Walking wheel device and mobile robot

Abstract

The application is suitable for the technical field of walking wheel device, and provides a walking wheel device and a mobile robot.The walking wheel device comprises a walking wheel, an obstacle-crossing auxiliary part and a limiting groove, wherein the walking wheel has a walking surface; the obstacle-crossing auxiliary part is slidably installed on the walking wheel and is in sliding cooperation with the limiting groove; the obstacle-crossing auxiliary part can rotate together with the walking wheel around the rotation axis of the walking wheel and slide relative to the limiting groove in the process of rotation, so that the obstacle-crossing auxiliary part moves along the path of the limiting groove; the limiting groove comprises a retraction groove section and an extension groove section connected with each other; when the obstacle-crossing auxiliary part moves to the retraction groove section, the obstacle-crossing auxiliary part is in a retracted state of avoiding the walking surface; when the obstacle-crossing auxiliary part moves to the extension groove section, the obstacle-crossing auxiliary part is in an extended state of extending the walking surface.

Description

Technical Field

[0001] This application belongs to the field of walking wheel device technology, and more specifically, relates to a walking wheel device and a mobile robot. Background Technology

[0002] Self-propelled cleaning robots have become an important part of modern smart homes. Their locomotion mechanism uses motors, gearboxes, and other drive mechanisms to rotate the wheels, enabling autonomous movement and cleaning operations within the home environment. On flat surfaces, these robots can typically complete cleaning tasks efficiently. However, typical home environments present various obstacles such as door thresholds, floor strips, low steps, and scattered toys. Traditional cleaning robot wheels often have smooth, continuous surfaces. When attempting to cross these obstacles, they are prone to slipping, spinning freely, or even getting stuck due to insufficient traction or undersized wheel diameters, interrupting the cleaning process and requiring manual intervention, thus impacting the user experience. To improve obstacle-crossing capabilities, current technologies typically integrate obstacle-crossing mechanisms into the wheels.

[0003] However, existing obstacle-crossing mechanisms occupy a large space and may affect the power transmission of the walking wheels to some extent. Utility Model Content

[0004] The purpose of this application is to provide a walking wheel device and a mobile robot, which aims to solve the technical problem that the obstacle-crossing mechanism in the prior art occupies a large space and may affect the power transmission of the walking wheel to a certain extent.

[0005] To achieve the above objectives, according to one aspect of this application, a walking wheel device is provided. The walking wheel device includes: a walking wheel, an obstacle-crossing auxiliary component, and a limiting groove. The walking wheel has a walking surface. The obstacle-crossing auxiliary component is slidably mounted on the walking wheel and slidably engaged with the limiting groove. The obstacle-crossing auxiliary component can rotate with the walking wheel and slide relative to the limiting groove during rotation, so that the obstacle-crossing auxiliary component moves along the path of the limiting groove. The limiting groove includes a retractable groove section and an extended groove section connected together. When the obstacle-crossing auxiliary component moves to the retractable groove section, the obstacle-crossing auxiliary component is in a retracted state that avoids the walking surface. When the obstacle-crossing auxiliary component moves to the extended groove section, the obstacle-crossing auxiliary component is in an extended state that extends out of the walking surface.

[0006] Optionally, the traveling wheel device further includes a fixed seat, a limiting groove is disposed on the fixed seat, the traveling wheel can rotate relative to the fixed seat, and the limiting groove is disposed around the rotation axis of the traveling wheel.

[0007] Optionally, the maximum distance from the retractable groove section to the axis of rotation of the traveling wheel is less than or equal to the minimum distance from the extended groove section to the axis of rotation of the traveling wheel.

[0008] Optionally, a horizontal reference plane and a vertical reference plane are made through the rotation axis of the traveling wheel, and the extended groove section is at least partially located in front of the vertical reference plane along the forward direction of the traveling wheel; and / or, the extended groove section is at least partially located below the horizontal reference plane.

[0009] Optionally, along the forward rotation direction of the traveling wheel, the distance between the extended groove section and the rotation axis of the traveling wheel gradually increases and then gradually decreases.

[0010] Optionally, the extended groove section includes a maximum extended section in the shape of an arc. When the obstacle crossing aid is located in the maximum extended section, the distance between the end of the obstacle crossing aid away from the limiting groove and the rotation axis of the traveling wheel is the largest. The maximum extended section is at least partially located in front of the vertical reference plane and below the horizontal reference plane.

[0011] Optionally, the retraction groove section is at least partially located below the horizontal reference plane, and the obstacle crossing aid is located in the retraction groove section when the end of the obstacle crossing aid away from the limiting groove is located at the lowest point of its rotation trajectory.

[0012] Optionally, the walking wheel is provided with a groove, and the obstacle crossing assist is slidably installed in the groove; the walking surface is provided with a clearance opening, which communicates with the groove, and the obstacle crossing assist can extend out of the groove through the clearance opening.

[0013] Optionally, the path of the chute is distributed radially along the traveling wheel; or, the path of the chute is set at an angle relative to the radial direction of the traveling wheel.

[0014] Optionally, the end of the obstacle-crossing aid away from the limiting groove is provided with an elastic contact member, and when the obstacle-crossing aid is in the retracted state, the elastic contact member at least partially blocks the clearance opening.

[0015] Optionally, the traveling wheel includes a support and a tire, the support is rotatably connected to a fixed seat, and the tire is fitted on the radially outer side of the support; a groove is provided on the support, and a clearance opening is provided on the tire.

[0016] Optionally, the support member includes a first support portion and a second support portion, with a sliding groove located between the first support portion and the second support portion. The second support portion is provided with a through hole to guide the sliding groove and the limiting groove. The obstacle-crossing auxiliary member passes through the through hole and slides in the limiting groove to move along the path of the limiting groove.

[0017] Optionally, the obstacle-crossing aid includes a connected slider and a sliding shaft. The slider is located in a groove and slides in cooperation with the groove, while the sliding shaft passes through a through hole and slides in cooperation with a limiting groove.

[0018] Optionally, the walking wheel device also includes a drive assembly, which is fixed to a fixed base and its output end is connected to the walking wheel to drive the walking wheel to rotate.

[0019] According to another aspect of this application, a mobile robot is provided, the mobile robot including a walking wheel device, the walking wheel device being the walking wheel device described above.

[0020] The beneficial effects of the walking wheel device provided in this application are as follows: Compared with the prior art, the walking wheel device provided in this application slidably installs the obstacle-crossing auxiliary component on the walking wheel and makes it slide in conjunction with the limiting groove. Since the obstacle-crossing auxiliary component can rotate with the walking wheel, the walking wheel device can convert the rotational motion of the walking wheel into the radial sliding of the obstacle-crossing component through the sliding contact between the limiting groove and the obstacle-crossing auxiliary component. This allows the obstacle-crossing auxiliary component to switch back and forth between the extended state and the retracted state during the rotation of the walking wheel component, thereby effectively improving the obstacle-crossing ability of the walking wheel component. The obstacle-crossing mechanism in this application occupies less radial and axial space on the walking wheel, effectively reducing the impact of the obstacle-crossing mechanism on the power transmission of the walking wheel component. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the walking wheel device provided in the embodiments of this application;

[0023] Figure 2 An exploded view of the walking wheel device provided in the embodiments of this application;

[0024] Figure 3 An exploded view of the walking wheel device from another perspective, as provided in an embodiment of this application;

[0025] Figure 4 A schematic diagram of the walking wheel device provided in this application embodiment, in which some parts of the obstacle-crossing auxiliary component have been removed and are in a retracted state;

[0026] Figure 5 A schematic diagram of the walking wheel device with some components removed and the obstacle-crossing auxiliary parts in the extended state, provided in an embodiment of this application;

[0027] The details of the reference numerals used in the above figures are as follows:

[0028] 11. Walking wheel; 111. Support component; 1111. First support part; 11111. Slide groove; 1112. Second support part; 11121. Through hole; 112. Tire; 1121. Clearance opening; 113. Connecting shaft; 12. Obstacle crossing aid; 121. Slider; 122. Elastic contact component; 123. Sliding shaft; 13. Fixed base;

[0029] 20. Drive assembly; 21. Drive motor; 22. Gearbox; 221. Limiting groove; 2211. Extension groove section; 22111. Maximum extension section; 2212. Retraction groove section;

[0030] 30. Horizontal reference plane;

[0031] 40. Vertical reference plane;

[0032] 50. Obstacles. Detailed Implementation

[0033] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0034] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] As described in the background section, self-propelled cleaning robots have become an important part of modern smart homes. Their locomotion mechanisms, driven by motors, gearboxes, and other mechanisms, rotate the wheels, enabling autonomous movement and cleaning within the home environment. On flat surfaces, these robots can typically complete cleaning tasks efficiently. However, typical home environments present various obstacles such as door thresholds, floor strips, low steps, and scattered toys. Traditional cleaning robot wheels often have smooth, continuous surfaces. When attempting to cross these obstacles, they are prone to slipping, spinning freely, or even getting stuck due to insufficient traction or undersized wheel diameters, interrupting the cleaning process and requiring manual intervention, thus impacting the user experience. To improve obstacle-crossing capabilities, existing technologies typically integrate obstacle-crossing mechanisms into the wheels. However, existing obstacle-crossing mechanisms are usually complex in structure and occupy a large amount of space, which may affect the power transmission of the wheels to some extent.

[0038] See Figures 1 to 5 As shown in the figure, in order to solve the above problems, according to one aspect of this application, an embodiment of this application provides a walking wheel device, which includes: a walking wheel 11, a limiting groove 221, and an obstacle-crossing auxiliary component 12, wherein the walking wheel 11 has a walking surface; the obstacle-crossing auxiliary component 12 is slidably mounted on the walking wheel 11 and slidably engaged with the limiting groove 221; the obstacle-crossing auxiliary component 12 can rotate together with the walking wheel 11 around the rotation axis of the walking wheel 11, and slide relative to the limiting groove 221 during the rotation process, so that the obstacle-crossing auxiliary component 12 moves along the path of the limiting groove 221; the limiting groove 221 includes a retractable groove section 2212 and an extended groove section 2211 connected to each other; when the obstacle-crossing auxiliary component 12 moves to the retractable groove section 2212, the obstacle-crossing auxiliary component 12 is in a retracted state that avoids the walking surface; when the obstacle-crossing auxiliary component 12 moves to the extended groove section 2211, the obstacle-crossing auxiliary component 12 is in an extended state that extends out of the walking surface. The walking wheel device provided in this embodiment slidably mounts the obstacle-crossing auxiliary component 12 onto the walking wheel 11, and simultaneously makes it slide into the limiting groove 221. Since the obstacle-crossing auxiliary component 12 can rotate with the walking wheel 11, the walking wheel device can convert the rotational motion of the walking wheel 11 into the radial sliding of the obstacle-crossing component through the sliding engagement of the limiting groove 221 and the obstacle-crossing auxiliary component 12. This allows the obstacle-crossing auxiliary component 12 to switch back and forth between the extended state and the retracted state during the rotation of the walking wheel 11 component, thereby effectively improving the obstacle-crossing ability of the walking wheel 11 component. In this embodiment, the obstacle-crossing mechanism occupies less radial and axial space on the walking wheel 11, effectively reducing the impact of the obstacle-crossing mechanism on the power transmission of the walking wheel 11 component.

[0039] It should be noted that, in this embodiment, the walking wheel 11 refers to a wheel-shaped component that directly contacts the ground or working surface and performs the rolling function. The continuous or discontinuous surface on the outer circumference of the walking wheel 11 that directly contacts the ground and performs the main support and traction functions is the walking surface of the walking wheel 11. The obstacle crossing assist 12 avoids the walking surface, which means that the end of the obstacle crossing assist 12 that is away from the rotation axis of the walking wheel 11 is flush with the walking surface or located on the radial inner side of the walking surface.

[0040] In some embodiments, the sliding direction of the obstacle-crossing aid 12 in this embodiment is perpendicular to the rotation axis of the walking wheel 11. Of course, in other embodiments, the sliding direction of the obstacle-crossing aid 12 in this embodiment may also form a preset inclined angle with the rotation axis of the walking wheel 11.

[0041] See Figures 1 to 5 As shown in the figure, the walking wheel device also includes a fixed base 13, a limiting groove 221 is disposed on the fixed base 13, the walking wheel 11 can rotate relative to the fixed base 13, and the limiting groove 221 is disposed around the rotation axis of the walking wheel 11.

[0042] In some embodiments, the walking wheel 11 is rotatably mounted on the fixed base 13, and the limiting groove 221 is fixedly disposed on the fixed base 13, allowing the walking wheel 11 to rotate relative to the limiting groove 221. Since the limiting groove 221 is disposed on the fixed base 13 and its position relative to the walking wheel 11 is fixed, the limiting groove 221 can provide a stable and reliable sliding path for the obstacle-crossing aid 12 slidably disposed on the walking wheel 11, ensuring that the obstacle-crossing aid 12 slides precisely during the rotation of the walking wheel 11.

[0043] In other embodiments, the traveling wheel 11 and the limiting groove 221 can be respectively mounted on different connecting seats, as long as it is ensured that the traveling wheel 11 and the obstacle-crossing auxiliary component 12 on it can rotate relative to the limiting groove 221. For example, the traveling wheel device includes a first connecting seat and a second connecting seat. The traveling wheel 11 is rotatably mounted on the first connecting seat, and the limiting groove 221 is fixedly disposed on the second connecting seat. The limiting groove 221 is disposed around the rotation axis of the traveling wheel 11. The first connecting seat and the second connecting seat can be fixedly connected or rotatably connected, as long as it is ensured that the obstacle-crossing auxiliary component 12 can slide relative to the limiting groove 221 during the process of rotating together with the traveling wheel 11, so that the obstacle-crossing auxiliary component 12 can move along the path of the limiting groove 221.

[0044] See Figure 4 and Figure 5As shown, in a specific embodiment, the limiting groove 221 in this embodiment is annular, and the maximum distance from the retractable groove section 2212 to the rotation axis of the traveling wheel 11 is less than or equal to the minimum distance from the extended groove section 2211 to the rotation axis of the traveling wheel 11. By setting the limiting groove 221 in this embodiment as an annular structure, and setting the maximum distance from the retractable groove section 2212 to the rotation axis of the traveling wheel 11 to be less than or equal to the minimum distance from the extended groove section 2211 to the rotation axis of the traveling wheel 11, it can be ensured that the obstacle-crossing auxiliary component 12 remains relatively retracted when running in the retractable groove section 2212, and remains relatively extended when running in the extended groove section 2211. By guiding the sliding of the obstacle-crossing auxiliary component 12 through the annular limiting groove 221, it can be ensured that the obstacle-crossing auxiliary component 12 can achieve stable and sufficient sliding displacement changes during the rotation of the traveling wheel 11. While ensuring the complete grounding of the walking surface when the traveling wheel 11 is driving normally, it provides effective lifting force and support force for obstacle crossing, effectively improving the terrain adaptability and obstacle crossing reliability of the traveling wheel device.

[0045] See Figure 4 and Figure 5 As shown, in a specific embodiment, the rotation axis of the walking wheel 11 is used as a horizontal reference plane 30 and a vertical reference plane 40. Along the forward direction of the walking wheel 11, the extended groove section 2211 is at least partially located on the front side of the vertical reference plane 40. During the forward movement of the walking wheel 11, by setting the extended groove section 2211 to be at least partially located on the front side of the vertical reference plane 40, the obstacle crossing assist 12 can enter the extended state in advance before the obstacle 50 located in front of the walking wheel 11 reaches directly below the walking wheel 11. The obstacle crossing assist 12 in the extended state can contact the obstacle 50 in time and generate a lifting effect, thereby assisting the walking wheel 11 to cross the obstacle. Furthermore, the obstacle crossing assist 12 entering the extended state in advance can reduce the impact and resistance during the obstacle crossing process to a certain extent, improve the smoothness and efficiency of the obstacle crossing action, and enhance the responsiveness of the walking wheel device to sudden obstacles and the overall reliability of obstacle crossing.

[0046] It should be noted that in this embodiment, the horizontal reference plane 30 refers to the horizontal plane that coincides with the rotation axis, the vertical reference plane 40 refers to the vertical plane that coincides with the rotation axis and is perpendicular to the horizontal reference plane 30, and the front side of the vertical reference plane 40 refers to the side of the vertical reference plane 40 facing the forward direction of the traveling wheel 11.

[0047] In one specific embodiment, the protruding slot 2211 is at least partially located below the horizontal reference plane 30. By setting the protruding slot 2211 to be at least partially located below the horizontal reference plane 30, it can be ensured that the obstacle-crossing assist 12 can maintain or switch to the extended state when the walking wheel 11 rotates to the lower half of the revolution. The layout of the protruding slot 2211 being at least partially located below the horizontal reference plane 30 can ensure that the obstacle-crossing assist 12 has an earlier intervention time and a longer action arc when it contacts the ground or obstacle 50, thereby providing continuous and stable support and lifting force for the walking wheel 11, reducing the probability of the walking wheel 11 getting stuck in a pit or stuck on the obstacle 50, and effectively enhancing the passability, driving stability and obstacle-crossing success rate of the walking wheel device in complex terrain.

[0048] See Figure 4 and Figure 5 As shown, in a specific embodiment, the distance between the extended groove segment 2211 and the rotation axis of the walking wheel 11 gradually increases and then gradually decreases along the forward rotation direction of the walking wheel 11. By setting the distance between the extended groove segment 2211 and the rotation axis of the walking wheel 11 to gradually increase and then gradually decrease along the forward rotation direction of the walking wheel 11, the extended groove segment 2211 can form a smooth cam transition path. Through the extended groove segment 2211 in this embodiment, the obstacle crossing assist 12 can achieve progressive extension when entering the extension state, with its extension speed gradually increasing from zero to maximum and then smoothly returning to zero. This greatly reduces the impact and wear of the obstacle crossing component at the moment of state switching, ensuring that the obstacle crossing assist 12 has good force transmission efficiency and smooth operation when it contacts the obstacle 50.

[0049] See Figure 4 and Figure 5As shown, in a specific embodiment, the protruding groove section 2211 in this embodiment includes a maximum protruding section 22111 in an arc shape. When the obstacle crossing assist 12 is located in the maximum protruding section 22111, the distance between the end of the obstacle crossing assist 12 away from the limiting groove 221 and the rotation axis of the walking wheel 11 is the largest. The maximum protruding section 22111 is at least partially located in front of the vertical reference plane 40 and below the horizontal reference plane 30. By setting the arc-shaped maximum extension section 22111 to be at least partially located on the front side of the vertical reference plane 40 and below the horizontal reference plane 30, the obstacle-crossing effect of the obstacle-crossing aid 12 can be improved. Specifically, before the walking wheel 11 crosses the obstacle 50, the maximum extension section 22111, which is at least partially located on the front side of the vertical reference plane 40 and below the horizontal reference plane 30, can keep the obstacle-crossing aid 12 at its maximum extension. At this time, the obstacle-crossing aid 12 can provide the walking wheel 11 with the maximum lever arm lifting support, significantly enhancing the ability of the walking wheel 11 to overcome the high obstacle 50. Furthermore, arranging the maximum extension section 22111 on the front and below the walking wheel 11 can effectively optimize the torque distribution during the obstacle-crossing process, ensuring that the movement posture of the walking wheel device has good stability and controllability.

[0050] In one specific embodiment, the retraction groove section 2212 is at least partially located below the horizontal reference plane 30, and the obstacle-crossing assist 12 is located in the retraction groove section 2212 when the end of the obstacle-crossing assist 12 away from the limiting groove 221 is at the lowest point of its rotation trajectory. By setting the retraction groove section 2212 to be at least partially located below the horizontal reference plane 30, and setting the obstacle-crossing assist 12 to be located in the retraction groove section 2212 when its end away from the limiting groove 221 is at the lowest point of its rotation trajectory, interference or unnecessary frictional wear between the obstacle-crossing assist 12 and the ground can be effectively avoided when the walking wheel 11 is rolling on the ground. This ensures that the walking wheel 11 has a complete ground contact area and stable support performance on a flat road surface, reducing the running resistance and mechanical wear of the walking wheel device while enabling the walking wheel device to achieve both efficient obstacle-crossing capability and stable normal walking capability.

[0051] See Figure 2 and Figure 3As shown, in a specific embodiment, the walking wheel 11 in this embodiment is provided with a groove 11111, and the obstacle crossing assist 12 is slidably installed in the groove 11111; the walking surface is provided with a clearance opening 1121, which communicates with the groove 11111, and the obstacle crossing assist 12 can extend out of the groove 11111 through the clearance opening 1121. By providing a groove 11111 inside the walking wheel 11, the obstacle-crossing assist 12 can be slidably mounted on the walking wheel 11 through its cooperation with the groove 11111. By providing a clearance opening 1121 on the walking surface that communicates with the groove 11111, the obstacle-crossing assist 12 can extend out of the walking surface through the clearance opening 1121 to assist the walking wheel 11 in crossing obstacles. Through the cooperation structure between the groove 11111 and the obstacle-crossing assist 12, it can be ensured that the obstacle-crossing assist 12 has a precise and stable sliding path, reducing the probability of the obstacle-crossing assist 12 swaying or getting stuck. The clearance opening 1121 allows the obstacle-crossing assist 12 to extend out of the walking surface only when it is needed to cross an obstacle. When retracted, the obstacle-crossing assist 12 can remain flush with the walking surface or located radially inside the walking surface, thereby effectively reducing the air resistance and structural interference of the walking wheel device in the non-obstacle-crossing state.

[0052] In one specific embodiment, the path of the chute 11111 is distributed radially along the traveling wheel 11. By setting the path of the chute 11111 to be distributed radially along the traveling wheel 11, the obstacle crossing aid can move linearly along the radial direction of the traveling wheel, thereby effectively converting the path constraint of the limiting groove 221 into the extension and retraction movement of the obstacle crossing aid 12 perpendicular to the rotation axis of the traveling wheel 11, ensuring the efficiency and reliability of the obstacle crossing action.

[0053] In another embodiment, the path of the chute 11111 can also be set radially inclined relative to the traveling wheel 11. By setting the path of the chute 11111 to be radially inclined relative to the traveling wheel 11, the obstacle-crossing aid makes a compound movement at a certain angle to the radial direction of the traveling wheel 11 during the extension and retraction process. While providing radial obstacle-crossing support force, it also generates tangential component force, which helps the traveling wheel device to better adapt to complex terrain and improve stability during obstacle crossing.

[0054] See Figure 2 and Figure 3As shown, in a specific embodiment, the end of the obstacle crossing assist 12 away from the limiting groove 221 is provided with an elastic contact 122. When the obstacle crossing assist 12 is in a retracted state, the elastic contact 122 at least partially blocks the clearance opening 1121. By providing an elastic contact 122 at the end of the obstacle-crossing aid 12 away from the limiting groove 221, and by setting the elastic contact 122 to at least partially block the clearance opening 1121 in the retracted state, the walking wheel device can achieve dynamic sealing and protection of the clearance opening 1121 through the elastic contact 122. This prevents foreign objects such as mud, sand, and gravel from entering the slide groove 11111 through the clearance opening 1121, reducing the risk of jamming failure of the obstacle-crossing aid 12. At the same time, it improves the surface integrity and smoothness of movement of the walking wheel 11 in the non-obstacle-crossing state. When the obstacle-crossing aid 12 contacts the obstacle 50 through the elastic contact 122, the elastic deformation capability of the elastic contact 122 can buffer the impact load during the obstacle-crossing process, reduce the noise and wear generated by hard contact, and improve the obstacle-crossing reliability of the walking wheel device.

[0055] See Figure 2 and Figure 3 As shown, in a specific embodiment, the traveling wheel 11 includes a support member 111 and a tire 112. The support member 111 is rotatably connected to the fixed base 13, and the tire 112 is fitted on the radially outer side of the support member 111. A groove 11111 is provided on the support member 111, and a clearance opening 1121 is provided on the tire 112. It should be noted that the support member 111 in this embodiment has high rigidity. The groove 11111 is provided on the support member 111, which can provide a stable and reliable guiding foundation for the sliding of the obstacle crossing assist 12, ensuring that the obstacle crossing assist 12 has good sliding accuracy. Furthermore, the tire 112 fitted on the radially outer side of the support member 111 can effectively buffer the impact of obstacle crossing, reducing its impact on the support member 111, effectively improving the reliability of the traveling wheel device. Moreover, the separate arrangement of the support member 111 and the tire 112 facilitates the independent replacement and maintenance of the tire 112, reducing the operating cost of the traveling wheel device.

[0056] See Figure 2 and Figure 3As shown, in a specific embodiment, the support member 111 includes a first support portion 1111 and a second support portion 1112. The sliding groove 11111 is located between the first support portion 1111 and the second support portion 1112. The second support portion 1112 is provided with a through hole 11121 to guide the sliding groove 11111 and the limiting groove 221. The obstacle crossing auxiliary member 12 passes through the through hole 11121 and slides with the limiting groove 221 to move along the path of the limiting groove 221. By positioning the sliding groove 11111 between the first support portion 1111 and the second support portion 1112, the walking wheel device can provide double-sided guiding support for the obstacle-crossing aid 12 through the highly rigid first support portion 1111 and the second support portion 1112, thereby effectively improving the anti-eccentric load capacity and movement stability of the obstacle-crossing aid 12. By providing a through hole 11121 for the guiding groove 11111 and the limiting groove 221 on the second support portion 1112, the obstacle-crossing aid 12 can slide through the through hole 11121 and slide into the limiting groove 221, ensuring effective docking between the obstacle-crossing aid 12 and the fixedly positioned limiting groove 221. It should be noted that in this embodiment, the first support portion 1111 and the second support portion 1112 are fixedly connected.

[0057] See Figure 2 and Figure 3 As shown, in a specific embodiment, the obstacle-crossing assist 12 includes a connected slider 121 and a sliding shaft 123. The slider 121 is located within the sliding groove 11111 and slides in cooperation with the sliding groove 11111. The sliding shaft 123 passes through the through hole 11121 and slides in cooperation with the limiting groove 221. By configuring the obstacle-crossing assist 12 as consisting of the connected slider 121 and the sliding shaft 123, the obstacle-crossing assist 12 can bear the load during obstacle crossing through the slider 121, and the sliding shaft 123, in cooperation with the sliding groove 11111, precisely guides the sliding of the slider 121, reducing the composite stress of a single component and improving the reliability of the obstacle-crossing assist 12. At the same time, configuring the obstacle-crossing assist 12 as consisting of the connected slider 121 and the sliding shaft 123 can also reduce the production, processing, and maintenance costs of the obstacle-crossing assist 12 to a certain extent, which is beneficial for the mass production of the walking wheel device.

[0058] See Figures 1 to 5As shown, in one specific embodiment, the walking wheel device further includes a drive component 20. The drive component 20 is fixed to the fixed base 13, and its output end is connected to the walking wheel 11 to drive the walking wheel 11 to rotate. By mounting the drive component 20 on the fixed base 13, vibration and displacement during operation of the drive component 20 can be suppressed, ensuring the smoothness and accuracy of the power output of the drive component 20. By connecting the output end of the drive component 20 to the walking wheel 11, the walking wheel device can directly drive the walking wheel 11 to rotate through the drive component 20. This direct drive method can effectively improve the transmission efficiency and response speed between the drive component 20 and the walking wheel 11. It should be noted that the drive component 20 in this embodiment is a drive motor 21 or a combination of a drive motor 21 and a reduction gearbox 22. Of course, in other embodiments, the drive component 20 in this embodiment can also be other rotary drive components.

[0059] In some embodiments, the drive assembly 20 includes a drive motor 21 and a reduction gearbox 22. Both the drive motor 21 and the reduction gearbox 22 are mounted on a fixed base 13, or the housing of the reduction gearbox 22 constitutes at least part of the fixed base 13. The output end of the drive motor 21 is connected to the input end of the reduction gearbox 22, and the output end of the reduction gearbox 22 forms the output end of the drive assembly 20. It should be noted that the reduction gearbox 22 in this embodiment can amplify the torque output by the drive motor 21 and adjust the rotation speed, thereby providing the traveling wheel 11 with a driving force matching its load requirements.

[0060] See Figure 2 and Figure 3 As shown, in some embodiments, the traveling wheel 11 in this embodiment further includes a connecting shaft 113. The two ends of the connecting shaft 113 are respectively connected to the output end of the drive assembly 20 and the support member 111, for transmitting power from the output end of the drive assembly 20 to the support member 111. The axis of the connecting shaft 113 is collinear with the rotation axis of the traveling wheel 11. By setting the connecting shaft 113, whose axis is collinear with the rotation axis of the traveling wheel 11, power transmission is ensured through pure torque transmission between the drive assembly 20 and the traveling wheel 11, avoiding additional bending moments and vibrations caused by axis offset, and effectively improving the power transmission efficiency and stability between the drive assembly 20 and the traveling wheel 11.

[0061] According to another aspect of this application, a mobile robot is provided, the mobile robot including a walking wheel device, the walking wheel device being the walking wheel device described above.

[0062] In summary, implementing the walking wheel device and mobile robot provided in this embodiment has at least the following beneficial technical effects: The walking wheel device provided in this embodiment fixes the limiting groove 221 and slidably installs the obstacle-crossing auxiliary component 12 on the walking wheel 11, while simultaneously making it slide in cooperation with the fixed limiting groove 221. This allows the walking wheel device to convert the rotational motion of the walking wheel 11 into the radial sliding of the obstacle-crossing component through the sliding cooperation between the limiting groove 221 and the obstacle-crossing auxiliary component 12. This allows the obstacle-crossing auxiliary component 12 to switch back and forth between the extended state and the retracted state during the rotation of the walking wheel 11 component, thereby effectively improving the obstacle-crossing ability of the walking wheel 11 component. Since the limiting groove 221 occupies less space, compared with the traditional cam obstacle-crossing mechanism, the obstacle-crossing mechanism in this embodiment occupies less radial and axial space on the walking wheel 11, effectively reducing the impact of the obstacle-crossing mechanism on the power transmission of the walking wheel 11 component.

[0063] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A walking wheel device, characterized in that, The walking wheel device includes: a walking wheel, an obstacle-crossing auxiliary component, and a limiting groove, wherein the walking wheel has a walking surface; The obstacle-crossing aid is slidably mounted on the walking wheel and slidably engaged with the limiting groove. The obstacle-crossing aid can rotate with the walking wheel and slide relative to the limiting groove during rotation, so that the obstacle-crossing aid moves along the path of the limiting groove. The limiting groove includes a retractable groove section and an extended groove section connected together. When the obstacle crossing assist moves to the retractable groove section, the obstacle crossing assist is in a retracted state that avoids the walking surface. When the obstacle crossing assist moves to the extended groove section, the obstacle crossing assist is in an extended state that extends out of the walking surface.

2. The walking wheel device according to claim 1, characterized in that, The walking wheel device also includes a fixed base, the limiting groove is disposed on the fixed base, the walking wheel can rotate relative to the fixed base, and the limiting groove is disposed around the rotation axis of the walking wheel.

3. The walking wheel device according to claim 2, characterized in that, The maximum distance from the retractable groove section to the rotation axis of the traveling wheel is less than or equal to the minimum distance from the extended groove section to the rotation axis of the traveling wheel.

4. The walking wheel device according to claim 2, characterized in that, A horizontal reference plane and a vertical reference plane are drawn through the rotation axis of the traveling wheel. Along the forward direction of the traveling wheel, the protruding groove section is at least partially located in front of the vertical reference plane; and / or, the protruding groove section is at least partially located below the horizontal reference plane.

5. The walking wheel device according to claim 4, characterized in that, Along the forward rotation direction of the traveling wheel, the distance between the protruding groove section and the rotation axis of the traveling wheel first gradually increases and then gradually decreases.

6. The walking wheel device according to claim 4, characterized in that, The extended groove section includes a maximum extended section in the shape of an arc. When the obstacle crossing assist is located in the maximum extended section, the distance between the end of the obstacle crossing assist away from the limiting groove and the rotation axis of the walking wheel is the largest. The maximum extension segment is located at least partially in front of the vertical reference plane and below the horizontal reference plane.

7. The walking wheel device according to claim 4, characterized in that, The retraction groove section is at least partially located below the horizontal reference plane, and the obstacle-crossing aid is located in the retraction groove section when the end of the obstacle-crossing aid away from the limiting groove is located at the lowest point of its rotation trajectory.

8. The walking wheel device according to claim 2, characterized in that, The walking wheel is provided with a sliding groove, and the obstacle crossing auxiliary component is slidably installed in the sliding groove; The walking surface is provided with a clearance opening, which is connected to the slide groove, and the obstacle crossing aid can extend out of the slide groove through the clearance opening.

9. The walking wheel device according to claim 8, characterized in that, The path of the chute is distributed radially along the traveling wheel; Alternatively, the path of the chute may be inclined radially relative to the traveling wheel.

10. The walking wheel device according to claim 8, characterized in that, The end of the obstacle-crossing aid away from the limiting groove is provided with an elastic contact member. When the obstacle-crossing aid is in the retracted state, the elastic contact member at least partially covers the clearance opening.

11. The walking wheel device according to claim 8, characterized in that, The traveling wheel includes a support member and a tire. The support member is rotatably connected to the fixed seat, and the tire is fitted on the radially outer side of the support member. The groove is provided on the support member, and the clearance opening is provided on the tire.

12. The walking wheel device according to claim 11, characterized in that, The support member includes a first support portion and a second support portion, and the groove is located between the first support portion and the second support portion; The second support portion is provided with a through hole to connect the sliding groove and the limiting groove. The obstacle-crossing auxiliary component passes through the through hole and slides in the limiting groove to move along the path of the limiting groove.

13. The walking wheel device according to claim 12, characterized in that, The obstacle-crossing aid includes a connected slider and a sliding shaft. The slider is located in the groove and slides in cooperation with the groove. The sliding shaft passes through the through hole and slides in cooperation with the limiting groove.

14. The walking wheel device according to claim 2, characterized in that, The walking wheel device also includes a drive assembly, which is fixed to the fixed base. The output end of the drive assembly is connected to the walking wheel to drive the walking wheel to rotate.

15. A mobile robot, characterized in that, The mobile robot includes a walking wheel device, which is the walking wheel device according to any one of claims 1 to 14.

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