Self-moving device and walking unit

Abstract

The present disclosure relates to a self-moving device and a walking unit, the self-moving device comprising a machine body and a walking unit arranged on the machine body, the walking unit comprising a walking mechanism, a supporting mechanism, a transmission mechanism and a triggering mechanism. The walking mechanism is arranged on the machine body; the supporting mechanism is movably connected to the walking mechanism, the supporting mechanism being capable of moving to a first position in a direction approaching a working surface to raise the distance between the machine body and the working surface, and being capable of moving to a second position in a direction away from the working surface; the transmission mechanism is movably connected to the walking mechanism; the triggering mechanism is movably connected to the walking mechanism and is configured to drive the transmission mechanism to move to transmission cooperation with the supporting mechanism under the action of an external force; and the supporting mechanism is configured to move between the first position and the second position under the action of the transmission mechanism.

Description

Technical Field

[0001] This disclosure relates to the field of obstacle-crossing technology for self-moving devices, specifically to a self-moving device and a walking unit. Background Technology

[0002] With economic development, a wide variety of cleaning equipment has emerged on the market. Currently, there are various self-propelled cleaning devices available, such as robotic vacuum cleaners and robotic vacuum and mop combos. These cleaning robots can automatically identify the area of ​​the floor to be cleaned and then clean the surface by autonomously planning their path.

[0003] For these types of self-moving devices, obstacles such as thresholds, steps, and sliding rails in the cleaning environment can hinder their cleaning, limiting the cleaning range and preventing them from meeting the needs of whole-house cleaning. Another scenario is that some obstacles the robot could easily overcome may cause it to change direction or retreat instead of attempting to overcome them if it hits the obstacle first. Therefore, improving the obstacle-crossing capability of self-moving devices is a pressing issue that needs to be addressed.

[0004] Currently, some solutions exist to improve a robot's obstacle-crossing ability, namely, installing an active drive wheel lifting system on the robot body. For example, adding a lifting motor to the robot body allows for the raising and lowering of the drive wheels, thus adjusting the overall height of the robot. While this existing active drive wheel lifting system can improve the robot's obstacle-crossing ability to some extent by raising the robot's height above the ground, the improvement is limited, and there are still instances where the robot cannot smoothly pass over obstacles.

[0005] Specifically, the obstacle-crossing capability of existing self-moving devices is generally around 20mm. According to survey data, this can meet the needs of about 93% of household users. However, for the remaining 6% of users, the maximum step height can reach 40mm, which traditional self-moving cleaning robots cannot meet. Furthermore, existing technologies that add a lifting system require additional motor drive components and monitoring sensors for obstacle crossing, making the machine structure more complex and significantly increasing costs. Utility Model Content

[0006] This disclosure provides a self-moving device and a walking unit to address the problems existing in the prior art.

[0007] According to a first aspect of this disclosure, a self-moving device is provided, including a body and a walking unit disposed on the body, the walking unit comprising:

[0008] A walking mechanism, which is mounted on the machine body;

[0009] A support mechanism, movably connected to the traveling mechanism, is configured to move relative to the machine body toward a first position toward the working surface to raise the distance between the machine body and the working surface; and to move toward a second position away from the working surface.

[0010] A transmission mechanism, which is movably connected to the walking mechanism;

[0011] A triggering mechanism is movably connected to the walking mechanism and is configured to drive the transmission mechanism to move in a transmission engagement with the support mechanism when subjected to an external force; the support mechanism is configured to move between a first position and a second position under the action of the transmission mechanism.

[0012] In one embodiment of this disclosure, the walking mechanism includes a drive wheel configured to drive the body to walk on the working surface; the direction of travel of the self-moving device is referred to as forward; at least a portion of the triggering mechanism is configured to be located in front of the transmission mechanism, the support mechanism, and the drive wheel, and is configured to push the transmission mechanism to move to engage with the support mechanism after being subjected to a force by an obstacle.

[0013] In one embodiment of this disclosure, the support mechanism is provided with a mating part, and the transmission mechanism is provided with a first limiting part for guiding and mating with the mating part, wherein the two ends of the first limiting part are respectively referred to as the first end and the second end;

[0014] The triggering mechanism is configured such that when the transmission mechanism is pushed by force to move to the point that the first end of the first limiting part engages with the mating part, the transmission mechanism engages with the support mechanism; and during the process of the support mechanism moving towards the first position under the action of the transmission mechanism, the mating part is configured to move from the first end of the first limiting part towards the location of its second end.

[0015] In one embodiment of this disclosure, a transmission gear is provided on the support mechanism, and a rack is provided on the transmission mechanism. The rack is configured to extend along the extension direction of the first limiting portion. When the first limiting portion engages with the mating portion, the transmission gear is configured to mesh with the rack. The transmission gear is configured to move along the extension direction of the rack during rotation to drive the support mechanism to move toward a first position.

[0016] In one embodiment of this disclosure, the support mechanism is configured to be hinged to the walking mechanism and configured to rotate to a first position or a second position; the walking mechanism includes a drive wheel, and the transmission gear and the drive wheel are configured to be controlled by the same drive source.

[0017] In one embodiment of this disclosure, the mating part is a rotating shaft fixed to the transmission gear, and the transmission gear is configured to be connected to the support mechanism via the rotating shaft.

[0018] In one embodiment of this disclosure, the transmission mechanism is configured to tend to move away from the support mechanism under the action of the first elastic device; when the mating part moves to the second end of the first limiting part, the transmission mechanism moves away from the support mechanism under the action of the first elastic device, so that the mating part disengages from the first limiting part, and the support mechanism disengages from the transmission mechanism.

[0019] In one embodiment of this disclosure, when the self-moving device moves to the point where the triggering mechanism is disengaged from the obstacle, the triggering mechanism is configured to reset in the direction of disengaging from the transmission mechanism under the force of the second elastic device.

[0020] In one embodiment of this disclosure, the support mechanism is configured to tend to move away from the working surface under the action of the third elastic device; when the mating part disengages from the first limiting part, the support mechanism is configured to move towards the second position under the action of the third elastic device, and the mating part moves towards the direction of the first end of the first limiting part.

[0021] In one embodiment of this disclosure, the transmission mechanism is provided with a second limiting part that guides and cooperates with the mating part. One end of the second limiting part is connected to the first end of the first limiting part to form a first through area, and the other end is connected to the second end of the first limiting part to form a second through area.

[0022] The triggering mechanism is configured to be driven by force to move the transmission mechanism to make the mating part located in the first through area engage with the first end of the first limiting part; and when the mating part moves to the second end of the first limiting part, the transmission mechanism, under the action of the first elastic device, makes the mating part engage with the second limiting part through the second through area.

[0023] In one embodiment of this disclosure, the first limiting part and / or the second limiting part are guide grooves provided on the transmission mechanism.

[0024] In one embodiment of this disclosure, the triggering mechanism is a triggering trigger hinged to the walking mechanism, with the two opposite sides of the triggering trigger being a triggering end for engaging with an obstacle and a transmission end for engaging with a transmission mechanism, respectively.

[0025] In one embodiment of this disclosure, the trigger end is configured to have a predetermined distance from the working surface.

[0026] In one embodiment of this disclosure, a connecting rod is hinged to the walking mechanism, one end of the connecting rod being configured to cooperate with the transmission end, and the other end being configured to cooperate with the transmission mechanism.

[0027] According to a second aspect of this disclosure, a walking unit is also provided, comprising:

[0028] Walking mechanism;

[0029] A support mechanism, movably connected to the traveling mechanism, is configured to move to a first position toward the working surface and to a second position away from the working surface;

[0030] A transmission mechanism, which is movably connected to the walking mechanism;

[0031] A triggering mechanism is movably connected to the walking mechanism and is configured to drive the transmission mechanism to move in a transmission engagement with the support mechanism when subjected to an external force; the support mechanism is configured to move between a first position and a second position under the action of the transmission mechanism.

[0032] One beneficial effect of this disclosure is that by setting up a support mechanism that can move towards the working surface to raise the machine body, the self-moving device can cross obstacles in its travel path or travel above obstacles, preventing obstacles from obstructing the self-moving device and improving the user experience. Specifically, the self-moving device of this disclosure can meet obstacle-crossing requirements of 40mm or more, greatly improving its obstacle-crossing capability. The self-moving device can cross obstacles flexibly without colliding with them, thereby extending the service life of various components.

[0033] Furthermore, the triggering mechanism can drive the transmission mechanism to move under the action of external force, thus engaging with the support mechanism. This allows the support mechanism to move between a first and a second position under the action of the transmission mechanism, thereby achieving obstacle-crossing. Specifically, the external force on the triggering mechanism can come from the obstacle. This disclosure, by setting a triggering mechanism, achieves obstacle crossing by passively triggering the support mechanism with a mechanical structure, thus eliminating the need for additional motor transmission components and monitoring sensors for obstacle crossing, reducing the cost of obstacle crossing.

[0034] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0036] Figure 1 This is a schematic diagram of the structure of a walking unit before it begins to cross an obstacle, according to an embodiment of this disclosure;

[0037] Figure 2 This is a schematic diagram of the walking unit structure when the triggering mechanism provided in one embodiment of the present disclosure is triggered by an obstacle;

[0038] Figure 3 This is a schematic diagram of the structure of a walking unit during obstacle crossing according to an embodiment of the present disclosure;

[0039] Figure 4 This is a schematic diagram of the structure of a walking unit after overcoming obstacles according to an embodiment of this disclosure;

[0040] Figure 5 This is an exploded view of a walking unit provided in an embodiment of this disclosure;

[0041] Figure 6 This is a schematic diagram of the transmission mechanism structure provided in one embodiment of the present disclosure;

[0042] Figure 7 yes Figure 1 A partial enlarged view of the positions of the transmission mechanism and the triggering mechanism;

[0043] Figure 8 yes Figure 3 A partial enlarged view of the positions of the transmission mechanism and the triggering mechanism;

[0044] Figure 9 This is a schematic diagram of a trigger structure provided in one embodiment of the present disclosure.

[0045] Figures 1 to 9 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0046] 1. Walking mechanism; 11. Drive wheel; 12. Drive source; 121. Gearbox; 122. Gearbox cover; 2. Support mechanism; 20. Obstacle-crossing wheel; 21. Mating part; 211. Rotating shaft spring; 22. Transmission gear; 23. Third elastic device; 24. Transmission gear set; 25. Swing arm cover; 3. Transmission mechanism; 301. First through area; 302. Second through area; 31. First limiting part; 311. First end; 312. Second end; 32. Second limiting part; 33. Rack; 34. First elastic device; 35. Step structure; 36. Hinge hole; 4. Trigger mechanism; 41. Trigger; 410. Hinge point; 411. Trigger end; 412. Transmission end; 413. Linkage hinge shaft; 42. Linkage rod; 420. Pushing part; 421. Hinge groove; 5. Obstacle. Detailed Implementation

[0047] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0048] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0049] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0050] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0051] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0052] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0053] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0054] This disclosure provides a self-moving device, specifically, which can be a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo, or other self-moving cleaning equipment. This self-moving cleaning equipment has autonomous propulsion and can move along a pre-planned path or an autonomously planned path to perform corresponding cleaning tasks. The self-moving device includes a body and a walking unit mounted on the body. The walking mechanism supports the body on a working surface and drives the body to move on the working surface. The working surface of this disclosure can be a floor or other surface in a home setting, or the top surface of an obstacle 5 (e.g., the upper surface of a step).

[0055] refer to Figures 1 to 4The walking unit includes: a walking mechanism 1, a support mechanism 2, a transmission mechanism 3, and a triggering mechanism 4. The walking mechanism 1 is mounted on the machine body (not shown in the figure). The walking mechanism 1 includes drive wheels 11, which are configured to drive the machine body to move on the working surface. Specifically, two drive wheels 11 can be spaced apart, and the two drive wheels 11 can jointly support the machine body on the working surface. When the two drive wheels 11 rotate at different speeds, the self-moving device can turn during movement, thereby adapting to complex paths. For ease of description later, the direction of travel of the self-moving device is referred to as forward. Figures 1 to 4 In the view, the right side of the image represents the front, and the left side represents the rear.

[0056] In one embodiment of this disclosure, reference is made to Figure 5 The traveling mechanism 1 also includes a drive source 12, which comprises a gearbox 121 and a gearbox cover 122. A drive motor is housed within the gearbox 121. The shaft of the drive wheel 11 extends into the gearbox 121, thereby rotating under the drive provided by the gearbox 121. The gearbox cover 122 seals the gearbox 121, preventing exposure and damage to the complex gear assemblies within. Furthermore, the gearbox cover 122 can also serve as a mounting base for other structures of the traveling unit (e.g., the support mechanism 2, the transmission mechanism 3, and the triggering mechanism 4).

[0057] The support mechanism 2 is movably connected to the traveling mechanism 1; specifically, the support mechanism 2 can be movably connected to the gearbox cover 122. For example... Figure 3 As shown, the support mechanism 2 is configured to move relative to the machine body towards the working surface to a first position, thereby increasing the distance between the machine body and the working surface. At this point, the support mechanism 2 can move to contact the working surface, thus supporting the machine body and causing the entire self-moving device to assume a tilted-up posture. Furthermore, the support mechanism 2 in the first position can support the drive wheel 11, lifting the drive wheel 11 away from the working surface, thus facilitating the drive wheel 11 to cross or climb the obstacle 5.

[0058] like Figure 1 and Figure 4 As shown, the support mechanism 2 can move to a second position away from the working surface to reduce the distance between the machine body and the working surface. At this time, the support mechanism 2 does not provide support, the drive wheel 11 can fall back to contact the working surface, and the self-moving device can continue to move normally on the working surface. The support mechanism 2 in the second position does not interfere with the cleaning operation of the machine body, and a normal distance is maintained between the machine body and the working surface, thus enabling smooth cleaning operations.

[0059] In one embodiment of this disclosure, the support mechanism 2 is configured to be hinged to the traveling mechanism 1 and configured to rotate to a first position or a second position. Specifically, the support mechanism 2 can be a swing arm rotatably connected to the traveling mechanism 1, and in a state where it is not driven by an external force, the support mechanism 2 can remain in the second position, such as... Figure 1 As shown, the support mechanism 2 extends in the front-to-back direction, is basically parallel to the working surface, and maintains a certain distance from the working surface. The support mechanism 2 will not come into contact with the working surface, thereby avoiding interference with the normal operation of the self-moving equipment.

[0060] like Figure 3 As shown, an obstacle-crossing wheel 20 can be provided at the rear end of the support mechanism 2. When crossing an obstacle, the support mechanism 2 can rotate until the obstacle-crossing wheel 20 contacts the working surface, and continue to rotate under the support of the obstacle-crossing wheel 20, thereby supporting the machine body to a sufficiently high position to cross the obstacle 5 in front. During the process of raising the machine body to cross the obstacle, the obstacle-crossing wheel 20 can temporarily assume the function of walking. During the obstacle crossing process, the self-moving device of this disclosure does not need to stop in place to raise the machine body, but can continue to move forward, thereby improving work efficiency.

[0061] In the extending direction of the support mechanism 2, the length of the swing arm between the rotating shaft of the support mechanism 2 (i.e., the position where the support mechanism 2 is rotatably connected to the traveling mechanism 1) and the obstacle-crossing wheel 20 determines the theoretical maximum obstacle-crossing height of the self-moving device. Specifically, when the support mechanism 2 rotates to be perpendicular to the working surface, the support mechanism 2 can provide the maximum support height, allowing the machine body to tilt up to the maximum extent, thereby crossing higher obstacles. In this embodiment, the support mechanism 2 is rotatably connected to the traveling mechanism 1, and the support mechanism 2 in the second position is basically parallel to the working surface. This design provides a structural basis for setting a large extension dimension for the support mechanism 2, thereby enabling the support mechanism 2 to climb or cross higher obstacles 5. Specifically, the self-moving device of this disclosure can meet the obstacle-crossing requirement of more than 40mm, greatly improving the obstacle-crossing capability.

[0062] In one specific embodiment of this disclosure, the obstacle-crossing wheel 20 and the drive wheel 11 are configured to be controlled by the same drive source 12. (See reference...) Figure 5The support mechanism 2 includes a swing arm cover 25 serving as the outer shell, and a transmission gear set 24 located inside the swing arm cover 25. The transmission gear set 24 is configured to be driven by the gearbox 121. An output shaft is provided on the transmission gear set 24 corresponding to the position of the obstacle-crossing wheel 20. The obstacle-crossing wheel 20 is driven by the output shaft, thereby rotating under the drive of the transmission gear set 24. During the operation of the gearbox 121, the drive wheel 11 is directly driven to rotate by the gearbox 121, and the obstacle-crossing wheel 20 is indirectly driven to rotate by the gearbox 121. Both are controlled by the same drive source 12, thus eliminating the need to set separate drive sources 12 for the obstacle-crossing wheel 20 and the drive wheel 11, thereby reducing drive costs and saving the limited installation space of the self-moving device. In addition, since the obstacle-crossing wheel 20 and the drive wheel 11 are controlled by the same drive source 12, they rotate synchronously, automatically realizing the coordinated cooperation between components during the obstacle-crossing process, thereby better realizing the obstacle-crossing function.

[0063] This disclosure, by setting up a support mechanism 2 and enabling the support mechanism 2 to move towards the working surface to raise the machine body, allows the self-moving device to cross obstacles 5 in its travel path or travel above obstacles 5, preventing obstacles 5 from obstructing the self-moving device and improving the user experience. The self-moving device can flexibly cross obstacles without colliding with obstacles 5, thereby extending the service life of various components.

[0064] refer to Figures 1 to 4 The transmission mechanism 3 is movably connected to the walking mechanism 1; the triggering mechanism 4 is movably connected to the walking mechanism 1 and is configured to drive the transmission mechanism 3 to move and engage with the support mechanism 2 when subjected to external force. The support mechanism 2 is configured to move between a first position and a second position under the action of the transmission mechanism 3. Specifically, when the triggering mechanism 4 is not subjected to external force, the transmission mechanism 3 and the support mechanism 2 are decoupled and do not engage with each other, and the support mechanism 2 can remain in the second position; while when the triggering mechanism 4 is subjected to external force, the triggering mechanism 4 drives the transmission mechanism 3 to move and engage with the support mechanism 2, thereby enabling the support mechanism 2 to move to the first position, thus supporting the body and the drive wheel 11, and realizing the obstacle-crossing function.

[0065] In one specific embodiment of this disclosure, such as Figure 6As shown, one end of the transmission mechanism 3 is provided with a hinge hole 36. The transmission mechanism 3 is constructed to be hinged to the traveling mechanism 1 through the hinge hole 36. It can rotate relative to the traveling mechanism 1 to a position where it is in transmission engagement with the support mechanism 2, or to a position where it is separated from the support mechanism 2. Specifically, when not subjected to the transmission force from the triggering mechanism 4, the transmission mechanism 3 can remain in the position separated from the support mechanism 2, thereby maintaining a decoupled state from the support mechanism 2. Under the driving action of the triggering mechanism 4, the transmission mechanism 3 can rotate about the hinge hole 36 as an axis to be in transmission engagement with the support mechanism 2, thereby driving the support mechanism 2 to move to the first position.

[0066] In one embodiment of this disclosure, such as Figure 1 As shown, at least part of the triggering mechanism 4 is configured to be located in front of the transmission mechanism 3, the support mechanism 2, and the drive wheel 11, and is configured to push the transmission mechanism 3 to move into transmission engagement with the support mechanism 2 after being subjected to the force applied by the obstacle 5. During the forward movement of the self-moving device, at least part of the triggering mechanism 4 is located at the foremost side of the walking unit, so that if there is an obstacle 5 in the forward path of the walking unit, the triggering mechanism 4 can first contact the obstacle 5, and under the action of the force applied by the obstacle 5, push the transmission mechanism 3 to move into engagement with the support mechanism 2. Thus, before the body moves to the obstacle 6, the support mechanism 2 can move to the first position, thereby supporting the body and the drive wheel 11 in advance, realizing the obstacle-crossing function.

[0067] The triggering mechanism 4 of this disclosure can drive the transmission mechanism 3 to move under the action of external force to engage with the support mechanism 2, thereby causing the support mechanism 2 to move between a first position and a second position under the action of the transmission mechanism 3, thus performing the obstacle-crossing function. Specifically, the external force on the triggering mechanism 4 can come from the obstacle 5. By setting the triggering mechanism 4, this disclosure realizes the passive triggering of the support mechanism 2 to cross obstacles using a mechanical structure, thereby eliminating the need to add a motor transmission component and monitoring sensors for obstacle crossing, reducing the cost of obstacle crossing.

[0068] In one embodiment of this disclosure, reference is made to Figures 5 to 8 The support mechanism 2 is provided with a mating part 21, and the transmission mechanism 3 is provided with a first limiting part 31 for guiding and engaging with the mating part 21. The two ends of the first limiting part 31 are respectively referred to as the first end 311 and the second end 312. The triggering mechanism 4 is configured such that when it is pushed by force to move the transmission mechanism 3 to the point that the first end 311 of the first limiting part 31 engages with the mating part 21, the transmission mechanism 3 engages with the support mechanism 2; and during the process of the support mechanism 2 moving towards the first position under the action of the transmission mechanism 3, the mating part 21 is configured to move from the first end 311 of the first limiting part 31 towards the location of its second end 312.

[0069] Specifically, the first limiting part 31 can be a guide groove provided on the transmission mechanism 3, and the mating part 21 can be a guide post provided on the support mechanism 2. The guide post can extend into the first limiting part 31 and form a guiding fit with the first limiting part 31. During the movement of the support mechanism 2 between the first position and the second position, the mating part 21 has its preset movement path, and the shape of the first limiting part 31 is adapted to the movement path of the mating part 21. As mentioned above, the support mechanism 2 can be hinged to the traveling mechanism 1. At this time, the movement path of the mating part 21 is arc-shaped, so the first limiting part 31 can also be set to an arc shape accordingly.

[0070] Under the action of the triggering mechanism 4, the transmission mechanism 3 moves relative to the support mechanism 2, thereby enabling the first end 311 of the first limiting part 31 to move to engage with the mating part 21. At this time, the transmission mechanism 3 and the support mechanism 2 are in transmission engagement, and the support mechanism 2 can move from the second position to the first position under the action of the transmission mechanism 3. Specifically, under the action of the transmission force, the mating part 21 can move along the first limiting part 31 to its second end 312, thereby causing the support mechanism 2 to rotate from the second position to the first position, realizing the support function.

[0071] In one embodiment of this disclosure, reference is made to Figure 7 and Figure 8 A transmission gear 22 is provided on the support mechanism 2, and a rack 33 is provided on the transmission mechanism 3. The rack 33 is configured to extend along the extension direction of the first limiting part 31. When the first limiting part 31 engages with the mating part 21, the transmission gear 22 is configured to mesh with the rack 33. The transmission gear 22 is configured to move along the extension direction of the rack 33 during rotation, thereby driving the support mechanism 2 to move towards the first position.

[0072] Specifically, when the triggering mechanism 4 is not subjected to external force, the support mechanism 2 is in the second position, and the transmission gear 22 and the rack 33 are disengaged. That is, the transmission mechanism 3 and the support mechanism 2 are decoupled, and no transmission engagement occurs between them. When the transmission mechanism 3 moves to the point of engaging with the support mechanism 2 under the action of the triggering mechanism 4 (that is, when the first end 311 of the first limiting part 31 moves to engage with the engaging part 21), the transmission gear 22 meshes with the rack 33, and the transmission gear 22 can rotate under the action of the driving force and move along the rack 33 in the process. At this time, the engaging part 21 can move along the first limiting part 31 from the first end 311 to the second end 312, thereby driving the support mechanism 2 to move towards the first position.

[0073] In one specific embodiment of this disclosure, the mating part 21 can be a rotating shaft fixed to the transmission gear 22, which is configured to connect to the support mechanism 2 via the rotating shaft. This eliminates the need for an additional guide post structure on the support mechanism 2; instead, the rotating shaft structure of the transmission gear 22 is directly used as the guide post, reducing the structural complexity of the support mechanism 2. Figure 5 As shown, the mating part 21 can pass through the transmission gear 22, with one end extending out of the support mechanism 2 and engaging with the transmission mechanism 3, and the other end being pre-pressed against the inner wall of the swing arm cover 25 by the pivot spring 211. Under the action of the pivot spring 211, the mating part 21 can remain against the groove wall of the transmission mechanism 3, thereby improving the stability of the transmission engagement and preventing transmission failure between the support mechanism 2 and the transmission mechanism 3.

[0074] In one specific embodiment of this disclosure, the transmission gear 22 and the drive wheel 11 are configured to be controlled by the same drive source 12. During the operation of the gearbox 121, the drive wheel 11 is directly driven to rotate by the gearbox 121, and the transmission gear 22 is indirectly driven to rotate by the gearbox 121. Since both are controlled by the same drive source 12, it is not necessary to set separate drive sources 12 for the transmission gear 22 and the drive wheel 11, thereby reducing the driving cost and saving the limited installation space of the self-moving device.

[0075] Furthermore, during obstacle crossing, the transmission gear 22 rotates continuously under the drive of the drive source 12, thereby driving the support mechanism 2 to rotate to the first position to achieve the support function. The machine body is lifted, and the drive wheel 11 is at least partially lifted onto the obstacle 5. During this process, the drive wheel 11 can rotate continuously under the drive of the drive source 12, thereby using the friction between the drive wheel 11 and the obstacle 5 to drive the entire machine body to climb and cross the obstacle 5. It can be seen that the transmission gear 22 and the drive wheel 11 of this disclosure are controlled by the same drive source 12, thereby enabling them to rotate synchronously and automatically achieving coordinated cooperation between components during the obstacle crossing process, thus better realizing the obstacle crossing function.

[0076] In one embodiment of this disclosure, the transmission mechanism 3 is configured to have a tendency to move away from the support mechanism 2 under the action of the first elastic device 34. Specifically, the first elastic device 34 may be a torsion spring disposed between the transmission mechanism 3 and the traveling mechanism 1. When the triggering mechanism 4 is not subjected to external force, the transmission mechanism 3 can be kept in the position away from the support mechanism 2 under the elastic force of the torsion spring, and the rack 33 and the transmission gear 22 are separated from each other and do not mesh.

[0077] When the mating part 21 moves to the second end 312 of the first limiting part 31, the transmission mechanism 3 moves in the direction of disengaging from the support mechanism 2 under the action of the first elastic device 34, so that the mating part 21 disengages from the first limiting part 31, and the support mechanism 2 disengages from the transmission mechanism 3. Specifically, the rack 33 may extend only to the position before the second end 312 along the extension direction of the first limiting part 31, or the rack 33 may deviate away from the first limiting part 31 when it extends to the corresponding position of the second end 312. Based on the above rack 33 design structure, the transmission gear 22 can separate from the rack 33 when the mating part 21 moves to the second end 312, thereby disengaging the support mechanism 2 from the transmission mechanism 3.

[0078] When the mating part 21 is in the first limiting part 31 and has not yet reached the second end 312, the transmission gear 22 and the rack 33 remain engaged. Even if the triggering mechanism 4 no longer applies force to the transmission mechanism 3, the transmission mechanism 3 will maintain its transmission connection with the support mechanism 2 under the meshing force. When the mating part 21 moves from the first limiting part 31 to the second end 312, the transmission gear 22 and the rack 33 separate, the meshing force disappears, and the transmission mechanism 3 can reset and move away from the support mechanism 2 under the elastic force of the first elastic device 34.

[0079] In one specific embodiment of this disclosure, such as Figure 6 As shown, the transmission mechanism 3 is provided with a second limiting part 32 that guides and cooperates with the mating part 21. One end of the second limiting part 32 is connected to the first end 311 of the first limiting part 31, forming a first through area 301, and the other end is connected to the second end 312 of the first limiting part 31, forming a second through area 302. Specifically, the second limiting part 32 can be a guide groove provided on the transmission mechanism 3. The first limiting part 31 and the second limiting part 32 are two guide grooves that are interconnected. The first limiting part 31 is closer to the rack 33 than the second limiting part 32. The first limiting part 31 can provide guidance for the mating part 21 during the process of the support mechanism 2 moving from the second position to the first position (that is, during the process of the support mechanism 2 supporting and overcoming obstacles); the second limiting part 32 can provide guidance for the mating part 21 during the process of the support mechanism 2 moving from the first position to the second position (that is, during the process of the support mechanism 2 resetting).

[0080] The triggering mechanism 4 is configured to drive the transmission mechanism 3 to engage the mating part 21 located in the first through area 301 with the first end 311 of the first limiting part 31; and when the mating part 21 moves to the second end 312 of the first limiting part 31, the transmission mechanism 3, under the action of the first elastic device 34, causes the mating part 21 to engage with the second limiting part 32 through the second through area 302. Specifically, when no external force is applied, that is, when the triggering mechanism 4 does not collide with the obstacle 5, the support mechanism 2 maintains the second position, and the mating part 21 remains in the position of the first through area 301. When subjected to the external force of the obstacle 5, the triggering mechanism 4 drives the transmission mechanism 3 to engage with the support mechanism 2, and the mating part 21 moves from the first through area 301 to the first limiting part 31, causing the rack 33 to mesh with the transmission gear 22.

[0081] As the transmission gear 22 rotates and moves along the rack 33, the mating part 21 moves from the first end 311 to the second end 312 in the first limiting part 31, and the support mechanism 2 rotates from the second position to the first position. When the mating part 21 moves to the second end 312, the rack 33 separates from the transmission gear 22, and the transmission mechanism 3 moves in the direction of disengaging from the support mechanism 2 under the action of the first elastic device 34, so that the mating part 21 engages with the second limiting part 32 through the second through area 302. The mating part 21 can move in the direction of the first through area 301 in the second limiting part 32, thereby resetting the support mechanism 2 to the second position, thus ending the support.

[0082] In one specific embodiment of this disclosure, such as Figure 6 As shown, a stepped structure 35 is provided at the junction of the first through area 301 and the second limiting part 32. The groove wall surface of the first through area 301 is lower than the second limiting part 32. Therefore, when the triggering mechanism 4 drives the transmission mechanism 3, the mating part 21 can only move from the first through area 301 to the first limiting part 31, and cannot move to the second limiting part 32. By providing the stepped structure 35, this disclosure achieves one-way guiding and limiting of the mating part 21. The mating part 21 can only move along a fixed route: the first through area 301, the first limiting part 31 (from the first end 311 to the second end 312), the second through area 302, the second limiting part 32, and finally back to the first through area 301.

[0083] In one embodiment of this disclosure, after the self-moving device moves to the point where the triggering mechanism 4 disengages from the obstacle 5, the triggering mechanism 4 is configured to reset in the direction of disengagement from the transmission mechanism 3 under the force of a second elastic device (not shown). The second elastic device may be disposed between the triggering mechanism 4 and the walking mechanism 1. When the triggering mechanism 4 is not subjected to external force, it remains in the position disengaged from the transmission mechanism 3 under the elastic force of the second elastic device, thereby ensuring that the transmission mechanism 3 is not subjected to external force and thus remains in a state of decoupling from the support mechanism 2.

[0084] Under the external force of obstacle 5, triggering mechanism 4 can drive transmission mechanism 3 to move and engage with support mechanism 2. Before support mechanism 2 moves to the first position, the body has not yet been raised to a sufficient height to overcome the obstacle, so triggering mechanism 4 is still subject to the external force of obstacle 5. Only after the moving device has moved to the point where triggering mechanism 4 is disengaged from obstacle 5, i.e., obstacle crossing is completed, does triggering mechanism 4 reset under the elastic force of the second elastic device, thereby removing the force applied to transmission mechanism 3. If transmission gear 22 and rack 33 are still meshed at this time, transmission mechanism 3 will not immediately reset under the action of the first elastic device 34, but will reset when mating part 21 moves to the second end 312; if transmission gear 22 and rack 33 have disengaged at this time, transmission mechanism 3 can immediately reset under the action of the first elastic device 34 when the force applied by triggering mechanism 4 is removed.

[0085] In one embodiment of this disclosure, reference is made to Figure 3 and Figure 4 The support mechanism 2 is configured to tend to move away from the working surface under the action of the third elastic device 23, that is, to tend to move towards the second position. When the mating part 21 disengages from the first limiting part 31, the support mechanism 2 is configured to move towards the second position under the action of the third elastic device 23, and the mating part 21 moves towards the first end 311 of the first limiting part 31. Specifically, the third elastic device 23 can be a tension spring disposed between the support mechanism 2 and the traveling mechanism 1, one end of which can be connected to the gearbox cover 122, and the other end can be connected to the support mechanism 2. Under the action of the third elastic device 23, the support mechanism 2 can maintain the second position when no external force is applied.

[0086] With the cooperation of the transmission mechanism 3 and the support mechanism 2, the support mechanism 2 can move to the first position, thereby realizing the function of supporting obstacle crossing. During the process of the support mechanism 2 moving from the second position to the first position, the third elastic device 23 can deform, thereby accumulating elastic force. When the mating part 21 moves to the second end 312 in the first limiting part 31, the transmission gear 22 separates from the rack 33, thereby disengaging the support mechanism 2 from the transmission mechanism 3. At this time, the support mechanism 2 is no longer subjected to the force from the transmission mechanism 3, so it can move to the second position under the elastic force of the third elastic device 23. During the rotation and reset process of the support mechanism 2, the mating part 21 cooperates with the second limiting part 32 through the second through area 302, and moves in the direction of the first through area 301 in the second limiting part 32.

[0087] This disclosure, by incorporating a first elastic device 34, a second elastic device, and a third elastic device 23, enables the transmission mechanism 3, the triggering mechanism 4, and the support mechanism 2 to retract promptly after overcoming obstacles, and allows the machine body to naturally return to its normal posture after obstacle crossing, preventing the tilted-out front end from affecting the self-moving device's continued execution of subsequent tasks. Through their respective elastic reset characteristics, the three elastic devices respectively achieve automatic disengagement of the transmission mechanism 3 from the support mechanism 2, cyclic triggering preparation of the triggering mechanism 4, and automatic posture recovery of the support mechanism 2. This improves the automation level and operational reliability of the self-moving device, and reduces reliance on additional power and complex control.

[0088] In one embodiment of this disclosure, reference is made to Figures 7 to 9 The triggering mechanism 4 is a trigger trigger 41 hinged to the traveling mechanism 1. The two opposite sides of the trigger trigger 41 are a trigger end 411 for engaging with the obstacle 5, and a transmission end 412 for engaging with the transmission mechanism 3. For example... Figure 7 As shown, the trigger end 411 is located below the hinge point 410, and the transmission end 412 is located above the hinge point 410. The trigger 41 of this disclosure is a lever structure, which greatly simplifies the force transmission path during the triggering process. The trigger end 411 is used to cooperate with the obstacle 5, and the transmission end 412 is used to cooperate with the transmission mechanism 3. When the triggering mechanism 4 is squeezed by the obstacle 5, the trigger 41 rotates around the hinge point 410 as an axis, thereby driving the transmission end 412 to move synchronously, and then quickly driving the transmission mechanism 3 to move, so that the support mechanism 2 responds in time and lifts the body to overcome the obstacle.

[0089] In one embodiment of this disclosure, such as Figure 1 As shown, the trigger end 411 is configured to have a predetermined distance from the working surface. Figure 1The distance M marked in the figure represents the distance between the trigger end 411 and the working surface when no external force is applied. If the trigger end 411 is too close to the working surface, it is prone to frequent false triggering due to contact with small protrusions or debris on the ground during normal movement of the self-moving device, causing unnecessary movement of the support mechanism 2 and affecting the normal working efficiency of the device. If the trigger end 411 is too far from the working surface, it may not be able to trigger in time when encountering a tall obstacle 5, causing the self-moving device to collide with the obstacle 5 and restricting its movement. This disclosure, by setting an appropriate predetermined distance M, enables the trigger mechanism 4 to accurately sense obstacles 5 that are sufficient to affect the normal movement of the self-moving device, and initiates the adjustment action of the support mechanism 2 at the appropriate time, thus avoiding interference caused by false triggering and ensuring timely response to obstacles 5.

[0090] Furthermore, the drive wheel 11 of this disclosure has a large diameter and a surface with numerous grooves, giving it inherent climbing and obstacle-crossing capabilities. Therefore, for relatively low obstacles 5, the drive wheel 11 can automatically drive the self-moving device to cross them without the need for the support mechanism 2. The predetermined distance M between the trigger end 411 and the working surface is perfectly matched to this characteristic of the drive wheel 11. This predetermined distance M can be set slightly greater than the height of the low obstacle 5, so that when the self-moving device encounters a low obstacle, the trigger end 411 will not contact the obstacle 5, thus preventing the subsequent operation of the transmission mechanism 3 and the support mechanism 2. This avoids frequent activation of the support mechanism 2 without intervention, reducing unnecessary energy consumption and wear caused by frequent operation of various mechanisms, thereby extending the service life of the self-moving device.

[0091] In one embodiment of this disclosure, reference is made to Figures 7 to 9 A connecting rod 42 is hinged to the walking mechanism 1. One end of the connecting rod 42 is configured to engage with the transmission end 412, and the other end is configured to engage with the transmission mechanism 3. The connecting rod 42 acts as a connector between the trigger 41 and the transmission mechanism 3, playing a role in force transmission and direction conversion. Specifically, when the trigger end 411 of the trigger 41 contacts the obstacle 5, the trigger end 411 is driven by an external force to rotate around the hinge point 410. At this time, the transmission end 412 moves away from the transmission mechanism 3. This direction of movement is opposite to the direction required by the transmission mechanism 3 to "approach the support mechanism 2 to achieve transmission engagement." The two ends of the connecting rod 42 engage with the transmission end 412 and the transmission mechanism 3 respectively. Utilizing the hinge characteristics of the connecting rod 42, a force direction transmission is achieved, enabling the external force on the trigger mechanism 4 to drive the transmission mechanism 3, providing the necessary power for the state switching of the support mechanism 2.

[0092] Furthermore, one end of the connecting rod 42 is hinged to the transmission end 412. A hinge groove 421 is provided on the connecting rod 42, and a connecting rod hinge shaft 413 is provided on the transmission end 412. The connecting rod hinge shaft 413 extends into the hinge groove 421, thereby achieving a movable engagement. The other end of the connecting rod 42 is a pushing part 420, which can push the transmission mechanism 3 to a position where it engages with the support mechanism 2 during the rotation of the connecting rod 42. Specifically, the hinge groove 421 can be constructed as an oblong hole. This structure allows for a certain displacement deviation between the connecting rod hinge shaft 413 and the hinge groove 421 during relative movement. When the trigger 41 is rotated, the length direction of the oblong hole provides sliding space for the connecting rod hinge shaft 413, allowing force transmission without requiring a perfectly precise match between the movement trajectories of the transmission end 412 and the connecting rod 42.

[0093] This disclosure also provides a walking unit, including: a walking mechanism 1, a support mechanism 2, a transmission mechanism 3, and a triggering mechanism 4. The support mechanism 2 is movably connected to the walking mechanism 1, and is configured to move to a first position in a direction close to the working surface, and to move to a second position in a direction away from the working surface; the transmission mechanism 3 is movably connected to the walking mechanism 1; the triggering mechanism 4 is movably connected to the walking mechanism 1, and is configured to drive the transmission mechanism 3 to move in a transmission engagement with the support mechanism 2 when subjected to an external force; the support mechanism 2 is configured to move between the first position and the second position under the action of the transmission mechanism 3. This walking unit can be applied to the self-moving device described above, and the specific structure and working principle of this walking unit are completely consistent with the walking unit of the self-moving device described above, and will not be repeated here.

[0094] Application scenarios

[0095] In home cleaning scenarios, the self-moving device can be a robot vacuum cleaner. When the robot vacuum cleaner cleans to the boundary of the room, there is a threshold in its cleaning path. The robot vacuum cleaner needs to climb over the threshold to perform the subsequent cleaning work.

[0096] Under normal cleaning conditions, the support mechanism 2 can remain in a second position that is basically parallel to the working surface, and the obstacle-crossing wheel 20 is disengaged from the working surface, thus avoiding interference with the cleaning work. When the robot vacuum cleaner moves to a position close to the threshold, the trigger mechanism 4 located at the front position comes into contact with the threshold. Specifically, when the trigger mechanism 4 is pressed by the threshold, the trigger 41 rotates around the hinge point 410, thereby driving the transmission end 412 to move synchronously, which in turn drives the connecting rod 42 to move, thereby pushing the transmission mechanism 3 to a position where it is engaged with the support mechanism 2.

[0097] When the transmission mechanism 3 moves to engage with the support mechanism 2 under the action of the triggering mechanism 4, the first end 311 of the first limiting part 31 moves to engage with the mating part 21. The transmission gear 22 meshes with the rack 33, and the transmission gear 22 can rotate under the action of the driving force and move along the rack 33 in the process. At this time, the mating part 21 can move from the first end 311 to the second end 312 along the first limiting part 31, thereby driving the support mechanism 2 to move towards the first position, thereby supporting the machine body and the drive wheel 11, realizing the function of crossing the threshold. When in the first position, the support mechanism 2 can move to contact the working surface, thereby supporting the machine body, so that the self-moving device as a whole presents a raised posture, which makes it easier for the drive wheel 11 to cross or climb the threshold.

[0098] This disclosure, by incorporating a support mechanism 2 that can move towards the work surface to raise the robot body, allows the robotic vacuum cleaner to cross thresholds along its path, preventing these thresholds from obstructing the robot and improving the user experience. The robot's ability to nimbly overcome obstacles without colliding with thresholds extends the lifespan of its components. Furthermore, by including a trigger mechanism 4, this disclosure enables the support mechanism 2 to be passively triggered by a mechanical structure for obstacle crossing, eliminating the need for additional motor drive components and monitoring sensors, thus reducing obstacle crossing costs.

[0099] Once the self-moving device has moved to the point where the triggering mechanism 4 has disengaged from the threshold, i.e., after obstacle crossing is completed, the triggering mechanism 4 resets under the elastic force of the second elastic device, thereby removing the force applied to the transmission mechanism 3. At this time, the transmission gear 22 and the rack 33 are still in a meshed state, so the transmission mechanism 3 will not immediately reset under the action of the first elastic device 34, but will reset when the mating part 21 moves to the second end 312.

[0100] Specifically, when the mating part 21 moves to the second end 312 in the first limiting part 31, the transmission gear 22 separates from the rack 33, the meshing force disappears, and the transmission mechanism 3 can reset in the direction away from the support mechanism 2 under the elastic force of the first elastic device 34. At the same time, since the support mechanism 2 is no longer subjected to the force from the transmission mechanism 3, it can move to the second position under the elastic force of the third elastic device 23.

[0101] This disclosure, by incorporating a first elastic device 34, a second elastic device, and a third elastic device 23, enables the transmission mechanism 3, the triggering mechanism 4, and the support mechanism 2 to retract promptly after overcoming obstacles, and allows the machine body to naturally return to its normal posture after obstacle crossing, preventing the tilted-out front end from affecting the self-moving device's continued execution of subsequent tasks. Through their respective elastic reset characteristics, the three elastic devices respectively achieve automatic disengagement of the transmission mechanism 3 from the support mechanism 2, cyclic triggering preparation of the triggering mechanism 4, and automatic posture recovery of the support mechanism 2. This improves the automation level and operational reliability of the self-moving device, and reduces reliance on additional power and complex control.

[0102] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A self-moving device, comprising a body and a walking unit disposed on the body, characterized in that, The walking unit includes: Walking mechanism (1), which is mounted on the machine body; A support mechanism (2) is movably connected to the walking mechanism (1). The support mechanism (2) is configured to move relative to the machine body toward a first position toward the working surface to raise the distance between the machine body and the working surface; and to move toward a second position away from the working surface. A transmission mechanism (3) is movably connected to the walking mechanism (1); The triggering mechanism (4) is movably connected to the walking mechanism (1) and is configured to drive the transmission mechanism (3) to move in a transmission engagement with the support mechanism (2) after being subjected to external force; the support mechanism (2) is configured to move between a first position and a second position under the action of the transmission mechanism (3).

2. The self-moving device according to claim 1, characterized in that, The walking mechanism (1) includes a drive wheel (11) configured to drive the body to walk on the working surface; the direction of travel of the self-moving device is referred to as forward; at least part of the triggering mechanism (4) is configured to be located in front of the transmission mechanism (3), the support mechanism (2), and the drive wheel (11), and is configured to push the transmission mechanism (3) to move to the transmission engagement with the support mechanism (2) after being subjected to the force of the obstacle (5).

3. The self-moving device according to claim 1, characterized in that, The support mechanism (2) is provided with a mating part (21), and the transmission mechanism (3) is provided with a first limiting part (31) for guiding and mating with the mating part (21). The two ends of the first limiting part (31) are respectively referred to as the first end (311) and the second end (312). The triggering mechanism (4) is configured such that when the transmission mechanism (3) is pushed by force to move to the first end (311) of the first limiting part (31) and the mating part (21) are mated, the transmission mechanism (3) and the support mechanism (2) are in transmission mating; and when the support mechanism (2) moves to the first position under the action of the transmission mechanism (3), the mating part (21) is configured to move from the first end (311) of the first limiting part (31) to the direction of its second end (312).

4. The self-moving device according to claim 3, characterized in that, A transmission gear (22) is provided on the support mechanism (2), and a rack (33) is provided on the transmission mechanism (3). The rack (33) is configured to extend along the extension direction of the first limiting part (31). When the first limiting part (31) engages with the mating part (21), the transmission gear (22) is configured to mesh with the rack (33). The transmission gear (22) is configured to move along the extension direction of the rack (33) during rotation, so as to drive the support mechanism (2) to move towards the first position.

5. The self-moving device according to claim 4, characterized in that, The support mechanism (2) is configured to be hinged to the walking mechanism (1) and configured to rotate to a first position or a second position; the walking mechanism (1) includes a drive wheel (11), and the transmission gear (22) and the drive wheel (11) are configured to be controlled by the same drive source (12).

6. The self-moving device according to claim 4, characterized in that, The mating part (21) is a rotating shaft fixed to the transmission gear (22), and the transmission gear (22) is configured to be connected to the support mechanism (2) through the rotating shaft.

7. The self-moving device according to claim 3, characterized in that, The transmission mechanism (3) is configured to tend to move away from the support mechanism (2) under the action of the first elastic device (34); when the mating part (21) moves to the second end (312) of the first limiting part (31), the transmission mechanism (3) moves away from the support mechanism (2) under the action of the first elastic device (34) so ​​that the mating part (21) disengages from the first limiting part (31) and the support mechanism (2) disengages from the transmission mechanism (3).

8. The self-moving device according to claim 7, characterized in that, When the self-moving device moves to the point where the triggering mechanism (4) is separated from the obstacle (5), the triggering mechanism (4) is configured to reset in the direction of disengaging from the transmission mechanism (3) under the force of the second elastic device.

9. The self-moving device according to claim 7, characterized in that, The support mechanism (2) is configured to tend to move away from the working surface under the action of the third elastic device (23); when the mating part (21) disengages from the first limiting part (31), the support mechanism (2) is configured to move towards the second position under the action of the third elastic device (23), and the mating part (21) moves towards the first end (311) of the first limiting part (31).

10. The self-moving device according to claim 9, characterized in that, The transmission mechanism (3) is provided with a second limiting part (32) that guides and cooperates with the cooperating part (21). One end of the second limiting part (32) is connected to the first end (311) of the first limiting part (31) to form a first through area (301), and the other end is connected to the second end (312) of the first limiting part (31) to form a second through area (302). The triggering mechanism (4) is configured to be driven by force to move the transmission mechanism (3) to make the mating part (21) located in the first through area (301) engage with the first end (311) of the first limiting part (31); and when the mating part (21) moves to the second end (312) of the first limiting part (31), the transmission mechanism (3) makes the mating part (21) engage with the second limiting part (32) through the second through area (302) under the action of the first elastic device (34).

11. The self-moving device according to claim 10, characterized in that, The first limiting part (31) and / or the second limiting part (32) are guide grooves provided on the transmission mechanism (3).

12. The self-moving device according to claim 2, characterized in that, The triggering mechanism (4) is a triggering trigger (41) hinged to the walking mechanism (1). The two sides of the triggering trigger (41) are a triggering end (411) for cooperating with the obstacle (5) and a transmission end (412) for cooperating with the transmission mechanism (3).

13. The self-moving device according to claim 12, characterized in that, The trigger end (411) is configured to have a predetermined distance from the working surface.

14. The self-moving device according to claim 12, characterized in that, A connecting rod (42) is hinged to the walking mechanism (1). One end of the connecting rod (42) is configured to cooperate with the transmission end (412), and the other end is configured to cooperate with the transmission mechanism (3).

15. A walking unit, characterized in that, include: Walking mechanism (1); A support mechanism (2) is movably connected to the walking mechanism (1). The support mechanism (2) is configured to move to a first position in a direction close to the working surface and to a second position in a direction away from the working surface. A transmission mechanism (3) is movably connected to the walking mechanism (1); The triggering mechanism (4) is movably connected to the walking mechanism (1) and is configured to drive the transmission mechanism (3) to move in a transmission engagement with the support mechanism (2) after being subjected to external force; the support mechanism (2) is configured to move between a first position and a second position under the action of the transmission mechanism (3).

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