Walking mechanism and self-moving device

Abstract

The application relates to the technical field of self-moving devices, and particularly provides a walking mechanism and a self-moving device. The walking mechanism comprises a shell, a walking assembly and a pressing assembly. The walking assembly comprises a walking wheel and a support arm, the first end of the support arm is swingably connected with the shell, and the walking wheel is rotatably installed at the second end of the support arm; the pressing assembly comprises a swing arm and an elastic piece, the first end of the swing arm is swingably connected with the shell, the second end of the swing arm faces the support arm, the first end of the elastic piece is connected with the support arm or the shell, and the second end of the elastic piece is connected with the swing arm, so that the second end of the swing arm can abut against the support arm. In the process of crossing a pit or an obstacle, the elastic piece makes the swing arm abut against the support arm due to the swing of the support arm relative to the shell, torque is provided for the swing of the support arm, the possibility of the inclination or even the overturning of the device body relative to the horizontal plane can be reduced, and the self-moving device can help to stably cross the obstacle.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and more particularly to a walking mechanism and a self-moving device. Background Technology

[0002] In related technologies, self-moving devices such as cleaning equipment may encounter uneven surfaces while walking, and the main body of the cleaning equipment may tilt or even tip over relative to the horizontal plane during obstacle crossing. Utility Model Content

[0003] In view of this, embodiments of this application aim to provide a walking mechanism and a self-moving device that can improve the stability of the self-moving device's movement.

[0004] This application provides a walking mechanism, including a housing, a walking assembly, and a pressing assembly. The walking assembly includes a walking wheel and a support arm. A first end of the support arm is pivotally connected to the housing, and the walking wheel is rotatably mounted on a second end of the support arm. The pressing assembly includes a swing arm and an elastic element. A first end of the swing arm is pivotally connected to the housing, and a second end of the swing arm faces the support arm. A first end of the elastic element is connected to the support arm or the housing, and a second end of the elastic element is connected to the swing arm, so that the second end of the swing arm can abut against the support arm.

[0005] In some embodiments, the support arm has an initial state and a first extended state, and between the initial state and the first extended state, the second end of the swing arm can remain abutting against the support arm; In this embodiment, the extension of the support arm relative to the housing in the first extended state is greater than the extension of the support arm relative to the housing in the initial state. In some embodiments, the second end of the swing arm moves along the support arm so that the second end of the swing arm can remain in contact with the support arm.

[0006] In some embodiments, the support arm further has a second extended state, between the first extended state and the second extended state, the second end of the swing arm disengages from the support arm; Wherein, the extension amount of the support arm relative to the housing in the second extended state is greater than the extension amount of the support arm relative to the housing in the first extended state.

[0007] In some embodiments, the clamping assembly further includes a clamping member mounted on the second end of the swing arm so that the second end of the swing arm abuts against the support arm via the clamping member.

[0008] In some embodiments, the clamping element is a clamping wheel, which is rotatably connected to the second end of the swing arm so that the clamping wheel can roll against the support arm.

[0009] In some embodiments, the support arm includes an arm body and a plate body, a first end of the arm body is pivotally connected to the housing, and the traveling wheel is rotatably mounted on the second end of the arm body; the plate body is disposed on the arm body, and the clamping member can abut against the plate body.

[0010] In some embodiments, the clamping member is a clamping wheel, which is rotatably connected to the second end of the swing arm so that the clamping wheel can roll against the support arm; the surface of the plate that abuts against the clamping wheel is configured as a straight surface or a curved surface.

[0011] In some embodiments, the second end of the elastic element is connected to the second end of the swing arm, or the second end of the elastic element is connected between the first end of the swing arm and the second end of the swing arm.

[0012] In some embodiments, the elastic element is a tension spring, and the first end of the elastic element is located below the second end of the elastic element.

[0013] In some embodiments, the elastic element is a compression spring, and the first end of the elastic element is located above the second end of the elastic element.

[0014] In some embodiments, the walking mechanism further includes a first limiting member disposed in the housing to restrict the upward swing of the support arm.

[0015] In some embodiments, the first end of the elastic element is connected to the housing, and the elastic element is in a state of maximum elasticity when the support arm abuts against the first limiting member.

[0016] In some embodiments, the walking mechanism further includes a second limiting member disposed in the housing to restrict the downward swing of the swing arm so that the swing arm can move in the opposite direction under the action of the support arm.

[0017] In some embodiments, the first end of the support arm and the first end of the swing arm are located on opposite sides of the second end of the swing arm.

[0018] In some embodiments, the walking mechanism further includes a drive assembly, comprising a drive member and a transmission group, the transmission group being disposed on the support arm, the drive member being drivenly connected to the transmission group, and the transmission group being drivenly connected to the walking wheel.

[0019] This application also provides a self-moving device, including a device body and a walking mechanism as described in any one of the embodiments of this application, wherein the walking mechanism is disposed on the device body.

[0020] The walking mechanism and self-moving device provided in this application embodiment allow the first end of the support arm to swing relative to the housing when the self-moving device passes over a pit or obstacle. This swings the first end of the support arm relative to the housing, causing the walking wheel to rotate downwards relative to the housing. An elastic element causes the second end of the swing arm to abut against the support arm, providing torque for the swing of the support arm. This increases the downward extension of the walking wheel relative to the housing, maintaining contact with the walking surface. In this way, the housing can maintain a relatively horizontal state as much as possible during obstacle crossing, reducing the possibility of the device body tilting or even tipping over relative to the horizontal plane, thus helping the self-moving device to cross obstacles smoothly. When the walking wheel returns to a flat surface after passing a pit or obstacle, under the gravity of the device body, the second end of the swing arm resets relative to the support arm, the support arm returns to its initial extension relative to the housing, and the walking wheel resets. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a self-moving device according to an embodiment of this application; Figure 2 This is a schematic diagram of the walking mechanism in one embodiment of this application; Figure 3 for Figure 2 Top view of the walking mechanism shown; Figure 4 for Figure 3 A schematic diagram of the AA cross-sectional structure of the walking mechanism shown; Figure 5 for Figure 4 A schematic diagram of the walking mechanism from another perspective; Figure 6 A schematic diagram of the obstacle-crossing process of a self-moving device in one embodiment of this application is shown, wherein the walking surface has pits; Figure 7 This illustration shows another obstacle-crossing process of a self-moving device according to an embodiment of the present application, wherein the walking surface has obstacles; Figure 8 This is a schematic diagram of the force analysis of the outrigger before rotation in one embodiment of this application; Figure 9 for Figure 8 A schematic diagram showing the force analysis of the support arm after rotation; Figure 10 for Figure 2 The diagram shows a partial structural schematic of the walking mechanism, in which the housing is hidden. Figure 11 for Figure 2 Another partial structural diagram of the walking mechanism shown, in which the housing and arm are hidden; Figure 12 for Figure 11 A schematic diagram of the walking mechanism from another perspective; Figure 13 for Figure 2 Another partial structural diagram of the walking mechanism shown, in which the walking component and the clamping component are hidden; Figure 14 for Figure 13 The schematic diagram of the cross-sectional structure of the walking mechanism shown includes a first limiting member, a second limiting member, a mounting column, a hinge, and a mounting base. Figure 15 for Figure 13 Another cross-sectional structural diagram of the walking mechanism shown, which illustrates the first limiting member, the second limiting member, the mounting column, and the hinge seat.

[0022] Explanation of reference numerals in the attached figures 100. Walking mechanism; 101. Drive component; 102. Transmission assembly; 10. Housing; 20. Walking assembly; 21. Walking wheel; 22. Support arm; 221. Arm body; 222. Plate body; 223. Mounting shell; 224. Wheel cover; 50. First limiting component; 60. Second limiting component; 30. Clamping assembly; 31. Swing arm; 32. Elastic component; 33. Clamping component; 70. Mounting column; 80. Hinge seat; 90. Mounting seat; 103. Mounting shaft; 200. Self-moving device; 210. Equipment body. Detailed Implementation

[0023] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0024] It should be noted that in the embodiments of this application, the orientations or positional relationships such as "upper," "lower," "front," "rear," "top," and "side" are based on the orientations or positional relationships shown in the accompanying drawings. It should be understood that these orientational terms 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, and therefore should not be construed as a limitation of this application. The application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0026] In the description of this specification, references to terms such as "some embodiments," "exemplary," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine the different embodiments or examples described in this application, as well as the features of those different embodiments or examples.

[0027] In related technologies, self-moving devices such as cleaning equipment may encounter uneven surfaces while walking, and the main body of the cleaning equipment may tilt or even tip over relative to the horizontal plane during obstacle crossing.

[0028] In view of this, embodiments of this application provide a walking mechanism and a self-moving device, which can improve the stability of the self-moving device's movement.

[0029] Self-moving refers to a mobile device that possesses autonomous driving capabilities. Self-moving devices can be cleaning equipment, such as sweepers, mops, or combined sweeper-mop machines. The outer shape of the cleaning equipment can be circular or square, etc. The cleaning equipment can move in any direction according to its movement needs.

[0030] Please see Figure 1 and Figure 2 The self-moving device 200 includes a device body 210 and a walking mechanism 100 according to any of the embodiments of this application. The walking mechanism 100 is disposed on the device body 210. The device body 210 is used to install and support other components of the self-moving device 200.

[0031] In the accompanying drawings of this application, "below" indicates the direction towards the working surface. The working surface refers to the walking surface of the self-moving device 200. When the self-moving device 200 is a cleaning device, the working surface may be, for example, the floor, carpet, or stair tread to be cleaned. The cleaning device is capable of collecting waste, including debris and liquids. Debris may include dust, shavings, hair, or particulate matter, and liquids may include sewage or oily waste.

[0032] Please see Figures 3-5The walking mechanism 100 includes a housing 10, a walking assembly 20, and a pressing assembly 30. The walking assembly 20 includes a walking wheel 21 and a support arm 22. A first end of the support arm 22 is pivotally connected to the housing 10, and the walking wheel 21 is rotatably mounted on the second end of the support arm 22. The pressing assembly 30 includes a swing arm 31 and an elastic member 32. A first end of the swing arm 31 is pivotally connected to the housing 10, and a second end of the swing arm 31 faces the support arm 22. A first end of the elastic member 32 is connected to either the support arm 22 or the housing 10, and a second end of the elastic member 32 is connected to the swing arm 31, so that the second end of the swing arm 31 can abut against the support arm 22. Exemplarily, the housing 10 is disposed on the main body of the device.

[0033] The housing 10 provides mounting space for the traveling assembly 20 and the clamping assembly 30. For example, the housing 10 is fixed to the device body 210, meaning that the housing 10 can drive the device body 210 to move together under the action of the traveling assembly 20. Exemplarily, the housing 10 can be integrally formed with the device body 210. In other embodiments, the housing 10 can be fixedly connected to the device body 210 and is a separate component.

[0034] The traveling mechanism 100 is mounted on the main body 210 of the equipment. The traveling mechanism 100 may include a driving wheel mechanism that provides power for the self-moving device 200 to move, or a driven wheel mechanism that follows the driving wheel mechanism. The traveling wheels 21 may be driving wheels or driven wheels, and the traveling wheels 21 include, but are not limited to, rollers, track wheels, Mecanum wheels, etc.

[0035] For example, please refer to Figures 3-5 The walking mechanism 100 also includes a hinge 80, for example, the hinge 80 can be fixed to the bottom plate or side plate of the housing 10, and the support arm 22 is rotatably disposed on the hinge 80 so that the first end of the support arm 22 is swayably connected to the housing 10.

[0036] Understandably, under the overall gravity of the self-moving device 200, the walking wheel 21 remains in contact with the walking surface during the walking process.

[0037] In some embodiments, the support arm 22 has an initial state and a first extended state, and between the initial state and the first extended state, the second end of the swing arm 31 can remain abutting against the support arm 22; wherein, the extension of the support arm 22 relative to the housing 10 in the first extended state is greater than the extension of the support arm 22 relative to the housing 10 in the initial state.

[0038] It should be noted that the initial state refers to the state in which the support arm 22 is not rotated downward relative to the housing 10. The first extended state refers to a state in which the support arm 22 extends downward relative to the housing 10 when the traveling wheel 21 crosses a pit or obstacle. This state is the maximum extended state of the support arm 22 when the swing arm 31 can abut against it. It can be understood that before the support arm 22 is in the first extended state, the support arm 22 has already extended relative to the housing 10 and can cross certain pits or obstacles.

[0039] It is understandable that the second end of the swing arm 31 abuts against the support arm 22, either directly or indirectly.

[0040] In some embodiments, the first end of the swing arm 31 rotates about the housing 10, and the second end of the swing arm 31 moves along the support arm 22 so that the second end of the swing arm 31 can remain in contact with the support arm 22.

[0041] In the above embodiment, the length of the swing arm 31 is a fixed value.

[0042] In some embodiments, the support arm 22 also has a second extended state, between the first extended state and the second extended state, the second end of the swing arm 31 disengages from the support arm 22; wherein the extension of the support arm 22 relative to the housing 10 in the second extended state is greater than the extension of the support arm 22 relative to the housing 10 in the first extended state.

[0043] It should be noted that the second extended state refers to the maximum state in which the support arm 22 extends downward relative to the housing 10 when the traveling wheel 21 crosses a pit or obstacle.

[0044] It should be noted that since the depth of different pits and the height of different obstacles may be arbitrary values, when the length of the swing arm 31 is a fixed value, or when the maximum length of the telescopic swing arm 31 is limited, the downward movement of the swing arm 31 can be divided into two stages.

[0045] In the first stage, that is, between the initial state and the first extended state of the support arm 22, the length of the swing arm 31 is sufficient to ensure that the second end of the swing arm 31 always remains in contact with the support arm 22.

[0046] Schematic, if the depth of the pit or the height of the obstacle does not exceed the limit that the swing arm 31 can maintain contact with, the support arm 22 extends downward relative to the housing 10, and the second end of the swing arm 31 can maintain contact with the support arm 22.

[0047] In the second stage, the second end of the swing arm 31 disengages from the support arm 22, and the swing arm 31 can no longer engage with the support arm 22.

[0048] Schematic illustration: If the pit is too deep or the obstacle is too high, the downward rotation of the swing arm 31 relative to the housing 10 is divided into two stages. In the first stage, from the initial state to the first extended state, the support arm 22 extends downward relative to the housing 10, and the second end of the swing arm 31 can remain in contact with the support arm 22. In the second stage, from the first extended state to the second extended state, the support arm 22 extends further downward relative to the housing 10, and the swing arm 31 can no longer remain in contact with the support arm 22, and the second end of the swing arm 31 disengages from the support arm 22.

[0049] When the walking mechanism 100 resets after overcoming an obstacle, the movement state of the support arm 22 is opposite to the downward rotation movement state described above, and will not be repeated here.

[0050] Understandably, depending on the product design requirements, the maximum extension state of the support arm 22 of the walking mechanism can be either the first extension state or the second extension state.

[0051] In other embodiments not shown, the swing arm 31 is a telescopic swing arm capable of changing its length to remain in contact with the support arm 22. That is, the swing arm 31 can always be in contact with the support arm 22 as the support arm 22 is extended.

[0052] The elastic element 32 provides a force to the swing arm 31 so that the second end of the swing arm 31 can abut against the support arm 22. The way the elastic element 32 provides the force is not limited, as long as it provides an elastic force. For example, the elastic element 32 is a spring. When the traveling wheel 21 passes over a pit with a certain degree of indentation or an obstacle with a certain height, the elastic element 32 can continuously apply a force to the swing arm 31, thereby enabling the swing arm 31 to continuously apply a force to the support arm 22 between the initial state and the first extended state.

[0053] For example, the first end of the elastic element 32 is connected to the housing 10, and the second end of the elastic element 32 is connected to the swing arm 31. Thus, when the walking mechanism 100 is in its initial state before overcoming an obstacle, the elastic element 32 possesses elastic potential energy, providing a force to the swing arm 31, thereby causing the swing arm 31 to press against the support arm 22. During obstacle overcoming, the elastic element 32 acts on the swing arm 31, causing the swing arm 31 to swing and abut against the support arm 22, thereby keeping the housing 10 as close to horizontal as possible. After overcoming the obstacle, under the gravity of the equipment body 210, the walking wheel 21 returns to its original position, and the force provided by the elastic element 32 between the swing arm 31 and the housing 10 increases.

[0054] In other embodiments not shown, the first end of the elastic element 32 is connected to the support arm 22, and the second end of the elastic element 32 is connected to the swing arm 31. Thus, when the walking mechanism 100 is in its initial state before overcoming an obstacle, the elastic element 32 possesses elastic potential energy, providing a force to the swing arm 31, thereby causing the swing arm 31 to press against the support arm 22. When overcoming an obstacle, the elastic element 32 acts on the swing arm 31, causing the swing arm 31 to swing and abut against the support arm 22, thereby keeping the housing 10 as close to horizontal as possible.

[0055] The second end of the elastic element 32 is connected to the swing arm 31, for example, it can be connected to the second end of the swing arm 31 to increase the force exerted on the support arm 22. In order to further increase the force exerted by the elastic element 32, the second end of the elastic element 32 is connected to the end of the second end of the swing arm 31.

[0056] In other embodiments not shown, the second end of the elastic element 32 is connected between the first end of the swing arm 31 and the second end of the swing arm 31.

[0057] For example, the elastic element 32 can be a tension spring or a compression spring.

[0058] When the elastic element 32 is a tension spring, the first end of the elastic element 32 is located below the second end of the elastic element 32, such as Figures 3-5 As shown. In the initial state, the elastic element 32 is in a stretched state to provide a downward pulling force to the swing arm 31, so that the swing arm 31 exerts a pressing effect on the support arm 22.

[0059] When the elastic element 32 is a compression spring, the first end of the elastic element 32 is located above the second end of the elastic element 32 (not shown in the figure). In the initial state, the elastic element 32 is in a compressed state to provide downward pressure to the swing arm 31, so that the swing arm 31 exerts a pressing effect on the support arm 22.

[0060] For example, when the walking mechanism 100 is in the initial state of not crossing the obstacle, the elastic element 32 is in the state of maximum elasticity.

[0061] The first end of the swing arm 31 is disposed on the housing 10, and the second end of the swing arm 31 abuts against the support arm 22. The swing arm 31 can be positioned in at least two ways, i.e., as shown in the diagram. Figure 4 In the first case shown, the second end of the swing arm 31 is located between the first end of the swing arm 31 and the first end of the support arm 22, and the swing arm 31 moves along... Figure 4 The support arm 22 is pressed down counterclockwise as shown. Alternatively, in a second case not shown, the first end of the swing arm 31 and the first end of the support arm 22 are both located on the same side of the second end of the swing arm 31, and the swing arm 31 presses down the support arm 22 clockwise.

[0062] The following describes the motion of the walking wheel 21 when it passes through potholes and obstacles.

[0063] It is understandable that, since the walking wheel 21 is in contact with the ground during travel, when the corresponding walking wheel 21 is the driving wheel, the driving wheel is also in contact with the ground during the lifting and lowering process relative to the housing 10.

[0064] When the self-moving device 200 passes over a pit with a certain degree of indentation, please refer to... Figure 6 H1 represents the extension of the traveling wheel 21 relative to the housing 10 when traveling on a flat surface; H2 represents the extension of the traveling wheel 21 relative to the housing 10 when traveling in a depression. H2 > H1. Since the traveling wheel 21 remains in contact with the ground, and the elastic element 32 causes the swing arm 31 to press against the support arm 22, the support arm 22 drives the traveling wheel 21 to rotate downwards relative to the housing 10. The second end of the swing arm 31 remains against the support arm 22, and the second end of the swing arm 31 and the support arm 22 move downwards together with the traveling wheel 21 relative to the housing 10. In this way, the main body of the equipment 210 can maintain a near-horizontal state. When the traveling wheel 21 returns from the depression to the flat surface, under the gravity of the main body of the equipment 210, the second end of the swing arm 31 resets relative to the support arm 22, and the support arm 22 rotates back to its initial position relative to the housing 10, thus resetting the traveling wheel 21. During the process of the walking wheel 21 crossing the pit, the support arm 22 swings relative to the housing 10, causing the walking wheel to rotate downward relative to the housing 10. The elastic element 32 makes the swing arm 31 press against the support arm 22, providing torque for the swing of the support arm 22. This can reduce the possibility of the main body of the equipment 210 tilting or even overturning relative to the horizontal plane, and help the self-moving equipment 200 to achieve smooth obstacle crossing.

[0065] When the self-moving device 200 passes an obstacle of a certain height, please refer to Figure 7H1 represents the extension of the walking wheel 21 relative to the housing 10 when walking on a flat surface; H3 represents the extension of the walking wheel 21 relative to the housing 10 when passing an obstacle. H3 > H1. The self-moving device 200 includes auxiliary wheels, which are located in front of the walking mechanism 100 along the forward direction. The walking mechanism 100 is located relatively rearward of the main body 210. That is, when passing an obstacle, the auxiliary wheels pass the obstacle first. The auxiliary wheels located in front lift the main body 210 upward when passing the obstacle, thereby lifting the front of the housing 10 upward. Since the walking wheel 21 remains in contact with the ground, and the elastic element 32 causes the swing arm 31 to press against the support arm 22, the walking wheel 21 moves downward relative to the housing 10. The second end of the swing arm 31 still abuts against the support arm 22, and the second end of the swing arm 31 and the support arm 22 move downward together with the walking wheel 21 relative to the housing 10. This ensures that the main body 210 remains as horizontal as possible. When the traveling wheel 21 returns to the flat ground after passing an obstacle, under the gravity of the main body 210, the second end of the swing arm 31 resets relative to the support arm 22, and the support arm 22 returns to its initial extension relative to the housing 10, thus resetting the traveling wheel 21. During the process of the traveling wheel 21 crossing an obstacle, the elastic element 32 provides torque for the swing arm 22 by pressing the swing arm 31 against the support arm 22, reducing the possibility of the main body 210 tilting or even tipping over relative to the horizontal plane, and helping the self-moving device 200 to smoothly overcome obstacles.

[0066] When the traveling wheel 21 passes over a pit or obstacle, it rotates downward relative to the housing 10, increasing its downward extension relative to the housing 10. Since the traveling wheel 21 remains in contact with the traveling surface, and the elastic element 32 causes the swing arm 31 to press against the support arm 22, the traveling wheel 21 moves downward relative to the housing 10. The second end of the swing arm 31 remains in contact with the support arm 22, and both the second end of the swing arm 31 and the support arm 22 move downward relative to the housing 10. In this way, the housing 10 can maintain a relatively horizontal state as much as possible during obstacle crossing. When the traveling wheel 21 returns to a flat surface after passing over a pit or obstacle, under the weight of the main body 210, the second end of the swing arm 31 resets relative to the support arm 22, and the support arm 22 returns to its initial extension relative to the housing 10, thus resetting the traveling wheel 21. During the process of the walking wheel 21 crossing the pit or obstacle, the elastic element 32 causes the swing arm 31 to press against the support arm 22, providing torque for the swing of the support arm 22, which can reduce the possibility of the main body of the equipment 210 tilting or even overturning relative to the horizontal plane, and help the self-moving equipment 200 to achieve smooth obstacle crossing.

[0067] The walking mechanism 100 provided in this embodiment has an elastic element 32 exerting a downward force on the support arm 22. The support arm 22 rotates relative to the housing 10, causing the walking wheel 21 to move away from or closer to the housing 10, thereby changing the amount of the walking wheel 21 extending relative to the bottom of the housing 10. This facilitates the walking wheel 21 crossing pits or obstacles and reduces the range of motion of the main body 210 in the height direction. By providing a swing arm 31, the elastic element 32 acts on the support arm 22 through the swing arm 31 to overcome obstacles, which facilitates the optimization of the installation position of the swing arm 31 and the elastic element 32 to improve their stress conditions.

[0068] In some embodiments, please refer to Figure 4 and Figure 5 The walking mechanism 100 also includes a first limiting member 50, which is disposed in the housing 10 to limit the upward swing of the support arm 22.

[0069] In this way, when the walking mechanism 100 is in its initial position or when the walking mechanism 100 is walking on a flat walking surface, the housing 10 and the support arm 22 can maintain a state of no relative movement, reducing the possibility that the support arm 22 will float upward relative to the housing 10.

[0070] For example, the first end of the elastic element 32 is connected to the housing 10. When the support arm 22 abuts against the first limiting member 50, the elastic element 32 is in a state of maximum elastic force to increase the force on the swing arm 31. That is to say, if the elastic element 32 is a spring, it has reached the elastic limit and reached the maximum value of elastic potential energy.

[0071] For example, the first end of the elastic element 32 is connected to the support arm 22. When the support arm 22 abuts against the first limiting member 50, the elastic element 32 is less than its maximum elastic force. That is, if the elastic element 32 is a tension spring, it has not reached its maximum elongation and can be stretched further; if the elastic element 32 is a compression spring, it has not reached its maximum compression and can be compressed further.

[0072] For example, the first end of the elastic element 32 is connected to the support arm 22, and the weight of the walking mechanism 100 is greater than the elastic force of the elastic element 32 in the initial state. For example, the elastic element 32 is a tension spring, and the weight of the walking mechanism 100 is greater than the tension of the tension spring, so that when the self-moving device 200 crosses an obstacle, the walking mechanism 100 can move downward relative to the device body.

[0073] In some embodiments, please refer to Figure 5 The walking mechanism 100 also includes a second limiting member 60, which is disposed in the housing 10 to limit the downward swing of the swing arm 31 so that the swing arm 31 can move in the opposite direction under the action of the support arm 22.

[0074] When the downward angle of the swing arm 31 relative to the housing 10 is too large, it will cause the swing arm 31 to separate from the support arm 22, and the swing arm 31 will be unable to abut against the support arm 22, thus causing the abutting function of the swing arm 31 to fail. By setting the second limiting member 60 to limit the movement stroke of the swing arm 31, the swing arm 31 can be driven back to the initial abutting position when the support arm 22 retracts.

[0075] In some embodiments, please refer to Figure 5 The clamping assembly 30 also includes a clamping member 33, which is mounted on the second end of the swing arm 31 so that the second end of the swing arm 31 abuts against the support arm 22 via the clamping member 33. The clamping member 33 can slide or roll against the support arm 22.

[0076] For example, the clamping member 33 and the swing arm 31 are separately provided. This makes it easier to further configure the clamping member 33. If the structure of either the clamping member 33 or the swing arm 31 is damaged after long-term use, only the damaged parts need to be replaced, which can reduce maintenance costs.

[0077] In other embodiments not shown, the clamping member 33 and the swing arm 31 are integrally formed.

[0078] In some embodiments, the clamping member 33 is a clamping wheel, which is rotatably connected to the second end of the swing arm 31 so that the clamping wheel can roll against the support arm 22.

[0079] This reduces friction between the clamping element 33 and the support arm 22, allowing the clamping element 33 to roll along the support arm 22, resulting in smoother movement. It also reduces wear between the clamping element 33 and the support arm 22, extending their service life.

[0080] In some embodiments, please refer to Figure 5 The support arm 22 includes an arm body 221 and a plate 222. The first end of the arm body 221 is pivotally connected to the housing 10, and the traveling wheel 21 is rotatably mounted on the second end of the arm body 221. The plate 222 is disposed on the arm body 221, and the clamping member 33 can abut against the plate 222. The plate 222 facilitates providing an abutment position for the clamping member 33 to apply force.

[0081] In some embodiments, the first end of the elastic element 32 is connected to the housing 10, and the second end of the elastic element 32 is connected to the swing arm 31. The first end of the support arm 22 and the first end of the swing arm 31 are located on opposite sides of the second end of the swing arm 31. Thus, when the support arm 22 rotates downward, the swing arm 31... Figure 4 When the support arm 22 is pressed down counterclockwise along the middle edge, the lever arm of the force exerted by the elastic element 32 on the support arm 22 increases, which can reduce the torque attenuation of the elastic element 32 on the support arm 22.

[0082] like Figure 8 and Figure 9 As shown, a represents the pivot point of the support arm 22, b represents the first end of the elastic element 32, and c represents the pivot point of the swing arm 31. Taking the elastic element 32 as a tension spring with its first end connected to the housing 10 as an example, L1 represents the direction of the horizontal plane parallel to the flat traveling surface, and L2 represents the tangent direction to the circle containing the rotation trajectory of the second end of the swing arm 31.

[0083] When walking on a flat walking surface, the lever arm of the elastic element 32 acting on the support arm 22 is M1, the length of the elastic element 32 is S1, and the corresponding elastic force of the elastic element 32 is F1.

[0084] When the walking mechanism 100 is in obstacle crossing mode, the elastic element 32 acts on the support arm 22 through the swing arm 31. The lever arm of the elastic element 32 acting on the support arm 22 is M2, the length of the elastic element 32 is S2, and the corresponding elastic force of the elastic element 32 is F2.

[0085] Since S2 < S1 after the traveling wheel 21 rotates relative to the housing 10, the length of the elastic element 32 decreases, therefore F2 < F1, and the elastic force of the elastic element 32 decreases. Furthermore, M2 > M1, the lever arm of the elastic element 32 acting on the support arm 22 increases, so the torque attenuation of the elastic element 32 acting on the support arm 22 decreases.

[0086] When the elastic element acts directly on the support arm 22, as the traveling wheel rotates downwards, the lever arm of the elastic element acting on the support arm decreases, and the elastic force of the elastic element also decreases. Therefore, the torque exerted by the elastic element relative to the support arm decays relatively quickly. Thus, compared to the elastic element 32 acting directly on the support arm 22, this embodiment places the first end of the support arm 22 and the first end of the swing arm 31 on opposite sides of the second end of the swing arm 31. After the support arm 22 rotates, the torque decay of the elastic element 32 acting on the support arm 22 can be reduced.

[0087] For example, please refer to Figure 10 and Figure 11 Along the rotation axis of the traveling wheel 21, the plate 222 is disposed on the arm 221 and extends toward the side close to the elastic member 32, so that the clamping member 33 is positioned between the arm 221 and the elastic member 32. The first end of the elastic member 32 is fixed to the side wall of the housing 10. Thus, there are gaps between the swing arm 31 and the arm 221, and between the swing arm 31 and the housing 10, to prevent interference between the swing arm 31, the support arm 22, and the traveling wheel 21 when they rotate independently.

[0088] In some embodiments, please refer to Figure 10 and Figure 11 The surface of the plate 222 that abuts against the pressure roller is configured as a straight surface to reduce the manufacturing difficulty of the plate 222.

[0089] In other embodiments not shown, the surface of the plate 222 that abuts against the pressure wheel is configured as a curved surface so that the pressure wheel can tangentially abut against the plate 222 during the swinging of the support arm 22, thereby improving the pressing effect of the pressure wheel on the plate 222.

[0090] Exemplarily, the walking mechanism 100 also includes a drive assembly drivenly connected to the walking wheel 21 to drive the walking wheel 21 to rotate for self-propelled movement. For example, please refer to... Figure 11 and Figure 12 The drive assembly includes a drive component 101 and a transmission group 102. The transmission group 102 is disposed on the support arm 22. The drive component 101 is drivenly connected to the transmission group 102, and the transmission group 102 is drivenly connected to the traveling wheel 21.

[0091] For example, the drive unit 101 includes a drive motor, which can be a DC motor or a servo motor, etc.

[0092] For example, the transmission assembly 102 includes a transmission wheel assembly, which includes a plurality of transmission wheels.

[0093] For example, the transmission wheel assembly includes a first transmission wheel, an intermediate transmission wheel, and a second transmission wheel. The drive unit 101 is driven by the first transmission wheel, the first transmission wheel is driven by the second transmission wheel via the intermediate transmission wheel, and the second transmission wheel is driven by the traveling wheel 21. Exemplarily, the number of intermediate transmission wheels can be adaptively set according to requirements, for example, one, two, or more.

[0094] For example, please refer to Figure 11 and Figure 12 The support arm 22 also includes a mounting shell 223, and the plate 222 is covered on the mounting shell 223.

[0095] For example, the mounting housing 223 has a first mounting cavity and a second mounting cavity, the drive member 101 is disposed in the first mounting cavity, and the transmission assembly 102 is disposed in the second mounting cavity.

[0096] For example, please refer to Figure 11 and Figure 12 The outrigger 22 also includes a wheel cover 224, which is fitted onto the traveling wheel 21 and is fixedly connected to the arm body 221. Alternatively, the wheel cover 224 and the arm body 221 are integrally formed.

[0097] For example, please refer to Figures 12-15 The traveling mechanism 100 also includes a mounting post 70 and a mounting shaft 103. The mounting post 70 is disposed on the top wall of the housing 10. The mounting post 70 has a first through hole, the swing arm 31 has a second through hole, and the mounting shaft 103 passes through the first through hole and the second through hole so that the swing arm 31 can swing relative to the housing 10.

[0098] For example, please refer to Figure 14 The walking mechanism 100 also includes a mounting base 90, which is disposed on the inner wall of the housing 10, and the first end of the elastic member 32 is mounted on the mounting base 90.

[0099] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A walking mechanism, characterized in that, include: case; A walking assembly includes a walking wheel and a support arm, wherein a first end of the support arm is pivotally connected to the housing, and the walking wheel is rotatably mounted on a second end of the support arm; A clamping assembly includes a swing arm and an elastic element, wherein a first end of the swing arm is pivotally connected to the housing, a second end of the swing arm faces the support arm, a first end of the elastic element is connected to the support arm or the housing, and a second end of the elastic element is connected to the swing arm so that the second end of the swing arm can abut against the support arm.

2. The walking mechanism according to claim 1, characterized in that, The support arm has an initial state and a first extended state, and between the initial state and the first extended state, the second end of the swing arm can remain in contact with the support arm; Wherein, the extension amount of the support arm relative to the housing in the first extended state is greater than the extension amount of the support arm relative to the housing in the initial state.

3. The walking mechanism according to claim 2, characterized in that, The second end of the swing arm moves along the support arm so that the second end of the swing arm can remain in contact with the support arm.

4. The walking mechanism according to claim 2, characterized in that, The support arm also has a second extended state, and between the first extended state and the second extended state, the second end of the swing arm disengages from the support arm; Wherein, the extension amount of the support arm relative to the housing in the second extended state is greater than the extension amount of the support arm relative to the housing in the first extended state.

5. The walking mechanism according to claim 1, characterized in that, The clamping assembly also includes: A clamping element is installed at the second end of the swing arm so that the second end of the swing arm abuts against the support arm through the clamping element.

6. The walking mechanism according to claim 5, characterized in that, The clamping component is a clamping wheel, which is rotatably connected to the second end of the swing arm so that the clamping wheel can roll against the support arm.

7. The walking mechanism according to claim 5, characterized in that, The support arm includes: An arm body, the first end of which is swayably connected to the housing, and the walking wheel is rotatably mounted on the second end of the arm body; A plate body is disposed on the arm body, and the clamping member can abut against the plate body.

8. The walking mechanism according to claim 7, characterized in that, The clamping component is a clamping wheel, which is rotatably connected to the second end of the swing arm so that the clamping wheel can roll against the support arm. The surface of the plate that abuts against the pressure wheel is configured as a straight surface or a curved surface.

9. The walking mechanism according to claim 1, characterized in that, The second end of the elastic element is connected to the second end of the swing arm, or the second end of the elastic element is connected between the first end of the swing arm and the second end of the swing arm.

10. The walking mechanism according to claim 1, characterized in that, The elastic element is a tension spring, and the first end of the elastic element is located below the second end of the elastic element; or... The elastic element is a compression spring, and the first end of the elastic element is located above the second end of the elastic element.

11. The walking mechanism according to claim 1, characterized in that, The walking mechanism also includes: A first limiting member is disposed on the housing to restrict the upward swing of the support arm.

12. The walking mechanism according to claim 11, characterized in that, The first end of the elastic element is connected to the housing, and when the support arm abuts against the first limiting member, the elastic element is in the state of maximum elastic force.

13. The walking mechanism according to claim 1, characterized in that, The walking mechanism also includes: A second limiting member is provided on the housing to restrict the downward swing of the swing arm so that the swing arm can move in the opposite direction under the action of the support arm.

14. The walking mechanism according to any one of claims 1 to 13, characterized in that, The first end of the support arm and the first end of the swing arm are located on both sides of the second end of the swing arm, respectively.

15. The walking mechanism according to any one of claims 1 to 13, characterized in that, The walking mechanism also includes: The drive assembly includes a drive component and a transmission group, the transmission group being disposed on the support arm, the drive component being drivenly connected to the transmission group, and the transmission group being drivenly connected to the walking wheel.

16. A self-moving device, characterized in that, include: Equipment body; The walking mechanism according to any one of claims 1 to 15, wherein the walking mechanism is disposed on the main body of the device.

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