Walking driving device and robot

Abstract

The utility model provides a walking driving device and a robot. The walking driving device comprises a mounting shell and a walking wheel, a rotary connecting part is arranged at the first end of the mounting shell and used for being rotationally connected to the machine body, and the walking wheel is rotationally connected to the second end of the mounting shell. The walking driving device further comprises an obstacle crossing structure, the obstacle crossing structure comprises a driving mechanism and a pushing mechanism, the driving mechanism is mounted on the mounting shell, the pushing mechanism and the rotating connecting part are arranged at intervals, the pushing mechanism is further in transmission connection with the power output end of the driving mechanism, and the driving mechanism is used for driving the pushing mechanism to move towards the machine body. And the pushing mechanism pushes the machine body to lift. And the machine body is lifted under the pushing of the pushing mechanism, so that the ground clearance of the machine body is increased, the maximum obstacle crossing height of the robot is increased, and the obstacle crossing ability of the robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sweeping robots, in particular to a walking driving device and a robot. BACKGROUND

[0002] Self-moving robots such as sweeping robots, meal delivery robots, mowing robots, and carrying robots are provided with a walking driving device at the bottom of the robot body, which is used to separate the robot body from the walking surface and drive the robot body to move. The walking driving device generally includes a mounting shell and a walking wheel, wherein the mounting shell is also called a connecting arm, the first end of the mounting shell is rotatably connected to the bottom of the robot body, the walking wheel is rotatably connected to the second end of the mounting shell and at least partially protrudes from the robot body, the walking wheel is in contact with the walking surface, and the robot is driven to walk through the rolling of the walking wheel.

[0003] In order to ensure that the robot can pass through a narrow space, the protruding amount of the walking wheel from the bottom of the robot body is small, so that the ground clearance of the robot body is small. For example, the sweeping robot disclosed in CN111700545A discloses the above technical solution.

[0004] However, due to the small ground clearance of the robot body, the maximum obstacle height of the robot is small. When a higher obstacle blocks the travel route of the robot, the obstacle will be stuck to the robot body, causing the robot to be unable to pass over the obstacle, resulting in poor obstacle crossing ability of the robot. UTILITY MODEL CONTENT

[0005] The purpose of the present application is to overcome the deficiencies in the prior art, and to provide a walking driving device and a robot which improves the obstacle crossing ability of the robot.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] In a first aspect, a walking driving device includes a mounting shell and a walking wheel, the first end of the mounting shell is provided with a rotating connection part, the rotating connection part is used to be rotatably connected to a robot body, the walking wheel is rotatably connected to the second end of the mounting shell,

[0008] The walking driving device further includes an obstacle crossing structure, the obstacle crossing structure includes a driving mechanism and a pushing mechanism, the driving mechanism is installed on the mounting shell, the pushing mechanism is further provided in spaced relation to the rotating connection part, the pushing mechanism is further in transmission connection with the power output end of the driving mechanism, the driving mechanism is used to drive the pushing mechanism to move towards the robot body, so that the pushing mechanism pushes the robot body to lift up.

[0009] In some embodiments, the obstacle crossing structure further includes a guide piece, the guide piece is movably connected with the pushing mechanism in the pushing direction of the pushing mechanism.

[0010] In some embodiments, one of the guide and the pushing mechanism is provided with a first sliding groove, and the other is provided with a first guide portion which is slidably arranged in the first sliding groove; and the extending direction of the first sliding groove is parallel to the pushing direction of the pushing mechanism.

[0011] In some embodiments, the driving mechanism is an electric motor which is provided with an output shaft.

[0012] The pushing mechanism comprises a power transmission member and a pushing rod, the power transmission member is in transmission connection with the output shaft, the pushing rod is in threaded connection with the power transmission member, the pushing rod is movably connected with the guide in the axial direction of the output shaft, and the output shaft drives the pushing rod to move towards the machine body through the power transmission member so that the pushing rod pushes the machine body to be lifted.

[0013] In some embodiments, the power transmission member comprises an input gear and an output gear, the output shaft, the input gear and the output gear are in transmission connection in sequence, and the pushing rod is coaxially arranged with and in threaded connection with the output gear.

[0014] In some embodiments, the pushing rod is arranged in a staggered manner with the electric motor in the extending direction of the output shaft.

[0015] In some embodiments, the driving mechanism is an electric motor which is provided with a rotating shaft.

[0016] The pushing mechanism comprises a primary telescopic member, the primary telescopic member is sleeved on and in threaded connection with the rotating shaft, the primary telescopic member is movably connected with the guide in the axial direction of the rotating shaft, and the rotating shaft is used to drive the primary telescopic member to move towards the machine body so that the primary telescopic member pushes the machine body to be lifted.

[0017] In some embodiments, the pushing mechanism further comprises a secondary transmission member and a secondary telescopic member, the secondary transmission member is sleeved between the rotating shaft and the primary telescopic member, one end of the secondary transmission member adjacent to the electric motor is in rotational connection with one end of the primary telescopic member adjacent to the electric motor, the secondary transmission member is movably connected with the rotating shaft in the axial direction of the rotating shaft, and the secondary transmission member is fixedly connected with the rotating shaft in the circumferential direction of the rotating shaft.

[0018] The secondary telescopic member is sleeved between the secondary transmission member and the primary telescopic member, the secondary telescopic member is in threaded connection with the secondary transmission member, the secondary telescopic member is movably connected with the primary telescopic member in the axial direction of the rotating shaft, and the secondary telescopic member is fixedly connected with the primary telescopic member in the circumferential direction of the rotating shaft.

[0019] In some embodiments, the primary telescopic component includes a connecting sleeve and a primary telescopic sleeve. The connecting sleeve is sleeved on the rotating shaft and threadedly connected to the rotating shaft. The primary telescopic sleeve is sleeved on the connecting sleeve, and the end of the primary telescopic sleeve adjacent to the motor is fixedly connected to the connecting sleeve. The secondary transmission component is sleeved between the rotating shaft and the primary telescopic sleeve, and the end of the secondary transmission component adjacent to the motor is rotatably connected to the connecting sleeve.

[0020] Secondly, this application provides a sweeping robot, including the walking drive device described in any of the above embodiments.

[0021] Compared with the prior art, this application has at least the following advantages:

[0022] In the aforementioned walking drive device, when the robot encounters an obstacle of a predetermined height, the drive mechanism drives the push mechanism to move towards the robot body, causing the push mechanism to push the bottom of the robot body. Since the rotating connection at the first end of the mounting shell is rotatably connected to the robot body, and the push mechanism is spaced apart from the rotating connection, meaning the mounting shell is oscillatingly connected to the robot body, when the push mechanism pushes the bottom of the robot body, the entire walking drive device swings downwards relative to the robot body. This causes the robot body to rise under the push mechanism's thrust, increasing the ground clearance of the robot body, increasing the robot's maximum obstacle-crossing height, and improving the robot's obstacle-crossing ability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a walking drive device according to an embodiment;

[0025] Figure 2 for Figure 1 A schematic diagram of the obstacle-crossing structure of the walking drive device shown;

[0026] Figure 3 for Figure 2 A cross-sectional view of the obstacle-crossing structure shown along line AA;

[0027] Figure 4 for Figure 3 An enlarged schematic diagram of the obstacle-crossing structure at point B is shown.

[0028] Figure 5 This is a schematic diagram of the walking drive device according to another embodiment;

[0029] Figure 6 for Figure 5 A schematic diagram of the obstacle-crossing structure of the walking drive device shown;

[0030] Figure 7 for Figure 6 A cross-sectional view of the obstacle-crossing structure shown along line CC;

[0031] Figure 8 for Figure 7 An enlarged schematic diagram of the obstacle-crossing structure at point D is shown.

[0032] Figure 9 for Figure 5 The diagram shows the obstacle-crossing structure from another perspective.

[0033] Reference numerals: 10, Walking drive device; 100, Mounting housing; 110, Rotating connection part; 200, Walking wheel; 300, Obstacle crossing structure; 310, Drive mechanism; 311, Output shaft; 312, Rotating shaft; 3121, Second guide part; 320, Pushing mechanism; 321, Power transmission component; 3211, Input gear; 3212, Output gear; 322, Push rod; 3221, First slide groove; 323, First-stage telescopic component; 3231 3232. Connecting sleeve; 3233. First-stage telescopic sleeve; 3234. Third slide groove; 3245. Second-stage transmission component; 3246. Second slide groove; 3247. Third guide part; 325. Second-stage telescopic component; 3258. Third guide part; 330. Guide component; 331. First guide part; 340. Outer shell; 341. Receiving groove; 342. Telescopic groove; 343. First rotating groove; 344. First clearance hole; 345. Second rotating groove; 346. Second clearance hole. Detailed Implementation

[0034] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to provide the reader with a more thorough and comprehensive understanding.

[0035] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0036] To better understand the technical solution and beneficial effects of this application, the following detailed description is provided in conjunction with specific embodiments:

[0037] Example 1:

[0038] As Figure 1 and Figure 5 shown, the embodiment of the present application provides a walking driving device 10, comprising a mounting shell 100 and a walking wheel 200. Wherein, the first end of the mounting shell 100 is provided with a rotating connection part 110, the rotating connection part 110 is used for rotating connection on the body, so that the mounting shell 100 swings on the body. The walking wheel 200 is rotatingly connected to the second end of the mounting shell 100, and the walking wheel 200 is used for rolling on the walking surface. The walking surface can be ground, table top, wall surface, etc.

[0039] As Figures 1 to 3 shown, the walking driving device 10 further comprises an obstacle crossing structure 300, the obstacle crossing structure 300 comprises a driving mechanism 310 and a pushing mechanism 320. Wherein, the driving mechanism 310 is installed on the mounting shell 100, and the pushing mechanism 320 is further arranged in interval with the rotating connection part 110. The pushing mechanism 320 is further in transmission connection with the power output end of the driving mechanism 310. The driving mechanism 310 is used for driving the pushing mechanism 320 to move towards the body, so that the pushing mechanism 320 pushes the body to lift up. In the process of lifting up the body, the mounting shell 100 swings downward relative to the body, so that the whole walking driving device 10 swings downward relative to the body. The driving mechanism 310 is further used for driving the pushing mechanism 320 to separate from the body, so that the pushing mechanism 320 resets downward, and further makes the body reset downward. In the process of resetting the body downward, the mounting shell 100 swings upward relative to the body, so that the whole walking driving device 10 swings upward relative to the body. Preferably, the obstacle crossing structure 300 is arranged as a whole on the second end of the mounting shell 100.

[0040] It can be understood that the movement direction of the pushing mechanism 320 can not only be perpendicular to the bottom of the body, but also be inclined to the bottom of the body. The driving mechanism 310 can be an existing other rotating driving mechanism 310 or linear driving mechanism 310, such as motor, air cylinder, etc.

[0041] The above walking driving device 10, when the robot encounters an obstacle with a predetermined height, the driving mechanism 310 drives the pushing mechanism 320 to move towards the body, so that the pushing mechanism 320 pushes the bottom of the body. Since the rotating connection part 110 of the first end of the mounting shell 100 is rotatingly connected to the body, and the pushing mechanism 320 is arranged in interval with the rotating connection part 110, i.e. the mounting shell 100 is swingingly connected to the body, thus when the pushing mechanism 320 pushes the bottom of the body, the whole walking driving device 10 swings downward relative to the body, so that the body is lifted up under the pushing of the pushing mechanism 320, the ground clearance of the body is increased, the maximum obstacle crossing height of the robot is increased, and the obstacle crossing ability of the robot is improved.

[0042] It can be understood that the obstacle can be detected by arranging a sensor on the body, and the detection method of the sensor belongs to the prior art and is not within the protection scope of the present application, which will not be described herein.

[0043] It should be noted that the "ground clearance" refers to the distance between the machine body and the walking surface, and is not limited to the distance between the machine body and the ground. For example, when the walking surface is a table top, the "ground clearance" is the distance between the machine body and the table top; when the walking surface is a wall surface, the "ground clearance" is the distance between the machine body and the wall surface. Of course, when the walking surface is the ground, the "ground clearance" refers to the distance between the machine body and the ground.

[0044] It should also be noted that the "upper", "lower" and the like indicate the orientation or positional relationship based on the drawings, and are only for the purpose of clearly describing the embodiments of the present application, and do not indicate or imply that the structure or component referred to must have a particular orientation or be constructed in a particular orientation, i.e. it is not the only embodiment, and therefore cannot be understood as a limitation on the embodiments of the present application. For example, when the walking surface is the ground, "up" is the direction away from the ground, and "down" is the direction close to the ground; when the walking surface is a wall surface, "up" is the direction away from the wall surface, and "down" is the direction close to the wall surface.

[0045] As shown in Figure 4 In some embodiments, the obstacle crossing structure 300 further comprises a guide 330 movably connected with the pushing mechanism 320 in the pushing direction of the pushing mechanism 320, the guide 330 being used to guide the movement of the pushing mechanism 320 in the pushing direction, i.e. to guide the lifting of the pushing mechanism 320, ensuring that the pushing mechanism 320 moves in the pushing direction, and in turn ensuring that the pushing mechanism 320 can smoothly push the machine body to lift up.

[0046] Further, one of the guide 330 and the pushing mechanism 320 is provided with a first sliding groove 3221, and the other is provided with a first guide portion 331, the first guide portion 331 being slidably arranged in the first sliding groove 3221. The extension direction of the first sliding groove 3221 is parallel to the pushing direction of the pushing mechanism 320, so that the guide 330 guides the lifting of the pushing mechanism 320. Further, the limiting member is provided with a first limiting portion, and the pushing mechanism 320 is provided with the first sliding groove 3221.

[0047] It can be understood that the first guide portion 331 can be a sliding block, a roller, a ball or other existing sliding member.

[0048] As shown in Figures 1 to 3As shown, in some embodiments thereof, the obstacle surmounting structure 300 further comprises a housing 340 fixedly connected to the mounting shell 100. The housing 340 is provided with a receiving groove 341, and the driving mechanism 310 is installed in the receiving groove 341, so that the driving mechanism 310 is mounted on the mounting shell 100 through the housing 340. In this embodiment, since the driving mechanism 310 is installed in the receiving groove 341, the housing 340 plays a protective role for the driving mechanism 310.

[0049] As shown in the drawings, Figure 3 Further, the guide 330 is fixedly connected to the housing 340, so that the guide 330 is relatively fixed with the housing 340.

[0050] Embodiment 2:

[0051] The difference between this embodiment and Embodiment 1 is that this embodiment further optimizes the walking driving device 10 of the application.

[0052] As shown in the drawings, Figure 3 and Figure 4 In this embodiment, the driving mechanism 310 is a motor, and the motor is provided with an output shaft 311. The pushing mechanism 320 comprises a power transmission member 321 and a push rod 322. The power transmission member 321 is in transmission connection with the output shaft 311, and the push rod 322 is in threaded connection with the power transmission member 321. The push rod 322 is movably connected with the guide 330 in the axial direction of the output shaft 311, that is, the guide 330 guides the up-and-down movement of the push rod 322. The output shaft 311 drives the push rod 322 to move towards the machine body through the power transmission member 321, so that the push rod 322 is used to push the machine body to lift up.

[0053] In this embodiment, when the motor works, the output shaft 311 of the motor drives the power transmission member 321 to rotate, and the power transmission member 321 drives the push rod 322 through threaded transmission, so that the push rod 322 moves in the axial direction of the output shaft 311, that is, the push rod 322 moves up and down. When the output shaft 311 rotates in a first direction, the power transmission member 321 drives the push rod 322 to move towards the machine body, that is, to move upwards, so that the push rod 322 pushes the machine body to lift up. When the output shaft 311 rotates in a second direction opposite to the first direction, the power transmission member 321 drives the push rod 322 to move away from the machine body, that is, to move downwards, so that the push rod 322 and the machine body are both reset downwards. Since the power transmission member 321 is in threaded connection with the push rod 322, and the push rod 322 is movably connected with the guide 330 in the axial direction of the output shaft 311, the power transmission member 321 can convert the rotation of the output shaft 311 into the up-and-down movement of the push rod 322, so that the pushing mechanism 320 can push the machine body to lift up.

[0054] As shown in the drawings, Figure 4As shown, in some embodiments, the power transmission component 321 includes an input gear 3211 and an output gear 3212. The output shaft 311, input gear 3211, and output gear 3212 are sequentially connected for transmission. In other words, the input gear 3211 is coaxially arranged and fixedly connected to the output shaft 311, and the input gear 3211 meshes with the output gear 3212. Further, the push rod 322 is coaxially arranged and threadedly connected to the output gear 3212.

[0055] In this embodiment, when the output shaft 311 rotates, it drives the input gear 3211 to rotate. The input gear 3211 drives the output gear 3212 to rotate through meshing transmission. Since the push rod 322 and the guide member 330 are movably connected in the axial direction of the output shaft 311, the output gear 3212 can drive the push rod 322 to move up and down through threaded transmission.

[0056] Through the transmission between output gears 3212, i.e., through gear meshing, the power transmission component 321 can achieve stepless adjustment of the push rod 322, thereby enabling stepless adjustment of the robot's lifting height. It is understood that when the space containing the obstacle is narrow, if the robot is raised too high, it will be unable to pass through the confined space. In this embodiment, stepless adjustment of the robot's lifting height helps to minimize the robot's height while ensuring smooth obstacle crossing, allowing the robot to overcome obstacles in confined spaces.

[0057] like Figure 4 As shown, in some embodiments, the push rod 322 and the motor are offset from each other in the extension direction of the output shaft 311, that is, the push rod 322 and the motor are adjacent to each other on the periphery, which reduces the space occupied by the obstacle-crossing structure 300 in the thickness direction of the robot, which is beneficial for the robot to pass through narrow spaces and improves the robot's passability.

[0058] like Figure 3 and Figure 4 As shown, in some embodiments, the housing 340 is also provided with a telescopic groove 342, and the push rod 322 extends and retracts within the telescopic groove 342. The telescopic groove 342 and the receiving groove 341 are offset from each other in the extension direction of the output shaft 311.

[0059] like Figure 4As shown, in some embodiments, the housing 340 further includes a first rotating groove 343 and a first clearance hole 344. A receiving groove 341 is connected to the first rotating groove 343 via the first clearance hole 344. The motor output shaft 311 passes through the first clearance hole 344, and the input gear 3211 is rotatably disposed within the first rotating groove 343. The housing 340 also includes a second rotating groove 345 and a second clearance hole 346. A telescopic groove 342 is connected to the second rotating groove 345 via the second clearance hole 346, and a push rod 322 passes through the second clearance hole 346. A guide member 330 covers the first rotating groove 343 and the second rotating groove 345, so that the housing 340 and the guide member 330 together surround the power transmission member 321, preventing the power transmission member 321 from being exposed and thus preventing external substances from interfering with the normal operation of the power transmission member 321, ensuring the normal operation of the power transmission member 321.

[0060] Example 3:

[0061] The difference between this embodiment and Embodiment 1 is that the walking drive device 10 of this application is further optimized in this embodiment. The difference between this embodiment and Embodiment 2 is that the pushing mechanism 320 of this embodiment is different from the pushing mechanism 320 of Embodiment 2.

[0062] like Figures 5 to 7 As shown, the drive mechanism 310 in this embodiment is a motor, and the motor has a rotating shaft 312. The push mechanism 320 includes a primary telescopic member 323, which is sleeved on the rotating shaft 312 and threadedly connected to the rotating shaft 312, so that the rotating shaft 312 is connected to the primary telescopic member 323 through the threaded structure. The primary telescopic member 323 and the guide member 330 are movably connected in the axial direction of the rotating shaft 312, so that the guide member 330 guides the movement of the primary telescopic member 323 in the axial direction of the rotating shaft 312, that is, guides the lifting and lowering of the primary telescopic member 323, so that the rotation of the rotating shaft 312 can be converted into the movement of the primary telescopic member 323 in the axial direction of the rotating shaft 312.

[0063] like Figure 7 As shown, in this embodiment, the rotating shaft 312 is used to drive the primary telescopic member 323 to move towards the machine body, causing the primary telescopic member 323 to push the machine body upward. When the machine body needs to be lifted, the rotating shaft 312 of the motor rotates in a first direction, causing the primary telescopic member 323 to move closer to the machine body along the axial direction of the rotating shaft 312, thus causing the primary telescopic member 323 to move upward, thereby causing the primary telescopic member 323 to push the machine body upward. When the machine body needs to be lowered and reset, the rotating shaft 312 of the motor rotates in a second direction opposite to the first direction, i.e., in the opposite direction, causing the primary telescopic member 323 to move away from the machine body along the axial direction of the rotating shaft 312, thus causing the primary telescopic member 323 to reset downward, thereby causing the machine body to reset downward.

[0064] like Figure 7As shown, in some embodiments, the pushing mechanism 320 further comprises a secondary transmission member 324 and a secondary telescopic member 325. The secondary transmission member 324 is sleeved between the rotating shaft 312 and the primary telescopic member 323, and is rotatably connected to the end of the primary telescopic member 323 adjacent to the motor, so that the secondary transmission member 324 and the primary telescopic member 323 move synchronously in the axial direction of the rotating shaft 312, i.e. the secondary transmission member 324 and the primary telescopic member 323 move synchronously. The secondary transmission member 324 is movably connected to the rotating shaft 312 in the axial direction of the rotating shaft 312, so as to avoid the rotating shaft 312 blocking the synchronous movement of the secondary transmission member 324 and the primary telescopic member 323. The secondary transmission member 324 is fixedly connected to the rotating shaft 312 in the circumferential direction of the rotating shaft 312, so that the rotating shaft 312 and the secondary transmission member 324 rotate synchronously, i.e. the rotation of the rotating shaft 312 can drive the rotation of the secondary transmission member 324.

[0065] Further, the secondary telescopic member 325 is sleeved between the secondary transmission member 324 and the primary telescopic member 323, and is threadedly connected to the secondary transmission member 324, so that the secondary transmission member 324 is drivingly connected to the secondary telescopic member 325 through the threaded structure. The secondary telescopic member 325 is movably connected to the primary telescopic member 323 in the axial direction of the rotating shaft 312, so that the secondary telescopic member 325 can move relative to the primary telescopic member 323, i.e. the primary telescopic member 323 guides the movement of the secondary telescopic member 325 in the axial direction of the rotating shaft 312.

[0066] In this embodiment, when the machine body needs to be lifted, the rotating shaft 312 rotates in the first direction, and the rotating shaft 312 drives the primary telescopic member 323 and the secondary transmission member 324 to move upwards synchronously through the threaded transmission structure. Since the secondary telescopic member 325 is threadedly connected to the secondary transmission member 324, the secondary transmission member 324 also drives the secondary telescopic member 325 to move upwards, i.e. the secondary telescopic member 325 moves upwards together with the primary telescopic member 323. In short, when the rotating shaft 312 rotates in the first direction, the primary telescopic member 323 drives the secondary transmission member 324 and the secondary telescopic member 325 to move upwards. Simultaneously, the rotating shaft 312 also drives the secondary transmission member 324 to rotate. Since the secondary telescopic member 325 is threadedly connected to the secondary transmission member 324, and the secondary telescopic member 325 is movably connected to the primary telescopic member 323 in the axial direction of the rotating shaft 312, the secondary telescopic member 325 also moves upwards relative to the secondary transmission member 324, i.e. the secondary telescopic member 325 moves upwards relative to the primary telescopic member 323 in the process of moving upwards together with the primary telescopic member 323, so that the moving speed of the secondary telescopic member 325 is greater than that of the primary telescopic member 323, and the secondary telescopic member 325 drives the machine body to lift, i.e. the primary telescopic member 323 drives the machine body to lift through the secondary telescopic member 325.

[0067] When the machine body needs to be reset downwards, the rotating shaft 312 rotates in a second direction opposite to the first direction. The rotating shaft 312 drives the primary telescopic component 323 and the secondary transmission component 324 to move downwards synchronously via a threaded transmission structure. Since the secondary telescopic component 325 is threadedly connected to the secondary transmission component 324, the secondary transmission component 324 also drives the secondary telescopic component 325 to move downwards; that is, the secondary telescopic component 325 also moves downwards following the primary telescopic component 323. In short, when the rotating shaft 312 rotates in the second direction, the primary telescopic component 323 drives the secondary transmission component 324 and the secondary telescopic component 325 to move downwards. Simultaneously, the rotating shaft 312 also drives the secondary transmission component 324 to rotate. Since the secondary telescopic component 325 is threadedly connected to the secondary transmission component 324, and the secondary telescopic component 325 is movably connected to the primary telescopic component 323 in the axial direction of the rotating shaft 312, the secondary telescopic component 325 also moves downward relative to the secondary transmission component 324. That is, in the process of the secondary telescopic component 325 moving downward along with the primary telescopic component 323, it also moves downward relative to the primary telescopic component 323, so that the pushing mechanism 320 and the machine body are both reset downward.

[0068] Thus, as the secondary telescopic member 325 moves along with the primary telescopic member 323, it also moves relative to the primary telescopic member 323 in the same direction of movement, causing the pushing mechanism 320 to form a secondary telescopic structure. This increases the telescopic range of the pushing mechanism 320, allowing it to occupy less space after resetting, thus improving the structural compactness of the pushing mechanism 320 after resetting and enhancing its ease of transport.

[0069] like Figure 8 As shown, in some embodiments, the primary telescopic member 323 includes a connecting sleeve 3231 and a primary telescopic sleeve 3232. The connecting sleeve 3231 is sleeved on and threadedly connected to the rotating shaft 312. The primary telescopic sleeve 3232 is sleeved on the connecting sleeve 3231, and the end of the primary telescopic sleeve 3232 adjacent to the motor is fixedly connected to the connecting sleeve 3231. The secondary transmission member 324 is sleeved between the rotating shaft 312 and the primary telescopic sleeve 3232, and the end of the secondary transmission member 324 adjacent to the motor is rotatably connected to the connecting sleeve 3231. In this embodiment, the connecting sleeve 3231 is disposed at the end of the rotating shaft 312 and the primary telescopic sleeve 3232 adjacent to the motor, so that an accommodating space is formed between the primary telescopic sleeve 3232 and the rotating shaft 312. The secondary telescopic member 325 and the secondary transmission member 324 can be disposed within the accommodating space, which improves the structural compactness of the pushing mechanism 320 and is beneficial to improving the structural compactness of the robot.

[0070] like Figure 8As shown in the drawings, in some embodiments, the guide member 330 is sleeved on the first telescopic member 323. In this embodiment, after the first telescopic member 323 and the second telescopic member 325 are reset downward, the guide member 330 can surround the first telescopic member 323, the second telescopic member 325 and the second transmission member 324, so that the guide member 330 plays a protective role on the entire pushing mechanism 320, avoids external interference on the pushing mechanism 320, and ensures the normal operation of the pushing mechanism 320.

[0071] As shown in the drawings, Figure 8 In some embodiments, the inner wall of the second transmission member 324 is provided with a second sliding groove 3241, the extension direction of the second sliding groove 3241 is parallel to the rotating shaft 312, the outer side of the rotating shaft 312 is provided with a second guide portion 3121, the second guide portion 3121 is slidably arranged in the second sliding groove 3241, so that the rotating shaft 312 and the second transmission member 324 are movably connected on the rotating shaft 312 and are fixedly connected in the circumferential direction of the rotating shaft 312.

[0072] As shown in the drawings, Figure 9 In some embodiments, the first telescopic member 323 is provided with a third sliding groove 3233, the extension direction of the third sliding groove 3233 is parallel to the rotating shaft 312, the outer wall of the second telescopic member 352 is provided with a third guide portion 3251, the third guide portion 3251 is slidably arranged in the third sliding groove 3233, so that the second telescopic member 352 and the first telescopic member 323 are movably connected in the axial direction of the rotating shaft 312 and are fixedly connected in the circumferential direction of the rotating shaft 312.

[0073] Embodiment 4:

[0074] The embodiment of the application provides a robot, which comprises the walking driving device 10 of any of the above embodiments.

[0075] Further, the robot further comprises a body, the rotating connection portion 110 of the first end of the mounting shell 100 of the walking driving device 10 is rotatably connected to the body, and the walking driving device 10 is used to drive the body to move. The robot further comprises a sensor, the sensor is mounted on the body, and the sensor is used to check obstacles. It can be understood that the number of the walking driving devices 10 is at least two.

[0076] When the sensor detects an obstacle of a predetermined height, the driving mechanism 310 drives the pushing mechanism 320 to move towards the body, so that the pushing mechanism 320 pushes the bottom of the body. Since the rotating connection part 110 at the first end of the mounting shell 100 is rotatably connected to the body, and the pushing mechanism 320 is arranged at a distance from the rotating connection part 110, that is, the mounting shell 100 is swingably connected to the body, when the pushing mechanism 320 pushes the bottom of the body, the whole walking driving device 10 swings downward relative to the body, so that the body is lifted under the pushing of the pushing mechanism 320, the ground clearance of the body is increased, the maximum obstacle height of the robot is increased, and the obstacle crossing ability of the robot is improved.

[0077] Compared with the prior art, the present application has at least the following advantages:

[0078] When the robot encounters an obstacle of a predetermined height, the driving mechanism 310 drives the pushing mechanism 320 to move towards the body, so that the pushing mechanism 320 pushes the bottom of the body. Since the rotating connection part 110 at the first end of the mounting shell 100 is rotatably connected to the body, and the pushing mechanism 320 is arranged at a distance from the rotating connection part 110, that is, the mounting shell 100 is swingably connected to the body, when the pushing mechanism 320 pushes the bottom of the body, the whole walking driving device 10 swings downward relative to the body, so that the body is lifted under the pushing of the pushing mechanism 320, the ground clearance of the body is increased, the maximum obstacle height of the robot is increased, and the obstacle crossing ability of the robot is improved.

[0079] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the disclosed patent scope. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A walking driving device, comprising a mounting shell (100) and a walking wheel (200), a rotating connecting part (110) is arranged at a first end of the mounting shell (100), the rotating connecting part (110) is used for being rotatably connected to a machine body, the walking wheel (200) is rotatably connected to a second end of the mounting shell (100), characterized in that the walking driving device further comprises an obstacle surmounting structure (300), the obstacle surmounting structure (300) comprises a driving mechanism (310) and a pushing mechanism (320), the driving mechanism (310) is mounted on the mounting shell (100), the pushing mechanism (320) is also arranged in parallel with the rotating connecting part (110), the pushing mechanism (320) is also in transmission connection with a power output end of the driving mechanism (310), the driving mechanism (310) is used for driving the pushing mechanism (320) to move towards the machine body, so that the pushing mechanism (320) pushes the machine body to lift up. The obstacle surmounting structure (300) further comprises a guide piece (330), the guide piece (330) is movably connected with the pushing mechanism (320) in a pushing direction of the pushing mechanism (320).

2. The walking drive apparatus according to claim 1, characterized by One of the guide piece (330) and the pushing mechanism (320) is provided with a first sliding groove (3221), and the other is provided with a first guide part (331), the first guide part (331) is slidably arranged in the first sliding groove (3221); wherein the extension direction of the first sliding groove (3221) is parallel to the pushing direction of the pushing mechanism (320).

3. The walking drive apparatus according to claim 2, wherein The driving mechanism (310) is an electric machine, the electric machine is provided with an output shaft (311); 4. The walking drive apparatus according to claim 2 or 3, characterized in that, The pushing mechanism (320) comprises a power transmission piece (321) and a push rod (322), the power transmission piece (321) is in transmission connection with the output shaft (311), the push rod (322) is in threaded connection with the power transmission piece (321), the push rod (322) is movably connected with the guide piece (330) in an axial direction of the output shaft (311), the output shaft (311) drives the push rod (322) to move towards the machine body through the power transmission piece (321), so that the push rod (322) pushes the machine body to lift up. The power transmission piece (321) comprises an input gear (3211) and an output gear (3212), the output shaft (311), the input gear (3211) and the output gear (3212) are in transmission connection in sequence, the push rod (322) is coaxially arranged with the output gear (3212) and is in threaded connection with the output gear (3212).

5. The walking drive apparatus according to claim 4, wherein The push rod (322) is arranged in a staggered manner with the electric machine in an extension direction of the output shaft (311).

6. The walking drive apparatus according to claim 5, wherein The driving mechanism (310) is an electric machine, the electric machine is provided with a rotating shaft (312); 7. The walking drive apparatus according to claim 2 or 3, characterized by ​ The pushing mechanism (320) comprises a first telescopic part (323), the first telescopic part (323) is sleeved on the rotating shaft (312) and is threadedly connected with the rotating shaft (312), the first telescopic part (323) is movably connected with the guide part (330) in the axial direction of the rotating shaft (312), and the rotating shaft (312) is used for driving the first telescopic part (323) to move towards the machine body, so that the first telescopic part (323) pushes the machine body to be lifted.

8. The walking drive apparatus according to claim 7, wherein The pushing mechanism (320) further comprises a second transmission part (324) and a second telescopic part (325), the second transmission part (324) is sleeved between the rotating shaft (312) and the first telescopic part (323), one end of the second transmission part (324) adjacent to the motor is rotatably connected with one end of the first telescopic part (323) adjacent to the motor, the second transmission part (324) is movably connected with the rotating shaft (312) in the axial direction of the rotating shaft (312), and the second transmission part (324) is fixedly connected with the rotating shaft (312) in the circumferential direction of the rotating shaft (312). The second telescopic part (325) is sleeved between the second transmission part (324) and the first telescopic part (323), the second telescopic part (325) is threadedly connected with the second transmission part (324), the second telescopic part (325) is movably connected with the first telescopic part (323) in the axial direction of the rotating shaft (312), and the second telescopic part (325) is fixedly connected with the first telescopic part (323) in the circumferential direction of the rotating shaft (312).

9. The walking drive apparatus according to claim 8, wherein The first telescopic part (323) comprises a connecting sleeve (3231) and a first telescopic sleeve (3232), the connecting sleeve (3231) is sleeved on the rotating shaft (312) and is threadedly connected with the rotating shaft (312), the first telescopic sleeve (3232) is sleeved on the connecting sleeve (3231), one end of the first telescopic sleeve (3232) adjacent to the motor is fixedly connected with the connecting sleeve (3231), the second transmission part (324) is sleeved between the rotating shaft (312) and the first telescopic sleeve (3232), and one end of the second transmission part (324) adjacent to the motor is rotatably connected with the connecting sleeve (3231).

10. A robot vacuum cleaner characterised in that, The walking driving device comprises the walking driving device according to any one of claims 1 to 9. The walking driving device comprises the walking driving device according to any one of claims 1 to 9.

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