Obstacle crossing triggering mechanism, walking device and automatic cleaning equipment

Abstract

The obstacle crossing trigger mechanism comprises a connecting rod assembly, the connecting rod assembly comprises a top pressing piece and a connecting rod mechanism, the first end of the top pressing piece can be close to or away from an external clutch assembly, and the clutch assembly is in a power cut-off state after the first end of the top pressing piece moves close to the clutch assembly; the clutch assembly is in a transmission state after the clutch assembly moves away from the clutch assembly; the connecting rod mechanism is provided with a stress end and a driving end, the driving end is connected with the second end of the jacking piece, the stress end is connected with an external machine body, and when the front end of the machine body is lifted, the stress end is linked with the driving end to move downwards so as to drive the first end of the jacking piece to be away from the clutch assembly. A walking device comprises a clutch assembly, a moving wheel shell, an obstacle crossing assembly, a driving part and the obstacle crossing trigger mechanism, and the driving part is in transmission connection with the obstacle crossing assembly through the clutch assembly. The automatic cleaning equipment comprises a machine body and the walking device. The obstacle crossing triggering mechanism can be triggered through external force, the structure is simple, and reliability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic cleaning technical field especially, it relates to a kind of obstacle-triggering mechanism, walking device and automatic cleaning equipment. BACKGROUND

[0002] The existing automatic walking device (such as sweeper robot, washing machine or cleaning machine equipment) generally has intelligent navigation, obstacle avoidance and other functions, and is widely used in cleaning field. In actual cleaning scene, the ground is not completely flat, and there may be thresholds, carpet edges, ground protrusions, wires and other obstacles, so an obstacle-crossing mechanism is usually provided in the body to enable the body to cross the obstacle and continue to work when encountering a protruding obstacle.

[0003] The existing method for triggering the obstacle-crossing mechanism usually adopts active triggering, which includes a sensor, a controller and a motor. When the sensor senses that the body is lifted, i.e. an obstacle is sensed, the controller controls the motor to act, so that the motor drives the trigger and the clutch to separate, thereby triggering the obstacle-crossing mechanism to work. When the sensor senses that the body is reset, i.e. after the body crosses the obstacle, the controller controls the motor to stop, so that the obstacle-crossing mechanism stops.

[0004] However, the above structure requires the cooperation of the sensor, the controller and the motor, including the collection and processing of sensor signals, the algorithm implementation of the controller, and the communication and control with the motor, etc., resulting in high complexity of the active triggering structure. The triggering mechanism involves electronic components, which may be affected by environmental factors such as temperature and humidity, and the complexity of the structure is high, resulting in poor reliability. In addition, the motor and the sensor need to be powered, resulting in high power consumption. 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-triggering mechanism, which drives the connecting rod mechanism to move the pressing piece by external force, so that the clutch assembly assumes two use states to trigger the obstacle-crossing mechanism, with simple structure and high reliability.

[0006] The second purpose of the utility model is to provide a walking device, in which the clutch piece assumes two use states under the drive of external force, to trigger the obstacle-crossing assembly to assume a working state or a stationary state, with simple triggering method.

[0007] The third purpose of the utility model is to provide an automatic cleaning equipment, in which the obstacle-crossing assemblies of multiple walking devices can be triggered by external force, with simple structure and high reliability.

[0008] The technical solution adopted by one of the purposes of the utility model is as follows:

[0009] An obstacle crossing trigger mechanism comprises a linkage assembly, the linkage assembly comprising a pressing piece and a linkage mechanism, the first end of the pressing piece being used to approach or move away from an external clutch assembly and abutting against the clutch assembly after moving towards the clutch assembly to make the clutch assembly in a power-off state; the pressing piece makes the clutch assembly in a power transmission state after moving away from the clutch assembly.

[0010] The linkage mechanism has a force receiving end and a driving end, the force receiving end being used to be fixedly connected with an external body, the driving end being connected with the second end of the pressing piece, the body driving the force receiving end to rotate in a first direction when the front end of the body is lifted and driving the driving end to move downwards, the driving end driving the first end of the pressing piece to move away from the clutch assembly after moving downwards.

[0011] Further, the pressing piece is rotationally connected with the driving end and is used to rotate away from the clutch assembly when the driving end moves downwards.

[0012] Further, the linkage mechanism has a guide groove, the guide groove having a limiting piece therein, one end of the limiting piece being used to be fixedly connected with an external moving wheel shell, the other end of the limiting piece being arranged in the guide groove and being used to be slidingly matched with the guide groove when the force receiving end rotates in the first direction.

[0013] Further, the linkage mechanism comprises a first linkage, a second linkage and a third linkage, the force receiving end being arranged at the first end of the first linkage, the guide groove being arranged on the second linkage, the first end of the second linkage being rotationally connected with the second end of the first linkage, the second end of the second linkage being rotationally connected with the first end of the third linkage, the second end of the third linkage being the driving end and being used to be rotationally connected with the second end of the pressing piece.

[0014] Further, the linkage assembly further comprises a connecting shaft, one end of the connecting shaft being fixedly connected with the force receiving end, the other end of the connecting shaft extending to the outside along the axial direction of the connecting shaft and being used to be fixedly connected with the body, the connecting shaft being used to drive the force receiving end to rotate in the first direction when the front end of the body is lifted.

[0015] Further, the end of the pressing piece away from the linkage mechanism further has a guide inclined surface, the guide inclined surface being used to guide the pressing piece to press or move away from the clutch assembly.

[0016] The technical scheme adopted by the second purpose of the utility model is:

[0017] The walking device comprises a clutch assembly, a moving wheel shell, an obstacle surmounting assembly, a driving member and the obstacle surmounting triggering mechanism, the obstacle surmounting assembly is rotationally connected to the moving wheel shell, and the driving member is in transmission connection with the obstacle surmounting assembly through the clutch assembly.

[0018] Further, the linkage assembly is used to move when the front end of the machine body is lifted to drive the clutch assembly to be in a transmission state, the clutch assembly is used to be connected with the driving member when in the transmission state to trigger the obstacle surmounting assembly, and the clutch assembly is disconnected with the driving member when in a power cut-off state to shut down the obstacle surmounting assembly.

[0019] Further, the obstacle surmounting assembly comprises a rotating shaft and an obstacle surmounting rod, the obstacle surmounting rod is connected with the rotating shaft and is used to rotate when the rotating shaft rotates, and the driving member is connected with the rotating shaft and is used to drive the rotating shaft to rotate when connected with the clutch assembly.

[0020] The clutch assembly comprises a clutch member and an elastic member, the clutch member is movably connected with the rotating shaft in the axial direction of the rotating shaft and is fixedly connected with the rotating shaft in the circumferential direction of the rotating shaft, the elastic member is connected with the rotating shaft and the clutch member respectively, the clutch member is used to compress the elastic member when subjected to force, and the elastic member is used to provide an elastic stress to drive the clutch member to be connected with the driving member to make the driving member rotate.

[0021] The third purpose of the utility model discloses the technical scheme that adopts is:

[0022] An automatic cleaning equipment comprises a machine body and the walking device, and the bottom of the machine body is provided with a plurality of walking devices.

[0023] In conclusion, the obstacle surmounting triggering mechanism, the walking device and the automatic cleaning equipment have the following technical effects: when the machine body contacts with the obstacle, the front end of the machine body is lifted by the obstacle along with the advance of the machine body, the walking wheel of the walking device keeps in contact with the ground when the front end of the machine body is lifted, the walking device swings downward relative to the machine body, which is equivalent to the rear end of the machine body swings upward relative to the walking device, the force receiving end of the linkage mechanism is driven to rotate in the first direction by the machine body, the driving end of the linkage mechanism moves downward, the pressure piece moves away from the clutch assembly, the clutch assembly is in the transmission state, and the obstacle surmounting assembly rotates and assists in surmounting the obstacle.

[0024] Therefore, the obstacle surmounting assembly triggering process only relies on the lifting of the front end of the body, and since no algorithm, communication and control are involved, the obstacle surmounting triggering mechanism is relatively simple, and since the obstacle surmounting triggering mechanism is not affected by environmental factors such as temperature and humidity, the reliability of the obstacle surmounting triggering mechanism is relatively high. In addition, since the obstacle surmounting triggering mechanism does not need to be powered, the power consumption of the automatic cleaning device is low. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of the utility model;

[0026] Figure 2 It is another perspective structural schematic view of the utility model;

[0027] Figure 3 It is a connection schematic view of the connecting rod assembly, the clutch assembly, the driving member and the obstacle surmounting assembly in the utility model;

[0028] Figure 4 It is a structural schematic view when the connecting rod assembly and the clutch assembly abut against each other;

[0029] Figure 5 It is a structural schematic view when the connecting rod assembly triggers the clutch assembly;

[0030] Among them, the meaning of the reference signs is as follows:

[0031] 10, connecting rod assembly; 11, connecting rod mechanism; 111, first connecting rod; 112, second connecting rod; 1121, guide groove; 1122, limiting piece; 113, third connecting rod; 114, force receiving end; 115, driving end; 12, pressing piece; 13, connecting shaft; 20, clutch assembly; 21, clutch piece; 22, elastic piece; 30, moving wheel shell; 31, walking wheel; 32, transmission gear; 40, driving member; 50, obstacle surmounting assembly; 51, obstacle surmounting rod; 52, rotating shaft; 60, body. DETAILED DESCRIPTION

[0032] In order to better understand and implement, the technical solutions in the embodiments of the utility model will be clearly and completely described below by combining the drawings in the embodiments of the utility model.

[0033] In the description of the utility model, it should be pointed out that the directions or position relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the directions or position relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model in that the indicated devices or elements must have a specific direction, be constructed and operated in a specific direction.

[0034] 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 this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0035] Embodiment 1,

[0036] Referring to Figures 1 to 5 An obstacle-triggering mechanism comprises a linkage assembly 10, the linkage assembly 10 comprises a pressing piece 12 and a linkage mechanism 11, the pressing piece 12 is used for rotatingly connecting an external moving wheel shell 30, a first end of the pressing piece 12 is used for moving close to or away from an external clutch assembly 20, and the pressing piece 12 is abutted against the clutch assembly 20 after moving close to the clutch assembly 20, so that the clutch assembly 20 is in a power-off state. The pressing piece 12 makes the clutch assembly 20 in a power transmission state after moving away from the clutch assembly 20.

[0037] The linkage mechanism 11 has a force receiving end 114 and a driving end 115, the force receiving end 114 is fixedly connected with an external body 60, the driving end 115 is connected with a second end of the pressing piece 12, the body 60 drives the force receiving end 114 to rotate in a first direction when the front end of the body 60 is lifted, and drives the driving end 115 to move downward, and the driving end 115 drives the first end of the pressing piece 12 to move away from the clutch assembly 20 after moving downward.

[0038] The following is described by taking the pressing piece 12 abutting against the outer periphery of the clutch assembly 20 to make the clutch assembly 20 in a power-off state as an example: during assembly, the linkage mechanism 11 and the pressing piece 12 can be rotatingly connected or slidingly connected, and when the linkage mechanism 11 and the pressing piece 12 are slidingly connected, the following is described:

[0039] When the body 60 contacts with the obstacle, as the body 60 advances, the obstacle lifts the front end of the body 60, so that the front end of the body 60 is lifted, at this time, the walking wheels 31 of the walking device remain in contact with the ground, so that the walking device swings out relative to the body 60, that is, the walking device swings downward relative to the body 60, which is equivalent to the rear end of the body 60 swings upward relative to the walking device, so that the body 60 drives the force receiving end 114 to rotate in the first direction, thereby causing the driving end 115 of the connecting rod mechanism 11 to move downward, and at the same time, since the driving end 115 is in sliding connection with the second end of the pressing piece 12, when the driving end 115 moves downward, the driving end 115 will slide along the end wall of the pressing piece 12 to push or pull the connecting part of the pressing piece 12, forcing the pressing piece 12 to move upward relative to one end of the clutch assembly 20 to move away from the clutch assembly 20, so that the clutch assembly 20 is in a power cut-off state; when the obstacle is removed, the body 60 is reset downward to reset the force receiving end 114, at this time, the driving end 115 and the pressing piece 12 are also reset with the body 60, so that the clutch assembly 20 is reset to a transmission state.

[0040] Similarly, when the connecting rod mechanism 11 and the pressing piece 12 are in rotary connection, when the front end of the body 60 is lifted, the body 60 drives the force receiving end 114 to rotate in the first direction, and the driving end 115 moves downward, at this time, the driving end 115 exerts a downward force on the pressing piece 12, so that the first end of the pressing piece 12 moves upward and separates from the clutch assembly 20, so that the clutch assembly 20 is in a transmission state; when the obstacle is removed, the body 60 is reset downward to reset the force receiving end 114, at this time, the driving end 115 and the pressing piece 12 are also reset with the body 60, so that the clutch assembly 20 is reset to a power cut-off state.

[0041] Specifically, the obstacle-triggering mechanism in the embodiment is applied to a walking device (such as a sweeping robot or a floor washing machine), the force receiving end 114 of the connecting rod mechanism 11 is fixedly connected with the body 60 through a shaft or a rod, and the driving end 115 is connected with the pressing piece 12, when the walking device is in an initial state, the first end of the pressing piece 12 abuts against the clutch assembly 20, so that the clutch assembly 20 is in a power cut-off state, and after the clutch assembly 20 is connected with the obstacle-clearing mechanism in the walking device, the obstacle-clearing mechanism is in a static state (i.e., a non-working state).

[0042] When the body 60 encounters an obstacle, the obstacle lifts the front end of the body 60 as the body 60 advances, at which time the walking device swings downward relative to the body 60, that is, the rear end of the body 60 swings upward relative to the walking device, so that the body 60 drives the force receiving end 114 of the connecting rod mechanism 11 to rotate in the first direction, and further drives the driving end 115 of the connecting rod mechanism 11 to move downward, so as to drive the pressing piece 12 away from the clutch assembly 20, and further drive the clutch assembly 20 to be in a transmission state, and drive the obstacle crossing assembly to rotate and assist in crossing the obstacle. In this way, the obstacle crossing assembly triggering process only relies on the lifting of the front end of the body 60, and since it does not involve algorithms, communication and control, the obstacle crossing triggering mechanism is relatively simple, and since the obstacle crossing triggering mechanism is not affected by environmental factors such as temperature and humidity, the reliability of the obstacle crossing triggering mechanism is relatively high. In addition, since the obstacle crossing triggering mechanism does not require electricity, the power consumption of the automatic cleaning device is low.

[0043] It should be noted that the connecting rod mechanism 11 in the embodiment can be connected by a plurality of connecting rods, or can be a single connecting rod or a strip-shaped or block-shaped structure to rotate or slide with the pressing piece 12. When the front end of the body 60 is lifted, the pressing piece 12 is forced to move away from the clutch assembly 20. That is, the number of connecting rods of the connecting rod mechanism 11 is not limited to 1, 3, and the number of connecting rods of the connecting rod mechanism 11 can also be 2, 4, 5, etc.

[0044] As a preferred, the axis of the force receiving end 114 is coaxial with the swing axis of the walking device. It can be understood that one end of the walking device is rotatably connected to the body 60, that is, the walking device is swingably connected to the body 60.

[0045] As a preferred, the pressing piece 12 in the embodiment is rotatably connected with the driving end 115, and rotates away from the clutch assembly 20 when the driving end 115 moves downward.

[0046] Specifically, when the front end of the body 60 is lifted, the body 60 drives the force receiving end 114 to rotate in the first direction, and since the pressing piece 12 is rotatably connected with the driving end 115, the pressing piece 12 can move away from the clutch 21 at this time.

[0047] It should be noted that the pressing piece 12 and the driving end 115 can be rotatably connected by a pin shaft or a rotating shaft or a hinge, etc. Compared with sliding connection between the two, the motion track of the rotating connection is circular motion, and the motion law is relatively simple.

[0048] Further, the connecting rod mechanism 11 has a guide groove 1121, the guide groove 1121 has a limiting piece 1122 therein, one end of the limiting piece 1122 is fixedly connected with the external moving wheel housing 30, and the other end of the limiting piece 1122 is provided in the guide groove 1121 and is in sliding cooperation with the guide groove 1121 when the force receiving end 114 moves in the first direction.

[0049] Specifically, during assembly, the limiting member 1122 can be mounted on the housing of the walking device, i.e., the limiting member 1122 is mounted on the mobile wheel housing 30 and slides through the guide groove 1121. In this way, during the movement of the connecting rod mechanism 11, the connecting rod mechanism 11 can move along the predetermined trajectory due to the sliding fit of the guide groove 1121 and the limiting member 1122, and is not easy to deviate from the original trajectory, so that the pressing member 12 can move away from or approach the clutch assembly 20 along the specified trajectory.

[0050] It should be noted that the guide groove 1121 can be integrally formed on the connecting rod mechanism 11, and the limiting member 1122 can be a pin or a bolt with a limiting head structure; of course, in another embodiment, the limiting member 1122 can be provided on the connecting rod mechanism 11, and the guide groove 1121 can be formed on the walking device, which can be set according to actual needs.

[0051] Further, the connecting rod mechanism 11 includes a first connecting rod 111, a second connecting rod 112, and a second connecting rod 113. The force receiving end 114 is provided at the first end of the first connecting rod 111, the guide groove 1121 is provided on the second connecting rod 112, the first end of the second connecting rod 112 is rotatably connected to the second end of the first connecting rod 111, the second end of the second connecting rod 112 is rotatably connected to the first end of the second connecting rod 113, and the second end of the second connecting rod 113 is rotatably connected to the second end of the pressing member 12.

[0052] Specifically (see Figures 4 to 5 ), when the front end of the machine body 60 is lifted, the machine body 60 drives the force receiving end 114 of the first connecting rod 111 to rotate the first connecting rod 111 in the first direction to swing upward around the force receiving end 114, so as to drive the first end of the second connecting rod 112 to move upward. Due to the cooperation of the limiting member and the guide groove, the second end of the second connecting rod 112 moves downward, so that the second connecting rod 112 drives the second connecting rod 113 to move downward, so that the driving end 115 of the second connecting rod 112 presses the second end of the pressing member 12, and the pressing member 12 rotates, and then the first end of the pressing member 12 is separated from the clutch assembly 20.

[0053] By means of the rotatable connection of the plurality of connecting rods, the rotation angle of the connecting rod mechanism 11 is more flexible, and the movement direction of the pressing member 12 is more easily controlled.

[0054] It can be understood that in other embodiments, the first connecting rod 111 can be integrally formed with the machine body 60. That is, the first connecting rod 111 is omitted, and the first end of the second connecting rod 111 is rotatably connected to the machine body 60.

[0055] Further, the connecting rod assembly 10 further comprises a connecting shaft 13, one end of the connecting shaft 13 is fixedly connected with the force receiving end 114, the other end of the connecting shaft 13 extends to the outside along the axial direction of the connecting shaft 13, and is used for being connected with the body 60 outside, and the connecting shaft 13 drives the force receiving end 114 to rotate in the first direction when the front end of the body 60 is lifted.

[0056] Specifically, if the force receiving end 114 of the connecting rod assembly 10 is directly connected with the external equipment, the connecting rod assembly 10 and the shell of the body 60 can be completely attached, which can cause the movement of the connecting rod assembly 10 to be limited and the rotation to be not flexible enough. Therefore, in the embodiment, the connecting rod assembly 10 comprises the connecting shaft 13, and the connecting shaft 13 is connected with the body 60 during assembly. After the force receiving end 114 is connected with the connecting shaft 13, a certain interval can be formed between the force receiving end 114 and the shell of the body 60, so that the force receiving end 114 can move more flexibly.

[0057] More specifically, the end of the pressing piece 12 close to the clutch assembly 20 is further provided with a guide slope, the guide slope is used for guiding the pressing piece 12 to press or move away from the clutch assembly 20, so that the guide slope gradually guides the pressing piece 12 to press or move away from the clutch assembly 20, the pressing piece 12 and the clutch assembly 20 are connected or separated in a sliding manner, the impact on the pressing piece 12 and the clutch assembly 20 is reduced, the smoothness of the cooperation between the pressing piece 12 and the clutch assembly 20 is improved, and the problem of jamming of the pressing piece 12 and the clutch assembly 20 during cooperation is avoided. Further, the guide slope is inclined to the axial direction of the connecting shaft 13.

[0058] It can be understood that the guide slope is not limited to being arranged on the pressing piece 12. For example, in other embodiments, the side of the clutch assembly 20 close to the pressing piece 12 is provided with a guide slope. In still another embodiment, the side of the clutch assembly 20 close to the pressing piece 12 is provided with a first guide slope, and the side of the pressing piece 12 close to the clutch assembly 20 is provided with a second guide slope, the first guide slope and the second guide slope are matched, and specifically, the first guide slope and the second guide slope are connected in a sliding manner during the connection or separation of the pressing piece 12 and the clutch assembly 20.

[0059] Embodiment 2,

[0060] Referring to Figures 1 to 5 A walking device, comprising the clutch assembly 20, the mobile wheel shell 30, the obstacle crossing assembly 50, the driving piece 40 and the obstacle crossing triggering mechanism of the embodiment 1, the obstacle crossing assembly 50 is rotatably connected to the mobile wheel shell 30, and the driving piece 40 is in transmission connection with the obstacle crossing assembly 50 through the clutch assembly 20.

[0061] On the basis of the structure, the obstacle surmounting assembly 50 is rotatably installed on the mobile wheel housing 30 and is driven to rotate by the driving member 40. When the walking device is in the initial state, the clutch assembly 20 is in the power cut-off state under the pressing of the pressing member 12, and the obstacle surmounting assembly 50 is in the static state. When the walking device encounters an obstacle or a protruding ground, the front end of the machine body 60 is lifted upward under the action of the obstacle. At this time, the machine body 60 drives the force receiving end 114 to rotate in the first direction, so that the driving end 115 moves downward and drives the pressing member 12 to move away from the clutch assembly 20, so that the clutch assembly 20 is in the transmission state. At this time, the clutch assembly 20 is connected with the driving member 40, so as to trigger the obstacle surmounting assembly 50, so that the obstacle surmounting assembly 50 rotates and assists in surmounting the obstacle. After the machine body 60 surmounts the obstacle, the whole structure resets, and the walking device starts to work normally again. In this way, the triggering process of the obstacle surmounting assembly 50 only relies on the lifting of the front end of the machine body 60. Since it does not involve algorithms, communication and control, the obstacle surmounting triggering mechanism is relatively simple. In addition, the obstacle surmounting triggering mechanism is not affected by environmental factors such as temperature and humidity, so that the reliability of the obstacle surmounting triggering mechanism is relatively high. In addition, since the obstacle surmounting triggering mechanism does not need to be powered, the power consumption of the automatic cleaning equipment is low.

[0062] When the walking device in embodiment 2 is applied to cleaning equipment (such as a sweeping robot or a scrubber), one end of the mobile wheel housing 30 is rotatably connected to the machine body 60, so that the mobile wheel housing 30 can swing relative to the machine body 60, that is, the walking device can swing relative to the machine body 60. One end of the connecting rod mechanism 11 in the connecting rod assembly 10 is fixedly connected with the machine body 60. When the equipment encounters an obstacle, the machine body 60 will be lifted by the obstacle. At this time, the walking wheel of the walking device remains in contact with the ground, so that the walking device swings downward relative to the machine body 60, that is, the rear end of the machine body 60 swings upward relative to the walking device, so that the force receiving end 114 of the connecting rod mechanism 11 is driven to rotate in the first direction under the driving of the machine body 60, so as to drive the pressing member 12 to move away from the clutch assembly 20. At this time, the clutch assembly 20 is switched to the transmission state and is in transmission connection with the driving member 40, and drives the obstacle surmounting assembly 50 to rotate. The obstacle surmounting assembly 50 assists in surmounting the obstacle in the process of rotating. After the machine body 60 surmounts the obstacle, the machine body 60 resets, so that the force receiving end 114 of the connecting rod mechanism 11 resets, so as to drive the clutch assembly 20 to be in the power cut-off state, so as to disconnect with the driving member 40, so that the obstacle surmounting assembly 50 does not rotate any more, so as to make the equipment work normally.

[0063] Further, the obstacle-surmounting assembly 50 comprises a rotating shaft 52 and an obstacle-surmounting rod 51, the obstacle-surmounting rod 51 being connected with the rotating shaft 52 and being used to rotate with the rotating shaft 52, the driving member 40 being connected with the rotating shaft 52 and being used to drive the rotating shaft 52 to rotate when connected with the clutch assembly, the clutch assembly 20 comprising a clutch member 21 and an elastic member 22, the clutch member 21 being movably connected with the rotating shaft 52 in the axial direction of the rotating shaft 52, the clutch member 21 being fixedly connected with the rotating shaft 52 in the circumferential direction of the rotating shaft 52; the elastic member 22 being connected with the rotating shaft 52 and the clutch member 21 respectively, the clutch member 21 being used to compress the elastic member 22 when under stress, the elastic member 22 being able to provide an elastic stress to drive the clutch member 21 to be connected with the driving member 40 so as to drive the driving member 40 to rotate.

[0064] On the basis of the above structure, the driving member 40 in the embodiment is a driving gear, the driving gear being sleeved on the rotating shaft 52, the driving gear being meshingly connected with the plurality of transmission gears 32 on the moving wheel shell 30, when the machine body 60 does not encounter an obstacle, the clutch member 21 located at the outer periphery of the rotating shaft 52 is always abutted by the pressing member 12, so that the spring at the bottom of the clutch member 21 is compressed, the clutch member 21 is forced to be unable to be connected with the driving member 40, and the movement of the rotating shaft 52 is limited at the same time, so that the driving member 40 cannot drive the rotating shaft 52 to rotate even if the driving member 40 rotates;

[0065] When an obstacle is encountered, the connecting rod mechanism 11 drives the pressing member 12 to move away from the clutch member 21 under the drive of the machine body 60, at this time, the elastic member 22 elastically recovers, so that the clutch member 21 on the rotating shaft 52 can extend into the driving member 40 (driving gear), so that the driving member 40 can drive the rotating shaft 52 to rotate in the process of rotating, at the same time, the rotating shaft 52 drives the obstacle-surmounting rod 51 connected therewith to rotate when rotating, so as to assist the obstacle-surmounting rod 51 to surmount the obstacle, after the machine body 60 surmounts the obstacle, the whole obstacle-surmounting mechanism resets, and the equipment normally operates.

[0066] It should be noted that the elastic member in the embodiment can be selected from existing springs, elastic sheets or elastic columns and the like.

[0067] Embodiment 3,

[0068] Reference Figures 1 to 5 An automatic cleaning device, comprising a machine body 60 and the walking device in Embodiment 2, the bottom of the machine body 60 being provided with a plurality of walking devices.

[0069] Specific use is, in the process of lifting the front end of the machine body 60, triggering the obstacle crossing assembly 50, so that the obstacle crossing assembly 50 can assist in crossing obstacles, so when using the automatic cleaning equipment in the embodiment, the obstacle crossing assembly 50 triggering process adopted by the walking device only relies on the lifting of the front end of the machine body 60, and since no algorithm, communication and control are involved, the obstacle crossing triggering mechanism is relatively simple, and in addition, the obstacle crossing triggering mechanism is not affected by environmental factors such as temperature and humidity, so that the reliability of the obstacle crossing triggering mechanism is higher. In addition, since the obstacle crossing triggering mechanism does not need to be powered, the power consumption of the automatic cleaning equipment is low.

[0070] The technical means disclosed in the utility model scheme is not only limited to the technical means disclosed in the above-mentioned embodiments, but also includes the technical scheme composed of any combination of the above technical features. It should be pointed out 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 trigger mechanism, characterized in that: The invention comprises a connecting rod assembly (10), wherein the connecting rod assembly (10) comprises a pressing member (12) and a connecting rod mechanism (11), wherein a first end of the pressing member (12) is used to approach or move away from an external clutch assembly (20), and after moving toward the clutch assembly (20), abuts against the clutch assembly (20), so that the clutch assembly (20) is in a power-cutting state; and after moving away from the clutch assembly (20), the pressing member (12) causes the clutch assembly (20) to be in a transmission state. The connecting rod mechanism (11) has a force-bearing end (114) and a driving end (115), wherein the force-bearing end (114) is used for being fixedly connected to an external machine body (60), and the driving end (115) is connected to the second end of the pressing member (12). When the front end of the machine body (60) is lifted, the force-bearing end (114) is driven to rotate in a first direction and the driving end (115) is linked to move downward. After moving downward, the driving end (115) drives the first end of the pressing member (12) away from the clutch assembly (20).

2. The obstacle-crossing triggering mechanism according to claim 1, characterized in that: The pressing member (12) is rotatably connected to the driving end (115) and is used to rotate when the driving end (115) moves downward to move away from the clutch assembly (20).

3. The obstacle-crossing triggering mechanism according to claim 2, characterized in that: The connecting rod mechanism (11) has a guide groove (1121), and a limiting member (1122) is provided in the guide groove (1121). One end of the limiting member (1122) is used for fixed connection with an external moving wheel housing (30), and the other end of the limiting member (1122) is passed through the guide groove (1121) and is used for slidingly cooperating with the guide groove (1121) when the force-bearing end (114) rotates along the first direction.

4. The obstacle-crossing triggering mechanism according to claim 3, wherein: The connecting rod mechanism (11) includes a first connecting rod (111), a second connecting rod (112) and a third connecting rod (113); the force-bearing end (114) is provided at the first end of the first connecting rod (111); the guide groove (1121) is provided on the second connecting rod (112); the first end of the second connecting rod (112) is rotatably connected to the second end of the first connecting rod (111), the second end of the second connecting rod (112) is rotatably connected to the first end of the third connecting rod (113), and the second end of the third connecting rod (113) is a driving end (115) and is used to be rotatably connected to the second end of the pressing member (12).

5. The obstacle-crossing triggering mechanism according to claim 3, wherein: The connecting rod assembly (10) further includes a connecting shaft (13), one end of which is fixedly connected to the force-bearing end (114), and the other end of which extends axially to the outside and is used to be fixedly connected to the machine body (60). The connecting shaft (13) is used to drive the force-bearing end (114) to rotate along the first direction when the front end of the machine body (60) is lifted.

6. The obstacle-crossing triggering mechanism according to claim 1, wherein: One end of the pressing member (12) away from the connecting rod mechanism (11) also has a guiding slope, and the guiding slope is used to guide the pressing member (12) to press or move away from the clutch assembly (20).

7. A walking device, characterized in that: The invention comprises a clutch assembly (20), a moving wheel housing (30), an obstacle crossing assembly (50), a driving member (40), and an obstacle crossing triggering mechanism according to any one of claims 1 to 6, wherein the obstacle crossing assembly (50) is rotationally connected to the moving wheel housing (30), and the driving member (40) is transmission-connected to the obstacle crossing assembly (50) through the clutch assembly (20).

8. The walking device according to claim 7, characterized in that: The connecting rod assembly (10) is used to move when the front end of the body (60) is lifted, so as to drive the clutch assembly (20) to a transmission state. The clutch assembly (20) is used to connect with the driving member (40) when in the transmission state to trigger the obstacle crossing assembly (50); when the clutch assembly (20) is in a power-off state, it is disconnected from the driving member (40) to close the obstacle crossing assembly (50).

9. The walking device according to claim 8, characterized in that: The obstacle crossing assembly (50) comprises a rotating shaft (52) and an obstacle crossing rod (51), wherein the obstacle crossing rod (51) is connected to the rotating shaft (52) and is used to rotate when the rotating shaft (52) rotates; the driving member (40) is connected to the rotating shaft (52) and is used to drive the rotating shaft (52) to rotate when connected to the clutch assembly (20); The clutch assembly (20) includes a clutch member (21) and an elastic member (22), wherein the clutch member (21) is movably connected to the rotating shaft (52) in the axial direction of the rotating shaft (52), and the clutch member (21) is fixedly connected to the rotating shaft (52) in the circumferential direction of the rotating shaft (52); the elastic member (22) is respectively connected to the rotating shaft (52) and the clutch member (21), and the clutch member (21) is used to compress the elastic member (22) when subjected to force; the elastic member (22) is used to provide an elastic stress to drive the clutch member (21) to approach the driving member (40) for connection, so that the driving member (40) rotates.

10. An automated cleaning device, characterized in that: It comprises a machine body (60) and a running device according to any one of claims 7 to 9, wherein a plurality of the running devices are arranged at the bottom of the machine body (60).

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