiment of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 3 The structure of the obstacle crossing mechanism provided by the embodiment of the present invention is shown in FIG. Figure 2 .

[0034] The following are marked in the figure:

[0035] 1000-robot; 2000-wall;

[0036] 100-obstacle crossing mechanism; 200-vehicle body;

[0037] 1-mounting frame; 11-third protrusion; 12-pivot shaft;

[0038] 2-clamping assembly; 21-first clamping mechanism; 211-first elastic member; 212-first clamping member; 2121-third inclined plane; 22-second clamping mechanism; 221-second elastic member; 222-second clamping member; 2221-fourth inclined plane; 23-first guide rod; 231-first limiting portion; 24-second guide rod; 241-second limiting portion;

[0039] 3-driving assembly; 31-active arm; 311-active rod; 312-first protrusion; 32-driven arm; 321-driven rod; 322-second protrusion; 33-connecting member; 331-arc groove; 332-vertical groove;

[0040] 4-wheel assembly; 41-clamping portion; 411-first inclined surface; 412-second inclined surface; 42-connecting portion; 43-wheel. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solution of this embodiment, the technical solution of this embodiment is further described below with reference to the accompanying drawings and through specific implementation methods.

[0042] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0044] In the description of this embodiment, the terms "upper", "lower", "left", "right", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplified operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0045] like Figure 1 As shown, the robot 1000 provided in this embodiment includes a vehicle body 200 and an obstacle-crossing mechanism 100. The obstacle-crossing mechanism 100 is arranged on both sides of the vehicle body 200. The obstacle-crossing mechanism 100 can drive the vehicle body 200 to climb along the wall surface 2000, thereby realizing the transfer of the wall-climbing robot 1000 to different positions of the wall surface 2000. The vehicle body 200 includes a vehicle frame and functional parts. The obstacle-crossing mechanism 100 is arranged on the vehicle frame. The functional parts can be welding guns or cameras. The functional parts can be arranged according to different functions of the robot 1000.

[0046] Combination Figure 2 The obstacle surmounting mechanism 100 includes a mounting frame 1, a clamping assembly 2, a driving assembly 3 and a wheel assembly 4. The mounting frame 1 is connected to the vehicle body 200. The clamping assembly and the driving assembly 3 are arranged on the mounting frame. The clamping assembly 2 and the driving assembly 3 can jointly lock the wheel assembly 4. When an obstacle touches the driving assembly 3, the driving assembly 3 is in an unlocked position. The wheel assembly 4 can float in a vertical direction relative to the mounting frame 1, thereby enabling the obstacle surmounting mechanism 100 to easily surmount obstacles and preventing the robot 1000 from experiencing the problem of ups and downs in the vehicle body during the obstacle surmounting process.

[0047] In order to achieve the obstacle avoidance function, the traditional robot 1000 connects the body 200 and the wheels through springs. The life of the springs is limited. After long-term use, the springs will be compressed and shortened, resulting in the risk of the body sinking. However, the mounting frame 1 in the present application is connected to the body 200, and the clamping assembly 2 is arranged on the mounting frame 1. When the drive assembly 3 is in the locked position, the clamping assembly 2 and the drive assembly 3 clamp the wheel assembly 4 together. When the robot 1000 is in normal operation, the clamping assembly 2, the drive assembly 3 and the mounting frame 1 can achieve a rigid connection, which can prevent the body 200 from sinking during operation.

[0048] Combination Figure 2 The structure of the driving component 3 is described as follows: Figure 2As shown, the driving assembly 3 includes an active arm 31, a driven arm 32 and a connecting member 33. A pivot shaft 12 is provided on the mounting frame 1. The active arm 31 and the driven arm 32 are respectively pivotally connected to the pivot shaft 12. The first end of the active arm 31 and the second end of the driven arm 32 are both located above the wheel assembly 4. The connecting member 33 is respectively slidably connected to the active arm 31, the driven arm 32 and the mounting frame 1. The obstacle touches the active arm 31 at a position away from the first end, so that the first end and the second end are away from each other, so that the wheel assembly 4 floats in the vertical direction relative to the mounting frame 1, thereby realizing the obstacle-crossing function of the obstacle-crossing mechanism 100.

[0049] In order to achieve the synchronous movement of the active arm 31 and the driven arm 32 by only touching the active arm 31, as shown in FIG. Figure 2 As shown, the active arm 31 includes an active rod 311 and a first protrusion 312, the active rod 311 is pivoted to the pivot shaft 12, and the first end and the first protrusion 312 are arranged on the active rod 311 and located on both sides of the pivot shaft 12. The driven arm 32 includes a driven rod 321 and a second protrusion 322, the driven rod 321 is pivoted to the pivot shaft 12, and the second end and the second protrusion 322 are arranged on both sides of the pivot shaft 12. The connecting member 33 is provided with an arc groove 331 and a vertical groove 332, and the mounting frame 1 is provided with a third protrusion 11, the first protrusion 312 and the second protrusion 322 are arranged in the arc groove 331, and the third protrusion 11 is arranged in the vertical groove 332, and the center of the arc groove is eccentric to the pivot shaft 12.

[0050] When the center of the arc groove 331 is located above the pivot shaft 12, when the active rod 311 rotates clockwise, the connecting member 33 can slide downward relative to the mounting frame 1, and the second protrusion 322 can slide counterclockwise along the arc groove 331, thereby realizing the counterclockwise rotation of the driven rod 321. By passing through an obstacle and only driving the active rod 311, the active rod 311 and the driven rod 321 can be moved away from each other at the same time. The obstacle crossing mechanism 100 of this embodiment has a simple and ingenious structure and is easy to use.

[0051] When the center of the arc groove 331 is located below the pivot shaft 12, when the active rod 311 rotates clockwise, the connecting member 33 can slide upward relative to the mounting frame 1, and the second protrusion 322 can slide counterclockwise along the arc groove 331, thereby realizing the counterclockwise rotation of the driven rod 321. By passing through an obstacle, only the active rod 311 is driven, so that the active rod 311 and the driven rod 321 can move away from each other at the same time. The obstacle crossing mechanism 100 of this embodiment has a simple and ingenious structure and is easy to use.

[0052] As a preferred solution, the active rod 311 includes a first support rod, a first connecting rod and a second support rod connected in sequence, the driven rod 321 includes a third support rod, a second connecting rod and a fourth support rod connected in sequence, the pivot shaft 12 includes a first pivot shaft and a second pivot shaft distributed on both sides of the wheel assembly 4, the first support rod and the third support rod are pivoted to the first pivot shaft, the second support rod and the fourth support rod are pivoted to the second pivot shaft, the clamping assembly 2, the first connecting rod and the second connecting rod can jointly clamp the wheel assembly 4, and since the first connecting rod and the second connecting rod are respectively in contact with the wheel assembly 4 for a large length, a better supporting effect on the wheel assembly 4 can be achieved.

[0053] Combination Figure 2 The structure of the clamping assembly 2 is described as follows. Figure 2 As shown, the clamping assembly 2 includes a first clamping mechanism 21 and a second clamping mechanism 22, the first clamping mechanism 21 includes a first elastic member 211 and a first clamping member 212, the two ends of the first elastic member 211 are respectively connected to the mounting frame 1 and the first clamping member 212, the second clamping mechanism 22 includes a second elastic member 221 and a second clamping member 222, the two ends of the second elastic member 221 are respectively connected to the mounting frame 1 and the second clamping member 222, the first elastic member 211 and the second elastic member 221 jointly drive the first clamping member 212 and the second clamping member 222 to jointly clamp the wheel assembly 4. Specifically, the first elastic member 211 and the second elastic member 221 of this embodiment can be selected from springs, etc.

[0054] As a preferred solution, Figure 2 As shown, the clamping assembly 2 further includes a first guide rod 23 and a second guide rod 24, both of which are arranged on the mounting frame 1, the first clamping member 212 is penetrated on the first guide rod 23 and can slide along the first guide rod 23, and the second clamping member 222 is penetrated on the second guide rod 24 and can slide along the second guide rod 24. The first guide rod 23 and the second guide rod 24 can respectively realize the guiding functions of the first clamping member 212 and the second clamping member 222, thereby improving the clamping accuracy of the first clamping member 212 and the second clamping member 222.

[0055] As a preferred solution, Figure 2 As shown, the first guide rod 23 is set into two groups, the two groups of first guide rods 23 are located on both sides of the first elastic member 211 and jointly clamp the first elastic member 211, and the second guide rod 24 is set into two groups, the two groups of second guide rods 24 are distributed on both sides of the second elastic member 221 and jointly clamp the second elastic member 221, which can realize the telescopic movement of the first elastic member 211 and the second elastic member 221 in the horizontal direction, avoid the first elastic member 211 and the second elastic member 221 from bending during the deformation process, and realize the first clamping member 212 and the second clamping member 222 to have a better clamping effect on the wheel assembly 4.

[0056] As a preferred solution, Figure 2 and Figure 3 As shown, a first limiting portion 231 is formed at one end of the first guide rod 23 away from the mounting frame 1, and a second limiting portion 241 is formed at one end of the second guide rod 24 away from the mounting frame 1. The first limiting portion 231 can limit the first clamping member 212 from sliding out of the first guide rod 23, and the second limiting portion 241 can limit the second clamping member 222 from sliding out of the second guide rod 24.

[0057] Now combined Figure 3 The structure of the wheel assembly 4 is described as follows. Figure 3 As shown, the wheel assembly 4 includes a clamping portion 41, a connecting portion 42 and a wheel 43. The clamping portion 41 is arranged at one end of the connecting portion 42, the clamping portion 41 is arranged between the first clamping member 212 and the second clamping member 222, and the wheel 43 is rotatably arranged at the other end of the connecting portion 42. The clamping assembly 2 can clamp the clamping portion 41.

[0058] As a preferred solution, the clamping portion 41 is provided with a first trigger structure, the first clamping member 212 is provided with a second trigger structure, and the second clamping member 222 is provided with a third trigger structure. When the wheel assembly 4 moves upward, the second trigger structure and the third trigger structure cooperate with the first trigger structure respectively to move the first clamping member 212 and the second clamping member 222 away from each other. Specifically, Figure 3As shown, the first trigger structure includes a first inclined surface 411 and a second inclined surface 412 disposed on the clamping portion 41, and the first inclined surface 411 and the second inclined surface 412 are both inclined outward from top to bottom, the second trigger structure includes a third inclined surface 2121 disposed on the first clamping member 212, and the third trigger structure includes a fourth inclined surface 2221 disposed on the second clamping member 222, and the third inclined surface 2121 and the fourth inclined surface 2221 are both inclined from top to bottom in a direction away from the center line of the clamping portion 41. When the wheel assembly 4 moves upward, the first inclined surface 411 can slide along the third inclined surface 2121, and the second inclined surface 412 can slide along the fourth inclined surface 2221, so that the first clamping member 212 and the second clamping member 222 are separated from each other. In other embodiments, the first trigger structure includes a first inclined surface 411 and a second inclined surface 412 provided on the clamping portion 41, and the first inclined surface 411 and the second inclined surface 412 are both inclined outward from top to bottom, the second trigger structure includes a first abutting protrusion provided on the first clamping member 212, and the third trigger structure includes a second abutting protrusion provided on the second clamping member 222, the first abutting protrusion abuts against the first inclined surface 411, and the second abutting protrusion abuts against the second inclined surface 412. When the wheel assembly 4 moves upward, the first abutting protrusion slides along the first inclined surface 411, and the second abutting protrusion slides along the second inclined surface 412, so that the first clamping member 212 and the second clamping member 222 are separated, which can also achieve the above effect.

[0059] As a preferred solution, the wheel 43 of this embodiment is a magnetic wheel, so that a tighter fit between the wheel 43 and the wall 2000 can be achieved, thereby preventing the robot 1000 from falling off the wall 2000 .

[0060] In order to facilitate understanding of the obstacle overcoming mechanism 100, Figure 2 and Figure 3 The working principle of the obstacle crossing mechanism 100 is described as follows:

[0061] like Figure 2 and Figure 3 As shown, when the obstacle overcoming mechanism 100 moves to the right, the lower end of the active rod 311 first touches the obstacle, the active rod 311 rotates clockwise, the connecting member 33 moves downward, the connecting member 33 drives the driven rod 321 to rotate counterclockwise, and the wheel assembly 4 can move upward, thereby achieving obstacle avoidance.

[0062] When the wheel assembly 4 passes over an obstacle, the first elastic member 211 and the second elastic member 221 approach each other, thereby pushing the wheel assembly 4 downward, and the wheel 43 drives the active rod 311 to rotate counterclockwise, and the wheel 43 drives the driven rod 321 to rotate clockwise, so that the first connecting rod, the second connecting rod, the third inclined surface 2121, and the fourth inclined surface 2221 jointly clamp the clamping part 41, thereby achieving rigid support of the vehicle body 200 by the obstacle crossing mechanism 100, and preventing the vehicle body 200 from sinking during operation.

[0063] Note that the above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected, and the scope of the present invention to be protected is defined by the attached claims and their equivalents.

Claims

1. An obstacle crossing mechanism, characterized in that: include: Mounting frame (1); A clamping assembly (2) arranged on the mounting frame (1); as well as A drive assembly (3) and a wheel assembly (4), wherein the wheel assembly (4) comprises a wheel (43), wherein the wheel (43) is a magnetic wheel, wherein the drive assembly (3) is arranged on the mounting frame (1), wherein the clamping assembly (2) and the drive assembly (3) can jointly lock the wheel assembly (4), wherein an obstacle touches the drive assembly (3) so that the drive assembly (3) is in an unlocked position, and wherein the wheel assembly (4) can float in a vertical direction relative to the mounting frame (1); The driving component (3) comprises: an active arm (31) and a driven arm (32), wherein a pivot shaft (12) is provided on the mounting frame (1), the active arm (31) and the driven arm (32) are respectively pivotally connected to the pivot shaft (12), the first end of the active arm (31) is located above the wheel assembly (4), and the second end of the driven arm (32) is located above the wheel assembly (4); and The connecting member (33) is slidably connected to the active arm (31), the driven arm (32) and the mounting frame (1), respectively, and the obstacle touches the active arm (31) at a position away from the first end so that the first end and the second end are away from each other.

2. The obstacle surmounting mechanism according to claim 1, characterized in that: The active arm (31) comprises an active rod (311) and a first protrusion (312); the active rod (311) is pivotally connected to the pivot shaft (12); the first end portion and the first protrusion (312) are arranged on the active rod (311) and are located on both sides of the pivot shaft (12); The driven arm (32) comprises a driven rod (321) and a second protrusion (322), the driven rod (321) being pivotally connected to the pivot shaft (12), and the second end portion and the second protrusion (322) being arranged on both sides of the pivot shaft (12); The connecting member (33) is provided with an arcuate groove (331) and a vertical groove (332); the mounting frame (1) is provided with a third protrusion (11); the first protrusion (312) and the second protrusion (322) are arranged in the arcuate groove (331); the third protrusion (11) is arranged in the vertical groove (332); and the center of the arcuate groove (331) is eccentrically arranged with respect to the pivot axis (12).

3. The obstacle surmounting mechanism according to claim 2, characterized in that: The active rod (311) comprises a first support rod, a first connecting rod and a second support rod which are connected in sequence, the driven rod (321) comprises a third support rod, a second connecting rod and a fourth support rod which are connected in sequence, the pivot shaft (12) comprises a first pivot shaft and a second pivot shaft which are distributed on both sides of the wheel assembly (4), the first support rod and the third support rod are pivotally connected to the first pivot shaft, the second support rod and the fourth support rod are pivotally connected to the second pivot shaft, and the clamping assembly (2), the first connecting rod and the second connecting rod can jointly clamp the wheel assembly (4).

4. The obstacle surmounting mechanism according to any one of claims 1 to 3, characterized in that: The clamping assembly (2) comprises: A first clamping mechanism (21), comprising a first elastic member (211) and a first clamping member (212), wherein two ends of the first elastic member (211) are respectively connected to the mounting frame (1) and the first clamping member (212); and The second clamping mechanism (22) comprises a second elastic member (221) and a second clamping member (222), wherein two ends of the second elastic member (221) are respectively connected to the mounting frame (1) and the second clamping member (222), and the first elastic member (211) and the second elastic member (221) jointly drive the first clamping member (212) and the second clamping member (222) to jointly clamp the wheel assembly (4).

5. The obstacle surmounting mechanism according to claim 4, characterized in that: The clamping assembly (2) further comprises: A first guide rod (23) is arranged on the mounting frame (1); the first clamping member (212) is passed through the first guide rod (23) and is capable of sliding along the first guide rod (23); and The second guide rod (24) is arranged on the mounting frame (1), and the second clamping member (222) is passed through the second guide rod (24) and can slide along the second guide rod (24).

6. The obstacle surmounting mechanism according to claim 5, characterized in that: The first guide rods (23) are arranged in two groups, the two groups of the first guide rods (23) are located on both sides of the first elastic member (211) and jointly clamp the first elastic member (211); the second guide rods (24) are arranged in two groups, the two groups of the second guide rods (24) are distributed on both sides of the second elastic member (221) and jointly clamp the second elastic member (221).

7. The obstacle surmounting mechanism according to claim 4, characterized in that: The wheel assembly (4) further comprises a clamping portion (41) and a connecting portion (42), wherein the clamping portion (41) is arranged at one end of the connecting portion (42), the clamping portion (41) is arranged between the first clamping member (212) and the second clamping member (222), and the wheel (43) is rotatably arranged at the other end of the connecting portion (42).

8. The obstacle surmounting mechanism according to claim 7, characterized in that: The clamping portion (41) is provided with a first trigger structure, the first clamping member (212) is provided with a second trigger structure, and the second clamping member (222) is provided with a third trigger structure; when the wheel assembly (4) moves upward, the second trigger structure and the third trigger structure respectively cooperate with the first trigger structure to move the first clamping member (212) and the second clamping member (222) away from each other.

9. A robot, characterized in that: It comprises a vehicle body (200) and an obstacle surmounting mechanism according to any one of claims 1 to 8, wherein the mounting frame (1) is connected to the vehicle body (200).

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