Obstacle crossing wheel

Abstract

The invention provides an obstacle crossing wheel, and relates to the technical field of walking device.The obstacle crossing wheel comprises an installation shell and an obstacle crossing mechanism, walking wheels are arranged on the outer side of the installation shell, a gear set connected with the walking wheels is arranged in the installation shell, the gear set comprises a driving gear, the obstacle crossing mechanism comprises a separation rotating shaft, and a separation gear is arranged on the separation rotating shaft; the separation gear is provided with a fan-shaped notch, the fan-shaped notch is provided with clutch teeth, the clutch teeth are meshed with the driving gear, an obstacle crossing rod is arranged outside the mounting shell, a driving rod is arranged in the center of the obstacle crossing rod, the driving rod is provided with a driven gear, and a transmission assembly is arranged between the separation gear and the driven gear. According to the obstacle crossing wheel, the driving gear drives the separation gear to rotate, the transmission assembly drives the driven gear to rotate, the driven gear drives the obstacle crossing rod to rotate through the driving rod, the obstacle crossing rod makes contact with an obstacle so that the walking wheel can be lifted, the obstacle crossing function is achieved, additional driving equipment does not need to be additionally arranged on the obstacle crossing wheel, and the weight is reduced; and the energy consumption and the use cost of the obstacle crossing wheel are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of walking devices, and in particular to an obstacle-crossing wheel. Background Art

[0002] Obstacle-crossing wheels are specially designed wheels that are intended to enhance the ability of vehicles or machinery to overcome obstacles. Through special shape and structural design, obstacle-crossing wheels can overcome obstacles that are larger than the wheel radius or that can be overcome by traditional designs. The principle usually involves increasing the contact area of ​​the wheel, changing the shape of the wheel, or using auxiliary mechanisms to improve obstacle-crossing performance.

[0003] For example, a Chinese patent with the authorization announcement number CN109435677B discloses an active obstacle-crossing wheel set, including a housing, a driving mechanism arranged in the housing, and a hub assembly arranged below the housing, wherein the driving mechanism includes a lead screw connected to the housing in a vertical direction, a lead screw movable part slidably connected to the lead screw, and a motor arranged above the housing and connected to the lead screw, wherein the hub assembly includes a driving wheel and a gear set connected to the driving wheel for the driving wheel to rotate, wherein the outer side of the gear set is covered with a gear cover, wherein the top of the gear cover is connected to the housing in a rotational manner and is placed on the right side of the lead screw, and a first limiting column is integrally formed on the outer wall on the left side of the top of the gear cover, wherein a connecting shaft is connected in a rotational manner in the first limiting column, and the connecting shaft is connected to the lead screw movable part. The present invention controls the start of the motor by the control part of the walking device, and enables the driving wheel to autonomously cross obstacles based on intelligent control, and has flexibility, thereby improving the walking efficiency of the walking device in complex environments.

[0004] However, the above-mentioned obstacle-crossing wheel set needs to add a new motor when achieving autonomous obstacle crossing, which greatly increases the overall weight of the obstacle-crossing wheel set, and also increases energy consumption and use cost. Summary of the invention

[0005] The present invention provides an obstacle-crossing wheel, which is used to solve the technical problem that a new motor needs to be added to the current obstacle-crossing wheel set when realizing autonomous obstacle-crossing, which greatly increases the overall weight of the obstacle-crossing wheel set.

[0006] To solve the above technical problems, the present invention discloses an obstacle-crossing wheel, comprising: an installation shell and an obstacle-crossing mechanism, a walking wheel is arranged outside the installation shell, a gear set connected to the walking wheel is arranged inside the installation shell, the gear set comprises a driving gear, and the driving gear is rotatably connected to the inner wall of the installation shell through a driving shaft, the obstacle-crossing mechanism comprises a separation shaft, a separation gear is arranged on the separation shaft, a sector-shaped notch is arranged on the separation gear, a clutch tooth is arranged at the sector-shaped notch, the clutch tooth is meshed with the driving gear, the area of ​​the clutch tooth is smaller than the area of ​​the sector-shaped notch, a shaft sleeve is sleeved on the separation shaft, the inner wall of the shaft sleeve is rotatably connected to the outer wall of the separation shaft, one end of the shaft sleeve is connected to the side wall of the clutch tooth, a first connecting column is arranged on the front side wall of the separation gear, a second connecting column is arranged on the front side wall of the clutch tooth, the first connecting column and the second connecting column are connected by a tension spring, an obstacle-crossing rod is arranged outside the installation shell, a driving rod is arranged at the center of the obstacle-crossing rod, one end of the driving rod extends into the installation shell and is rotatably connected to the inner wall of the installation shell, a driven gear is arranged on the driving rod, and a transmission assembly is arranged between the separation gear and the driven gear.

[0007] Preferably, the installation shell includes a first shell and a second shell, the first shell and the second shell are spliced ​​with each other, and the first shell and the second shell are detachably connected.

[0008] Preferably, the transmission assembly includes a transmission shaft, one end of which is rotatably connected to the inner wall of the mounting shell, the transmission shaft is parallel to the separation rotating shaft, and the first transmission gear and the second transmission gear are arranged on the transmission shaft from front to back, the first transmission gear is meshed with the separation gear, and the second transmission gear is meshed with the driven gear.

[0009] Preferably, an electric telescopic rod is installed on the side wall of the housing, a stop rod is provided at the telescopic end of the electric telescopic rod, and one end of the stop rod is aligned with the fan-shaped notch.

[0010] Preferably, the cross section of one end of the driving rod close to the obstacle crossing rod is a non-circular structure, a connecting hole matching the end of the driving rod is arranged at the center of the obstacle crossing rod, and the end of the driving rod is inserted into the connecting hole and connected to the obstacle crossing rod.

[0011] Preferably, the obstacle crossing rod and the driving rod are connected by a connecting mechanism, and the connecting mechanism is located in the connecting hole. The connecting mechanism includes a driving shell, and the driving shell is n-shaped. The closed end of the driving shell contacts the end of the driving rod. Two connecting arms are symmetrically arranged in the driving shell. A hinge seat is arranged near one end of the connecting arm near the driving rod. The two hinge seats are connected by a connecting spring. A rotating column is arranged near the middle position of the connecting arm. Both ends of the rotating column pass through the sliding holes respectively and are connected to one end of the fixed rod. The other end of the fixed rod is connected to the end of the driving rod. A positioning plate is arranged on the rotating column, and the positioning plate is slidably connected to the outer wall of the driving shell. The sliding hole is arranged on the driving shell, and the sliding hole is arranged as a long The outer wall of the rotating column is slidably connected to the inner wall of the sliding hole, a spring rod is arranged in the sliding hole, one end of the spring rod is connected to the rotating column, and the other end of the spring rod is connected to the inner wall of the sliding hole close to the driving rod. A hook is arranged at the end of the connecting arm away from the hinge seat, and a third connecting column is arranged at the end of the connecting arm close to the hook. Two fourth connecting columns are symmetrically arranged on the outer wall of the driving shell, and the third connecting column and the fourth connecting column are connected by a reset spring. A connecting plate is arranged at the end of the connecting hole away from the driving rod, and the outer wall of the connecting plate is connected to the inner wall of the connecting hole. A connecting rod is arranged on the side of the connecting plate close to the hook, and a connecting block is arranged at the end of the connecting rod away from the connecting plate, and the connecting block is connected by the hook.

[0012] Preferably, the connecting plate and the obstacle crossing pole are designed to be integrally formed.

[0013] Preferably, the side of the connection block away from the connection plate is in a truncated cone shape, and a guide slope is provided on the side of the hook close to the connection plate, and the guide slope is adapted to the side of the connection block away from the connection plate.

[0014] Preferably, a driving mechanism is provided on the driving rod, and the driving mechanism is used to control the movement of the driving shell. The driving mechanism includes a sliding groove, which is provided on the upper surface of the driving rod. One end of the sliding groove is connected to the connecting hole. A sliding rod is slidably provided in the sliding groove. A push block is provided at one end of the sliding rod away from the obstacle crossing rod, and the other end of the sliding rod is in contact with the closed end of the driving shell.

[0015] Preferably, anti-skid sleeves are provided at both ends of the obstacle crossing pole, and anti-skid convex strips are provided outside the anti-skid sleeves.

[0016] The technical solution of the present invention has the following advantages: the present invention provides an obstacle-crossing wheel, which relates to the technical field of walking devices, including a mounting shell and an obstacle-crossing mechanism, a walking wheel is arranged outside the mounting shell, a gear set connected to the walking wheel is arranged inside the mounting shell, the gear set includes a driving gear, the obstacle-crossing mechanism includes a separation shaft, a separation gear is arranged on the separation shaft, a fan-shaped notch is arranged on the separation gear, a clutch tooth is arranged at the fan-shaped notch, the clutch tooth is meshed with the driving gear, an obstacle-crossing rod is arranged outside the mounting shell, a driving rod is arranged at the center of the obstacle-crossing rod, one end of the driving rod extends into the mounting shell and is rotatably connected to the inner wall of the mounting shell, a driven gear is arranged on the driving rod, and a transmission assembly is arranged between the separation gear and the driven gear. In the present invention, the driving gear of the gear set can drive the separation gear to rotate by meshing with the clutch tooth, the separation gear drives the driven gear to rotate through the transmission assembly, the driven gear drives the obstacle-crossing rod to rotate through the driving rod, and the obstacle-crossing rod contacts the obstacle to lift the walking wheel, thereby realizing the obstacle-crossing function, and the obstacle-crossing wheel does not need to add additional driving equipment, reduces the weight, and reduces the energy consumption and use cost of the obstacle-crossing wheel.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the devices particularly pointed out in the written description and the drawings of the description.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of an obstacle-crossing wheel of the present invention;

[0021] Figure 2 This is a schematic diagram of the internal structure of an obstacle crossing wheel of the present invention;

[0022] Figure 3 This is a schematic diagram of the internal structure of an obstacle-crossing wheel of the present invention from another perspective;

[0023] Figure 4 It is a schematic diagram of the internal structure of the installation shell in the present invention;

[0024] Figure 5 It is a schematic diagram of the connection between the obstacle crossing rod and the driving rod in the present invention;

[0025] Figure 6 For the present invention Figure 5 Partial cross-sectional view at AA in the middle;

[0026] Figure 7 For the present invention Figure 6 A magnified view of the structure at B in the middle;

[0027] Figure 8 It is a schematic diagram of the connection mechanism in the present invention;

[0028] Fig. 9 It is a schematic diagram of the internal structure of the drive housing in the present invention.

[0029] In the figure: 1. mounting housing; 2. walking wheel; 3. gear set; 4. driving gear; 5. driving shaft; 6. separation shaft; 7. separation gear; 8. sector-shaped notch; 9. clutch tooth; 10. bushing; 11. tension spring; 12. obstacle crossing rod; 13. driving rod; 14. driven gear; 15. transmission shaft; 16. first transmission gear; 17. second transmission gear; 18. electric telescopic rod; 19. stop rod; 20. connecting hole; 21. driving housing; 22. connecting arm; 23. hinge seat; 24. connecting spring; 25. rotating column; 26. sliding hole; 27. fixing rod; 28. positioning plate; 29. ​​hook; 30. third connecting column; 31. fourth connecting column; 32. reset spring; 33. connecting plate; 34. connecting rod; 35. connecting block; 36. sliding groove; 37. sliding rod; 38. push block; 39. anti-slip sleeve. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0031] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] Example 1

[0033] The embodiment of the present invention provides an obstacle-crossing wheel, such as Figure 1-Figure 9As shown, it includes: a mounting shell 1 and an obstacle-crossing mechanism, a running wheel 2 is arranged outside the mounting shell 1, a gear set 3 connected to the running wheel 2 is arranged inside the mounting shell 1, the gear set 3 includes a driving gear 4, and the driving gear 4 is rotatably connected to the inner wall of the mounting shell 1 through a driving shaft 5, the obstacle-crossing mechanism includes a separation shaft 6, a separation gear 7 is arranged on the separation shaft 6, a sector-shaped notch 8 is arranged on the separation gear 7, a clutch tooth 9 is arranged at the sector-shaped notch 8, the clutch tooth 9 is meshed with the driving gear 4, the area of ​​the clutch tooth 9 is smaller than the area of ​​the sector-shaped notch 8, and a shaft sleeve 10 is sleeved on the separation shaft 6. The inner wall of the sleeve 10 is rotatably connected to the outer wall of the separation shaft 6, one end of the sleeve 10 is connected to the side wall of the clutch tooth 9, a first connecting column is arranged on the front side wall of the separation gear 7, a second connecting column is arranged on the front side wall of the clutch tooth 9, the first connecting column and the second connecting column are connected by a tension spring 11, an obstacle crossing rod 12 is arranged on the outside of the installation shell 1, a driving rod 13 is arranged at the center of the obstacle crossing rod 12, one end of the driving rod 13 extends into the installation shell 1 and is rotatably connected to the inner wall of the installation shell 1, a driven gear 14 is arranged on the driving rod 13, and a transmission assembly is arranged between the separation gear 7 and the driven gear 14.

[0034] The working principle and beneficial effects of the above technical solution are as follows: a driving motor is arranged on the mounting housing 1, and the driving motor is connected to the gear of the gear set 3 away from the running wheel 2, so that the running wheel 2 is driven to rotate through the gear set 3. When the running wheel 2 encounters an obstacle during its movement, as the gear set 3 works, the driving gear 4 of the gear set 3 can drive the clutch gear 9 to rotate by meshing with the clutch gear 9, and the separation gear 7 rotates with the clutch gear 9 under the action of the tension spring 11, and then the separation gear 7 meshes with the driving gear 4, and the driving gear 4 drives the separation gear 7 to rotate, and the separation gear 7 is driven by the transmission The component drives the driven gear 14 to rotate, and the driven gear 14 drives the obstacle crossing rod 12 to rotate through the driving rod 13. The obstacle crossing rod 12 is perpendicular to the driving rod 13, and the obstacle crossing rod 12 is in a long strip shape. The length of the obstacle crossing rod 12 can be set according to the maximum height of the obstacle in the use environment. As the obstacle crossing rod 12 rotates, the obstacle crossing rod 12 gradually contacts the obstacle, which can lift the walking wheel 2, so that the walking wheel 2 crosses the obstacle or climbs onto the obstacle, thereby realizing the obstacle crossing function. The obstacle crossing wheel does not require additional driving equipment, reduces weight, and reduces the energy consumption and use cost of the obstacle crossing wheel.

[0035] Example 2

[0036] On the basis of the above-mentioned embodiment 1, the installation shell 1 includes a first shell and a second shell, the first shell and the second shell are spliced ​​with each other, and the first shell and the second shell are detachably connected.

[0037] The working principle and beneficial effects of the above technical solution are as follows: the mounting shell 1 is used to install and protect the gear set 3 and the obstacle crossing mechanism, etc. The mounting shell 1 is spliced ​​by a first shell and a second shell, and the first shell and the second shell are detachably connected, which is convenient for repair and maintenance of the components inside the mounting shell 1.

[0038] Example 3

[0039] On the basis of Example 1 or 2, Figure 3 , Figure 4 As shown, the transmission assembly includes a transmission shaft 15, one end of which is rotatably connected to the inner wall of the mounting shell 1, the transmission shaft 15 is parallel to the separation shaft 6, and a first transmission gear 16 and a second transmission gear 17 are sequentially arranged on the transmission shaft 15 from front to back, the first transmission gear 16 is meshed with the separation gear 7, and the second transmission gear 17 is meshed with the driven gear 14.

[0040] The working principle and beneficial effects of the above technical solution are as follows: the rotation of the separation gear 7 can drive the first transmission gear 16 to rotate, the rotation of the first transmission gear 16 drives the transmission shaft 15 to rotate, the rotation of the transmission shaft 15 drives the driven gear 14 to rotate, the rotation of the driven gear 14 drives the driving rod 13 to rotate, and the driving rod 13 can drive the obstacle crossing rod 12 to rotate. Since the obstacle crossing rod 12 is perpendicular to the driving rod 13, the obstacle crossing rod 12 can contact the obstacle and lift the walking wheel 2, so that the walking wheel 2 can go over the obstacle or climb onto the obstacle, thereby improving the overall obstacle crossing ability of the obstacle crossing wheel.

[0041] Example 4

[0042] On the basis of any one of Examples 1-3, Figure 2 , Figure 3 As shown, an electric telescopic rod 18 is arranged on the side wall of the mounting housing 1 , a stopper rod 19 is arranged at the telescopic end of the electric telescopic rod 18 , and one end of the stopper rod 19 is aligned with the fan-shaped notch 8 .

[0043] The working principle and beneficial effects of the above technical solution are as follows: an electric telescopic rod 18 is arranged on the side wall of the installation shell 1, and a controller is arranged inside the installation shell 1, and the controller is electrically connected to the drive motor and the electric telescopic rod 18 respectively. In the initial state, the electric telescopic rod 18 is not energized, and the electric telescopic rod 18 is in an extended state. At this time, the blocking rod 19 is inserted into the fan-shaped notch 8 and the blocking rod 19 is located between the clutch tooth 9 and the separation gear 7. Under the action of the tension spring 11, the right side of the clutch tooth 9 contacts the outer wall of the blocking rod 19. Therefore, during the forward movement of the walking wheel 2, since the separation gear 7 is blocked by the blocking rod 19, the clutch tooth 9 meshes with the driving gear 4 under the action of the tension spring 11, and the separation reciprocating motion is separated; when the walking wheel 2 encounters an obstacle, the controller controls the driving motor to rotate in the reverse direction by a preset angle, and the walking wheel 2 reverses. At the same time, the controller controls the electric telescopic rod 18 to retract, and the separation gear 7 is separated from the blocking rod 19; then the controller controls the driving motor to rotate forward again , the walking wheel 2 rotates forward, the driving gear 4 is meshed with the clutch tooth 9 to drive the clutch tooth 9 to rotate, and the rotation of the clutch tooth 9 drives the separation gear 7 to rotate through the tension spring 11. The radius of the clutch tooth 9 and the separation gear 7 is the same. Therefore, as the clutch tooth 9 runs, the separation gear 7 gradually meshes with the driving gear 4 and rotates under the drive of the driving gear 4. The rotation of the separation gear 7 can drive the driven gear 14 to rotate through the transmission assembly, thereby rotating the obstacle crossing rod 12 to achieve the obstacle crossing function; after the obstacle crossing is completed, the controller controls the electric telescopic rod 18 to cut off the power, and the electric telescopic rod 18 extends and drives the blocking rod 19 to insert into the fan-shaped notch 8 again, and the clutch tooth 9 and the separation gear 7 are blocked again, and the walking wheel 2 continues to move forward normally. At this time, the separation gear 7 will not mesh with the driving gear 4 under the obstruction of the blocking rod 19, thereby reducing the energy consumption of the driving motor and achieving energy saving. When encountering the next obstacle, repeat the above steps to achieve the automatic obstacle crossing function.

[0044] Example 5

[0045] On the basis of any one of Examples 1-4, Figure 3-Figure 7 As shown, the cross-section of the driving rod 13 near the obstacle crossing rod 12 is a non-circular structure. A connecting hole 20 adapted to the end of the driving rod 13 is provided in the center of the obstacle crossing rod 12. The end of the driving rod 13 is inserted into the connecting hole 20 and connected to the obstacle crossing rod 12.

[0046] The working principle and beneficial effects of the above technical solution are as follows: the cross-section of the driving rod 13 near the obstacle crossing rod 12 is a non-circular structure such as a square or elliptical structure, and the end of the driving rod 13 is connected to the connecting hole 20, which improves the reliability of the connection. The driving rod 13 will not slip when driving the obstacle crossing rod 12 to rotate.

[0047] Example 6

[0048] On the basis of Example 5, Figure 5-Figure 9As shown, the obstacle crossing rod 12 is connected to the driving rod 13 by a connecting mechanism, and the connecting mechanism is located in the connecting hole 20. The connecting mechanism includes a driving shell 21, and the driving shell 21 is n-shaped. The closed end of the driving shell 21 contacts the end of the driving rod 13. Two connecting arms 22 are symmetrically arranged in the driving shell 21. A hinge seat 23 is arranged near one end of the connecting arm 22 near the driving rod 13. The two hinge seats 23 are connected by a connecting spring 24. A rotating column 25 is arranged near the middle position of the connecting arm 22. Both ends of the rotating column 25 pass through the sliding holes 26 respectively and are connected to one end of the fixing rod 27. The other end of the fixing rod 27 is connected to the end of the driving rod 13. A positioning plate 28 is arranged on the rotating column 25. The positioning plate 28 is slidably connected to the outer wall of the driving shell 21. The sliding hole 26 is arranged on the driving shell 21, and the sliding hole 26 is arranged in a strip shape. , the outer wall of the rotating column 25 is slidably connected with the inner wall of the sliding hole 26, a spring rod is arranged in the sliding hole 26, one end of the spring rod is connected with the rotating column 25, and the other end of the spring rod is connected with the inner wall of the sliding hole 26 close to the driving rod 13, a hook 29 is arranged at the end of the connecting arm 22 away from the hinge seat 23, a third connecting column 30 is arranged at the end of the connecting arm 22 close to the hook 29, two fourth connecting columns 31 are symmetrically arranged on the outer wall of the driving shell 21, the third connecting column 30 and the fourth connecting column 31 are connected through a reset spring 32, a connecting plate 33 is arranged at the end of the connecting hole 20 away from the driving rod 13, the outer wall of the connecting plate 33 is connected to the inner wall of the connecting hole 20, a connecting rod 34 is arranged on the side of the connecting plate 33 close to the hook 29, a connecting block 35 is arranged at the end of the connecting rod 34 away from the connecting plate 33, and the connecting block 35 is clamped by the hook 29;

[0049] The connecting plate 33 and the obstacle crossing pole 12 are designed to be integrally formed;

[0050] The side of the connecting block 35 away from the connecting plate 33 is in a truncated cone shape, and the side of the hook 29 close to the connecting plate 33 is provided with a guiding inclined surface, and the guiding inclined surface is adapted to the side of the connecting block 35 away from the connecting plate 33;

[0051] A driving mechanism is arranged on the driving rod 13, and the driving mechanism is used to control the movement of the driving shell 21. The driving mechanism includes a sliding groove 36, and the sliding groove 36 is arranged on the upper surface of the driving rod 13. One end of the sliding groove 36 is connected to the connecting hole 20. A sliding rod 37 is slidingly arranged in the sliding groove 36. A push block 38 is arranged at one end of the sliding rod 37 away from the obstacle crossing rod 12, and the other end of the sliding rod 37 is in contact with the closed end of the driving shell 21.

[0052] The working principle and beneficial effects of the above technical solution are as follows: for different obstacle heights, it is necessary to select an obstacle crossing rod 12 of corresponding length. In order to facilitate the installation of the obstacle crossing rod 12, a connecting mechanism is set between the obstacle crossing rod 12 and the driving rod 13. Initially, the obstacle crossing rod 12 is separated from the driving rod 13. Under the action of the spring rod, the closed end of the driving shell 21 contacts the end of the driving rod 13, and the outer wall of the rotating column 25 contacts the inner wall of one end of the sliding hole 26. Under the action of the connecting spring 24, the two hooks 29 contact each other. When installing the obstacle crossing rod 12, align the connecting hole 20 with the end of the driving rod 13, push the obstacle crossing rod 12 to make the end of the driving rod 13 enter the connecting hole 20, and the connecting block 35 contacts the end of the hook 29 and slides along the guide slope, so that the two The two hooks 29 rotate in the direction away from each other, and the hooks 29 drive the connecting arm 22 to rotate with the rotating column 25 as the center, and the connecting arm 22 drives the hinge seat 23 to move, so that the connecting spring 24 is compressed. Since the diameter of the connecting block 35 is larger than the diameter of the connecting rod 34, when the connecting block 35 passes the hook 29, under the action of the connecting spring 24 and the return spring 32, the two hooks 29 approach each other on one side and contact the outside of the connecting rod 34 respectively, and the hook 29 clamps the connecting block 35 between the drive shell 21 and the hook 29. At this time, the obstacle crossing rod 12 is installed at the end of the driving rod 13. Preferably, the connecting plate 33 and the obstacle crossing rod 12 are integrally formed, which can improve the reliability of the connection between the connecting plate 33 and the obstacle crossing rod 12 and extend the service life; the obstacle crossing rod 12 needs to be replaced When the rod 12 is moved, the push block 38 is pushed toward the direction close to the obstacle crossing rod 12, and the push block 38 drives the sliding rod 37 to slide in the sliding groove 36. The sliding rod 37 drives the driving shell 21 to move toward the direction close to the connecting plate 33. The outer wall of the driving shell 21 slides along the positioning plate 28. The two ends of the rotating column 25 are respectively connected to the end of the driving rod 13 through the fixing rod 27. The rotating column 25 is rotatably connected with the fixing rod 27. As the driving shell 21 moves, the rotating column 25 slides in the sliding hole 26, and the spring rod is gradually compressed. As the driving shell 21 gradually approaches the connecting block 35, the driving shell 21 drives the fourth connecting column 31 gradually approach the connecting block 35. Under the action of the reset spring 32, the connecting arm 22 rotates with the rotating column 25 as the center, and the two hooks 29 move away from the connecting block 35. When the distance between the two hooks 29 is greater than the diameter of the connecting block 35, the obstacle crossing rod 12 can be pulled outward to separate the connecting hole 20 from the end of the driving rod 13, and the obstacle crossing rod 12 can be removed, thereby replacing the obstacle crossing rod 12. By setting up a connecting mechanism, the obstacle crossing rod 12 can be quickly replaced, and the replacement process does not require the aid of tools, making the disassembly and assembly of the obstacle crossing rod 12 more convenient and facilitating the replacement of obstacle crossing rods 12 of different lengths, so that the obstacle crossing wheel can adapt to different usage environments and improve the obstacle crossing ability of the obstacle crossing wheel. At the same time, the obstacle crossing rod 12 is prone to bending when frequently used. The damaged obstacle crossing rod 12 can be quickly removed through the connecting mechanism, and a new obstacle crossing rod 12 can be quickly replaced, thereby ensuring the obstacle crossing ability of the obstacle crossing wheel.

[0053] Example 7

[0054] On the basis of any one of Examples 1-6, Figure 5 As shown, anti-skid sleeves 39 are provided at both ends of the obstacle crossing pole 12, and anti-skid convex strips are provided outside the anti-skid sleeves 39.

[0055] The working principle and beneficial effects of the above technical solution are as follows: when the obstacle crossing rod 12 rotates, the anti-slip sleeve 39 at the end of the obstacle crossing rod 12 can contact the obstacle, and the anti-slip sleeve 39 can improve the anti-slip performance through the anti-slip convex strips, thereby preventing the obstacle crossing rod 12 from slipping when contacting the obstacle, thereby ensuring the obstacle crossing ability of the walking wheel 2.

[0056] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An obstacle-crossing wheel, characterized in that: include: A mounting shell (1) and an obstacle-crossing mechanism are provided. A running wheel (2) is arranged outside the mounting shell (1). A gear set (3) connected to the running wheel (2) is arranged inside the mounting shell (1). The gear set (3) includes a driving gear (4). The driving gear (4) is rotatably connected to the inner wall of the mounting shell (1) via a driving shaft (5). The obstacle-crossing mechanism includes a separation shaft (6). A separation gear (7) is arranged on the separation shaft (6). A fan-shaped notch (8) is arranged on the separation gear (7). A clutch tooth (9) is arranged at the fan-shaped notch (8). The clutch tooth (9) meshes with the driving gear (4). The area of ​​the clutch tooth (9) is smaller than the area of ​​the fan-shaped notch (8). A shaft sleeve (1) is sleeved on the separation shaft (6). 0), the inner wall of the shaft sleeve (10) is rotatably connected to the outer wall of the separation shaft (6), one end of the shaft sleeve (10) is connected to the side wall of the clutch tooth (9), a first connecting column is arranged on the front side wall of the separation gear (7), a second connecting column is arranged on the front side wall of the clutch tooth (9), the first connecting column and the second connecting column are connected via a tension spring (11), an obstacle crossing rod (12) is arranged outside the installation shell (1), a driving rod (13) is arranged at the center of the obstacle crossing rod (12), one end of the driving rod (13) extends into the installation shell (1) and is rotatably connected to the inner wall of the installation shell (1), a driven gear (14) is arranged on the driving rod (13), and a transmission assembly is arranged between the separation gear (7) and the driven gear (14).

2. The obstacle-crossing wheel according to claim 1, characterized in that: The installation shell (1) comprises a first shell and a second shell, the first shell and the second shell are spliced ​​with each other, and the first shell and the second shell are detachably connected.

3. The obstacle-crossing wheel according to claim 1, characterized in that: The transmission assembly comprises a transmission shaft (15), one end of which is rotatably connected to the inner wall of the mounting housing (1), the transmission shaft (15) is parallel to the separation rotating shaft (6), a first transmission gear (16) and a second transmission gear (17) are arranged on the transmission shaft (15) in sequence from front to back, the first transmission gear (16) is meshed with the separation gear (7), and the second transmission gear (17) is meshed with the driven gear (14).

4. The obstacle-crossing wheel according to claim 1, characterized in that: An electric telescopic rod (18) is arranged on the side wall of the mounting housing (1), a stopper rod (19) is arranged at the telescopic end of the electric telescopic rod (18), and one end of the stopper rod (19) is aligned with the fan-shaped notch (8).

5. The obstacle-crossing wheel according to claim 1, characterized in that: The cross section of one end of the driving rod (13) close to the obstacle crossing rod (12) is of a non-circular structure, a connecting hole (20) adapted to the end of the driving rod (13) is arranged at the center of the obstacle crossing rod (12), and the end of the driving rod (13) is inserted into the connecting hole (20) and connected to the obstacle crossing rod (12).

6. The obstacle-crossing wheel according to claim 5, characterized in that: The obstacle crossing rod (12) and the driving rod (13) are connected via a connecting mechanism, the connecting mechanism is located in the connecting hole (20), the connecting mechanism comprises a driving shell (21), the driving shell (21) is n-shaped, the closed end of the driving shell (21) contacts the end of the driving rod (13), two connecting arms (22) are symmetrically arranged in the driving shell (21), a hinge seat (23) is arranged at one end of the connecting arm (22) close to the driving rod (13), and the two hinge seats (23) are connected via a connecting spring (24). ), a rotating column (25) is arranged near the middle position of the connecting arm (22), two ends of the rotating column (25) respectively pass through the sliding hole (26) and are connected to one end of the fixing rod (27), the other end of the fixing rod (27) is connected to the end of the driving rod (13), a positioning plate (28) is arranged on the rotating column (25), the positioning plate (28) is slidably connected to the outer wall of the driving shell (21), the sliding hole (26) is arranged on the driving shell (21), the sliding hole (26) is arranged in a long strip shape, and the rotating column (25) is provided with a positioning plate (28) on the driving shell (21). The outer wall of the sliding hole (25) is slidably connected to the inner wall of the sliding hole (26), a spring rod is arranged in the sliding hole (26), one end of the spring rod is connected to the rotating column (25), and the other end of the spring rod is connected to the inner wall of the sliding hole (26) close to the driving rod (13), a hook (29) is arranged at the end of the connecting arm (22) away from the hinge seat (23), and a third connecting column (30) is arranged at the end of the connecting arm (22) close to the hook (29), and two fourth connecting columns (30) are symmetrically arranged on the outer wall of the driving shell (21). 1), the third connecting column (30) and the fourth connecting column (31) are connected via a reset spring (32), a connecting plate (33) is arranged at one end of the connecting hole (20) away from the driving rod (13), the outer wall of the connecting plate (33) is connected to the inner wall of the connecting hole (20), a connecting rod (34) is arranged on one side of the connecting plate (33) close to the hook (29), a connecting block (35) is arranged at one end of the connecting rod (34) away from the connecting plate (33), and the connecting block (35) is connected via the hook (29).

7. The obstacle-crossing wheel according to claim 6, characterized in that: The connecting plate (33) and the obstacle crossing pole (12) are designed to be integrally formed.

8. The obstacle-crossing wheel according to claim 6, characterized in that: The side of the connecting block (35) away from the connecting plate (33) is in a truncated cone shape, and the side of the hook (29) close to the connecting plate (33) is provided with a guide slope, which is adapted to the side of the connecting block (35) away from the connecting plate (33).

9. The obstacle-crossing wheel according to claim 6, characterized in that: A driving mechanism is arranged on the driving rod (13), and the driving mechanism is used to control the movement of the driving shell (21). The driving mechanism comprises a sliding groove (36), and the sliding groove (36) is arranged on the upper surface of the driving rod (13). One end of the sliding groove (36) is communicated with the connecting hole (20), and a sliding rod (37) is slidably arranged in the sliding groove (36). A push block (38) is arranged at one end of the sliding rod (37) away from the obstacle crossing rod (12), and the other end of the sliding rod (37) contacts the closed end of the driving shell (21).

10. The obstacle-crossing wheel according to claim 1, characterized in that: Anti-skid sleeves (39) are arranged at both ends of the obstacle crossing rod (12), and anti-skid convex strips are arranged outside the anti-skid sleeves (39).

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