Obstacle crossing mechanism and robot

Abstract

The present application discloses an obstacle crossing mechanism and a robot, the obstacle crossing mechanism includes a running wheel and a compensation mechanism, the contact surface of the running wheel is provided with an obstacle crossing groove; the compensation mechanism is movably provided on the running wheel, at least part of the compensation mechanism floats in the obstacle crossing groove, and the floating direction is away from or toward the contact surface. In the above manner, the obstacle crossing mechanism of the present application is provided with an obstacle crossing groove on the contact surface of the running wheel, and the compensation mechanism is movably provided on the running wheel. When encountering an obstacle, the obstacle will push open the compensation mechanism and engage with the obstacle crossing groove, so that the obstacle crossing mechanism generates an upward climbing force, thereby improving the obstacle crossing ability of the obstacle crossing mechanism, and can cross higher obstacles. When not crossing an obstacle, the compensation mechanism is not affected by the force of the obstacle and will float toward the contact surface, increasing the smoothness of the contact surface, so that the obstacle crossing mechanism works normally.

Description

Technical Field

[0001] The present application relates to the field of obstacle surmounting technology, and in particular to an obstacle surmounting mechanism and a robot. Background Art

[0002] The robot is highly intelligent and can clean flexibly, which greatly frees people's hands. It can be used in many scenarios such as living rooms, bedrooms, and kitchens. However, with the popularization of robots, the shortcomings of robot movement have gradually been exposed. Take sweeping robots as an example. In most households, there are obstacles such as steps, glass door rails, and carpets. When sweeping robots encounter such obstacles during mobile cleaning, they are usually blocked and stuck, and their cleaning is interrupted. In addition, when sweeping robots encounter higher obstacles, the driving wheels will slip and they will not be able to pass through at all. Utility Model Content

[0003] The present application proposes an obstacle crossing mechanism and a robot, aiming to solve the above-mentioned problems.

[0004] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide an obstacle crossing mechanism, which includes a running wheel and a compensation mechanism, and the contact surface of the running wheel is provided with an obstacle crossing groove; the compensation mechanism is movably arranged on the running wheel, and at least a part of the compensation mechanism floats in the obstacle crossing groove, and the floating direction is away from or toward the contact surface.

[0005] Wherein, when the compensation mechanism does not contact the obstacle, the compensation mechanism is arranged flush with the contact surface, and when the compensation mechanism abuts against the obstacle, the compensation mechanism retracts into the obstacle crossing groove.

[0006] The driving wheel includes a tire and a wheel hub, and the contact surface of the tire is provided with an obstacle crossing groove; the tire is sleeved on the outer side of the wheel hub, and the wheel hub is used to drive the tire to rotate.

[0007] The obstacle crossing groove extends from the contact surface toward the inside of the tire and may or may not penetrate the tire.

[0008] Among them, the compensation mechanism includes a rotating shaft, a compensation block and a reset member, the rotating shaft is arranged parallel to the axial direction of the tire; the first end of the compensation block is rotatably connected to the wheel hub through the rotating shaft, and the second end of the compensation block floats in the obstacle groove; the reset member is arranged between the wheel hub and the second end, providing a reset force for the second end to move away from the wheel hub; when the reset member is in the reset state, the side of the compensation block away from the wheel hub is arranged flush with the tire surface.

[0009] The end surface of the first end in an area away from the hub is protruding relative to the area close to the hub, so that the end surface of the first end abuts against the side wall of the obstacle groove when the compensation block is in the reset state.

[0010] The reset member includes a torsion spring, which is sleeved outside the rotating shaft and abuts against the wheel hub and the second end respectively.

[0011] Wherein, the compensation mechanism also includes a vibration damping member, which is arranged on a side of the compensation block body away from the wheel hub.

[0012] The wheel hub comprises a left half wheel hub and a right half wheel hub, and the left half wheel hub and the right half wheel hub are fixedly connected by a connecting piece.

[0013] The left half hub is provided with a first extension part, the right half hub is provided with a second extension part, the first extension part and the second extension part are both arranged in the obstacle crossing groove, and the compensation block part is arranged between the first extension part and the second extension part.

[0014] The obstacle-crossing mechanism further comprises a reduction gearbox mechanism, and the running wheel is mounted on the output shaft end of the reduction gearbox mechanism.

[0015] The reduction gearbox mechanism comprises a support member, and the support member extends along the direction of gravity, so that when the compensation mechanism abuts against the ground, the support member abuts against the compensation mechanism.

[0016] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a robot, which includes any one of the above obstacle crossing mechanisms.

[0017] The beneficial effects of the present application are as follows: Different from the prior art, the obstacle crossing mechanism of the present application includes a running wheel and a compensation mechanism, and the contact surface of the running wheel is provided with an obstacle crossing groove; the compensation mechanism is movably provided on the running wheel, and at least part of the compensation mechanism floats in the obstacle crossing groove, and the floating direction is away from or toward the contact surface. In the above manner, the obstacle crossing mechanism of the present application is provided with an obstacle crossing groove on the contact surface of the running wheel, and the compensation mechanism is movably provided on the running wheel. When encountering an obstacle, the obstacle will push open the compensation mechanism and engage with the obstacle crossing groove, so that the obstacle crossing mechanism generates an upward climbing force, thereby improving the obstacle crossing ability of the obstacle crossing mechanism, and can cross higher obstacles. When not crossing an obstacle, the compensation mechanism is not affected by the force of the obstacle and will float toward the contact surface, increasing the smoothness of the contact surface, so that the obstacle crossing mechanism works normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0019] Figure 1 is a structural schematic diagram of a first embodiment of an obstacle surmounting mechanism provided by the present application;

[0020] Figure 2 yes Figure 1 Schematic diagram of the explosion structure of the obstacle crossing mechanism of the embodiment;

[0021] Figure 3 It is a structural schematic diagram of an embodiment of a compensation mechanism provided by the present application;

[0022] Figure 4 is a structural schematic diagram of a second embodiment of the obstacle surmounting mechanism provided by the present application;

[0023] Figure 5 yes Figure 4 Schematic diagram of the explosion structure of the obstacle crossing mechanism of the embodiment;

[0024] Figure 6 It is a schematic diagram of the working state of the traveling wheels when the obstacle crossing mechanism provided by the present application encounters an obstacle;

[0025] Figure 7 It is a schematic diagram of the working process of the traveling wheel when the obstacle overcoming mechanism provided by the present application does not overcome the obstacle;

[0026] Figure 8 It is a schematic structural diagram of an embodiment of a robot provided in the present application.

[0027] Description of labels:

[0028] Obstacle crossing mechanism 100, traveling wheel 10, tire 11, wheel hub 12, obstacle crossing groove 13, left half wheel hub 121, first extension portion 1211, first through hole 1212, right half wheel hub 122, second extension portion 1221, second through hole 1222, compensation mechanism 20, rotating shaft 21, compensation block 22, first end 221, second end 222, third through hole 223, reset member 23, vibration damping member 24, reduction gear box mechanism 30, support member 40, support portion 41, roller 42, pin 43, robot 200, body 210, universal wheel 220. DETAILED DESCRIPTION

[0029] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0031] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0034] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "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 connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0035] The robot is highly intelligent and can clean flexibly, which greatly frees people's hands. It can be used in many scenarios such as living rooms, bedrooms, and kitchens. However, with the popularization of robots, the shortcomings of robot movement have gradually been exposed. Take sweeping robots as an example. In most households, there are obstacles such as steps, glass door rails, and carpets. When sweeping robots encounter such obstacles during mobile cleaning, they are usually blocked and stuck, and their cleaning is interrupted. In addition, when sweeping robots encounter higher obstacles, the driving wheels will slip and they will not be able to pass through at all.

[0036] In order to solve the above problems, this application proposes an obstacle crossing mechanism. Figure 1 to Figure 2 , Figure 1 is a structural schematic diagram of the first embodiment of the obstacle crossing mechanism provided by the present application, Figure 2 yes Figure 1 Schematic diagram of the explosion structure of the obstacle crossing mechanism of the embodiment. Figure 1 and Figure 2As shown, the obstacle overcoming mechanism 100 of this embodiment includes a traveling wheel 10 and a compensation mechanism 20 .

[0037] like Figure 1 and Figure 2 As shown, the contact surface of the traveling wheel 10 is provided with an obstacle crossing groove 13, and the compensation mechanism 20 is movably provided on the traveling wheel 10, and at least a part of the compensation mechanism 20 floats in the obstacle crossing groove 13, and the floating direction is away from or toward the contact surface.

[0038] In this embodiment, the contact surface of the traveling wheel 10 is the surface that the traveling wheel 10 contacts with the ground or other traveling surface when working, and generally, in order to prevent the traveling wheel 10 from slipping, the contact surface is generally provided with tire treads.

[0039] Among them, in this embodiment, the compensation mechanism 20 of this embodiment is movably arranged on the running wheel 10. In addition, in order to improve the wear resistance of the obstacle crossing groove 13 on the running wheel 10, in this embodiment, the side wall of the obstacle crossing groove 13 is set as a solid surface instead of an uneven pattern surface. In other embodiments, the side wall of the obstacle crossing groove 13 of the running wheel 10 can also be set as other wear-resistant materials, which is not limited here.

[0040] Optionally, in this embodiment, during the operation of the obstacle surmounting mechanism 100 , when the compensation mechanism 20 is not in contact with the obstacle, the compensation mechanism 20 is arranged flush with the contact surface, and when the compensation mechanism 20 is in contact with the obstacle, the compensation mechanism 20 is retracted into the obstacle surmounting groove 13 .

[0041] That is, when the obstacle overcoming mechanism 100 encounters an obstacle, the obstacle will push open the compensation mechanism 20, and the compensation mechanism 20 will retract into the obstacle overcoming groove 13. At this time, the obstacle can be engaged with the obstacle overcoming groove 13, so that the obstacle overcoming mechanism 100 generates an upward climbing force, thereby improving the obstacle overcoming ability of the obstacle overcoming mechanism 100, and can overcome higher obstacles. When there is no obstacle overcoming, the compensation mechanism 20 is not affected by the force of the obstacle, and will float toward the contact surface and be set flush with the contact surface, thereby increasing the smoothness of the contact surface and allowing the obstacle overcoming mechanism 100 to work normally.

[0042] Different from the prior art, the obstacle crossing mechanism 100 of the present application includes a running wheel 10 and a compensation mechanism 20. The contact surface of the running wheel 10 is provided with an obstacle crossing groove 13. The compensation mechanism 20 is movably provided on the running wheel 10, and at least part of the compensation mechanism 20 floats in the obstacle crossing groove 13, and the floating direction is away from or toward the contact surface. In the above manner, the obstacle crossing mechanism 100 of the present application is provided with the obstacle crossing groove 13 on the contact surface of the running wheel 10, and the compensation mechanism 20 is movably provided on the running wheel 10. When encountering an obstacle, the obstacle will push the compensation mechanism 20 away and engage with the obstacle crossing groove 13, so that the obstacle crossing mechanism 100 generates an upward climbing force, thereby improving the obstacle crossing ability of the obstacle crossing mechanism 100, and can cross higher obstacles. When not crossing an obstacle, the compensation mechanism 20 is not affected by the force of the obstacle and will float toward the contact surface, increasing the smoothness of the contact surface, so that the obstacle crossing mechanism 100 works normally.

[0043] Optionally, based on the above embodiment, Figure 1 and Figure 2 As shown, the running wheel 10 includes a tire 11 and a wheel hub 12. The contact surface of the tire 11 is provided with an obstacle crossing groove 13. The tire 11 is sleeved on the outer side of the wheel hub 12, and the wheel hub 12 is used to drive the tire 11 to rotate.

[0044] Among them, in this embodiment, the tire 11 is mounted on the outer side of the wheel hub 12, and the wheel hub 12 is used to drive the tire 11 to rotate; the compensation mechanism 20 is arranged in the obstacle groove 13, and is movably connected with the wheel hub 12 or the tire 11, and at least a part of the compensation mechanism 20 floats in the obstacle groove 13, and the floating direction is away from or toward the contact surface.

[0045] Optionally, based on the above embodiment, in this embodiment, the obstacle crossing groove 13 extends from the contact surface toward the inside of the tire 11 and may or may not penetrate the tire 11 .

[0046] like Figure 1 and Figure 2 As shown, in Figure 1 and Figure 2 In the embodiment, the obstacle crossing groove 13 extends from the contact surface toward the inside of the tire 11 and penetrates the tire 11, and the obstacle crossing groove 13 also penetrates the tire 11 in a direction parallel to the axial direction of the tire 11, that is, Figure 1 and Figure 2 In the embodiment of the present invention, the tire 11 is C-shaped, the tire 11 is disconnected, and the obstacle crossing groove 13 is the accommodation space formed at the disconnection of the tire 11. In addition, because the obstacle crossing groove 13 extends from the contact surface toward the inside of the tire 11 and penetrates the tire 11, the compensation mechanism 20 can be directly movably connected to the wheel hub 12.

[0047] In other embodiments, the obstacle crossing groove 13 may be configured to extend from the contact surface toward the inside of the tire 11 without penetrating the tire 11 ; the obstacle crossing groove 13 may also be configured to extend in a direction parallel to the axial direction of the tire 11 without penetrating the tire 11 .

[0048] In addition, if the contact surface is large enough, the obstacle crossing groove 13 may also be configured to extend from the contact surface toward the inside of the tire 11 without penetrating the tire 11 and also without penetrating the tire 11 in a direction parallel to the axial direction of the tire 11 .

[0049] When the obstacle groove 13 is configured to extend from the contact surface toward the inside of the tire 11 and does not penetrate the tire 11 , there is a barrier between the compensation mechanism 20 and the wheel hub 12 . At this time, the compensation mechanism 20 can be movably connected to the tire 11 .

[0050] That is, in the present application, the size of the obstacle groove 13 of the present application can be set based on actual conditions and is not limited here. In addition, in the present application, the number, location and distribution of the obstacle groove 13 can also be set based on actual conditions and are not limited.

[0051] Optionally, see Figure 2 and Figure 3 , Figure 3 is a schematic diagram of the structure of an embodiment of the compensation mechanism provided by the present application, such as Figure 2 and Figure 3 As shown, the compensation mechanism 20 of this embodiment includes a rotating shaft 21, a compensation block 22 and a reset member 23. The rotating shaft 21 is arranged parallel to the axial direction of the tire 11; the first end 221 of the compensation block 22 is rotatably connected to the wheel hub 12 through the rotating shaft 21, and the second end 222 of the compensation block 22 floats in the obstacle groove 13; the reset member 23 is arranged between the wheel hub 12 and the second end 222, providing a reset force for the second end 222 to move away from the wheel hub 12; when the reset member 23 is in the reset state, the side of the compensation block 22 away from the wheel hub 12 is arranged flush with the contact surface.

[0052] In this embodiment, when the reset member 23 is in the reset state, Figure 2 As shown, the side of the compensation block 22 facing away from the wheel hub 12 is flush with the contact surface of the tire 11, which can ensure that the entire tire 11 is a full circle. Therefore, when the obstacle crossing mechanism 100 is not crossing an obstacle, the compensation block 22 and the obstacle crossing groove 13 do not affect the normal operation of the obstacle crossing mechanism 100. It has a simple structure, low cost and high reliability.

[0053] In addition, in this embodiment, the second end 222 of the compensation block 22 is restricted to float in the obstacle crossing groove 13 , thereby preventing the second end 222 of the compensation block 22 from protruding out of the contact surface and affecting the normal operation of the obstacle crossing mechanism 100 .

[0054] Alternatively, if Figure 2As shown, in this embodiment, the reset member 23 includes a torsion spring, which is sleeved outside the rotating shaft 21 and abuts against the wheel hub 12 and the second end 222 respectively.

[0055] like Figure 2 As shown, the compensation block 22 is rotatably connected to the wheel hub 12 via the rotating shaft 21. In this embodiment, the reset member 23 of this embodiment can be set as a torsion spring, the spring coil of the torsion spring is sleeved on the rotating shaft 21, the end of the first spring shaft of the torsion spring abuts against the second end 222 of the compensation block 22 close to the wheel hub 12, and the end of the second spring shaft of the torsion spring abuts against the wheel hub 12. At this time, when not affected by external force, the torsion spring provides a reset force for the second end 222 of the compensation block 22 to deviate from the wheel hub 12, so that the side of the compensation block 22 away from the wheel hub 12 is arranged flush with the tire surface, that is, when the obstacle crossing mechanism 100 does not encounter an obstacle, the compensation block 22 keeps the contact surface of the tire 11 circular under the reset force of the torsion spring.

[0056] Alternatively, if Figure 2 As shown, in this embodiment, the compensation mechanism 20 further includes a vibration damping member 24 , and the vibration damping member 24 is disposed on a side of the compensation block 22 facing away from the wheel hub 12 .

[0057] In this embodiment, in order to further reduce the influence of the compensation block 22 on the normal operation of the obstacle surmounting mechanism 100, a vibration damping member 24 may be provided on the side of the compensation block 22 away from the wheel hub 12. The vibration damping member 24 may reduce the influence of the compensation block 22 on the normal operation of the obstacle surmounting mechanism 100, and may reduce the influence of external factors on the compensation block 22, thereby reducing the possibility of damage to the compensation block 22.

[0058] In addition, in this embodiment, the vibration damper 24 can be set to vibration damping rubber, the vibration damper 24 can be fixedly connected to the compensation block 22 by glue or rubber encapsulation technology, and the side of the vibration damper 24 facing away from the compensation block 22 can also be provided with anti-slip texture. In other embodiments, the vibration damper 24 can also be set to other materials, and the vibration damper 24 can also be fixedly connected to the compensation block by other connection methods, which are not limited here.

[0059] Alternatively, if Figure 2 As shown, in this embodiment, the wheel hub 12 includes a left half wheel hub 121 and a right half wheel hub 122, and the left half wheel hub 121 and the right half wheel hub 122 are fixedly connected by a connecting member.

[0060] Among them, in this embodiment, if Figure 2 As shown, the left half wheel hub 121 and the right half wheel hub 122 can clamp the tire 11. In this embodiment, the connecting member can be set as a screw. In other embodiments, other connecting members can also be used to fix the left half wheel hub 121 and the right half wheel hub 122, which is not limited here.

[0061] Alternatively, if Figure 2 As shown, the left half hub 121 is provided with a first extension portion 1211 , and the right half hub 122 is provided with a second extension portion 1221 . The first extension portion 1211 and the second extension portion 1221 are both provided in the obstacle crossing groove 13 , and the compensation block 22 is partially provided between the first extension portion 1211 and the second extension portion 1221 .

[0062] Among them, Figure 2 As shown, the first extension portion 1211 is provided with a first through hole 1212, and the second extension portion 1221 is provided with a second through hole 1222. Figure 3 As shown, two protrusions are also provided at intervals along the axial direction of the rotating shaft 21 on the first end 221 of the compensation block 22 near the wheel hub 12, and the two protrusions are provided with third through holes 223. The protrusions are rotatably connected with the first extension portion 1211 and the second extension portion 1221 through the rotating shaft 21, that is, the rotating shaft 21 is passed through the first through hole 1212, the third through hole 223 and the second through hole 1222, for rotatably connecting the compensation block 22 and the wheel hub 12.

[0063] In addition, in the present embodiment, an accommodation space is further provided between the two protrusions of the first end 221 of the compensation block 22 for accommodating the reset member 23 , which can improve the stability of the reset of the compensation block 22 .

[0064] Alternatively, if Figure 3 As shown, in this embodiment, the end surface of the first end 221 of the compensation block 22 is protruded away from the area of ​​the wheel hub 12 relative to the area close to the wheel hub 12, so that when the compensation block 22 is in the reset state, the end surface of the first end 221 abuts against the side wall of the obstacle groove 13.

[0065] That is, in order to prevent the second end 222 of the compensation block 22 from rotating and protruding from the tire surface and affecting the normal operation of the obstacle crossing mechanism 100, when setting the compensation block 22, the end face of the first end 221 of the compensation block 22 is arranged to protrude away from the area of ​​the wheel hub 12 relative to the area close to the wheel hub 12, so that in the reset state, the end face of the first end 221 of the compensation block 22 abuts against the side wall of the obstacle crossing groove 13, thereby preventing the compensation block 22 from rotating clockwise and protruding from the tire surface.

[0066] Optionally, the present application further proposes an obstacle crossing mechanism, see Figures 4 to 5 , Figure 4 is a structural schematic diagram of the second embodiment of the obstacle crossing mechanism provided by the present application, Figure 5 yes Figure 4 Schematic diagram of the explosion structure of the obstacle crossing mechanism of the embodiment. Figure 4 and Figure 5 As shown, the obstacle overcoming mechanism 100 of this embodiment includes a reduction gearbox mechanism 30 , and the traveling wheel 10 is installed on the output shaft end of the reduction gearbox mechanism 30 .

[0067] In this embodiment, the output shaft of the reduction gearbox mechanism 30 is rotatably connected to the wheel hub 12 of the traveling wheel 10 for controlling the rotation speed of the traveling wheel 10 .

[0068] See also Figure 6 , Figure 6 Schematic diagram of the working state of the driving wheels when the obstacle crossing mechanism provided by the present application encounters an obstacle. Figure 6 As shown, when the obstacle crossing mechanism 100 encounters a vertical obstacle, the obstacle will push open the compensation mechanism 20 in the obstacle crossing groove 13. At this time, the side wall of the obstacle crossing groove 13 will be stuck in the corner of the obstacle, causing the traveling wheel 10 to generate an upward climbing force, thereby helping the obstacle crossing mechanism 100 to achieve obstacle crossing.

[0069] Alternatively, if Figure 5 As shown, the obstacle overcoming mechanism 100 of this embodiment further includes a support member 40 , which extends along the gravity direction so that when the compensation mechanism 20 abuts against a driving surface such as the ground, the support member 40 abuts against the compensation mechanism 20 .

[0070] Among them, Figure 5 As shown, in this embodiment, the support member 40 includes a support portion 41, a roller 42 and a pin 43. The support portion 41 extends in the direction of gravity and is provided with a support hole. The roller 42 contains a bearing, and the inner hole of the bearing is interference fit with the thin end of the pin 43, which can effectively reduce the axial space. The thick end of the pin 43 is interference fit with the support hole of the support portion 41, which plays the role of supporting the roller 42. When the running wheel 10 is installed on the output shaft end of the reduction box mechanism 30, the side of the compensation mechanism 20 away from the wheel hub 12 will be flush with the tire surface under the action of the reset member 23 when it does not contact the running surface such as the ground or obstacles. When the compensation mechanism 20 contacts the running surface such as the ground, the roller 42 will press against the side of the compensation mechanism 20 to prevent the compensation mechanism 20 from swinging toward the wheel hub 12 under the action of gravity, thereby ensuring that the outline of the running wheel 10 is always circular, so that the running wheel 10 transitions smoothly and ensures the smooth operation of the obstacle crossing mechanism 100.

[0071] In addition, in the present embodiment, the roller 42 and the compensation block 22 are in an inscribed circle relationship, so the engagement and support between the roller 42 and the compensation block 22 will not be affected.

[0072] In other embodiments, the extension direction of the support member 40 may also slightly deviate from the direction of gravity, as long as the function of abutting the compensation block 22 when the compensation block 22 abuts against the ground or other driving surface is satisfied, and no limitation is made here; in addition, the connection method between the roller 42 and the support part 41 is not limited to a pin and an interference fit.

[0073] See also Figure 7 , Figure 7 1 is a schematic diagram of the working process of the driving wheel when the obstacle-crossing mechanism provided by the present application does not cross the obstacle. Figure 7 As shown, when the obstacle-crossing mechanism 100 is working without overcoming obstacles, when the compensation block 22 is about to rotate to the lowest end of the traveling wheel 10, the support member 40 will press against the side of the compensation block 22 to prevent the compensation block 22 from swinging toward the wheel hub 12 under the action of gravity, thereby ensuring that the contour of the traveling wheel 10 is always circular, making the traveling wheel 10 transition smoothly, and ensuring the smooth operation of the obstacle-crossing mechanism 100. When the compensation block 22 is at the lowest end of the traveling wheel 10, the force on the compensation block 22 is the greatest. When the compensation block 22 is about to rotate out of the wheel, the support member 40 will be separated from the side of the compensation block 22. At this time, the compensation block 22 keeps the contour of the traveling wheel 10 always circular under the action of the reset member 23.

[0074] Optionally, the present application further proposes a robot, see Figure 8 , Figure 8 Schematic diagram of the structure of a robot embodiment provided by the present application. Figure 8 As shown, the robot 200 of this embodiment includes the obstacle surmounting mechanism 100 of any one of the above embodiments.

[0075] In this embodiment, the robot of this embodiment may be a cleaning robot, such as Figure 8 As shown, the robot 200 of this embodiment includes a body 210, an obstacle crossing mechanism 100 and universal wheels 220. The aforementioned obstacle crossing mechanism 100 is fixedly arranged at the bottom of the body 210; the universal wheels 220 and the driving wheels 10 in the obstacle crossing mechanism 100 are arranged at the bottom of the body 210 from front to back.

[0076] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An obstacle crossing mechanism, characterized in that: include: A running wheel, wherein the contact surface of the running wheel is provided with an obstacle crossing groove; A compensation mechanism, movably disposed on the travel wheel, at least a portion of the compensation mechanism floats in the obstacle crossing groove, and the floating direction is away from or toward the contact surface; When the compensation mechanism does not contact the obstacle, the compensation mechanism is arranged flush with the contact surface, and when the compensation mechanism abuts against the obstacle, the compensation mechanism retracts into the obstacle-crossing groove.

2. The obstacle surmounting mechanism according to claim 1, characterized in that: The travel wheel comprises: A tire, wherein the contact surface of the tire is provided with the obstacle crossing groove; The wheel hub is provided with the tire sleeved on the outer side of the wheel hub, and the wheel hub is used for driving the tire to rotate.

3. The obstacle surmounting mechanism according to claim 2, characterized in that: The obstacle crossing groove extends from the contact surface toward the inside of the tire and may penetrate the tire or not.

4. The obstacle surmounting mechanism according to claim 2, characterized in that: The compensation mechanism includes: A rotating shaft is arranged parallel to the axial direction of the tire; A compensation block, a first end of which is rotatably connected to the wheel hub via the rotating shaft, and a second end of which floats in the obstacle crossing groove; A reset member is arranged between the wheel hub and the second end to provide a reset force for the second end to move away from the wheel hub; when the reset member is in a reset state, a side of the compensation block away from the wheel hub is arranged flush with the contact surface.

5. The obstacle surmounting mechanism according to claim 4, characterized in that: The end surface of the first end is arranged to protrude in an area away from the hub relative to an area close to the hub, so that the end surface of the first end abuts against the side wall of the obstacle crossing groove when the compensation block is in the reset state.

6. The obstacle surmounting mechanism according to claim 4, characterized in that: The reset element comprises: The torsion spring is sleeved outside the rotating shaft and abuts against the wheel hub and the second end respectively.

7. The obstacle surmounting mechanism according to claim 4, characterized in that: The compensation mechanism further includes a vibration damping member, which is arranged on a side of the compensation block away from the wheel hub.

8. The obstacle surmounting mechanism according to claim 4, characterized in that: The wheel hub comprises a left half wheel hub and a right half wheel hub, and the left half wheel hub and the right half wheel hub are fixedly connected via a connecting piece.

9. The obstacle surmounting mechanism according to claim 8, characterized in that: The left half hub is provided with a first extension portion, and the right half hub is provided with a second extension portion. The first extension portion and the second extension portion are both provided in the obstacle crossing groove, and the compensation block portion is provided between the first extension portion and the second extension portion.

10. The obstacle surmounting mechanism according to claim 1, characterized in that: It also includes a reduction box mechanism, and the traveling wheel is installed on the output shaft end of the reduction box mechanism.

11. The obstacle surmounting mechanism according to claim 10, characterized in that: The reduction box mechanism comprises a support member, and the support member extends along the gravity direction, so that when the compensation mechanism abuts against the ground, the support member abuts against the compensation mechanism.

12. A robot, characterized in that: The invention comprises the obstacle surmounting mechanism as described in any one of claims 1 to 11.

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