Obstacle negotiation device, self-propelled robot, and cleaning system

Abstract

The present application relates to the technical field of smart home equipment, and especially relates to an obstacle surmounting device, a self-walking robot and a cleaning system, wherein the obstacle surmounting device comprises a supporting arm, a walking wheel rotatably connected with the supporting arm and having a walking surface, an obstacle surmounting assembly rotatably arranged on the supporting arm, the obstacle surmounting assembly comprising a supporting leg movable along a radial direction of the walking wheel relative to the walking wheel, and a linkage assembly comprising a linkage member movably connected with the supporting arm, the linkage member being movable between a first position and a second position relative to the supporting arm, in the first position, the linkage member can make at least part of the supporting leg protrude from the walking surface, and in the second position, the supporting leg is arranged between the walking surface and a rotation axis of the walking wheel. According to the obstacle surmounting device, the problem of large noise and serious abrasion caused by the supporting leg always rotating relative to the cam and continuously rubbing is avoided.

Description

Technical Field

[0001] This invention relates to the field of smart home device technology, and in particular to an obstacle-crossing device, a self-propelled robot, and a cleaning system. Background Technology

[0002] Robotic vacuum cleaners, mopping robots, and rescue robots, all driven by wheels, are increasingly used in human production and daily life, bringing numerous conveniences. However, these robots often encounter obstacles in their working environment, and their insufficient obstacle-crossing capabilities prevent them from entering many areas blocked by obstacles to carry out their work.

[0003] In existing devices, irregularly shaped cams are installed on the wheels, and retractable legs that rotate around the cams are mounted on the drive wheels. When the legs rotate relative to the cams under the drive of the drive wheels, the retractable legs extend beyond the wheels in cooperation with the cams, serving as fulcrums to help the autonomous walking robot overcome obstacles. However, in existing solutions, the retractable legs constantly rub against the cams regardless of whether the drive wheels are in an obstacle-crossing state, resulting in significant noise and severe wear between the cams and the retractable legs during long-term operation. Summary of the Invention

[0004] The purpose of this invention is to at least solve the problem in existing devices where the telescopic outriggers and the cam are always in a state of friction, regardless of whether the drive wheel is in an obstacle-crossing state. This purpose is achieved through the following means:

[0005] A first aspect of the present invention provides an obstacle-crossing device, the obstacle-crossing device comprising: a support arm; a traveling wheel rotatably connected to the support arm and having a traveling surface; an obstacle-crossing assembly rotatably disposed on the support arm, the obstacle-crossing assembly including a support leg movable relative to the traveling wheel along the radial direction of the traveling wheel; and a linkage assembly including a linkage member movably connected to the support arm, the linkage member being movable relative to the support arm between a first position and a second position, and being able to linkage with the support leg during rotation of the obstacle-crossing assembly relative to the support arm; in the first position, the linkage member is capable of causing at least a portion of the support leg to protrude from the traveling surface, and in the second position, the support leg is disposed between the traveling surface and the rotation axis of the traveling wheel.

[0006] According to the obstacle-crossing device of the present invention, the position of the outrigger relative to the traveling wheel is changed by the movement of the linkage relative to the support arm, allowing the outrigger to switch between two states: protruding from the traveling surface or avoiding the traveling surface. When the obstacle-crossing device has an obstacle-crossing requirement, the linkage moves to the first position, and during the rotation of the outrigger relative to the support arm, the linkage and the outrigger work together to drive the outrigger to protrude from the traveling surface. The outrigger protruding from the traveling surface is used to assist in overcoming obstacles. When the obstacle-crossing device does not have an obstacle-crossing requirement, the linkage moves to the second position, so that the outrigger is in a state of avoiding the traveling surface, avoiding contact between the outrigger and the traveling surface and interfering with the traveling wheel's traveling state. It should be noted that the obstacle-crossing component and the linkage component are respectively provided on the support arm. In the normal traveling state of the traveling wheel (non-obstacle-crossing state), the obstacle-crossing component and the linkage component can remain stationary relative to the support arm when the outrigger is in a state of avoiding the traveling surface. During the rotation of the traveling wheel, there is no interference between the obstacle-crossing component and the linkage component. Therefore, the problems of high noise and severe wear caused by the outrigger constantly rotating relative to the cam and continuously rubbing, as in the prior art, are avoided.

[0007] In addition, the obstacle-crossing device according to the present invention may also have the following additional technical features:

[0008] In some embodiments of the present invention, the obstacle-crossing device further includes a chassis, and the support arm is movably connected to the chassis; the linkage includes a connecting portion and a cantilever portion connected together, the connecting portion is movably connected to the support arm, and one end of the cantilever portion opposite to the connecting portion is movably connected to the chassis; during the movement of the support arm relative to the chassis, the support arm drives the walking wheel, the obstacle-crossing component, and the linkage component to move synchronously relative to the chassis, and the chassis is linked to the connecting portion through the cantilever portion, so that the connecting portion moves between the first position and the second position relative to the support arm.

[0009] In some embodiments of the present invention, the connecting portion is provided on the support arm in a manner that allows it to slide relative to the support arm along a first direction, the chassis is provided with a slide rail extending along a second direction, one end of the cantilever portion opposite to the connecting portion is slidably connected to the slide rail, and the support arm is movable relative to the chassis along a third direction; wherein, the first direction is perpendicular to the rotation axis and intersects the second direction, and the first direction is not parallel to the third direction.

[0010] In some embodiments of the present invention, the linkage component further includes a first elastic element, the two ends of which are respectively connected to the connecting portion and the support arm, and the first elastic element is used to apply an elastic force toward the slide rail to the linkage component along the first direction.

[0011] In some embodiments of the present invention, the slide rail has a slide rail surface facing the linkage member, and one end of the cantilever portion opposite to the connecting portion slidably abuts against the slide rail surface.

[0012] In some embodiments of the present invention, the linkage component further includes a first bearing, which is disposed at one end of the cantilever portion away from the connecting portion, and the outer ring of the first bearing abuts against the slide rail surface.

[0013] In some embodiments of the present invention, the bottom of the chassis is provided with a guide plane for obstacle crossing, and the second direction is perpendicular to or at an angle to the guide plane.

[0014] In some embodiments of the invention, the chassis has a front end for first contacting an obstacle, and in the first position, the side of the outrigger facing away from the axis of rotation protrudes from the walking surface.

[0015] In some embodiments of the present invention, when the length of the outrigger protruding from the walking surface is at its maximum value, the first direction forms a preset angle with the guide plane, and the preset angle ranges from -60° to 60°.

[0016] In some embodiments of the present invention, the obstacle-crossing device further includes a driving member, which is connected to the chassis and the support arm respectively, and the driving member is used to drive the support arm to move relative to the chassis.

[0017] In some embodiments of the present invention, the obstacle-crossing assembly further includes a bracket, the bracket being rotatably disposed on the support arm, and the outrigger being movably disposed on the bracket. During the rotation of the bracket relative to the support arm, the outrigger drives the outrigger to rotate around the rotation axis in the same direction as the walking wheel.

[0018] In some embodiments of the present invention, the outrigger is movably connected to the support, so that the outrigger can move relative to the support in a direction perpendicular to the rotation axis. The obstacle-crossing assembly further includes a second elastic member, the two ends of which are respectively connected to the support and the outrigger and are used to apply an elastic force toward the rotation axis to the outrigger.

[0019] In the first position, the linkage can overcome the elastic force of the second elastic member to drive the outrigger to protrude from the walking surface; in the second position, the second elastic member drives the outrigger to avoid the walking surface.

[0020] In some embodiments of the present invention, the linkage further includes a linkage part connected to the connecting part, and the linkage part can abut against the end of the support leg facing the rotation axis in a direction perpendicular to the rotation axis.

[0021] In some embodiments of the present invention, the obstacle-crossing component includes a plurality of legs, each leg being fitted with a second elastic element, and the plurality of legs being arranged sequentially at intervals around the linkage portion; in the first position, the linkage portion can drive at least one leg to protrude from the walking surface; in the second position, the plurality of second elastic elements respectively drive all the legs to avoid the walking surface.

[0022] In some embodiments of the present invention, the linkage part has a cylindrical structure, and the first distance between the axis of the linkage part and the rotation axis in the first position is greater than the second distance between the axis of the linkage part and the rotation axis in the second position.

[0023] In some embodiments of the present invention, the linkage component further includes a second bearing, which is sleeved on the linkage part, and the outer ring of the second bearing is used to abut against the support leg.

[0024] Another aspect of the present invention provides a self-propelled robot, characterized in that the self-propelled robot includes an obstacle-crossing device as described in the first aspect of the technical solution.

[0025] In some embodiments of the present invention, the self-walking robot is a sweeping robot.

[0026] Another aspect of the present invention proposes a cleaning system comprising a cleaning base station and a self-propelled robot as described in any one of the second aspects of the technical solution. Attached Figure Description

[0027] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein:

[0028] Figure 1 This is a partial cross-sectional structural diagram of an obstacle-crossing device with a linkage in a second position state according to an embodiment of the present invention.

[0029] Figure 2 This is a partial cross-sectional structural diagram of an obstacle-crossing device with a linkage component in a first position state according to an embodiment of the present invention.

[0030] Figure 3 This is a partial cross-sectional structural diagram of an obstacle-crossing device with a linkage component in a first position state according to an embodiment of the present invention.

[0031] Figure 4This is a schematic diagram of the obstacle-crossing component and the second bearing in the first position state of the linkage component according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the obstacle-crossing component and the second bearing in the second position state of the linkage component according to an embodiment of the present invention;

[0033] Figure 6 This is an exploded schematic diagram of the obstacle-crossing device components according to an embodiment of the present invention;

[0034] Figure 7 This is an exploded view of the support arm, linkage component, and second bearing according to an embodiment of the present invention.

[0035] Figure 8 This is a schematic diagram of the assembly structure of the support arm and the linkage component according to an embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of the linkage component and the second bearing in the second position state, from another perspective of an embodiment of the present invention.

[0037] Figure 10 This is a schematic diagram of the linkage component according to an embodiment of the present invention, in which the first direction is parallel to the guide plane in the first position state;

[0038] Figure 11 This is a schematic diagram of a linkage component according to an embodiment of the present invention, showing that the first direction forms an angle with the guide plane in the first position state;

[0039] Figure 12 This is a schematic diagram of the assembly structure of the obstacle-crossing component, the linkage component, and the walking wheel in the first position state, according to another embodiment of the present invention.

[0040] Figure 13 This is a schematic diagram of the assembly structure of the obstacle-crossing component, the linkage component, and the walking wheel in the second position state, according to another embodiment of the present invention.

[0041] Figure 14 This is a schematic diagram of the assembly structure of the obstacle-crossing component, the linkage component, and the walking wheel in the first position state, which is another embodiment of the present invention.

[0042] The labels in the attached diagram are as follows:

[0043] 100. Obstacle crossing device;

[0044] 10. Support arm; 11. Slider; 12. Support arm pivot;

[0045] 20. Walking wheel; 21. Rotation axis; 22. Walking surface;

[0046] 30. Obstacle-crossing assembly; 31. Bracket; 311. Sliding hole; 32. Outrigger; 33. Second elastic element;

[0047] 40. Linkage assembly; 41. Linkage component; 411. Connecting part; 4111. Slide groove; 412. Cantilever part; 4121. First mounting part; 4122. Second mounting part; 4123. Slot; 413. Linkage part; 414. Waist-shaped hole; 42. First elastic element; 43. First bearing; 44. Second bearing; 45. Connecting rod;

[0048] 50. Chassis; 51. Slide rail; 511. Slide rail surface; 501. Accommodation space; 52. Guide plane; 53. Front end; 531. Guide surface;

[0049] 60. Casters;

[0050] 200. Driving surface; 201. Obstacle;

[0051] X - First direction; Y - Second direction; Z - Third direction. Detailed Implementation

[0052] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0053] It should be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0054] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as a second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0055] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure rotates, then an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations.

[0056] According to an embodiment of the present invention, an obstacle-crossing device 100 is proposed. Please refer to... Figure 1 , Figure 2 and Figure 6 As shown, the obstacle-crossing device 100 includes a support arm 10, a traveling wheel 20, an obstacle-crossing assembly 30, and a linkage assembly 40. The traveling wheel 20 is the drive wheel of the obstacle-crossing device 100 and is rotatably mounted on the support arm 10. The traveling wheel 20 has a rotation axis 21 and a traveling surface 22 is formed on its outer circumferential surface. The traveling surface 22 is the surface of the traveling wheel 20 that contacts the ground or other media. The traveling surface 22 is used to contact the travel plane 200 on which the obstacle-crossing device 100 is located, and the rotation of the traveling wheel 20 relative to the support arm 10 drives the obstacle-crossing device 100 to move on the travel plane 200. The obstacle-crossing assembly 30 is rotatably mounted on the support arm 10 and can rotate relative to the support arm 10. The rotation direction of the obstacle-crossing assembly 30 can be the same as the rotation direction of the traveling wheel 20, so that the support leg 32 in the obstacle-crossing assembly 30 can rotate around the rotation axis 21 of the traveling wheel 20 in the same direction as the traveling wheel 20. Specifically, the rotation axis of the obstacle-crossing component 30 is parallel to or coincides with the rotation axis 21 of the walking wheel 20.

[0057] Please combine Figure 4 and Figure 5As shown, the outrigger 32 can move radially relative to the traveling wheel 20. Within the range of movement of the outrigger 32 relative to the traveling wheel 20, the outrigger 32 can at least partially protrude from the traveling surface 22, or, in a direction parallel to the rotation axis, all the projections of the outrigger 32 onto the traveling wheel 20 are located within the traveling surface 22, so that the outrigger 32 is positioned between the traveling surface 22 and the rotation axis 21, i.e., the outrigger 32 is in a state of avoiding the traveling surface 22. When the outrigger 32 is in a state of protruding from the traveling surface 22, the obstacle-crossing assembly 30 rotates relative to the support arm 10, allowing the outrigger 32 to rotate around the rotation axis in the same direction as the traveling wheel 20. This allows the outrigger 32, protruding from the traveling surface 22, to abut against the obstacle 201 and assist the traveling wheel 20 in overcoming the obstacle 201. The movement of the outrigger 32 relative to the traveling wheel 20 refers to the outrigger 32 rotating relative to the traveling wheel 20, or the outrigger 32 moving radially relative to the traveling surface 22 of the traveling wheel 20, or a combination of relative rotation and relative movement (such as the movement of the nut screw). In this embodiment, the specific movement between the outrigger 32 and the traveling wheel 20 is not specifically limited, as long as the relative position between the outrigger 32 and the traveling surface 22 changes.

[0058] Furthermore, please combine Figure 4 , Figure 5 , Figure 6 as well as Figure 12 and Figure 13 As shown, the movement of the outrigger 32 relative to the walking surface 22 of the walking wheel 20 at different relative positions is achieved by the linkage between the outrigger 32 and the linkage component 40. Specifically, the linkage component 40 is movably provided on the support arm 10. During the movement of the linkage component 40 relative to the support arm 10, it can be linked with the outrigger 32, so that the outrigger 32 protrudes from the walking surface 22 or avoids the walking surface 22.

[0059] The movement of the linkage component 40 relative to the support arm 10 refers to the linkage component 40 rotating relative to the support arm 10, or the linkage component 40 making linear reciprocating movements relative to the support arm 10, or a combination of relative rotation and relative movement (such as the movement mode of the nut screw), etc. In this embodiment, the specific movement mode between the linkage component 40 and the support arm 10 is not specifically limited, as long as the relative position between the linkage component 40 and the support arm 10 changes and the support leg 32 moves relative to the walking surface 22 of the walking wheel 20.

[0060] It should be noted that the linkage between the linkage component 40 and the support leg 32 means that when one of the linkage component 40 or the support leg 32 moves or changes, the other can also move or change accordingly. For example, in some examples, the linkage component 40 can be directly connected to the support leg 32, so that the linkage component 40 drives the support leg 32 to move; in other examples, the linkage component 40 can abut against the support leg 32, so that one of the linkage component 40 and the support leg 32 pushes the other to move, thereby achieving linkage.

[0061] According to the obstacle-crossing device 100 of the present invention, the position of the outrigger 32 relative to the walking wheel 20 is changed by the movement of the linkage component 40 relative to the support arm 10, so that the outrigger 32 can switch between two states: protruding from the walking surface 22 or avoiding the walking surface 22. When the obstacle-crossing device 100 has an obstacle-crossing requirement, the linkage component 40 can drive the outrigger 32 to protrude from the walking surface 22. The outrigger 32 protruding from the walking surface 22 is used to assist in overcoming the obstacle 201. When the obstacle-crossing device 100 does not have an obstacle-crossing requirement, the linkage component 40 and the outrigger 32 are used to make the outrigger 32 avoid the walking surface 22, so as to avoid the outrigger 32 from contacting the working surface and interfering with the walking state of the walking wheel 20.

[0062] It should be noted that in some embodiments, the obstacle-crossing component 30 and the traveling wheel 20 are respectively mounted on the support arm 10, allowing the obstacle-crossing component 30 and the traveling wheel 20 to rotate independently relative to the support arm. In the normal driving state (non-obstacle-crossing state) of the traveling wheel 20, the obstacle-crossing component 30 and the linkage component 40 can remain stationary relative to the support arm 10 when the outrigger 32 is in a position to avoid the traveling surface 22. During the rotation of the traveling wheel 20, there is no interference between it and the obstacle-crossing component 30 and the linkage component 40. Therefore, the problem of high noise and severe wear caused by continuous friction due to the traveling wheel 20 constantly driving the outrigger 32 to rotate relative to the cam, as described in the prior art, is avoided. Understandably, in other embodiments, the obstacle-crossing component 30 can also be connected to the traveling wheel 20, allowing both to rotate synchronously relative to the support arm.

[0063] In some embodiments of the present invention, please refer to Figure 4 , Figure 5 , Figure 6 , Figure 7 as well as Figure 12 As shown, the linkage assembly 40 includes a linkage member 41 that is movably connected to the support arm 10. The linkage member 41 can move relative to the support arm 10 between a first position and a second position and is linked to the support leg 32. In the first position, the linkage member 41 can cause at least a portion of the support leg 32 to protrude from the walking surface 22. In the second position, the support leg 32 avoids the walking surface 22.

[0064] In this embodiment, the movement of the linkage 41 relative to the support arm 10 includes various methods such as rotation of the linkage 41 relative to the support arm 10 and sliding relative to the support arm 10.

[0065] In some embodiments, such as Figure 12 and Figure 13 As shown, the obstacle-crossing assembly 30 includes a bracket 31 and a support leg 32, with the bracket 31 rotatably mounted on the support arm. Figure 12 and Figure 13 (Not shown in the image) and coaxially mounted with the traveling wheel 20, one end of the support leg 32 is hinged to the bracket 31. The linkage assembly 40 includes a linkage member 41 and a connecting rod 45. The linkage member 41 is rotatably mounted on the support arm 10 and coaxially mounted with the traveling wheel 20. The connecting rod 45 is hinged to the free ends of the linkage member 41 and the support leg 32 respectively. The linkage member 41, the connecting rod 45, the support leg 32, and the bracket 31 together constitute a crank-rocker mechanism. During the process where the bracket 31 is stationary relative to the support arm 10 and the linkage member 41 rotates relative to the support arm 10, the linkage member 41 can rotate between a first position and a second position. The linkage member 41 drives the support leg 32 to rotate relative to the bracket 31 through the connecting rod 45, thereby allowing the free end of the support leg 32 to switch between a state protruding from the traveling surface 22 of the traveling wheel 20 and a state of avoiding the traveling surface 22. Figure 12 As shown, when the linkage 41 is in the first position, the free end of the support leg 32 can protrude from the walking surface 22 of the walking wheel 20, to assist the obstacle-crossing device 100 in overcoming the obstacle 201. Figure 13 As shown, when the linkage 41 is in the second position, the free end of the support leg 32 can avoid the walking surface 22, preventing the support leg 32 from interfering with the contact between the walking wheel 20 and the walking surface 200 during the movement of the obstacle-crossing device 100. In this embodiment, it should be noted that when the support leg 32 is protruding from the walking surface 22, the linkage 41 and the bracket 31 rotate synchronously relative to the support arm 10. During this process, the linkage 41 and the bracket 31 remain relatively stationary, that is, the support leg 32 remains protruding from the walking surface 22 and rotates around the rotation axis 21 of the walking wheel 20, so as to facilitate the use of the support leg 32 to assist the walking wheel 20 in overcoming the obstacle 201. The obstacle-crossing device 100 can have only one support leg 32 (e.g., ...). Figure 14 As shown), it can also be set to multiple (such as...). Figure 12 and Figure 13 When multiple support legs 32 are provided, they are arranged sequentially and at intervals around the rotation axis of the bracket 31. It should be noted that in this embodiment, a motor for driving the linkage 41 and the bracket 31 to rotate can be provided on the support arm 10. The motor's shaft is connected to the linkage 41 and the bracket 31 via gears or other transmission components, thereby driving the linkage 41 and the bracket 31 to rotate relative to the support arm 10. For example, two motors can be provided to drive the linkage 41 and the bracket 31 respectively.

[0066] In some embodiments, such as Figure 4 , Figure 5 and Figure 9 As shown, the obstacle-crossing assembly 30 includes a bracket 31 and a support leg 32. The bracket 31 is rotatably mounted on the support arm (not shown) and coaxially arranged with the traveling wheel 20 (the rotation axis of the bracket 31 coincides with the rotation axis of the traveling wheel 20). The bracket 31 has a sliding hole 311 extending radially therein, and the support leg 32 is slidably disposed within the sliding hole 311. The linkage assembly 40 includes a linkage member 41, which is slidably mounted on the support arm 10, allowing the linkage member 41 to slide relative to the support arm 10 between a first position and a second position. Specifically, the sliding connection between the linkage member 41 and the support arm 10 can be configured in various structural forms. For example, one of the linkage member 41 and the support arm 10 may be provided with a groove, and the other may be provided with an elongated protrusion that slides with the groove; or one of the linkage member 41 and the support member may be provided with a slider, and the other may be provided with a slide rail 51. In this embodiment, the linkage 41 can abut against the end of the support leg 32 facing the rotation axis, so that when the linkage 41 is in the first position, it can push at least part of the support leg 32 out of the walking surface 22. When the linkage 41 is in the second position, the support leg 32 avoids the walking surface 22. The maximum diameter of the end of the support leg 32 is greater than the maximum diameter of the sliding hole 311, ensuring that the end of the support leg 32 will not pass through the sliding hole 311 and cause the support leg 32 to come out of the sliding hole 311.

[0067] It should be noted that in some embodiments where the obstacle-crossing component 30 and the traveling wheel 20 can rotate independently relative to the support arm 10, the bracket 31 and the traveling wheel 20 can be connected to the support arm 10 via different rotating shafts. For example, along the extension direction of the rotation axis, the traveling wheel, bracket, and support arm are arranged sequentially. The bracket 31 is connected to the support arm via a first rotating shaft (not shown in the figure), which has a hollow cylindrical structure. The traveling wheel is connected to the support arm via a second rotating shaft (not shown in the figure), which is rotatably inserted inside the first rotating shaft. The two ends of the second rotating shaft protrude from the first rotating shaft and are respectively connected to the traveling wheel and the support arm. Furthermore, different drive mechanisms (such as gears or other transmission components or drive motors) can be provided on the support arm to drive the first and second rotating shafts respectively, so as to enable the obstacle-crossing component 30 and the traveling wheel 20 to rotate relatively independently.

[0068] In some embodiments, such as Figure 5 As shown, the bracket 31 is fixedly connected to the traveling wheel 20 and connected to the support arm through the same rotating shaft, so that the bracket 31 and the traveling wheel 20 can rotate synchronously relative to the support arm 10, and drive the outrigger to rotate around the rotation axis in the same direction as the traveling wheel.

[0069] In this embodiment, please refer to Figure 2 and Figure 8As shown, the linkage 41 includes a connecting part 411 that is slidably connected to the support arm 10, a cantilever part 412 connected to the connecting part 411, and a linkage part 413. The linkage part 413 is used to abut against the end of the support leg 32 facing the rotation axis. When the linkage part 41 is in the first position, the linkage part 413 is more offset from the rotation axis than when the linkage part 41 is in the second position. When the support leg 32 abuts against the linkage part 413 in the first position, the support leg 32 is driven to slide away from the rotation axis, thereby causing the end of the support leg 32 away from the rotation axis to protrude from the walking surface 22.

[0070] In this embodiment, please refer to Figure 2 , Figure 3 and Figure 4 As shown, when the obstacle crossing device 100 has an obstacle crossing requirement, it drives the linkage 41 to move from the second position relative to the support arm 10 to the first position, and then drives the obstacle crossing assembly 30 to rotate relative to the support arm 10, so that the bracket 31 and the support leg 32 rotate together around the linkage part 413. Since the linkage part 413 is off the rotation axis of the bracket 31, when the support leg 32 rotates to contact and abut against the linkage part 413, the support leg 32 deviates to the side away from the rotation axis under the pushing action of the linkage part 413, and then drives the support leg 32 to slide in the direction away from the rotation axis, so that the end of the support leg 32 away from the rotation axis protrudes out of the walking surface 22. Understandably, when the obstacle crossing device 100 does not need to cross an obstacle, by driving the linkage 41 to move from the first position relative to the support arm 10 to the second position, the outrigger 32 and the linkage 413 are not in contact, or although they are in contact, the outrigger 32 will not protrude from the walking surface 22 because the linkage 413 is close to the rotation axis of the bracket 31, so that the outrigger 32 avoids the walking surface 22 and avoids the outrigger 32 from contacting the walking plane 200 and interfering with the walking state of the walking wheel 20.

[0071] In some embodiments, a drive motor (not shown in the figure) can be used directly as the driving force source for the sliding of the linkage 41 relative to the support arm 10.

[0072] In this embodiment, please refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the obstacle-crossing device 100 also includes a chassis 50. To further simplify the structure of the obstacle-crossing device 100 and reduce its cost and assembly difficulty, a structure linked to the linkage 41 is provided on the chassis 50 of the obstacle-crossing device 100. The relative movement of the support arm 10 relative to the chassis 50 drives the relative sliding of the linkage 41 relative to the support arm 10. In this embodiment, the obstacle-crossing device 100 does not require an additional dedicated power source (motor, etc.) to control and drive the movement of the outrigger 32 when crossing obstacles, resulting in a simple structure and low cost.

[0073] In detail, the support arm 10 is movably mounted on the chassis 50. The support arm 10 and the chassis 50 can be connected in different ways as needed. For example, the support arm 10 and the chassis 50 can be connected in a relatively sliding manner, or the support arm 10 can be connected to the chassis 50 in a relatively rotating manner through the support arm pivot 12. This allows the support arm 10 to drive the traveling wheel 20 closer to or further away from the chassis 50 by sliding or rotating relative to the chassis 50. This adjusts the distance between the traveling wheel 20 and the chassis 50 according to the ground clearance of the chassis 50, ensuring that the traveling wheel 20 always remains in contact with the driving plane 200 to drive the obstacle-crossing device 100 to move on the driving plane 200.

[0074] Furthermore, please combine Figure 2 , Figure 3 , Figure 6 and Figure 8 As shown, one end of the cantilever 412 is connected to the connecting part 411, and the other end of the cantilever 412 extends away from the connecting part 411 and is movably connected to the chassis 50. The connecting part 411 is movably connected to the support arm 10. When the support arm 10 moves relative to the chassis 50, the relative position between the support arm 10 and the chassis 50 changes, thereby driving the traveling wheel 20, the obstacle crossing component 30, and the linkage component 40 to move synchronously relative to the chassis 50. During the process of the support arm 10 driving the connecting part 411 to move relative to the chassis 50, since the end of the cantilever 412 away from the connecting part 411 is movably connected to the chassis 50, the chassis 50 can drive the connecting part 411 to slide relative to the support arm 10 through the cantilever 412, thereby realizing the switching of the linkage component 41 relative to the support arm 10 between the first position and the second position.

[0075] Specifically, please combine Figure 1 , Figure 2 , Figure 8 and Figure 10As shown, the connecting part 411 is slidably disposed on the support arm 10 relative to the support arm 10 in a first direction. The chassis 50 is provided with a slide rail 51 extending in a second direction. The end of the cantilever part 412 opposite to the connecting part 411 is slidably connected to the slide rail 51. The support arm 10 can move relative to the chassis 50 in a third direction. The first direction is perpendicular to the axis of rotation and intersects with the second direction, and the first direction is not parallel to the third direction. Because the first direction is not parallel to the third direction, the distance between the support arm 10 and the slide rail 51 changes during the movement of the support arm 10 relative to the chassis 50. Since the end of the cantilever part 412 opposite to the connecting part 411 is slidably connected to the slide rail 51, when the distance between the support arm 10 and the slide rail 51 changes, the slide rail 51 drives the connecting part 411 to slide relative to the support arm 10 in the first direction through the cantilever part 412, so that the linkage 41 moves relative to the support arm 10 between a first position and a second position. In this embodiment, the first direction is perpendicular to the rotation axis. During the movement of the linkage 41 along the first direction, the connecting part 411 can move closer to or further away from the rotation axis.

[0076] In this embodiment, as Figure 1 As shown, the third direction is the direction in which the support arm 10 rotates relative to the chassis 50 around the axis of the support arm pivot 12.

[0077] It should be noted that in some embodiments, when the support arm 10 is connected to the chassis 50 in a manner that allows rotation relative to the chassis 50, a slider (not shown in the figure) can be provided at one end of the cantilever portion 412 away from the connecting portion 411 and hinged to the cantilever portion 412. The slider is slidably connected to the slide rail 51 so that during the rotation of the support arm 10 relative to the chassis 50, the cantilever portion 412 and the slide rail 51 have relative rotational freedom, so that the linkage 41 can slide on the slide rail 51 while also rotating relative to the slide rail 51, thereby realizing the action of the chassis 50 driving the linkage 41 to slide relative to the support arm 10 in the first direction.

[0078] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 3As shown, the support arm 10 is rotatably connected to the chassis 50. The bottom of the chassis 50 has a recessed accommodating space 501 for accommodating the traveling wheel 20, the obstacle-crossing component 30, and the linkage component 40. At least a portion of the traveling surface 22 of the traveling wheel 20 protrudes from the accommodating space 501 and is used to contact the traveling plane 200 to drive the obstacle-crossing device 100 to move. The slide rail 51 is provided on the inner wall of the accommodating space 501, specifically configured as an elongated boss structure formed by the inner wall of the accommodating space 501 protruding towards the support arm 10, and its length direction extends along the second direction. The slide rail 51 has a slide rail surface 511 facing the linkage component 41, and one end of the cantilever portion 412 away from the connecting portion 411 slidably abuts against the slide rail surface 511.

[0079] For details, please refer to Figure 1 , Figure 2 and Figure 3 As shown, the chassis 50 of the obstacle-crossing device 100 has a front end 53, where the front end refers to the forward position of the obstacle-crossing device 100 in the direction of travel. A caster wheel 60 is provided at the bottom of the front end of the chassis 50. The caster wheel 60 is used to enable flexible steering of the chassis 50 during travel and to guide and lift the chassis 50 to the top of the obstacle 201 when it encounters an obstacle 201, thereby increasing the ground clearance of the chassis 50. In some embodiments, the linkage 41 is located between the guide rail and the front end of the chassis 50, i.e., the guide rail is located behind the linkage 41. During the rotation of the support arm 10 relative to the chassis 50, it can drive the end of the cantilever portion 412 away from the connecting portion 411 to move between the third and fourth positions of the slide rail 51. In this case, the third position is closer to the top of the chassis 50 than the fourth position. When the obstacle-crossing device 100 moves on the driving plane 200 and is in a non-obstacle-crossing state, the end of the cantilever 412 away from the connecting part 411 is located at the third position of the slide rail 51. When the obstacle-crossing device 100 encounters the obstacle 201 and is lifted to the top of the obstacle 201 under the guidance of the universal wheel 60, the ground clearance of the chassis 50 increases, and the support arm 10 rotates relative to the chassis 50 to make the traveling wheel 20 move relative to the chassis 50 towards the side closer to the driving plane 200. At this time, the end of the cantilever 412 away from the connecting part 411 is located between the third and fourth positions of the slide rail 51, or the end of the cantilever 412 away from the connecting part 411 is located at the fourth position. Specifically, the distance between the third position and the rotation axis is greater than the distance between the fourth position and the rotation axis. When the cantilever 412 is in the third position away from the connecting part 411, the connecting part 411 is in the second position and the outrigger 32 is in a state of avoiding the walking surface 22. When the cantilever 412 is in the fourth position away from the connecting part 411, the connecting part 411 is in the first position. When the outrigger 32 rotates relative to the linkage 41 under the drive of the bracket 31 until it abuts against the linkage 413, the linkage 413 can drive the outrigger 32 to protrude out of the walking surface 22.

[0080] Specifically, the front end 53 is used to first contact the obstacle 201. The bottom of the front end 53 is provided with an inclined guide surface 531. The guide surface 531 is located at the front end of the universal wheel 60. When the front end 53 first contacts the obstacle 201, the guide surface 531 is used to abut against the obstacle 201 to lift the chassis 50. In this embodiment, in the first position, the end of the support leg 32 away from the rotation axis protrudes from the side of the front end 53 onto the walking surface 22, so that the support leg 32 extends in the direction of the obstacle 201 to assist the walking wheel 20 in overcoming the obstacle 201.

[0081] In this embodiment, as Figure 1 , Figure 2 and Figure 4 As shown, the bottom of the chassis 50 is provided with a guide plane 52 for obstacle crossing. The guide plane 52 is the bottom surface of the chassis 50. During the process of the obstacle crossing device 100 crossing the obstacle 201, the guide wheel at the bottom front of the chassis 50 first guides the chassis 50 to be lifted by the obstacle 201 until the guide plane 52 moves to the top of the obstacle 201, so that the bottom of the chassis 50 is suspended in the air. The traveling wheel 20 and the obstacle crossing component 30 extend towards the bottom of the obstacle crossing device 100 as the support arm 10 swings around the support arm pivot 12, so as to ensure that the traveling wheel 20 and the traveling plane 200 always remain in contact. Under the driving action of the traveling wheel 20, the chassis 50 continues to move to the other side of the obstacle 201 until the traveling wheel 20 and the obstacle 201 come into contact.

[0082] like Figure 1 As shown, the second direction is perpendicular to or at an angle to the guide plane 52, and the first direction intersects with the second direction. Please refer to... Figure 8 , Figure 10 and Figure 11 As shown, when the linkage part 413 moves to the first position, the support leg 32 rotates with the bracket 31 relative to the linkage part 413 until it abuts against the linkage part 413 and the axis of the support leg 32 is parallel to the first direction. At this point, the length of the support leg 32 protruding from the walking surface 22 has a maximum value. When the length of the support leg 32 protruding from the walking surface 22 is at its maximum value, the axis of the support leg 32 is parallel to the first direction, and the first direction forms a preset angle with the guide plane 52. The preset angle ranges from -60° to 60°, such as -60°, -50°, -40°, -30°, -10°, 0°, 10°, 20°, 30°, 40°, 50°, 60°, etc.

[0083] In some embodiments, the preset included angle ranges from -10° to 10°, such as -2°, -5°, -7°, -8°, -10°, 0°, 2°, 5°, 7°, 8°, 10°, etc.

[0084] It should be noted that when the preset included angle α is less than 0° (not shown in the figure), when the length of the outrigger 32 protruding from the traveling surface 22 is at its maximum, the end of the outrigger 32 away from the rotation axis is located below the guide plane 52 (i.e., between the guide plane 52 and the traveling plane 200). When the preset included angle is greater than 0°, such as... Figure 11 As shown, when the length of the outrigger 32 protruding from the traveling surface 22 is at its maximum, the end of the outrigger 32 away from the rotation axis is located above the guide plane 52 (i.e., on the side of the guide plane 52 away from the traveling plane 200). When the preset included angle is equal to 0°, the first direction is parallel to the guide plane 52.

[0085] Understandably, when the linkage 413 moves to the first position, the support leg 32 rotates with the bracket 31 relative to the linkage 413 until it abuts against the linkage 413 and the axis of the support leg 32 is parallel to the first direction. At this point, the length of the support leg 32 protruding from the walking surface 22 reaches its maximum value. When the length of the support leg 32 protruding from the walking surface 22 is at its maximum value, the axis of the support leg 32 is parallel to the guide plane 52 or forms a preset angle with the guide plane 52, so as to better assist the walking wheel 20 in overcoming the obstacle 201.

[0086] In some embodiments, such as Figure 10 As shown, when the linkage 413 moves to the first position, the first direction is parallel to the direction of the guide plane 52 (i.e., the preset angle is 0°). When the length of the support leg 32 protruding from the walking surface 22 is at its maximum, the axis of the support leg 32 is parallel to the guide plane 52. Since the guide plane 52 is against the obstacle 201 at this time, the support leg 32 can just be able to abut against the obstacle 201 when the length of the support leg protruding from the walking surface 22 is at its maximum, so as to better assist the walking wheel 20 in overcoming the obstacle 201. In this embodiment, when the obstacle-crossing device 100 moves on the driving plane 200 with obstacles such as steps 201, by limiting the preset angle between the first direction and the guide plane 52 to 0°, the support leg 32 protrudes from the driving surface 22 at its maximum length, and the support leg 32 is parallel to the guide plane 52. Since the linkage part 413 has a cylindrical structure, when the support leg 32 continues to rotate with the bracket 31 to the position where the driving wheel 20 contacts the driving plane 200, the support leg 32 is in a state of avoiding the driving surface 22, thereby avoiding the support leg 32 from contacting the driving plane 200 and interfering with the driving state of the driving wheel 20.

[0087] In some embodiments, when the linkage part 413 moves to the first position, the preset angle between the first direction and the guide plane 52 is less than 0°, and when the length of the support leg 32 protruding from the walking surface 22 is at its maximum value, the support leg 32 is oriented diagonally downward toward the guide plane 52.

[0088] In some embodiments, such as Figure 11As shown, when the linkage 413 moves to the first position, the preset angle between the first direction and the guide plane 52 is greater than 0°. In this embodiment, when the obstacle-crossing device 100 moves on the driving plane 200 with obstacles such as steps 201, by limiting the preset angle between the first direction and the guide plane 52 to be greater than 0°, when the length of the support leg 32 protruding from the walking surface 22 is at its maximum, the support leg 32 faces obliquely upward towards the guide plane 52. Since the linkage 413 has a cylindrical structure, when the support leg 32 continues to rotate with the bracket 31 to the position where the walking wheel 20 contacts the driving plane 200, the support leg 32 is in a state of avoiding the walking surface 22, thereby avoiding the support leg 32 from contacting the driving plane 200 and interfering with the walking state of the walking wheel 20.

[0089] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 6 As shown, the obstacle-crossing device 100 also includes a drive member (not shown in the figure), which is connected to the chassis 50 and the support arm 10 respectively. The drive member is used to drive the support arm 10 to move relative to the chassis 50. Specifically, in some exemplary embodiments, the drive member can be an elastic element, such as a compression spring, tension spring, or torsion spring. The two ends of the drive member are connected to the support arm 10 and the chassis 50 respectively. The drive member is used to apply an elastic force to the support arm 10 toward the side away from the chassis 50. When the chassis 50 is suspended above the driving plane 200 by the obstacle 201, the drive member drives the support arm 10 to rotate relative to the chassis 50. The traveling wheel 20 and the obstacle-crossing assembly 30 extend toward the bottom of the obstacle-crossing device 100 as the support arm 10 swings around the support arm pivot 12, ensuring that the traveling wheel 20 always remains in contact with the driving plane 200. In other exemplary embodiments, the drive member can also be a drive motor (not shown in the figure). The shaft of the drive motor is connected to the support arm 10, and the drive motor drives the support arm 10 to rotate relative to the chassis 50.

[0090] In some embodiments, the slide rail 51 may also be located between the linkage 41 and the front end of the chassis 50, that is, the slide rail 51 is located at the front end of the linkage 41, and the support arm 10 can drive the cantilever part 412 away from the connecting part 411 to move between the third position and the fourth position of the slide rail 51 during the rotation of the support arm 10 relative to the chassis 50. In this case, the third position is closer to the top of the chassis 50 than the fourth position. When the obstacle-crossing device 100 moves on the driving plane 200 and is in a non-obstacle-crossing state, the end of the cantilever 412 away from the connecting part 411 is located at the third position of the slide rail 51. When the obstacle-crossing device 100 encounters the obstacle 201 and is lifted to the top of the obstacle 201 under the guidance of the universal wheel 60, the ground clearance of the chassis 50 increases, and the support arm 10 rotates relative to the chassis 50 to make the traveling wheel 20 move relative to the chassis 50 towards the side closer to the driving plane 200. At this time, the end of the cantilever 412 away from the connecting part 411 is located between the third and fourth positions of the slide rail 51, or the end of the cantilever 412 away from the connecting part 411 is located at the fourth position. Specifically, the distance between the third position and the rotation axis is less than the distance between the fourth position and the rotation axis. When the cantilever 412 is in the third position away from the connecting part 411, the connecting part 411 is in the second position and the outrigger 32 is in a state of avoiding the walking surface 22. When the cantilever 412 is in the fourth position away from the connecting part 411, the connecting part 411 is in the first position. When the outrigger 32 rotates relative to the linkage 41 under the drive of the bracket 31 until it abuts against the linkage 413, the linkage 413 can drive the outrigger 32 to protrude out of the walking surface 22.

[0091] In this embodiment, please refer to Figure 1 , Figure 3 , Figure 6 and Figure 8 As shown, the linkage 41 is located between the guide rail and the front end of the chassis 50. The linkage assembly 40 also includes a first elastic member 42, the two ends of which are connected to the connecting part 411 and the support arm 10, respectively. The first elastic member 42 is used to apply an elastic force toward the slide rail 51 to the linkage 41 along a first direction. Specifically, when the end of the cantilever 412 away from the connecting part 411 is in the third position, the connecting part 411 is in the second position. The first elastic member 42 is used to apply an elastic force toward the slide rail 51 to the linkage 41 so that the end of the cantilever 412 away from the connecting part 411 remains in contact with the slide rail surface 511. At this time, the outrigger 32 is in a state of avoiding the walking surface 22. When the support arm 10 rotates relative to the chassis 50, causing the cantilever portion 412 to move away from the connecting portion 411 from the third position to the fourth position, the slide rail 51 applies a thrust to the connecting portion 411 along the first opposite side of the slide rail 51 through the cantilever portion 412, so as to overcome the elastic force of the first elastic member 42 and cause the connecting portion 411 to move from the second position to the first position.

[0092] Furthermore, please combine Figure 1 , Figure 6 and Figure 8 As shown, the linkage assembly 40 also includes a first bearing 43. The first bearing 43 is located at one end of the cantilever portion 412 away from the connecting portion 411, and the cantilever portion 412 abuts against the slide rail surface 511 through the outer ring of the first bearing 43. When the cantilever portion 412 slides relative to the slide rail 51, the first bearing 43 reduces the friction between the cantilever portion 412 and the slide rail surface 511 and the resulting friction noise. Specifically, the end of the cantilever portion 412 away from the connecting portion 411 is provided with a first mounting portion 4121 and a second mounting portion 4122 spaced apart. A space for accommodating the first bearing 43 is formed between the first mounting portion 4121 and the second mounting portion 4122. The first mounting portion 4121 and the second mounting portion 4122 are respectively provided with oppositely arranged slots 4123. The slots 4123 are used to install a fixed shaft. The first bearing 43 is sleeved on the fixed shaft and the inner ring of the first bearing 43 is fixedly connected to the fixed shaft. The outer ring of the first bearing 43 abuts against the guide rail surface.

[0093] like Figure 6 and Figure 7 As shown, the connecting part 411 is provided with a groove 4111 extending along the first direction, and the support arm 10 is provided with a slider 11 that is slidably connected to the groove 4111. The cross-section of the groove 4111 perpendicular to the first direction and the cross-section of the slider 11 are both T-shaped. The slider 11 is inserted into the groove 4111 from one side of the groove 4111 in a plug-in manner and can slide in the groove 4111 along the first direction to realize the sliding connection between the linkage 41 and the support arm 10.

[0094] In this embodiment, as Figure 6 As shown, along the extension direction of the rotation axis, the traveling wheel 20, obstacle-crossing component 30, linkage component 40, and support arm 10 are arranged sequentially. The bracket 31 is connected to the traveling wheel 20. The linkage component 41 has a waist-shaped hole 414 that passes through the connecting portion 411 and the linkage portion 413 along the extension direction of the rotation axis. The length direction of the waist-shaped hole 414 is parallel to the first direction. The obstacle-crossing device 100 also has a drive shaft, which passes through the waist-shaped hole 414 and is connected at both ends to the support arm 10 and the bracket 31, respectively. The drive shaft drives the bracket 31 and the traveling wheel 20 to rotate relative to the support arm 10, allowing the bracket 31 and the traveling wheel 20 to rotate in the same direction around the rotation axis. This drives the outrigger 32 to rotate in the same direction around the rotation axis as the traveling wheel 20, thereby driving the obstacle-crossing device 100 to move on the driving plane 200 and overcome the obstacle 201.

[0095] In this embodiment, please refer to Figure 4 , Figure 5 and Figure 9As shown, the obstacle-crossing assembly 30 also includes a second elastic member 33. The two ends of the second elastic member 33 are connected to the support 31 and the support leg 32, respectively, and are used to apply an elastic force toward the rotation axis to the support leg 32. Specifically, in the first position, the linkage 41 can overcome the elastic force of the second elastic member 33 to drive the support leg 32 to protrude from the walking surface 22. During the process of the connecting part 411 driving the linkage 413 to move from the first position to the second position, the second elastic member 33 applies an elastic force toward the rotation axis to the support leg 32 to drive the support leg 32 to slide toward the rotation axis, thereby driving the support leg 32 to avoid the walking surface 22.

[0096] In this embodiment, at least part of the linkage 413 can overlap with the end of the support leg 32 facing the rotation axis along the direction perpendicular to the rotation axis. During the process of the support 31 driving the support leg 32 to rotate around the linkage 413, the linkage 413 abuts against the end of the support leg 32 facing the rotation axis, thereby driving the support leg 32 to slide on the support 31 toward the side away from the rotation axis, so that the support leg 32 can protrude out of the walking surface 22.

[0097] In this embodiment, please refer to Figure 8 , Figure 9 and Figure 10 As shown, the linkage 413 has a cylindrical structure, and the obstacle-crossing assembly 30 includes multiple legs 32, each of which is fitted with a second elastic element 33. The multiple legs 32 are arranged sequentially and at intervals around the linkage 413. Since the multiple legs 32 are arranged sequentially and at intervals around the rotation axis on the bracket 31, when the connecting part 411 is in the first position, the linkage 413 is offset from the rotation axis, causing some of the multiple legs 32 to separate from the linkage 413. Some of the legs 32 can rotate under the drive of the bracket 31 to a position that abuts against the linkage 413 and protrude from the walking surface 22 under the action of the linkage 413. The first distance between the axis of the linkage 413 and the rotation axis in the first position is greater than the second distance between the axis of the linkage 413 and the rotation axis in the second position. Therefore, in the second position, all the legs 32 are in a state of avoiding the walking surface 22 under the drive of the second elastic element 33. In this embodiment, the linkage part 413 of the ejector leg 32 is not an irregular cam, but a cylinder with a simple outline and low friction and wear. Furthermore, a second bearing 44 can be fitted outside the circular outline to replace the direct contact between the linkage part 413 and the leg 32, further reducing friction and wear.

[0098] In some embodiments, such as Figure 5 As shown, in the second position state, the linkage 413 is located at the center of the bracket 31, that is, the axis of the linkage 413 coincides with the rotation axis of the bracket 31 and the rotation axis 21 of the traveling wheel 20.

[0099] Furthermore, please combine Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the linkage assembly 40 also includes a second bearing 44, which is sleeved on the linkage part 413. The outer ring of the second bearing 44 is used to abut against the support leg 32. By indirectly abutting the support leg 32 with the second bearing 44, the friction between the linkage part 413 and the support leg 32 is transformed into rolling friction of the second bearing 44, reducing the frictional resistance between the support leg 32 and the linkage part 413. This helps to reduce frictional noise and wear on the support leg 32 and the linkage part 413 during long-term operation.

[0100] When the obstacle-crossing device 100 proposed in this invention fails to cross an obstacle, such as Figure 1 and Figure 5 As shown, the linkage part 413 of the linkage 41 is in the second position. At this time, the outrigger 32 does not contact the linkage part 413 or the contact force is small, resulting in less noise and wear. Furthermore, the outrigger 32 does not extend beyond the traveling surface 22 of the traveling wheel 20, reducing the probability of the outrigger 32 snagging on foreign objects and ensuring high reliability. When the obstacle-crossing device 100 is preparing to cross an obstacle, as... Figure 2 and Figure 4 As shown, the linkage part 413 of the linkage 41 is in the first position. The linkage part 413 pushes the end of the support leg 32 out of the walking surface 22 of the walking wheel 20 to assist in overcoming obstacles.

[0101] According to an embodiment of the present invention, a self-propelled robot is also provided. The self-propelled robot includes an obstacle-crossing device 100 as described in the first aspect of the technical solution. The self-propelled robot also includes a power unit (not shown in the figure). The power unit is disposed on a chassis 50 or a support arm 10. The power unit is drivenly connected to the walking wheel 20 to drive the walking wheel 20 to rotate around the rotation axis.

[0102] Understandably, self-propelled robots can be sweeping robots, mopping robots, or rescue robots.

[0103] According to an embodiment of the present invention, a cleaning system is also proposed, which includes a cleaning base station and a self-propelled robot. The self-propelled robot is a sweeping robot. The cleaning base station is provided with a cavity area for accommodating the self-propelled robot. The cleaning base station and the self-propelled robot have a cooperative state and a separated state. In the cooperative state, the cleaning base station can perform one or more functions on the self-propelled robot, such as charging, automatically washing the mop, automatically drying, and automatically collecting dust.

[0104] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An obstacle-crossing device, characterized in that, The obstacle-crossing device includes: Support arm; The traveling wheels are rotatably connected to the support arm and have a traveling surface; An obstacle-crossing assembly is rotatably mounted on the support arm, the obstacle-crossing assembly including outriggers movable relative to the traveling wheels in the radial direction of the traveling wheels; The linkage assembly includes a linkage member movably connected to the support arm. The linkage member is movable relative to the support arm between a first position and a second position, and can be linked with the outrigger during the rotation of the obstacle-crossing assembly relative to the support arm. In the first position, the linkage allows at least a portion of the outrigger to protrude from the walking surface; in the second position, the outrigger is positioned between the walking surface and the rotation axis of the walking wheel; the obstacle-crossing device also includes a chassis, and the support arm is movably connected to the chassis; The linkage includes a connecting part and a cantilever part connected together. The connecting part is movably connected to the support arm, and the end of the cantilever part opposite to the connecting part is movably connected to the chassis. During the movement of the support arm relative to the chassis, the support arm drives the walking wheel, the obstacle crossing component and the linkage component to move synchronously relative to the chassis. The chassis is linked with the connecting part through the cantilever part, so that the connecting part moves between the first position and the second position relative to the support arm.

2. The obstacle-crossing device according to claim 1, characterized in that, The connecting part is provided on the support arm in a manner that allows it to slide relative to the support arm in a first direction. The chassis is provided with a slide rail extending in a second direction. The end of the cantilever part opposite to the connecting part is slidably connected to the slide rail. The support arm is movable relative to the chassis in a third direction. Wherein, the first direction is perpendicular to the rotation axis and intersects with the second direction, and the first direction is not parallel to the third direction.

3. The obstacle-crossing device according to claim 2, characterized in that, The linkage component further includes a first elastic element, the two ends of which are respectively connected to the connecting portion and the support arm. The first elastic element is used to apply an elastic force toward the slide rail to the linkage component along the first direction.

4. The obstacle-crossing device according to claim 2, characterized in that, The slide rail has a slide rail surface facing the linkage member, and the end of the cantilever portion opposite to the connecting portion slidably abuts against the slide rail surface.

5. The obstacle-crossing device according to claim 4, characterized in that, The linkage component also includes a first bearing, which is located at the end of the cantilever portion away from the connecting portion, and the outer ring of the first bearing abuts against the slide rail surface.

6. The obstacle-crossing device according to claim 2, characterized in that, The bottom of the chassis is provided with a guide plane for obstacle crossing, and the second direction is perpendicular to or at an angle to the guide plane.

7. The obstacle-crossing device according to claim 6, characterized in that, The chassis has a front end for first contacting an obstacle, and in the first position, the side of the outrigger facing away from the axis of rotation protrudes from the walking surface.

8. The obstacle-crossing device according to claim 7, characterized in that, When the length of the outrigger protruding from the walking surface is at its maximum, the first direction forms a preset angle with the guide plane, and the preset angle ranges from -60° to 60°.

9. The obstacle-crossing device according to claim 1, characterized in that, The obstacle-crossing device also includes a drive unit, which is connected to the chassis and the support arm respectively, and is used to drive the support arm to move relative to the chassis.

10. The obstacle-crossing device according to any one of claims 1 to 9, characterized in that, The obstacle-crossing assembly also includes a bracket, which is rotatably mounted on the support arm, and the outrigger is movably mounted on the bracket. During the rotation of the bracket relative to the support arm, the outrigger drives the outrigger to rotate around the rotation axis in the same direction as the walking wheel.

11. The obstacle-crossing device according to claim 10, characterized in that, The outrigger is movably connected to the support, allowing the outrigger to move relative to the support in a direction perpendicular to the rotation axis. The obstacle-crossing assembly also includes a second elastic element, the two ends of which are respectively connected to the support and the outrigger and are used to apply an elastic force toward the rotation axis to the outrigger. In the first position, the linkage can overcome the elastic force of the second elastic member to drive the outrigger to protrude from the walking surface; in the second position, the second elastic member drives the outrigger to avoid the walking surface.

12. The obstacle-crossing device according to claim 11, characterized in that, The linkage also includes a linkage part connected to the connecting part, and the linkage part can abut against the end of the support leg facing the rotation axis in a direction perpendicular to the rotation axis.

13. The obstacle-crossing device according to claim 12, characterized in that, The obstacle-crossing component includes a plurality of legs, each leg being fitted with a second elastic element, and the plurality of legs are arranged sequentially at intervals around the linkage part; In the first position, the linkage can drive at least one of the legs to protrude from the walking surface; In the second position, the plurality of second elastic elements respectively drive all of the outriggers to avoid the walking surface.

14. The obstacle-crossing device according to claim 12, characterized in that, The linkage part has a cylindrical structure, and the first distance between the axis of the linkage part and the rotation axis in the first position is greater than the second distance between the axis of the linkage part and the rotation axis in the second position.

15. The obstacle-crossing device according to claim 12, characterized in that, The linkage assembly also includes a second bearing, which is sleeved on the linkage part, and the outer ring of the second bearing is used to abut against the support leg.

16. A self-propelled robot, characterized in that, The self-propelled robot includes the obstacle-crossing device as described in any one of claims 1 to 15.

17. The self-propelled robot according to claim 16, characterized in that, The self-propelled robot is a sweeping robot.

18. A cleaning system, characterized in that, The cleaning system includes a cleaning base station and the self-propelled robot as described in claim 16 or 17.

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