A type of obstacle-crossing wheel

Abstract

This invention provides an obstacle-crossing wheel, relating to the field of walking device technology. It includes a mounting housing and an obstacle-crossing mechanism. A walking wheel is disposed on the outer side of the mounting housing. A gear set connected to the walking wheel is disposed inside the mounting housing. The gear set includes a drive gear. The obstacle-crossing mechanism includes a separating shaft with a separating gear on it. The separating gear has a fan-shaped notch with a clutch tooth meshing with the drive gear. An obstacle-crossing rod is disposed outside the mounting housing, with a drive rod at its center. A driven gear is disposed on the drive rod. A transmission assembly is disposed between the separating gear and the driven gear. In this invention, the drive gear drives the separating gear to rotate, which in turn drives the driven gear to rotate via the transmission assembly. The driven gear, in turn, drives the obstacle-crossing rod to rotate via the drive rod. When the obstacle-crossing rod contacts an obstacle, the walking wheel is raised, achieving the obstacle-crossing function. This obstacle-crossing wheel does not require additional drive equipment, reducing weight and lowering energy consumption and operating costs.

Description

Technical Field

[0001] This invention relates to the field of walking device technology, and in particular to an obstacle-crossing wheel. Background Technology

[0002] An obstacle-crossing wheel is a specially designed wheel designed to enhance the ability of a vehicle or machine to overcome obstacles. Through special shape and structural design, obstacle-crossing wheels can traverse obstacles larger than the wheel's radius or those that conventional designs can overcome. Their principles typically involve increasing the wheel's contact area, altering the wheel's shape, or utilizing auxiliary mechanisms to improve obstacle-crossing performance.

[0003] Chinese patent CN109435677B discloses an active obstacle-crossing wheel assembly, including a housing, a drive mechanism disposed within the housing, and a hub assembly disposed below the housing. The drive mechanism includes a lead screw rotatably connected vertically within the housing, a lead screw movable component slidably connected to the lead screw, and a motor disposed above the housing and connected to the lead screw. The hub assembly includes a drive wheel and a gear set connected to the drive wheel for its rotation. The gear set is covered by a gear cover, the top of which is rotatably connected within the housing and positioned to the right of the lead screw. A first limiting post is integrally formed on the outer wall of the top left side of the gear cover. A connecting shaft is rotatably connected within the first limiting post and is connected to the lead screw movable component. This invention controls the motor's activation via the control unit of the walking device, enabling the drive wheel to autonomously cross obstacles based on intelligent control, and possesses flexibility, thereby improving the walking efficiency of the walking device in complex environments.

[0004] However, the aforementioned obstacle-crossing wheel sets require the addition of new motors to achieve autonomous obstacle crossing, which significantly increases the overall weight of the obstacle-crossing wheel sets, as well as energy consumption and operating costs. Summary of the Invention

[0005] This invention provides an obstacle-crossing wheel to solve the technical problem that current obstacle-crossing wheel sets require the addition of a new motor to achieve autonomous obstacle crossing, which significantly increases the overall weight of the obstacle-crossing wheel set.

[0006] To solve the above-mentioned technical problems, the present invention discloses an obstacle-crossing wheel, comprising: a mounting housing and an obstacle-crossing mechanism; a traveling wheel is provided on the outer side of the mounting housing; a gear set connected to the traveling wheel is provided inside the mounting housing; the gear set includes a drive gear, which is rotatably connected to the inner wall of the mounting housing via a drive shaft; the obstacle-crossing mechanism includes a separation shaft, a separation gear is provided on the separation shaft, a fan-shaped notch is provided on the separation gear, and a clutch tooth is provided at the fan-shaped notch; the clutch tooth meshes with the drive gear, and the area of ​​the clutch tooth is smaller than the area of ​​the fan-shaped notch; a bushing is fitted on the separation shaft, and the inner wall of the bushing is rotatably connected to the outer wall of the separation shaft; one end of the bushing is connected to the side wall of the clutch tooth; a first connecting post is provided on the front side wall of the separation gear, and a second connecting post is provided on the front side wall of the clutch tooth; the first connecting post and the second connecting post are connected by a tension spring; an obstacle-crossing rod is provided outside the mounting housing, and a drive rod is provided at the center of the obstacle-crossing rod; one end of the drive rod extends into the mounting housing and is rotatably connected to the inner wall of the mounting housing; a driven gear is provided on the drive rod; and a transmission assembly is provided between the separation gear and the driven gear.

[0007] Preferably, the mounting housing includes a first housing and a second housing, which are spliced ​​together and 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 housing. The transmission shaft is parallel to the separation shaft. A first transmission gear and a second transmission gear are sequentially arranged on the transmission shaft from front to back. The first transmission gear meshes with the separation gear, and the second transmission gear meshes with the driven gear.

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

[0010] Preferably, the cross-section of the drive rod near the obstacle-crossing rod is non-circular, and a connecting hole adapted to the end of the drive rod is provided at the center of the obstacle-crossing rod. The end of the drive rod is inserted into the connecting hole and connected to the obstacle-crossing rod.

[0011] Preferably, the obstacle-crossing rod and the drive rod are connected by a connecting mechanism located within a connecting hole. The connecting mechanism includes a drive housing, which is n-shaped. The closed end of the drive housing contacts the end of the drive rod. Two connecting arms are symmetrically arranged inside the drive housing. A hinge seat is provided at one end of each connecting arm near the drive rod, and the two hinge seats are connected by a connecting spring. A rotating column is provided near the middle of each connecting arm. Both ends of the rotating column pass through sliding holes and are connected to one end of a fixed rod. The other end of the fixed rod is connected to the end of the drive rod. A positioning plate is provided on the rotating column, and the positioning plate is slidably connected to the outer wall of the drive housing. The sliding hole is located on the drive housing and is configured as long as... The device is strip-shaped, with the outer wall of the rotating column slidably connected to the inner wall of the sliding hole. A spring rod is installed inside the sliding hole, with one end of the spring rod connected to the rotating column and the other end connected to the inner wall of the sliding hole near the drive rod. A hook is installed at the end of the connecting arm away from the hinge seat, and a third connecting column is installed at the end of the connecting arm near the hook. Two fourth connecting columns are symmetrically arranged on the outer wall of the drive housing, and the third and fourth connecting columns are connected by a return spring. A connecting plate is installed at the end of the connecting hole away from the drive rod, with the outer wall of the connecting plate connected to the inner wall of the connecting hole. A connecting rod is installed on the side of the connecting plate near the hook, and a connecting block is installed at the end of the connecting rod away from the connecting plate. The connecting block is engaged by the hook.

[0012] Preferably, the connecting plate and the obstacle crossing bar are integrally molded.

[0013] Preferably, the side of the connecting block away from the connecting plate is truncated cone-shaped, and the side of the hook near the connecting plate is provided with a guide slope, which is adapted to the side of the connecting block away from the connecting plate.

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

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

[0016] The technical solution of this invention has the following advantages: This invention provides an obstacle-crossing wheel, relating to the field of walking device technology, including a mounting housing and an obstacle-crossing mechanism. A walking wheel is disposed on the outer side of the mounting housing, and a gear set connected to the walking wheel is disposed inside the mounting housing. The gear set includes a drive gear. The obstacle-crossing mechanism includes a separating shaft, a separating gear disposed on the separating shaft, a fan-shaped notch on the separating gear, and a clutch tooth disposed at the fan-shaped notch. The clutch tooth meshes with the drive gear. An obstacle-crossing rod is disposed outside the mounting housing, and a drive rod is disposed at the center of the obstacle-crossing rod. One end of the drive rod extends into the mounting housing and is rotatably connected to the inner wall of the mounting housing. A driven gear is disposed on the drive rod, and a transmission assembly is disposed between the separating gear and the driven gear. In this invention, the drive gear of the gear set can drive the separating gear to rotate through meshing with the clutch tooth. The separating gear drives the driven gear to rotate through the transmission assembly, and the driven gear drives the obstacle-crossing rod to rotate through the drive rod. When the obstacle-crossing rod contacts an obstacle, the walking wheel is lifted, thereby achieving the obstacle-crossing function. This obstacle-crossing wheel does not require additional drive equipment, reducing weight and lowering energy consumption and operating costs.

[0017] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the means particularly pointed out in the written description and the accompanying drawings.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

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

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

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

[0023] Figure 4 This is a schematic diagram of the internal structure of the mounting housing in this invention;

[0024] Figure 5 This is a schematic diagram showing the connection between the obstacle-crossing rod and the drive rod in this invention;

[0025] Figure 6 For the present invention Figure 5 Partial sectional view at point AA;

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

[0027] Figure 8 This is a schematic diagram of the connecting mechanism in this invention;

[0028] Figure 9 This is a schematic diagram of the internal structure of the drive housing in this invention.

[0029] In the diagram: 1. Mounting housing; 2. Walking wheel; 3. Gear set; 4. Drive gear; 5. Drive shaft; 6. Separation shaft; 7. Separation gear; 8. Fan-shaped notch; 9. Clutch gear; 10. Bushing; 11. Tension spring; 12. Obstacle crossing bar; 13. Drive rod; 14. Driven gear; 15. Transmission shaft; 16. First transmission gear; 17. Second transmission gear; 18. Electric telescopic rod; 19. Stop bar; 20. Connecting hole; 21. Drive 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. Return spring; 33. Connecting plate; 34. Connecting rod; 35. Connecting block; 36. Sliding groove; 37. Sliding rod; 38. Push block; 39. Anti-slip sleeve. Detailed Implementation

[0030] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0031] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0032] Example 1

[0033] This invention provides an obstacle-crossing wheel, such as... Figures 1-9As shown, the device includes: a mounting housing 1 and an obstacle-crossing mechanism. A traveling wheel 2 is mounted on the outer side of the mounting housing 1. A gear set 3 connected to the traveling wheel 2 is mounted inside the mounting housing 1. The gear set 3 includes a drive gear 4, which is rotatably connected to the inner wall of the mounting housing 1 via a drive shaft 5. The obstacle-crossing mechanism includes a separation shaft 6, a separation gear 7 mounted on the separation shaft 6, a fan-shaped notch 8 on the separation gear 7, and a clutch tooth 9 at the fan-shaped notch 8. The clutch tooth 9 meshes with the drive gear 4, and the area of ​​the clutch tooth 9 is smaller than the area of ​​the fan-shaped notch 8. A bushing 10 is fitted onto the separation shaft 6. The inner wall of the bushing 10 is rotatably connected to the outer wall of the separation shaft 6. One end of the bushing 10 is connected to the side wall of the clutch gear 9. A first connecting post is provided on the front side wall of the separation gear 7, and a second connecting post is provided on the front side wall of the clutch gear 9. The first connecting post and the second connecting post are connected by a tension spring 11. An obstacle-crossing rod 12 is provided on the outside of the mounting housing 1. A drive rod 13 is provided at the center of the obstacle-crossing rod 12. One end of the drive rod 13 extends into the mounting housing 1 and is rotatably connected to the inner wall of the mounting housing 1. A driven gear 14 is provided on the drive rod 13. A transmission assembly is provided 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 drive motor is installed on the mounting housing 1. The drive motor is connected to the gear set 3 away from the walking wheel 2, thereby driving the walking wheel 2 to rotate through the gear set 3. When the walking wheel 2 encounters an obstacle during its movement, as the gear set 3 works, the drive gear 4 of the gear set 3 can drive the clutch gear 9 to rotate through meshing with the clutch gear 9. The release gear 7 rotates with the clutch gear 9 under the action of the tension spring 11. Then, the release gear 7 meshes with the drive gear 4, and the drive gear 4 drives the release gear 7 to rotate. The release gear 7 is then 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 drive rod 13. The obstacle-crossing rod 12 is perpendicular to the drive rod 13 and is long and narrow. The length of the obstacle-crossing rod 12 can be set according to the maximum height of the obstacle in the environment. As the obstacle-crossing rod 12 rotates, it gradually contacts the obstacle, which can raise the walking wheel 2, allowing the walking wheel 2 to cross or climb over the obstacle, thereby realizing the obstacle-crossing function. This obstacle-crossing wheel does not require additional drive equipment, which reduces weight and lowers the energy consumption and operating cost of the obstacle-crossing wheel.

[0035] Example 2

[0036] Based on the above embodiment 1, the mounting housing 1 includes a first housing and a second housing, which are spliced ​​together and are detachably connected.

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

[0038] Example 3

[0039] Based on Example 1 or 2, such as Figure 3 , Figure 4 As shown, the transmission assembly includes a transmission shaft 15. One end of the transmission shaft 15 is rotatably connected to the inner wall of the mounting housing 1. The transmission shaft 15 is parallel to the separation shaft 6. A first transmission gear 16 and a second transmission gear 17 are arranged sequentially from front to back on the transmission shaft 15. The first transmission gear 16 meshes with the separation gear 7, and the second transmission gear 17 meshes 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 can drive the transmission shaft 15 to rotate, the rotation of the transmission shaft 15 can drive the driven gear 14 to rotate, the rotation of the driven gear 14 can drive the drive rod 13 to rotate, and the drive rod 13 can drive the obstacle crossing rod 12 to rotate. Since the obstacle crossing rod 12 is perpendicular to the drive rod 13, the obstacle crossing rod 12 can contact the obstacle and lift the walking wheel 2, so that the walking wheel 2 can cross the obstacle or climb onto the obstacle, thereby improving the overall obstacle crossing ability of the obstacle crossing wheel.

[0041] Example 4

[0042] Based on any one of Examples 1-3, such as Figure 2 , Figure 3 As shown, an electric telescopic rod 18 is provided on the side wall of the mounting housing 1, and a stop bar 19 is provided at the telescopic end of the electric telescopic rod 18, with one end of the stop bar 19 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 installed on the side wall of the mounting housing 1, and a controller is installed inside the mounting housing 1. The controller is electrically connected to the drive motor and the electric telescopic rod 18. In the initial state, the electric telescopic rod 18 is not energized and is in the extended state. At this time, the stop rod 19 is inserted into the fan-shaped notch 8 and is located between the clutch tooth 9 and the release gear 7. Under the action of the tension spring 11, the right side of the clutch tooth 9 contacts the outer wall of the stop rod 19. Therefore, during the forward movement of the traveling wheel 2, since the release gear 7 is blocked by the stop rod 19, the clutch tooth 9 engages and disengages with the drive gear 4 under the action of the tension spring 11. When the traveling wheel 2 encounters an obstacle, the controller controls the drive motor to rotate in the opposite direction by a preset angle, the traveling wheel 2 reverses, and at the same time, the controller controls the electric telescopic rod 18 to retract, and the release gear 7 separates from the stop rod 19. Then the controller controls the drive motor to rotate forward again. When the walking wheel 2 rotates forward, the drive gear 4 meshes with the clutch gear 9, causing the clutch gear 9 to rotate. The rotation of the clutch gear 9, in turn, drives the release gear 7 to rotate via the tension spring 11. The clutch gear 9 and the release gear 7 have the same radius. Therefore, as the clutch gear 9 rotates, the release gear 7 gradually meshes with the drive gear 4 and rotates under the drive of the drive gear 4. The rotation of the release gear 7 can drive the driven gear 14 to rotate via the transmission assembly, thereby causing the obstacle-crossing rod 12 to rotate and realize the obstacle-crossing function. After the obstacle is crossed, the controller controls the electric telescopic rod 18 to be de-energized. The electric telescopic rod 18 extends and drives the stop rod 19 to insert into the fan-shaped notch 8 again, blocking the clutch gear 9 and the release gear 7. The walking wheel 2 continues to move forward normally. At this time, the release gear 7 will not mesh with the drive gear 4 due to the obstruction of the stop rod 19, thereby reducing the energy consumption of the drive motor and achieving the energy-saving effect. When encountering the next obstacle, the above steps are repeated to realize the automatic obstacle-crossing function.

[0044] Example 5

[0045] Based on any one of Examples 1-4, such as Figures 3-7 As shown, the cross-section of the drive rod 13 near the obstacle crossing rod 12 is non-circular. The center of the obstacle crossing rod 12 is provided with a connecting hole 20 that matches the end of the drive rod 13. The end of the drive 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 drive rod 13 near the obstacle crossing rod 12 is a non-circular structure such as a square or elliptical shape. The end of the drive rod 13 is connected to the connecting hole 20, which improves the reliability of the connection. There will be no slippage problem during the rotation of the obstacle crossing rod 12 driven by the drive rod 13.

[0047] Example 6

[0048] Based on Example 5, such as Figures 5-9As shown, the obstacle-crossing rod 12 and the drive rod 13 are connected by a connecting mechanism located within the connecting hole 20. The connecting mechanism includes a drive housing 21, which is n-shaped. The closed end of the drive housing 21 contacts the end of the drive rod 13. Two connecting arms 22 are symmetrically arranged inside the drive housing 21. A hinge seat 23 is provided at one end of the connecting arm 22 near the drive rod 13. The two hinge seats 23 are connected by a connecting spring 24. A rotating column 25 is provided near the middle of the connecting arm 22. Both ends of the rotating column 25 pass through sliding holes 26 and are connected to one end of a fixed rod 27. The other end of the fixed rod 27 is connected to the end of the drive rod 13. A positioning plate 28 is provided on the rotating column 25. The positioning plate 28 is slidably connected to the outer wall of the drive housing 21. The sliding hole 26 is provided on the drive housing 21 and is elongated. The outer wall of the rotating column 25 is slidably connected to the inner wall of the sliding hole 26. A spring rod is installed 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 near the drive rod 13. A hook 29 is provided at the end of the connecting arm 22 away from the hinge seat 23. A third connecting column 30 is provided at the end of the connecting arm 22 near the hook 29. Two fourth connecting columns 31 are symmetrically arranged on the outer wall of the drive housing 21. The third connecting column 30 and the fourth connecting column 31 are connected by a reset spring 32. A connecting plate 33 is provided at the end of the connecting hole 20 away from the drive 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 provided on the side of the connecting plate 33 near the hook 29. A connecting block 35 is provided at the end of the connecting rod 34 away from the connecting plate 33. The connecting block 35 is engaged by the hook 29.

[0049] The connecting plate 33 and the obstacle crossing bar 12 are integrally molded.

[0050] The connecting block 35 is frustum-shaped on the side away from the connecting plate 33, and the hook 29 is provided with a guide slope on the side near the connecting plate 33. The guide slope is adapted to the side of the connecting block 35 away from the connecting plate 33.

[0051] A drive mechanism is provided on the drive rod 13. The drive mechanism is used to control the movement of the drive housing 21. The drive mechanism includes a sliding groove 36. The sliding groove 36 is provided on the upper surface of the drive rod 13. One end of the sliding groove 36 is connected to the connecting hole 20. A sliding rod 37 is slidably arranged in the sliding groove 36. A push block 38 is provided at the end of the sliding rod 37 away from the obstacle crossing rod 12. The other end of the sliding rod 37 is in contact with the closed end of the drive housing 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 obstacle-crossing rods 12 of corresponding lengths. To facilitate the installation of obstacle-crossing rods 12, a connecting mechanism is set between obstacle-crossing rods 12 and drive rods 13. Initially, obstacle-crossing rods 12 and drive rods 13 are separated. Under the action of the spring rod, the closed end of the drive housing 21 contacts the end of the drive 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 obstacle-crossing rods 12, the connecting hole 20 is aligned with the end of the drive rod 13, and the obstacle-crossing rod 12 is pushed so that the end of the drive rod 13 enters the connecting hole 20. The connecting block 35 contacts the end of the hooks 29 and slides along the guide slope, so that the two... The two hooks 29 rotate in a direction away from each other, causing the connecting arm 22 to rotate around the rotating column 25. The connecting arm 22 drives the hinge seat 23 to move, causing the connecting spring 24 to compress. Since the diameter of the connecting block 35 is larger than the diameter of the connecting rod 34, after the connecting block 35 passes the hooks 29, under the action of the connecting spring 24 and the return spring 32, the two hooks 29 move closer to each other and contact the outside of the connecting rod 34. The hooks 29 then lock the connecting block 35 between the drive housing 21 and the hooks 29. At this time, the obstacle crossing rod 12 is installed at the end of the drive 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. When the obstacle crossing rod needs to be replaced... When the lever is 12, push the push block 38 towards the obstacle-crossing lever 12. Push block 38 drives the sliding rod 37 to slide in the sliding groove 36. The sliding rod 37 pushes the drive housing 21 to move towards the connecting plate 33. The outer wall of the drive housing 21 slides along the positioning plate 28. The two ends of the rotating column 25 are respectively connected to the ends of the drive rod 13 through the fixed rod 27. The rotating column 25 and the fixed rod 27 are rotatably connected. As the drive housing 21 moves, the rotating column 25 slides in the sliding hole 26. The spring rod is gradually compressed. As the drive housing 21 gradually approaches the connecting block 35, the drive housing 21 drives the fourth connecting column 31 to gradually approach the connecting block 35. Under the action of the return spring 32, the connecting arm 22 rotates around the rotating column 25 as the center. The two hooks 29 move away from the connecting block 35. When the rod 34 moves in the direction of the two hooks 29, and the distance between them is greater than the diameter of the connecting block 35, the obstacle-crossing rod 12 can be pulled outward, causing the connecting hole 20 to separate from the end of the drive rod 13. This allows the obstacle-crossing rod 12 to be removed and replaced. By setting up a connecting mechanism, the obstacle-crossing rod 12 can be quickly replaced without the need for tools, making the disassembly and assembly of the obstacle-crossing rod 12 more convenient. This facilitates the replacement of obstacle-crossing rods 12 of different lengths, allowing the obstacle-crossing wheel to adapt to different usage environments and improving its obstacle-crossing ability. At the same time, the obstacle-crossing rod 12 is prone to bending when used frequently. The connecting mechanism allows for the quick removal of damaged obstacle-crossing rods 12 and the rapid replacement with new ones, ensuring the obstacle-crossing ability of the obstacle-crossing wheel.

[0053] Example 7

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

[0055] The working principle and beneficial effects of the above technical solution are as follows: When the obstacle crossing pole 12 rotates, the anti-slip sleeve 39 at the end of the obstacle crossing pole 12 can contact the obstacle. The anti-slip sleeve 39 can improve the anti-slip performance through the anti-slip protrusion, avoid the obstacle crossing pole 12 from slipping when it contacts the obstacle, and ensure the obstacle crossing ability of the walking wheel 2.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

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

Claims

1. An obstacle-crossing wheel, characterized in that, include: The mounting housing (1) and obstacle-crossing mechanism are provided. The outer side of the mounting housing (1) is provided with a walking wheel (2). The mounting housing (1) is provided with a gear set (3) connected to the walking wheel (2). The gear set (3) includes a drive gear (4). The drive gear (4) is rotatably connected to the inner wall of the mounting housing (1) through a drive shaft (5). The obstacle-crossing mechanism includes a separation shaft (6). A separation gear (7) is provided on the separation shaft (6). A fan-shaped notch (8) is provided on the separation gear (7). A clutch tooth (9) is provided at the fan-shaped notch (8). The clutch tooth (9) meshes with the drive gear (4). The area of ​​the clutch tooth (9) is smaller than the area of ​​the fan-shaped notch (8). A bushing (1) is fitted on the separation shaft (6). 0), the inner wall of the bushing (10) is rotatably connected to the outer wall of the separation shaft (6), one end of the bushing (10) is connected to the side wall of the clutch tooth (9), the front side wall of the separation gear (7) is provided with a first connecting post, the front side wall of the clutch tooth (9) is provided with a second connecting post, the first connecting post and the second connecting post are connected by a tension spring (11), the outside of the mounting housing (1) is provided with an obstacle crossing rod (12), the center of the obstacle crossing rod (12) is provided with a drive rod (13), one end of the drive rod (13) extends into the mounting housing (1) and is rotatably connected to the inner wall of the mounting housing (1), the drive rod (14) is provided on the drive rod (13), and a transmission assembly is provided between the separation gear (7) and the driven gear (14); The drive rod (13) has a non-circular cross section near the obstacle crossing rod (12). The obstacle crossing rod (12) has a connecting hole (20) at its center that matches the end of the drive rod (13). The end of the drive rod (13) is inserted into the connecting hole (20) and connected to the obstacle crossing rod (12). The obstacle crossing rod (12) and the drive rod (13) are connected by a connecting mechanism located inside the connecting hole (20). The connecting mechanism includes a drive housing (21), which is n-shaped. The closed end of the drive housing (21) contacts the end of the drive rod (13). Two connecting arms (22) are symmetrically arranged inside the drive housing (21). A hinge seat (23) is provided at the end of the connecting arm (22) near the drive rod (13). The two hinge seats (23) are connected by a connecting spring (24). The connecting arm (22) is connected to a rotating column (25) near the middle position. The two ends of the rotating column (25) pass through the sliding hole (26) and are connected to one end of the fixed rod (27). The other end of the fixed rod (27) is connected to the end of the drive rod (13). A positioning plate (28) is provided on the rotating column (25). The positioning plate (28) is slidably connected to the outer wall of the drive housing (21). The sliding hole (26) is provided on the drive housing (21). The sliding hole (26) is long and narrow. (25) The outer wall is slidably connected to the inner wall of the sliding hole (26). A spring rod is installed 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) near the drive rod (13). A hook (29) is installed at the end of the connecting arm (22) away from the hinge seat (23). A third connecting post (30) is installed at the end of the connecting arm (22) near the hook (29). Two fourth connecting posts (30) are symmetrically arranged on the outer wall of the drive housing (21). 1) The third connecting post (30) and the fourth connecting post (31) are connected by a reset spring (32). A connecting plate (33) is provided at the end of the connecting hole (20) away from the drive 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 provided on the side of the connecting plate (33) near the hook (29). A connecting block (35) is provided at the end of the connecting rod (34) away from the connecting plate (33). The connecting block (35) is engaged by the hook (29).

2. The obstacle-crossing wheel according to claim 1, characterized in that, The mounting housing (1) includes a first housing and a second housing, which are spliced ​​together and are detachably connected.

3. The obstacle-crossing wheel according to claim 1, characterized in that, The transmission assembly includes 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 shaft (6). A first transmission gear (16) and a second transmission gear (17) are arranged sequentially from front to back on the transmission shaft (15). The first transmission gear (16) meshes with the separation gear (7), and the second transmission gear (17) meshes with the driven gear (14).

4. The obstacle-crossing wheel according to claim 1, characterized in that, An electric telescopic rod (18) is installed on the side wall of the housing (1). A stop bar (19) is installed at the telescopic end of the electric telescopic rod (18). One end of the stop bar (19) is aligned with the fan-shaped notch (8).

5. The obstacle-crossing wheel according to claim 1, characterized in that, The connecting plate (33) and the obstacle crossing bar (12) are integrally molded.

6. The obstacle-crossing wheel according to claim 1, characterized in that, The connecting block (35) is frustum-shaped on the side away from the connecting plate (33), and the hook (29) is provided with a guide slope on the side near the connecting plate (33). The guide slope is adapted to the side of the connecting block (35) away from the connecting plate (33).

7. The obstacle-crossing wheel according to claim 1, characterized in that, A drive mechanism is provided on the drive rod (13). The drive mechanism is used to control the movement of the drive housing (21). The drive mechanism includes a sliding groove (36). The sliding groove (36) is provided on the upper surface of the drive rod (13). One end of the sliding groove (36) is connected to the connecting hole (20). A sliding rod (37) is slidably provided in the sliding groove (36). A push block (38) is provided at one end of the sliding rod (37) away from the obstacle crossing rod (12). The other end of the sliding rod (37) is in contact with the closed end of the drive housing (21).

8. The obstacle-crossing wheel according to claim 1, characterized in that, Anti-slip sleeves (39) are provided at both ends of the obstacle crossing pole (12), and anti-slip ridges are provided on the outside of the anti-slip sleeves (39).

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