Obstacle crossing mechanism, moving device and sweeping robot

Abstract

The utility model discloses an obstacle crossing mechanism, a moving device and a sweeping robot, the obstacle crossing mechanism comprises an eccentric rotating assembly, a first driving piece and an obstacle crossing piece, the eccentric rotating assembly comprises a linkage piece, a first eccentric rotating piece and a second eccentric rotating piece, and the first eccentric rotating piece and the second eccentric rotating piece are both connected to the linkage piece; the first driving part is used for driving the first eccentric rotating part to rotate, the first eccentric rotating part is eccentrically arranged, the first eccentric rotating part is used for driving the linkage part to swing in the rotating process, the linkage part is used for driving the second eccentric rotating part to rotate in the swinging process, and the second eccentric rotating part is eccentrically arranged; the obstacle crossing part is used for being connected with the second eccentric rotating part, and the second eccentric rotating part is used for driving the obstacle crossing part to rotate during rotation so that the obstacle crossing part can rotate towards the ground and abut against the ground. According to the obstacle crossing mechanism, continuous transmission of power is achieved through the eccentric rotating assembly, and the obstacle crossing piece can abut against the ground and assist the walking wheels in crossing obstacles.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning equipment technical field especially, it relates to a kind of obstacle-surmounting mechanism, mobile device and floor cleaning robot. BACKGROUND

[0002] At present, floor cleaning robot has significant limitation in obstacle-surmounting ability, and this limitation is mainly due to the diameter limit of walking wheel. Specifically, the diameter of walking wheel directly determines the obstacle-surmounting height of cleaning robot. The greater the diameter of walking wheel, the higher the obstacle height that it can overcome, i.e. the stronger the obstacle-surmounting ability. However, when performing cleaning task, floor cleaning robot must ensure proper distance between body and ground to ensure effective cleaning of ground garbage. This requirement limits the unlimited increase of walking wheel diameter, so that floor cleaning robot is difficult to overcome higher obstacles such as threshold, resulting in that cleaning robot is restricted in space when performing cleaning task.

[0003] In order to solve the above problems, the existing intelligent cleaning equipment usually adopts gear transmission system to control the obstacle-surmounting mechanism to assist obstacle-surmounting. For example, when obstacle-surmounting is needed, motor drives gear transmission system to extend standby wheel outside driving wheel, which increases the height of body from ground to improve obstacle-surmounting ability. However, gear transmission system not only has complex structure and occupies large space, but also is not conducive to compact design of product. Meanwhile, gear transmission also has certain loss in energy conversion process, which reduces the overall efficiency of floor cleaning robot.

[0004] Therefore, there is an urgent need for an obstacle-surmounting mechanism, mobile device and floor cleaning robot to solve the above problems. SUMMARY

[0005] In order to overcome at least one of the defects of the prior art described above, one of the purposes of the utility model is to provide an obstacle-surmounting mechanism, which realizes extension and abutment of obstacle-surmounting rod through eccentric rotating assembly, simplifies transmission system, and makes the structure of the whole mechanism more compact and efficient.

[0006] The second purpose of the utility model is to provide a mobile device, which realizes transmission by using compact eccentric rotating assembly in obstacle-surmounting mechanism, thereby reducing the occupied space of transmission system.

[0007] The third purpose of the utility model is to provide a floor cleaning robot, which can assist obstacle-surmounting through obstacle-surmounting mechanism when encountering obstacles, so as to avoid that floor cleaning robot is limited in a space.

[0008] One of the technical solutions adopted by the utility model to solve the above problems is as follows:

[0009] An obstacle-surmounting mechanism, comprising,

[0010] The eccentric rotating assembly comprises a linkage, a first eccentric rotating member and a second eccentric rotating member, the first eccentric rotating member and the second eccentric rotating member are connected to the linkage;

[0011] A first driving member is arranged to drive the first eccentric rotating member to rotate, the first eccentric rotating member is eccentrically arranged, and the first eccentric rotating member is arranged to drive the linkage to swing during the rotation, the linkage is arranged to drive the second eccentric rotating member to rotate during the swinging, and the second eccentric rotating member is eccentrically arranged;

[0012] An obstacle surmounting member is arranged to be connected to the second eccentric rotating member, and the second eccentric rotating member is arranged to drive the obstacle surmounting member to rotate when rotating, so that the obstacle surmounting member rotates towards the ground and abuts against the ground.

[0013] Further, the eccentric rotating assembly comprises a third eccentric rotating member, the third eccentric rotating member is connected to the linkage, and the linkage is arranged to drive the third eccentric rotating member to rotate when swinging; the third eccentric rotating member is eccentrically arranged, and the third eccentric rotating member is arranged to be connected to the first eccentric rotating member and the second eccentric rotating member, so that the first eccentric rotating member and the second eccentric rotating member rotate in the same direction and synchronously.

[0014] Further, the obstacle surmounting mechanism comprises a mounting shell, the mounting shell is provided with a rotating hole; the third eccentric rotating member comprises a third rotating wheel and a connecting shaft, the outer periphery of the third rotating wheel is connected to the linkage, one end of the connecting shaft is mounted to the third rotating wheel, the connecting shaft and the third rotating wheel are eccentrically arranged, and the other end of the connecting shaft is rotatably connected to the rotating hole.

[0015] Further, the linkage comprises a linkage plate, the first eccentric rotating member comprises a driving shaft and a first rotating wheel, the outer periphery of the first rotating wheel is connected to the linkage plate, the driving shaft is mounted to the first rotating wheel, and the driving shaft and the first rotating wheel are eccentrically arranged; the first driving member drives the driving shaft to rotate, the driving shaft drives the first rotating wheel to eccentrically rotate, so that the linkage swings.

[0016] Further, the second eccentric rotating member comprises a driven shaft and a second rotating wheel, the outer periphery of the second rotating wheel is connected to the linkage plate, the driven shaft is mounted to the second rotating wheel, and the driven shaft and the second rotating wheel are eccentrically arranged; the linkage drives the second rotating wheel and the driven shaft to rotate around the rotation axis of the driven shaft when swinging.

[0017] Further, the obstacle-surmounting member is an obstacle-surmounting rod, two ends of the obstacle-surmounting rod are respectively a connecting portion and an abutting portion; the connecting portion is used for being connected with the passive rotating shaft, when the passive rotating shaft rotates, the abutting portion is driven to do a circular motion through the connecting portion, so that the abutting portion is close to or away from the ground.

[0018] Further, a limiting protrusion is arranged on an end surface of the passive rotating shaft, and a limiting groove is arranged on the end surface of the passive rotating shaft towards the connecting portion, and the limiting groove is in limiting connection with the limiting protrusion.

[0019] Further, the obstacle-surmounting mechanism comprises a connecting rod assembly and a second driving member, one end of the connecting rod assembly is connected with the second driving member, the other end of the connecting rod assembly is connected with the obstacle-surmounting member, and the connecting rod assembly is used for driving the obstacle-surmounting member to be close to or away from the second eccentric rotating member under the driving of the second driving member, so that the obstacle-surmounting member is connected or separated from the second eccentric rotating member.

[0020] The technical scheme two adopted by the utility model to solve the problem is:

[0021] A mobile device comprises a rotating wheel and the obstacle-surmounting mechanism as described above, the first driving member has a power output portion, one end of the power output portion is connected with the rotating wheel, and the other end of the power output portion is connected with the first eccentric rotating member, so that the first eccentric rotating member rotates synchronously and in the same direction with the rotating wheel.

[0022] The technical scheme three adopted by the utility model to solve the problem is:

[0023] A sweeping robot comprises a machine body and the mobile device as described above, the mobile device is installed at the bottom of the machine body, and the obstacle-surmounting member is used for lifting the machine body when abutting against the ground.

[0024] In summary, the obstacle-surmounting mechanism, the mobile device and the sweeping robot have the following technical effects:

[0025] 1) The obstacle-surmounting mechanism adopts an eccentric rotating assembly for power transmission, so that the whole obstacle-surmounting mechanism is compact in structure and small in space occupation; compared with a gear set and other transmission modes, the eccentric rotating assembly reduces the overall weight of the mechanism and improves the mobility; the arrangement of the eccentric rotating assembly ensures continuous power transmission and avoids power interruption or loss; through the cooperation of the eccentric arrangement and the linkage member, efficient power conversion and output are realized.

[0026] 2) The obstacle crossing mechanism of the present application is suitable for various mobile devices such as walking wheels, walking tracks, etc., improving the versatility and adaptability of the equipment. The obstacle crossing piece generates a lifting force when it is in abutment with the ground, increasing the effective diameter of the walking wheel and improving the obstacle crossing height. Or it makes the walking wheel contact the obstacle at a relatively high position, making it easier to cross the obstacle.

[0027] 3) The mobile device of the present application combines the advantages of the rotating wheel and the obstacle crossing mechanism. The rotating wheel provides the mobile device with basic mobility, enabling it to move quickly on flat ground. The obstacle crossing mechanism can quickly respond when encountering obstacles, helping the mobile device to cross smoothly. Thus, efficient movement in flat ground and complex environments is achieved.

[0028] 4) The sweeping robot of the present application can easily cross obstacles with the assistance of the obstacle crossing mechanism, avoiding cleaning dead angles caused by obstacles. Users do not need to manually move the sweeping robot to cross obstacles, saving time and effort. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic view of the mobile device of the present application embodiment;

[0030] Figure 2 is a front view of the mobile device of the present application embodiment;

[0031] Figure 3 is a split structural schematic view of the mobile device of the present application embodiment;

[0032] Figure 4 is a structural schematic view of the eccentric rotating assembly of the present application embodiment.

[0033] Among them, the meaning of the reference signs is as follows:

[0034] 1, linkage; 11, linkage plate; 2, first eccentric rotating piece; 21, driving shaft; 22, first rotating wheel; 3, second eccentric rotating piece; 31, driven shaft; 32, second rotating wheel; 33, limiting protrusion; 4, third eccentric rotating piece; 41, connecting shaft; 42, third rotating wheel; 5, mounting shell; 51, rotating hole; 6, connecting rod assembly; 7, power output part; 71, first shaft section; 72, second shaft section; 8, rotating wheel; 81, first hub; 82, second hub; 83, outer wheel; 84, connecting hole. DETAILED DESCRIPTION

[0035] In order to better understand and implement, the technical solutions in the present application embodiments will be described clearly and completely in conjunction with the drawings in the present application embodiments.

[0036] In the description of the utility model, it is necessary to explain that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs. The terms used in the specification of the utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the utility model.

[0038] Embodiment one

[0039] Reference Figures 1 to 4 The utility model discloses a kind of obstacle crossing mechanisms, it includes eccentric rotating component, first driving part and obstacle crossing piece.Specifically, eccentric rotating component includes linkage 1, first eccentric rotating part 2 and second eccentric rotating part 3, and first eccentric rotating part 2 and second eccentric rotating part 3 are connected to linkage 1. Among them, first driving part is used to drive first eccentric rotating part 2 rotation, first eccentric rotating part 2 is eccentrically arranged, and first eccentric rotating part 2 is used to drive linkage 1 swing in rotation process, linkage 1 is used to drive second eccentric rotating part 3 rotation in swing process, and second eccentric rotating part 3 is eccentrically arranged.In addition, obstacle crossing piece is used to be connected with second eccentric rotating part 3, second eccentric rotating part 3 is used to drive obstacle crossing piece rotation when rotating, to make obstacle crossing piece rotation and abut with ground towards ground.

[0040] On the basis of this structure, the obstacle crossing mechanism of the application can be applied to mobile devices such as walking wheels, walking tracks, etc.When using the obstacle crossing mechanism of the application, when the mobile device needs to cross obstacles, start the first driving part, and the first driving part starts to work, driving the first eccentric rotating part 2 to rotate. Since the first eccentric rotating part 2 is eccentrically arranged, its rotation will cause the linkage 1 to swing along the rotation direction of the first eccentric rotating part 2 or in the opposite direction. During the swing process, the linkage 1 drives the second eccentric rotating part 3 to rotate through its connection with the second eccentric rotating part 3. Among them, when the second eccentric rotating part 3 rotates, it will drive the obstacle crossing piece to rotate towards the ground and abut with the ground. At this time, the obstacle crossing mechanism can use the friction or supporting force of the obstacle crossing piece with the ground to assist the walking wheel to cross the obstacles.

[0041] Wherein, due to the eccentric setting of the first eccentric rotating member 2, the rotating force can be converted into the swing of the linkage 1. That is, the linkage 1 receives the swing power from the first eccentric rotating member 2 on one hand, and converts the swing into the torque for driving the second eccentric rotating member 3 to rotate on the other hand through the connection between the linkage 1 and the second eccentric rotating member 3, thus maintaining the continuity of the power. And the eccentric setting of the second eccentric rotating member 3 allows the part connected with the linkage 1 to have displacement while rotating, so as to avoid limiting the swing of the linkage 1.

[0042] Thus, the present application realizes the continuous transmission of power through the eccentric rotating assembly, so that the obstacle surmounting member can abut against the ground and assist the walking wheel to overcome the obstacles. Specifically, after the obstacle surmounting member abuts against the ground, the obstacle surmounting mechanism can use the friction force between the obstacle surmounting member and the ground to maintain the stability of the machine body, or use the supporting force to lift the walking wheel or other parts of the machine body, thus increasing the effective diameter when the walking wheel rotates, and improving the obstacle surmounting height. And the walking wheel contacts the obstacles at a relatively high position, thus being more likely to surmount the obstacles. This obstacle surmounting mode is not only flexible and changeable, but also has high adaptability and reliability.

[0043] Since the mechanical transmission mode is adopted, the obstacle surmounting mechanism has high reliability and stability. In addition, compared with the power transmission through the gear set, the eccentric rotating assembly for power transmission of the obstacle surmounting member adopted by the present application makes the whole obstacle surmounting mechanism compact in structure and light in weight, and can realize a larger rotating angle and torque output in a limited space.

[0044] Further, referring to Figure 1 and Figure 2 , the eccentric rotating assembly further comprises a third eccentric rotating member 4. Specifically, the third eccentric rotating member 4 is connected to the linkage 1, and the linkage 1 is used to drive the third eccentric rotating member 4 to rotate when swinging. Wherein, the third eccentric rotating member 4 is eccentrically arranged, and the third eccentric rotating member 4 is used to link with the first eccentric rotating member 2 and the second eccentric rotating member 3, so that the first eccentric rotating member 2 and the second eccentric rotating member 3 rotate in the same direction and synchronously.

[0045] On the basis of this structure, when the eccentric rotating assembly is used to drive the obstacle surmounting member, the first eccentric rotating member 2 is first driven to rotate by the first driving member, and the rotating direction of the first eccentric rotating member 2 is the same as the rotating direction of the walking wheel which needs to be assisted to surmount obstacles. Hereinafter, the rotating direction of the walking wheel is taken as the clockwise direction as an example, and referring to Figure 4When the first eccentric rotating member 2 rotates in the clockwise direction, and the first eccentric rotating member 2 first drives the linkage 1 to swing in the clockwise direction, at this time the linkage 1 simultaneously gives the second eccentric rotating member 3 and the third eccentric rotating member 4 a clockwise torque, so that the second eccentric rotating member 3 and the third eccentric rotating member 4 are both rotated in the clockwise direction.

[0046] It should be noted that, since the first eccentric rotating member 2 in a rotation period (i.e. the first eccentric rotating member 2 rotates a circle in the same direction), will alternately drive the linkage 1 to swing in the clockwise and counterclockwise directions respectively. If the third eccentric rotating member 4 is not provided in the present application, then the rotation direction of the second eccentric rotating member 3 depends on the current swing direction of the linkage 1.

[0047] Specifically, in the process of the first eccentric rotating member 2 rotating in the clockwise direction, if the linkage 1 swings in the clockwise direction, then the second eccentric rotating member 3 will be rotated in the clockwise direction by the torque of the linkage 1 in the clockwise direction, at this time the second eccentric rotating member 3 can drive the barrier crossing member to rotate in the clockwise direction to abut against the ground, and assist the walking wheel to cross the obstacle in the walking direction. If the linkage 1 swings in the counterclockwise direction, then the second eccentric rotating member 3 will be rotated in the counterclockwise direction by the torque of the linkage 1 in the counterclockwise direction, at this time the second eccentric rotating member 3 will drive the barrier crossing member to rotate in the counterclockwise direction, and cannot make the barrier crossing member rotate in the same direction with the walking wheel, and cannot play the role of assisting obstacle crossing. That is, the rotation direction of the second eccentric rotating member 3 is not fixed, which will cause the use of the obstacle crossing mechanism to be limited.

[0048] Therefore, the present application sets the third eccentric rotating member 4, when the first driving member drives the first eccentric rotating member 2 to rotate in the clockwise direction, the second eccentric rotating member 3 and the third eccentric rotating member 4 jointly limit the counterclockwise swing of the linkage 1, the linkage 1 can only swing in the clockwise direction under the drive of the first eccentric rotating member 2, so that the second eccentric rotating member 3 and the third eccentric rotating member 4 are both rotated in the clockwise direction by the torque of the linkage 1 in the clockwise direction, and continuously rotate in the clockwise direction in the subsequent rotation. Through the setting of the third eccentric rotating member 4, the second eccentric rotating member 3 can rotate in the preset direction, that is, the rotation direction of the second eccentric rotating member 3 can be fixed, and the second eccentric rotating member 3 and the first eccentric rotating member 2 are synchronously and directionally rotated, which ensures that the barrier crossing member can assist the walking wheel to cross the obstacle when it is used.

[0049] Further, referring to Figure 3The obstacle surmounting mechanism comprises a mounting shell 5, and a rotating hole 51 is arranged on the mounting shell 5. The third eccentric rotating member 4 comprises a third rotating wheel 42 and a connecting shaft 41. Specifically, the outer periphery of the third rotating wheel 42 is connected with the linkage member 1, one end of the connecting shaft 41 is mounted on the third rotating wheel 42, and the connecting shaft 41 is arranged eccentrically with the third rotating wheel 42, and the other end of the connecting shaft 41 is rotatably connected with the rotating hole 51.

[0050] On the basis of the above structure, when the obstacle surmounting mechanism operates, the first eccentric rotating member 2 is first driven to rotate by the first driving member. With the rotation of the first eccentric rotating member 2, the linkage member 1 swings. When the linkage member 1 swings, the part connected with the outer periphery of the third rotating wheel 42 moves, thereby driving the third rotating wheel 42 and the connecting shaft 41 to rotate, and the connecting shaft 41 rotates in the rotating hole 51.

[0051] The first driving member is mounted on the mounting shell 5. In this way, by arranging the connecting shaft 41 in the rotating hole 51 of the mounting shell 5, the connecting shaft 41 can rotate while the position of the rotation axis of the connecting shaft 41 remains unchanged, so that the third rotating wheel 42 can be deflected relative to the axis of the connecting shaft 41, and the synchronous and same-direction rotation of the first rotating wheel 22, the second rotating wheel 32 and the third rotating wheel 42 is realized.

[0052] Further, referring to Figure 1 and Figure 3 Specifically, the linkage member 1 comprises a linkage plate 11, the first eccentric rotating member 2 comprises a driving rotating shaft 21 and a first rotating wheel 22, the outer periphery of the first rotating wheel 22 is connected with the linkage plate 11, the driving rotating shaft 21 is mounted on the first rotating wheel 22, and the driving rotating shaft 21 is arranged eccentrically with the first rotating wheel 22. In addition, the first driving member drives the driving rotating shaft 21 to rotate, and the driving rotating shaft 21 drives the first rotating wheel 22 to rotate eccentrically, so that the linkage member 1 swings.

[0053] On the basis of the above structure, when the first driving member drives the driving rotating shaft 21 to rotate, the first rotating wheel 22 rotates eccentrically around the axis of the driving rotating shaft 21, which causes the displacement of the connection point between the outer periphery of the first rotating wheel 22 and the linkage plate 11, thereby driving the linkage plate 11 to swing along the rotation direction of the first eccentric rotating member 2.

[0054] The eccentric arrangement of the driving rotating shaft 21 and the first rotating wheel 22 enables the rotation of the first rotating wheel 22 to be converted into the swing of the linkage plate 11, and the swing amplitude and speed of the linkage plate 11 depend on the rotation speed and eccentricity of the driving rotating shaft 21.

[0055] In addition, the first driving member comprises a motor, the driving rotating shaft 21 is connected with the output shaft of the motor, or the output shaft of the motor is formed as the driving rotating shaft 21.

[0056] Further, referring to Figure 2 and Figure 3 , the second eccentric rotating member 3 comprises a driven rotating shaft 31 and a second rotating wheel 32. Specifically, the outer periphery of the second rotating wheel 32 is connected with the linkage plate 11, the driven rotating shaft 31 is installed on the second rotating wheel 32, and the driven rotating shaft 31 is eccentrically arranged with the second rotating wheel 32. Wherein, the linkage member 1 drives the second rotating wheel 32 and the driven rotating shaft 31 to rotate around the rotating shaft center of the driven rotating shaft 31 when swinging.

[0057] On the basis of the structure, the linkage plate 11 can be in the shape of a long strip or a triangular plate, and three mounting holes can be regularly or irregularly arranged on the linkage plate 11. The first rotating wheel 22, the second rotating wheel 32 and the third rotating wheel 42 are correspondingly installed in the three mounting holes, and the outer periphery of the first rotating wheel 22, the second rotating wheel 32 and the third rotating wheel 42 are all connected with the linkage plate 11.

[0058] When the second eccentric rotating member 3 is used, the first rotating wheel 22 is first rotated to drive the linkage plate 11 to swing. With the swinging of the linkage plate 11, the outer periphery of the second rotating wheel 32 connected with the linkage plate 11 will be displaced, thereby driving the entire second eccentric rotating member 3 (including the driven rotating shaft 31 and the second rotating wheel 32) to rotate around the rotating shaft center of the driven rotating shaft 31. In the rotating process of the second rotating wheel 32, the barrier crossing member connected with the second rotating wheel 32 will be rotated towards the ground. When the barrier crossing member contacts the ground, it will use the frictional force or supporting force of the ground to assist the walking wheel to overcome the obstacles.

[0059] Therefore, by eccentrically arranging the driven rotating shaft 31 and the second rotating wheel 32, the swinging of the linkage plate 11 can be converted into the rotating movement of the second eccentric rotating member 3, thereby driving the barrier crossing member to move. In the present application, the linkage plate 11 is used as the linkage member 1, and the first rotating wheel 22, the second rotating wheel 32 and the third rotating wheel 42 are all embedded into the holes of the linkage plate 11 to form a transmission system together, so that the entire transmission system is more compact, the occupied space is reduced, and the cost is low, and the transmission is simple and efficient.

[0060] It should be noted that the linkage member 1 can also be a linkage rod, and the outer periphery of the first rotating wheel 22, the outer periphery of the second rotating wheel 32 and the outer periphery of the third rotating wheel 42 are all connected with the linkage rod, so that the first rotating wheel 22 can drive the linkage rod to swing when rotating, and the linkage rod can drive the second rotating wheel 32 and the third rotating wheel 42 to rotate when swinging.

[0061] In addition, the first eccentric rotating member 2, the second eccentric rotating member 3 and the third eccentric rotating member 4 can all be cams, and the eccentricity of each eccentric rotating member is the same.

[0062] Further, the obstacle-surmounting piece is an obstacle-surmounting rod, and two ends of the obstacle-surmounting rod are respectively a connecting portion and an abutting portion. The connecting portion is used for being connected with the passive rotating shaft 31, and the passive rotating shaft 31 is used for driving the abutting portion to perform a circular motion through the connecting portion when rotating, so as to make the abutting portion approach or move away from the ground.

[0063] On the basis of the structure, when the obstacle-surmounting mechanism encounters an obstacle during use of the obstacle-surmounting piece, the connecting portion of the obstacle-surmounting rod can be connected with the passive rotating shaft 31 first, the driving of the first driving piece drives the active rotating shaft 21 and the first rotating wheel 22 to rotate, the linkage plate 11 is swung, the second rotating wheel 32 and the passive rotating shaft 31 are further rotated, finally, the obstacle-surmounting rod is rotated under the driving of the passive rotating shaft 31, the obstacle-surmounting rod is extended from the bottom of the obstacle-surmounting mechanism and gradually rotated to approach the ground, then the abutting portion of the obstacle-surmounting rod abuts against the ground, and with the continuous rotation of the passive rotating shaft 31, the obstacle-surmounting rod abuts against the ground, the abutting portion lifts the walking wheel or the whole body, and the walking wheel is more easily to surmount the obstacle.

[0064] Therefore, the extension and rotation of the obstacle-surmounting rod help to adjust the gravity center position of the obstacle-surmounting mechanism, and the stable posture of the obstacle-surmounting mechanism during obstacle surmounting can be ensured, and the overturning or failure caused by instability can be avoided. By adjusting the length, angle and connection mode of the obstacle-surmounting rod, the precise control of the obstacle-surmounting ability of the obstacle-surmounting mechanism can be realized, and the obstacle-surmounting mechanism can cope with different scenes and task requirements.

[0065] Further, referring to Figure 3 A limiting protrusion 33 is arranged on the end face of the passive rotating shaft 31, and a limiting recess is arranged on the end face of the connecting portion corresponding to the limiting protrusion 33, and the limiting recess is connected with the limiting protrusion 33.

[0066] When the limiting recess and the limiting protrusion 33 are connected with each other, the limiting protrusion 33 and the limiting recess on the connecting portion form a close limiting connection, and with the rotation of the second eccentric rotating piece 3, the passive rotating shaft 31 can drive the connecting portion to rotate, and further drive the obstacle-surmounting rod to rotate synchronously.

[0067] Therefore, the limiting connection of the limiting protrusion 33 and the limiting recess effectively enhances the connection stability between the passive rotating shaft 31 and the connecting portion, avoids the loosening or deviation phenomenon in the rotation process, and ensures the stability and reliability of the whole obstacle-surmounting mechanism. The synchronous rotation of the obstacle-surmounting rod and the passive rotating shaft 31 ensures that the obstacle-surmounting rod can accurately rotate following the rotation of the passive rotating shaft 31, so as to effectively overcome the obstacle.

[0068] Further, the obstacle surmounting mechanism further comprises a linkage assembly 6 and a second driving member, specifically, one end of the linkage assembly 6 is connected with the second driving member, and the other end of the linkage assembly 6 is connected with the obstacle surmounting member. The linkage assembly 6 is used to drive the obstacle surmounting member to approach or move away from the second eccentric rotating member 3 under the driving of the second driving member, so as to connect or separate the obstacle surmounting member from the second eccentric rotating member 3.

[0069] More specifically, the linkage assembly 6 is composed of one or more linkages, and the linkages are connected with each other through a hinged connection, forming a telescopic and bendable structure. One end of the linkage assembly 6 is connected with the second driving member, and the other end is connected with the obstacle surmounting member.

[0070] On the basis of the structure, when the walking wheel does not encounter an obstacle, the linkage assembly 6 is in a telescopic state, and the obstacle surmounting member is kept at a distance from the second eccentric rotating member 3, without contacting or interacting with each other. At this time, the eccentric rotating assembly can be idled under the driving of the first driving member.

[0071] When the walking wheel detects an obstacle in front through a sensor, the control system will issue an instruction to start the second driving member. Under the driving of the second driving member, the linkage assembly 6 starts to extend or bend, and drives the obstacle surmounting member to gradually approach the second eccentric rotating member 3. In this process, the motion trajectory and speed of the linkage assembly 6 are determined by the output characteristics of the second driving member and the structural design of the linkage assembly 6. When the obstacle surmounting member approaches to a sufficient distance, it will contact and connect with the second eccentric rotating member 3. Once the obstacle surmounting member is successfully connected with the second eccentric rotating member 3, they will start to act together. The obstacle surmounting member and the second eccentric rotating member 3 will rotate according to the predetermined trajectory and speed, thereby assisting the walking wheel to overcome the obstacle in front.

[0072] Subsequently, when the walking wheel successfully surmounts the obstacle, the control system will issue an instruction to make the second driving member move reversely, drive the linkage assembly 6 to contract, and separate the obstacle surmounting member from the second eccentric rotating member 3, so as to restore to the initial state.

[0073] The second driving member can be a motor, a hydraulic cylinder, etc.

[0074] In summary, the obstacle surmounting mechanism of the present application drives the obstacle surmounting member to extend or retract through the eccentric transmission assembly, and drives the obstacle surmounting member to abut against the ground when the obstacle surmounting member extends, so as to lift the walking wheel or the body under the action of the obstacle surmounting member, thereby increasing the effective diameter of the walking wheel and improving the obstacle surmounting ability of the walking wheel. Since the eccentric transmission assembly is adopted, the obstacle surmounting mechanism of the present application has a compact structure, occupies a small space, and has stable and efficient transmission.

[0075] Embodiment Two

[0076] Different from the first embodiment, the present embodiment discloses a mobile device comprising a rotating wheel 8 and the obstacle-crossing mechanism in the first embodiment. Specifically, the first driving member has a power output part 7, one end of which is connected with the rotating wheel 8, and the other end of which is connected with the first eccentric rotating member 2, so that the first eccentric rotating member 2 rotates synchronously and in the same direction with the rotating wheel 8.

[0077] On the basis of the structure, when the mobile device needs to move forward, the first driving member is started first. Since one end of the power output part 7 of the first driving member is connected with the rotating wheel 8, and the other end is connected with the first eccentric rotating member 2, when the first driving member is started, it will drive the rotating wheel 8 and the first eccentric rotating member 2 to rotate synchronously and in the same direction.

[0078] In the process of moving forward, if no obstacle is encountered, the second eccentric rotating member 3 is in an idle state. If an obstacle is encountered, the obstacle-crossing mechanism will begin to play a role. At this time, the second driving member will drive the connecting rod assembly 6 to make the obstacle-crossing member close to and connect with the second eccentric rotating member 3. Once the obstacle-crossing member is connected with the eccentric rotating member, they will act in coordination to generate lifting or pushing force by the characteristics of eccentric rotation, helping the mobile device to cross the obstacle. After the mobile device successfully crosses the obstacle, the second driving member will drive the connecting rod assembly 6 to retract, so that the obstacle-crossing member is separated from the eccentric rotating member and returns to the initial state, preparing for the next obstacle-crossing.

[0079] The first driving member comprises a motor, a transmission gear set, and a power output shaft, which is formed as the power output part 7. The motor drives the transmission gear set to rotate, and the transmission gear set outputs power through the power output shaft. The power output shaft comprises a first shaft section 71 and a second shaft section 72 distributed along the axial direction, and the first shaft section 71 and the second shaft section 72 are respectively arranged at the two ends of the transmission gear set. The first shaft section 71 is connected with the first eccentric rotating member 2, and the second shaft section 72 is connected with the rotating wheel 8.

[0080] More specifically, the rotating wheel 8 comprises a first hub 81, a second hub 82, and an outer wheel 83. The middle part of the first hub 81 is provided with a connecting hole 84, and the second shaft section 72 is limitingly connected with the connecting hole 84. The first hub 81 and the second hub 82 can be assembled into a complete hub, and the outer periphery of the complete hub is provided with limit structures adjacent in concave-convex. Correspondingly, the inner periphery of the outer wheel 83 is also provided with limit structures adjacent in concave-convex, which are used for axially inserting with the limit structures on the complete hub.

[0081] In this way, when the motor drives the power output shaft to rotate through the transmission gear set, the power output shaft can drive the hub to rotate the rotating wheel 8 synchronously through the second shaft segment 72. The rotating wheel 8 provides the mobile device with basic mobility, enabling it to move freely on flat ground. The obstacle surmounting mechanism, through the coordinated action of the eccentric rotating component and the obstacle surmounting piece, can generate lifting or pushing force, helping the rolling wheel to surmount obstacles, enabling it to adapt to more complex and variable environmental conditions, such as uneven ground, areas with obstacles, etc.

[0082] Notably, by using the eccentric rotating piece to drive the obstacle surmounting piece, the present application can achieve a larger rotation angle and torque output in a limited space, while reducing the space occupied by the transmission mechanism in the overall structure, making the entire mobile device more compact and flexible.

[0083] Embodiment Three

[0084] The present embodiment discloses a sweeping robot, which comprises a body and the mobile device in Embodiment Two. Specifically, the mobile device is installed at the bottom of the body, and the obstacle surmounting piece is used to lift the body when it is in contact with the ground.

[0085] When the sweeping robot encounters an obstacle (such as a threshold, a carpet edge, etc.) during a cleaning task, the obstacle surmounting piece at the bottom of the sweeping robot begins to play a role. The obstacle surmounting piece, through the transmission of the eccentric rotating component, generates a lifting force when it is in contact with the ground, thereby lifting the front or the entire body, increasing the effective diameter of the rotating wheel 8 relative to the obstacle, thereby improving the obstacle surmounting height; or making the walking wheel contact the obstacle at a relatively high position, thereby more easily surmounting the obstacle, enabling the sweeping robot to smoothly surmount the obstacle. After surmounting the obstacle, the sweeping robot continues to clean according to the preset path until the entire cleaning task is completed.

[0086] When the body is lifted, the contact area of the bottom of the sweeping robot with the ground is correspondingly reduced, which helps to reduce the frictional resistance of the machine during movement, making it easier to cross the obstacle.

[0087] Thus, the extension of the obstacle surmounting piece can assist the sweeping robot in surmounting the obstacle, avoiding the cleaning dead angle caused by the obstacle, thereby improving the cleaning efficiency; at the same time, the environmental adaptability of the sweeping robot is enhanced, enabling it to perform cleaning work in different terrains and complex environments.

[0088] In addition, when encountering an obstacle, the obstacle surmounting piece can effectively protect the bottom of the body and the transmission components from damage, prolonging the service life of the sweeping robot. There is no need to manually move the sweeping robot to surmount the obstacle, thereby saving time and effort and improving the use experience.

[0089] The technical means disclosed by the utility model scheme are not limited to the technical means disclosed by the above-mentioned embodiments, and also include technical schemes composed of any combination of the above technical features. It should be noted that, for ordinary skilled persons in the art, without departing from the principles of the utility model, a number of improvements and refinements can be made, and these improvements and refinements are also considered within the protection scope of the utility model.

Claims

1. An obstacle crossing mechanism, characterized in that: include, An eccentric rotating assembly comprises a linkage member (1), a first eccentric rotating member (2) and a second eccentric rotating member (3), wherein the first eccentric rotating member (2) and the second eccentric rotating member (3) are both connected to the linkage member (1); a first driving member, the first driving member being used to drive the first eccentric rotating member (2) to rotate, the first eccentric rotating member (2) being eccentrically arranged, the first eccentric rotating member (2) being used to drive the linkage member (1) to swing during the rotation process, the linkage member (1) being used to drive the second eccentric rotating member (3) to rotate during the swinging process, the second eccentric rotating member (3) being eccentrically arranged; The obstacle surmounting member is used to be connected to the second eccentric rotating member (3), and the second eccentric rotating member (3) is used to drive the obstacle surmounting member to rotate when rotating, so that the obstacle surmounting member rotates toward the ground and abuts against the ground.

2. The obstacle crossing mechanism according to claim 1, characterized in that: The eccentric rotating assembly includes a third eccentric rotating member (4), the third eccentric rotating member (4) is connected to the linkage member (1), and the linkage member (1) is used to drive the third eccentric rotating member (4) to rotate when swinging; the third eccentric rotating member (4) is eccentrically arranged, and the third eccentric rotating member (4) is used to link with the first eccentric rotating member (2) and the second eccentric rotating member (3) so that the first eccentric rotating member (2) and the second eccentric rotating member (3) rotate in the same direction and synchronously.

3. The obstacle crossing mechanism according to claim 2, characterized in that: The obstacle crossing mechanism comprises a mounting shell (5), and a rotating hole (51) is provided on the mounting shell (5); the third eccentric rotating member (4) comprises a third rotating wheel (42) and a connecting shaft (41), the outer periphery of the third rotating wheel (42) is connected to the linkage member (1), one end of the connecting shaft (41) is mounted on the third rotating wheel (42), the connecting shaft (41) and the third rotating wheel (42) are eccentrically arranged, and the other end of the connecting shaft (41) is rotatably connected to the rotating hole (51).

4. The obstacle surmounting mechanism according to any one of claims 1 to 3, characterized in that: The linkage member (1) includes a linkage plate (11); the first eccentric rotating member (2) includes a driving rotating shaft (21) and a first rotating wheel (22); the outer periphery of the first rotating wheel (22) is connected to the linkage plate (11); the driving rotating shaft (21) is mounted on the first rotating wheel (22), and the driving rotating shaft (21) and the first rotating wheel (22) are eccentrically arranged; the first driving member drives the driving rotating shaft (21) to rotate, and the driving rotating shaft (21) drives the first rotating wheel (22) to rotate eccentrically, so that the linkage member (1) swings.

5. The obstacle crossing mechanism according to claim 4, characterized in that: The second eccentric rotating member (3) comprises a passive rotating shaft (31) and a second rotating wheel (32); the outer periphery of the second rotating wheel (32) is connected to the linkage plate (11); the passive rotating shaft (31) is mounted on the second rotating wheel (32); and the passive rotating shaft (31) and the second rotating wheel (32) are eccentrically arranged; when the linkage member (1) swings, it drives the second rotating wheel (32) and the passive rotating shaft (31) to rotate around the rotation axis of the passive rotating shaft (31).

6. The obstacle crossing mechanism according to claim 5, characterized in that: The obstacle crossing member is an obstacle crossing rod, and the two ends of the obstacle crossing rod are respectively a connecting portion and a supporting portion; the connecting portion is used to be connected to the passive rotating shaft (31), and the passive rotating shaft (31) is used to drive the supporting portion to perform circular motion through the connecting portion when rotating, so as to make the supporting portion approach or move away from the ground.

7. The obstacle-crossing mechanism according to claim 6, characterized in that: A limiting protrusion (33) is provided on the end surface of the passive rotating shaft (31), and a limiting groove is provided on the end surface of the connecting portion facing the passive rotating shaft (31), and the limiting groove is connected to the limiting protrusion (33) in a limiting manner.

8. The obstacle-crossing mechanism according to claim 1, characterized in that: The obstacle surmounting mechanism comprises a connecting rod assembly (6) and a second driving member, one end of the connecting rod assembly (6) is connected to the second driving member, and the other end of the connecting rod assembly (6) is connected to the obstacle surmounting member, and the connecting rod assembly (6) is used to drive the obstacle surmounting member to approach or move away from the second eccentric rotating member (3) under the drive of the second driving member, so as to connect or separate the obstacle surmounting member from the second eccentric rotating member (3).

9. A mobile device, characterized in that: It comprises a rotating wheel (8) and an obstacle crossing mechanism as described in any one of claims 1 to 8, wherein the first driving member has a power output part (7), one end of the power output part (7) is connected to the rotating wheel (8), and the other end of the power output part (7) is connected to the first eccentric rotating member (2), so that the first eccentric rotating member (2) and the rotating wheel (8) rotate synchronously and in the same direction.

10. A sweeping robot, characterized in that: It comprises a machine body and the mobile device as claimed in claim 9, wherein the mobile device is installed at the bottom of the machine body; and the obstacle-crossing member is used to lift the machine body when it abuts against the ground.

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