Obstacle-crossing wheel assembly and traveling device

Abstract

An obstacle-crossing wheel assembly (20) and a traveling device (100). The obstacle-crossing wheel assembly comprises a mounting bracket (1), which comprises two mounting arms (11) arranged opposite each other; a rolling wheel (2), which comprises a rolling wheel body (21), wherein the rolling wheel body is rotatably connected between the two mounting arms, and there is a clearance gap (101) between the rolling wheel body and the mounting bracket, the rolling wheel body being arranged in a spherical or approximately spherical shape; and an auxiliary obstacle-crossing component (3), which is located in front of the rolling wheel in the direction of travel of the rolling wheel, wherein the auxiliary obstacle-crossing component is connected to the mounting arms and is suspended relative to the ground, the distance from the lowest end of the auxiliary obstacle-crossing component to the ground being less than or equal to the maximum obstacle-crossing height of the rolling wheel body.

Description

Obstacle crossing wheel assembly and walking device

[0001] The present application claims priority to Chinese Patent Application No. 2024111145366, filed on August 13, 2024, entitled "A Universal Wheel Assembly and Walking Device", Chinese Patent Application No. 2024219665044, filed on August 13, 2024, entitled "An Obstacle Crossing Wheel Assembly and Lawn Mower", and Chinese Patent Application No. 2024219596538, filed on August 13, 2024, entitled "A Mobile Wheel Assembly and Walking Device", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of power tools, and more particularly to an obstacle crossing wheel assembly and walking device. BACKGROUND

[0003] Lawn mowers, as one of the tools for lawn recovery, have a wide range of applications in urban greening and household weeding.

[0004] Traditional lawn mowers include multiple wheel sets, all of which simultaneously contact the ground. However, when encountering stones, potholes, or low steps, the wheel sets of existing lawn mowers are difficult to smoothly cross such obstacles and continue to move forward, thus reducing the working efficiency of the lawn mowers. In addition, the traditional wheel sets need to be turned to the direction consistent with the applied external force to roll. When the wheels are turned due to collision with obstacles, the traditional wheel sets need a process to adjust the direction of the wheels, and cannot directly turn in place, thus having poor turning flexibility.

[0005] In view of the above technical means, the wheel sets of the lawn mowers have the defects of difficulty in crossing obstacles and poor turning flexibility. SUMMARY

[0006] The present application provides an obstacle crossing wheel assembly, which can reduce the difficulty of the wheel set in crossing obstacles and improve the turning flexibility of the wheel set.

[0007] In a first aspect, the present application provides an obstacle crossing wheel assembly, which adopts the following technical solution:

[0008] An obstacle crossing wheel assembly, comprising:

[0009] A mounting bracket, the mounting bracket comprising two mounting arms arranged oppositely;

[0010] A rolling wheel, the rolling wheel comprising a rolling wheel body, the rolling wheel body being rotationally connected between the two mounting arms, the rolling wheel body and the mounting bracket having an avoiding gap therebetween, the rolling wheel body being arranged in a spherical or spherical-like shape;

[0011] An auxiliary obstacle-crossing component is located in front of the rolling wheel in the direction of travel of the rolling wheel, the auxiliary obstacle-crossing component is connected with the mounting arm and is suspended relative to the ground, and the distance from the lowest end of the auxiliary obstacle-crossing component to the ground is less than or equal to the maximum obstacle-crossing height of the rolling wheel body.

[0012] Optionally, the auxiliary obstacle-crossing component comprises an extension and an auxiliary wheel, one end of the extension is connected with the mounting bracket, the other end of the extension extends forward in the direction of travel, the auxiliary wheel is rotatably arranged at the other end of the extension, and the distance from the lowest end of the auxiliary wheel to the ground is less than or equal to the maximum obstacle-crossing height of the rolling wheel body.

[0013] Optionally, the auxiliary obstacle-crossing component comprises a connecting portion and a guiding portion, one end of the connecting portion is connected with the mounting bracket, the other end of the connecting portion is connected with the guiding portion, and the guiding portion is located in front of the rolling wheel and is inclined on the side used for contacting the obstacle.

[0014] Optionally, the guiding portion comprises a first side edge, a second side edge and a third side edge connected in sequence, the first side edge and the third side edge are further connected with the connecting portion respectively, and the second side edge is used for contacting the obstacle in the direction of travel and is inclined upward in the direction of travel.

[0015] Optionally, the lowest point of the second side edge is not higher than the maximum obstacle-crossing height of the rolling wheel, and the highest point of the second side edge is higher than the maximum obstacle-crossing height of the rolling wheel.

[0016] Optionally, the connecting portion comprises a first connecting segment and a second connecting segment, one end of the second connecting segment is connected with the guiding portion and is arranged at an angle, the other end of the second connecting segment is connected with the first connecting segment and is arranged at an angle, and the guiding portion and the first connecting segment have an avoiding gap therebetween.

[0017] Optionally, the rolling wheel further comprises a second rotating shaft and a bearing, the second rotating shaft is located on the axis of the rolling wheel body and penetrates the rolling wheel body, and two ends of the second rotating shaft are connected with the two mounting arms respectively; the inner wall of the bearing is connected with the second rotating shaft, and the outer wall of the bearing is connected with the rolling wheel body.

[0018] Optionally, the mounting bracket is provided with a first rotating shaft; the central axis of the second rotating shaft is perpendicular to the first rotating shaft, and the first rotating shaft is used to be connected with the chassis of the walking device so that the obstacle wheel assembly can rotate relative to the chassis; in the advancing direction of the rolling wheel, the first rotating shaft is arranged in front of the second rotating shaft; and in the advancing direction of the rolling wheel, the distance from the first rotating shaft to the front side of the rolling wheel is L1, and in the axial direction of the second rotating shaft, the distance from the second rotating shaft to the left and right sides of the rolling wheel is L2, L1 < L2.

[0019] Optionally, the rolling wheel body comprises a rolling part and an avoiding part, and the avoiding part is located on both sides of the rolling part in the advancing direction, and the outer peripheral wall of the avoiding part is a circular arc surface or an inclined plane.

[0020] Optionally, the avoiding part is provided with a mounting plane corresponding to the outer peripheral wall of the mounting arm, the second rotating shaft is arranged at the center of the mounting plane, the plane where the mounting plane is located is perpendicular to the second rotating shaft, and the mounting plane and the mounting arm have an accommodating gap therebetween.

[0021] Optionally, the mounting plane is perpendicular to the second rotating shaft, the height of the lowest point of the mounting plane is between 1 / 4 and 1 / 3 of the diameter of the rolling wheel body, and the lowest point of the guiding part is arranged to be lower than or equal to the lowest point of the mounting plane.

[0022] Optionally, the inclination angle of the side of the guiding part used to contact the obstacle is 35-45°.

[0023] Optionally, the side used to contact the obstacle of the guiding part is an outwardly convex arc-shaped side.

[0024] Optionally, the lowest point of the side used to contact the obstacle of the guiding part is located in the axial projection area of the rolling wheel.

[0025] Optionally, the auxiliary obstacle crossing component is a layer of sheet metal structure or a plurality of layers of stacked sheet metal structures.

[0026] In a second aspect, the application further provides another obstacle wheel assembly, which adopts the following technical scheme:

[0027] An obstacle wheel assembly comprises:

[0028] a mounting bracket, the mounting bracket is provided with a first rotating shaft, and the first rotating shaft is used to be connected with the chassis of the walking device so that the obstacle wheel assembly can rotate relative to the chassis;

[0029] The rolling wheel comprises a rolling wheel body and a second rotating shaft arranged on the rolling wheel body, the first rotating shaft and the second rotating shaft are perpendicular to each other, the rolling wheel body is arranged in a spherical or spherical-like shape, is sleeved on the second rotating shaft, and at least one side of the rolling wheel body is provided with a mounting plane, the second rotating shaft is arranged in the mounting plane, and the lowest point of the mounting plane is higher than the lowest point of the rolling wheel body.

[0030] The auxiliary obstacle-crossing component is arranged on both sides of the mounting support and at least partially located in front of the rolling wheel body in the advancing direction of the obstacle-crossing wheel assembly, and the lowest point of the auxiliary obstacle-crossing component is not higher than the lowest point of the mounting plane.

[0031] The walking device adopts the obstacle-crossing wheel assembly.

[0032] From the above technical solutions, the embodiments of the present application have the following advantages:

[0033] When the obstacle-crossing wheel assembly encounters an obstacle, the auxiliary obstacle-crossing component can contact the obstacle first, and under the driving of the advancing force, the auxiliary obstacle-crossing component slides with the obstacle, the rolling wheel body is smoothly lifted by the auxiliary obstacle-crossing component, the distance between the rolling wheel body and the ground is increased, so that the rolling wheel body can cross the obstacle or roll along the obstacle under the driving of the advancing force, the obstacle-crossing difficulty of the rolling wheel body is reduced, and the rolling wheel body is assisted to cross the obstacle; meanwhile, since the rolling wheel body is spherical or spherical-like, even if the rolling wheel body deviates from the advancing direction due to rotation caused by encountering an obstacle, the rolling wheel body can quickly return to a state parallel to the advancing direction under the driving of the advancing force to continue moving forward, and the turning flexibility of the rolling wheel is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0035] Fig. 1 is a structural schematic diagram of the obstacle-crossing wheel assembly provided by the first embodiment of the present application from a first perspective.

[0036] Fig. 2 is a structural schematic diagram of the obstacle-crossing wheel assembly in Fig. 1 from a second perspective.

[0037] Fig. 3 is an exploded view of the obstacle-crossing wheel assembly in Fig. 2.

[0038] Fig. 4 is a front view of the obstacle-crossing wheel assembly in Fig. 1.

[0039] Fig. 5 is a top view of the obstacle wheel assembly in Fig. 1.

[0040] Fig. 6 is a top view of the obstacle wheel assembly provided by the second embodiment of the present application.

[0041] Fig. 7 is a front view of the obstacle wheel assembly in Fig. 6.

[0042] Fig. 8 is a structural schematic view of the obstacle wheel assembly in Fig. 6.

[0043] Fig. 9 is a structural schematic view of the obstacle wheel assembly provided by the third embodiment of the present application from a first perspective.

[0044] Fig. 10 is a structural schematic view of the obstacle wheel assembly provided by the third embodiment of the present application from a second perspective.

[0045] Fig. 11 is a structural schematic view of a walking device provided by the embodiments of the present application.

[0046] Main figure mark explanation: 100, walking device; 10, vehicle body; 20, obstacle wheel assembly; 30, rear drive wheel; 1, mounting bracket; 11, mounting arm; 12, connecting plate; 13, first rotating shaft; 15, connecting seat; 151, elastic buckle; 101, avoiding gap; 2, rolling wheel; 21, rolling wheel body; 211, rolling part; 212, avoiding part; 213, contact end; 214, mounting plane; 215, anti-skid pattern; 22, second rotating shaft; 3, auxiliary obstacle component; 31, connecting part; 311, first connecting section; 312, second connecting section; 32, guiding part; 321, first side edge; 322, second side edge; 323, third side edge; 301, avoiding notch. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary, only for explaining the present application, and cannot be understood as a limitation to the present application.

[0048] In the description of the present application, it is understood that the orientation description, such as the orientation or position relationship indicated by the upper, lower, front, rear, upper, lower, etc. is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation to the present application.

[0049] In the description of the present application, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0050] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0051] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0052] The present application will be further described in detail below in combination with the accompanying drawings.

[0053] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that those skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0054] The terms "first", "second", "third", "fourth", and the like in the description and in the claims of the present application and above accompanying drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so

[0055] Conventional walking devices include multiple wheel sets, all of which contact the ground at the same time. However, when encountering stones, potholes or lower steps, the wheel sets of the existing walking device are difficult to smoothly continue to move forward by relying on the wheels themselves, thus reducing the working efficiency of the walking device. In addition, the conventional wheel set needs to turn the wheels to be consistent with the direction of the applied external force to roll. When the wheels are turned due to collision with obstacles, the conventional wheel set needs a process to adjust the direction of the wheels, and cannot directly turn in place, thus the turning flexibility is poor.

[0056] To solve the above problems, an obstacle crossing wheel assembly 20 is provided in the embodiments of the present application. Please refer to FIG. 1, which is an embodiment of the obstacle crossing wheel assembly 20 in the present application. The obstacle crossing wheel assembly 20 includes a mounting bracket 1, a rolling wheel 2 and an auxiliary obstacle crossing component 3. The rolling wheel 2 is rotatably installed on the mounting bracket 1. The mounting bracket 1 is rotatably connected with the body of the walking device. The mounting bracket 1 and the rolling wheel 2 are connected to rotate in all directions relative to the body of the walking device. The auxiliary obstacle crossing component 3 is located in front of the rolling wheel 2 in the direction of movement of the rolling wheel 2. The auxiliary obstacle crossing component 3 is installed on the mounting bracket 1 and is suspended relative to the ground. The distance from the lowest end of the auxiliary obstacle crossing component 3 to the ground is less than or equal to the maximum obstacle crossing height of the rolling wheel 2. Thus, when encountering obstacles, the auxiliary obstacle crossing component 3 is in contact with the obstacles first to lift the height between the rolling wheel 2 and the ground to assist in crossing obstacles. The direction of movement of the rolling wheel 2 refers to the forward movement direction of the walking device, and does not include the movement direction of the walking device robot when moving backward.

[0057] Please refer to FIG. 1 to FIG. 4, the mounting bracket 1 comprises a connecting plate 12 and two mounting arms 11 arranged oppositely. The connecting plate 12 is located between the two mounting arms 11, and the same side end of each mounting arm 11 is fixedly connected to the connecting plate 12 on both sides. The end of each mounting arm 11 not connected to the connecting plate 12 is connected to the rolling wheel 2. Specifically, the connecting plate 12 is used to be mounted on the chassis of the walking device. One mounting arm 11 is connected to the left end of the connecting plate 12, and the other mounting arm 11 is connected to the right end of the connecting plate 12. The two mounting arms 11 are arranged oppositely. The rolling wheel 2 is rotatably connected between the two mounting arms 11. The left end of the rolling wheel 2 is rotatably connected to the left mounting arm 11, and the right end of the rolling wheel 2 is rotatably connected to the right mounting arm 11. Two auxiliary obstacle-crossing components 3 are arranged. One auxiliary obstacle-crossing component 3 is connected to one mounting arm 11 and extends forward to the front of the rolling wheel 2 in the direction of travel of the rolling wheel 2 to form a guide portion 32 in front of the rolling wheel 2. Similarly, the other auxiliary obstacle-crossing component 3 is connected to the other mounting arm 11 and extends forward to the front of the rolling wheel 2 in the direction of travel of the rolling wheel 2 to form a guide portion 32 in front of the rolling wheel 2.

[0058] It can be understood that the mounting bracket 1 and the two auxiliary obstacle-crossing components 3 are connected in the above manner. The two auxiliary obstacle-crossing components 3 are located on the left and right sides of the rolling wheel 2 to be able to lift the rolling wheel 2 when crossing obstacles. Moreover, the two auxiliary obstacle-crossing components 3 extend to the front of the rolling wheel 2 in the direction of travel of the rolling wheel 2 but are not arranged in front of the rolling wheel 2. In other words, in the left-right direction, the auxiliary obstacle-crossing components 3 are staggered with the rolling wheel 2. Therefore, when the obstacle wheel assembly 20 crosses obstacles, the two auxiliary obstacle-crossing components 3 do not interfere with the fit between the rolling wheel 2 and the obstacles, thereby ensuring that the rolling wheel 2 can smoothly climb along the obstacles.

[0059] The mounting bracket 1 is provided with a first rotating shaft 13. The first rotating shaft 13 is used to be connected to the chassis of the walking device so that the obstacle wheel assembly 20 can rotate relative to the chassis. Specifically, the end face of the connecting plate 12 away from the rolling wheel 2 is provided with the first rotating shaft 13. One end of the first rotating shaft 13 is fixedly connected to the connecting plate 12, and the other end of the first rotating shaft 13 is rotatably connected to the walking device body. The walking device body drives the first rotating shaft 13 to rotate, and the first rotating shaft 13 thereby drives the mounting bracket 1 and the rolling wheel 2 to synchronously rotate, thereby realizing the universal adjustment of the obstacle wheel assembly 20. In the embodiment of the present application, the first rotating shaft 13 is perpendicular to the horizontal plane, and the first rotating shaft 13 is located at the central position of the connecting plate 12, so that the force from the walking device body can be evenly distributed on both sides of the rolling wheel 2.

[0060] Specifically, the obstacle wheel assembly 20 is applied to a walking device, such as a mowing robot, the first rotating shaft 13 can be directly connected to the chassis of the walking device, or the first rotating shaft 13 can also be rotatably provided with a connecting seat 15, the side of the connecting seat 15 is provided with a buckle, and the connecting seat 15 is assembled to the front or other positions of the chassis of the walking device through the buckle. The walking device can move forward by using the obstacle wheel assembly 20. It can be understood that during the movement of the walking device, the obstacle wheel assembly 20 is rotatably arranged on the chassis of the walking device through the first rotating shaft 13 around the vertical shaft, and the walking device can flexibly turn through the obstacle wheel assembly 20 to clean the lawn and the like.

[0061] Specifically, during the movement of the walking device, if the obstacle wheel assembly 20 encounters an obstacle higher than the lowest point of the auxiliary obstacle component 3, since the auxiliary obstacle components 3 on both sides are at least partially located in front of the rolling wheel 2 in the moving direction, the auxiliary obstacle components 3 on both sides first abut against the obstacle in front. With the rear drive wheel 30 (see FIG. 11) of the walking device continuing to drive the walking device to move forward, the auxiliary obstacle component 3 moves upward relative to the obstacle, and the rolling wheel 2 gradually lifts upward with the auxiliary obstacle component 3, more specifically, the head of the walking device lifts upward with the rear drive wheel 30 as the fulcrum, therefore, under the action of the rear drive wheel 30, the rolling wheel 2 can smoothly cross the obstacle, so as to avoid the walking device from being stuck, skidding and the like.

[0062] It should be noted that since the rolling wheel 2 is rotatably arranged on the chassis of the walking device through the first rotating shaft 13 around the vertical shaft, the rolling wheel 2 is easy to turn when encountering an obstacle during movement, especially when the rolling wheel 2 encounters an obstacle higher than the lowest point of the mounting plane 214, the mounting plane 214 can cause the rolling wheel 2 to be unable to rotate forward after rotating to the transverse state, which seriously affects the obstacle crossing ability of the rolling wheel 2.

[0063] Based on the above, in the present application, the rolling wheel 2 is arranged in a substantially spherical shape, and the auxiliary obstacle crossing component 3 is arranged on both sides of the rolling wheel 2, and the lowest point of the auxiliary obstacle crossing component 3 is lower than or equal to the lowest point of the installation plane 214. Therefore, during the rolling process of the rolling wheel 2, the auxiliary obstacle crossing component 3 cooperates with the substantially spherical rolling wheel 2. In this way, when the rolling wheel 2 passes through the obstacle, especially when it passes through the obstacle higher than the lowest point of the installation plane 214, the auxiliary obstacle crossing component 3 increases the height of the rolling wheel 2 and the flexibility of the spherical shape of the rolling wheel 2, that is, under the cooperation of the auxiliary obstacle crossing component 3, even if the rolling wheel 2 deviates from the rolling direction due to the rotation caused by encountering the obstacle during the obstacle crossing process, the rolling wheel 2 can change the contact point position between the rolling wheel 2 and the obstacle under the forward force, so that the rolling wheel 2 can contact the ground more when rotating, and can automatically adjust to the required direction with the smallest rotation angle, so that the rolling wheel 2 can more easily and quickly recover to the state parallel to the rolling direction and continue to move forward, so that the rolling wheel 2 can more smoothly cross the obstacle, effectively avoiding the problem that the installation plane 214 may cause the rolling wheel 2 to stop. In addition, the rolling wheel 2 itself is arranged in a substantially spherical shape, which can cover most of the holes in the lawn, and the side of the rolling wheel 2 is arc-shaped, so that the rolling wheel 2 itself has a smooth guiding effect, and therefore the rolling wheel 2 has better steering and obstacle crossing ability. Moreover, under the cooperation of the auxiliary obstacle crossing component 3, the obstacle crossing ability and smoothness of the rolling wheel 2 are further effectively improved. The auxiliary obstacle crossing component 3 is provided with two, and the rolling wheel 2 is located between the two auxiliary obstacle crossing components 3, that is, one auxiliary obstacle crossing component 3 is located on the left side of the rolling wheel 2, and the other auxiliary obstacle crossing component 3 is located on the right side of the rolling wheel 2. Therefore, when the obstacle wheel assembly 20 crosses the obstacle, the obstacle crossing components on the left and right sides cooperate to lift the height of the rolling wheel 2, so that the rolling direction of the rolling wheel 2 is an upwardly inclined direction, thereby smoothly crossing the obstacle. It can be understood that the auxiliary obstacle crossing component 3 is provided with two, and the two auxiliary obstacle crossing components 3 can stably support the left and right sides of the obstacle wheel assembly 20 to prevent the obstacle wheel assembly 20 from turning left and right during the lifting process.

[0064] Exemplarily, in the present embodiment, the two auxiliary obstacle crossing components 3 are respectively installed on the two installation arms 11 and are arranged one by one, and the arrangement of the two auxiliary obstacle crossing components 3 facilitates maintaining the stability of the rolling wheel 2 during obstacle crossing. When the obstacle wheel assembly 20 encounters an obstacle, the auxiliary obstacle crossing component 3 is in contact with the obstacle first, and under the driving of the forward force, the auxiliary obstacle crossing component 3 slides with the obstacle, and the two auxiliary obstacle crossing components 3 can stably lift the rolling wheel 2, increase the distance between the rolling wheel 2 and the ground to lift the rolling wheel 2, so that the rolling wheel 2 can roll over the obstacle or along the obstacle under the driving of the forward force, thereby reducing the difficulty of the rolling wheel 2 crossing the obstacle, and assisting the rolling wheel 2 to cross the obstacle.

[0065] The rolling wheel 2 comprises a rolling wheel body 21 and a second rotating shaft 22 arranged on the rolling wheel body 21. The central axis of the second rotating shaft 22 is perpendicular to the central axis of the first rotating shaft 13. The rolling wheel body 21 is sleeved on the second rotating shaft 22. The two sides of the rolling wheel body 21 are at least partially configured as a mounting plane 214. The second rotating shaft 22 penetrates the mounting plane 214, and the lowest point of the mounting plane 214 is higher than the lowest point of the rolling wheel body 21. The auxiliary obstacle crossing component 3 is arranged on the two sides of the mounting bracket 1, and at least partially in front of the rolling wheel body 21 in the advancing direction of the obstacle crossing wheel assembly 20. The lowest point of the auxiliary obstacle crossing component 3 is not higher than the lowest point of the mounting plane 214.

[0066] The advancing direction of the rolling wheel 2 refers to the forward driving direction of the walking device, and does not include the movement direction of the walking device when it is moving backward. In addition, the rolling wheel 2 is arranged in a substantially spherical shape, which means that the rolling wheel 2 can be a regular spherical shape or close to a spherical shape, which is not limited in the present application.

[0067] In addition, the two sides of the rolling wheel 2 are at least partially configured as a mounting plane 214, which can be understood as a spherical or spherical-like spherical body being cut at the opposite position to form a circular plane on both sides of the spherical body, thereby obtaining the rolling wheel 2 required by the present application.

[0068] For the convenience of description, the axial direction of the first rotating shaft 13 is the up-down direction in the drawing, the axial direction of the second rotating shaft 22 is the left-right direction in the drawing, and the advancing direction of the rolling wheel 2 is the forward direction in the drawing.

[0069] In some embodiments, the rolling wheel 2 further comprises a bearing. The rolling wheel body 21 is arranged in a spherical or spherical-like shape, and the rolling wheel body 21 is rotatably connected between the two mounting arms 11. The rolling wheel body 21 has a clearance 101 with the mounting bracket 1; the second rotating shaft 22 is located on the axis of the rolling wheel body 21 and penetrates the rolling wheel body 21, the two ends of the second rotating shaft 22 are respectively connected with the two mounting arms 11, the inner wall of the bearing is connected with the second rotating shaft 22, the outer wall of the bearing is connected with the rolling wheel body 21, the rolling wheel body 21 is supported by the bearing, which reduces the friction coefficient of the rolling wheel body 21 during movement, reduces the vibration of the rolling wheel body 21, and reduces the noise of the rolling wheel body 21 relative to the second rotating shaft 22. In the present embodiment, the rolling wheel body 21 is rotatably connected with the second rotating shaft 22, the two ends of the second rotating shaft 22 are fixedly connected with the two mounting arms 11, the inner wall of the bearing is rotatably connected with the second rotating shaft 22, and the outer wall of the bearing is fixedly connected with the rolling wheel body 21. The bearing can reduce the friction between the rolling wheel body 21 and the second rotating shaft 22. In some other embodiments, the rolling wheel body 21 is fixedly connected with the second rotating shaft 22, and the two ends of the second rotating shaft 22 are rotatably connected with the two mounting arms 11, which can also realize the rotatable connection of the rolling wheel 2 with the mounting bracket 1.

[0070] The roller body 21 is in contact with the ground, and the second rotating shaft 22 is the rotating center shaft of the roller body 21, that is, the central axis of the second rotating shaft 22 coincides with the rotating axis of the roller body 21. Thus, under the driving of the advancing force, the roller body 21 rolls along the advancing direction to carry the movement of the walking device. Since the roller body 21 is spherical or spherical-like, the width of the roller body 21 is wider than that of the round pie-shaped roller, and the roller body 21 can cover the small-sized pits on the ground. In the embodiment, the roller body 21 is a sphere or a spherical-like body with a diameter of 12 cm, and the roller body 21 with such a size can cover pits with a size of 5-7 cm. With the cooperation of the auxiliary obstacle-crossing component 3, even if the roller body 21 deviates from the advancing direction due to rotation caused by encountering obstacles during obstacle-crossing, the roller body 21 can change the position of the contact point with the ground under the advancing force, so that the roller body 21 contacts the ground at more points during rotation, can automatically adjust to the required direction with the smallest rotation angle, and the roller body 21 is easier and faster to recover to the state parallel to the advancing direction, so as to continue to move forward, thereby improving the steering flexibility of the rolling wheel 2.

[0071] Please refer to FIG. 3 and FIG. 6, the roller body 21 includes a rolling part 211 and an avoiding part 212. The rolling part 211 is used to contact the ground along the advancing direction of the roller body 21. The avoiding part 212 is located on both sides of the rolling part 211. The outer peripheral wall of the avoiding part 212 is a circular arc surface or an inclined plane. Compared with the round pie-shaped roller, the outer peripheral wall of the avoiding part 212 can smoothly guide the roller body 21. The circular arc-shaped avoiding part 212 makes the steering of the roller body 21 more smooth compared with the inclined plane-shaped avoiding part 212.

[0072] The avoiding part 212 is provided with a mounting plane 214 corresponding to the outer peripheral wall of the mounting arm 11. The mounting plane 214 is obtained by cutting part of the roller body 21. The mounting plane 214 has an accommodation gap with the mounting arm 11, which can reduce the possibility of grass entanglement between the roller body 21 and the mounting arm 11 during advancing.

[0073] Referring to FIG. 3, FIG. 5, FIG. 6 and FIG. 8, further, the first rotation shaft 13 is located on the central plane of the rolling wheel 2, and is arranged forwardly relative to the second rotation shaft 22 in the advancing direction of the rolling wheel 2, i.e. the forward direction, and the offset distance is approximately between 20mm and 30mm. The distance from the first rotation shaft 13 to the outer surface of the rolling wheel 2 in the advancing direction of the rolling wheel body 21, i.e. the forward direction, is L1, and the distance from the second rotation shaft 22 to the outer surface of the rolling wheel 2 in the axial direction of the second rotation shaft 22, i.e. the left or right direction, is L2. Specifically, in the advancing direction of the rolling wheel body 21, the contact end 213 of the rolling part 211 close to the obstacle, and the distance between the center point of the first rotation shaft 13 and the outer peripheral wall of the contact end 213 is L1; and the distance between the center point of the first rotation shaft 13 and the outer peripheral wall of the avoiding part 212 perpendicular to the advancing direction of the rolling wheel body 21 is L2, L1 < L2. That is, the first rotation shaft 13 is located on one side of the central axis of the rolling wheel body 21 perpendicular to the advancing direction, and the first rotation shaft 13 is close to the contact end 213, which further enables the rolling wheel 2 to easily return to the state parallel to the advancing direction under the action of the advancing force when the rolling wheel 2 rotates to the state perpendicular to the advancing direction when encountering an obstacle.

[0074] It can be understood that the first rotation shaft 13 is arranged eccentrically relative to the rolling wheel 2, and L1 < L2 is ensured, and such eccentric design can make the rolling wheel 2 tilt when rotating, thereby changing the position of the contact point between the rolling wheel 2 and the ground. Such change can make the contact point between the rolling wheel 2 and the ground change constantly when the rolling wheel 2 rotates, thereby achieving an automatic adjustment function. When turning, one side of the rear drive wheel 30 of the walking device rotates forwardly, and the other side of the rear drive wheel 30 rotates rearwardly, so that the whole cart can rotate or turn. Therefore, such design enables the walking device to have more flexible turning performance, and can achieve a smaller turning radius, thereby adapting to different working environments and requirements.

[0075] In addition, the first rotation shaft 13 is arranged eccentrically relative to the rolling wheel 2, and the eccentric design helps to adjust the position of the center of gravity during movement, reduces the possibility of shaking and jolting, and makes the device or vehicle more stable when moving. In addition, the eccentric design also provides higher maneuverability, so that the user can more easily control the direction and speed of the device or vehicle.

[0076] Referring to FIG. 7 and FIG. 8, in some embodiments, the outer peripheral wall of the rolling part 211 is provided with anti-skid lines 215 for increasing friction, and the anti-skid lines 215 increase the friction between the rolling part 211 and the ground under the driving of the advancing force when the rolling part 211 contacts the ground, so as to enhance the grip of the rolling wheel body 21 and reduce the occurrence of the slipping of the rolling wheel body 21.

[0077] Please refer to FIG. 1, FIG. 3 or FIG. 6, in some embodiments, the auxiliary obstacle-crossing component 3 comprises a connecting portion 31 and a guiding portion 32. The connecting portion 31 is connected with the mounting arm 11 of the mounting bracket 1 and extends along the traveling direction of the rolling wheel 2. Exemplarily, in the present embodiment, one end of the connecting portion 31 is connected with the mounting bracket 1, the other end of the connecting portion 31 is connected with the guiding portion 32, and the connecting portion 31 and the guiding portion 32 are integrally formed. The guiding portion 32 is located in front of the rolling wheel 2 and the side thereof used for contacting the obstacle is obliquely arranged. Specifically, the guiding portion 32 is connected with the end of the connecting portion 31 away from the mounting bracket 1. The guiding portion 32 is located in front of the traveling direction of the rolling wheel 2, and the side of the guiding portion 32 used for contacting the obstacle is obliquely arranged, which is defined as the second side 322 for the convenience of description. It can be understood that the second side 322 is obliquely arranged, and when the obstacle-crossing wheel assembly 20 crosses the obstacle, the auxiliary obstacle-crossing component 3 can smoothly slide relative to the obstacle through the second side 322, so as to lift the rolling wheel 2 upward, so that the traveling direction of the rolling wheel 2 is obliquely upward, and thus the rolling wheel 2 can smoothly cross the obstacle under the action of the rear driving wheel 30.

[0078] The auxiliary obstacle-crossing component 3 is composed of the connecting portion 31 and the guiding portion 32, the overall structure of the auxiliary obstacle-crossing component 3 is simple, and the auxiliary obstacle-crossing component 3 occupies a small space, so that when the auxiliary obstacle-crossing component 3 is applied to the rolling wheel 2, the overall structure of the obstacle-crossing wheel assembly 20 is simple, and the obstacle-crossing wheel assembly 20 occupies a small space, and the obstacle-crossing ability of the obstacle-crossing wheel assembly 20 is maximized in a limited space. In addition, the weight of the obstacle-crossing wheel assembly 20 is also relatively light, and the weight reduction effect also helps the performance of obstacle crossing and turning.

[0079] In addition, the contact area between the second side 322 and the obstacle is small, and the second side 322 does not cause the rolling wheel 2 to have a large rotational resistance, so that the rolling wheel 2 can smoothly correct the traveling direction by using the arc surfaces on both sides when crossing the obstacle, so as to smoothly cross the obstacle.

[0080] In addition, the auxiliary obstacle-crossing component 3 of the present application adopts a plate-shaped body, which does not need to be provided with a rotating shaft, and accordingly, the auxiliary obstacle-crossing component 3 of the present application does not have the problem of grass being entangled by the rotating shaft when being applied, so as to ensure the smoothness of the obstacle-crossing wheel assembly 20 during traveling on the lawn.

[0081] Specifically, the connecting part 31 is fixedly connected with the mounting arm 11 through bolts, facilitating dismounting and replacing the auxiliary obstacle-crossing component 3. The connecting part 31 comprises a first connecting segment 311 and a second connecting segment 312. One end of the first connecting segment 311 is connected with the mounting arm 11 of the mounting bracket 1, and one end of the second connecting segment 312 is connected with the other end of the first connecting segment 311 and is arranged at an angle. The other end of the second connecting segment 312 is connected with the guiding part 32 and is arranged at an angle. Thus, the guiding part 32 and the first connecting segment 311 have an avoiding gap 301 therebetween, more specifically, the guiding part 32 and the mounting arm 11 of the mounting bracket 1 form the avoiding gap 301. In this way, when the walking device turns left or right, the avoiding gap 301 effectively reduces the resistance of flowers and grasses to the walking device, thereby ensuring that the walking device can turn left or right smoothly.

[0082] In some embodiments, referring to FIGS. 1-3, the lowest point of the second side edge 322 is located in the axial projection area of the rolling wheel 2, more specifically, the lowest point of the second side edge 322 is located in the axial projection area of the rolling wheel 2. It can be understood that when the guiding rolling wheel 2 crosses the obstacle, the auxiliary obstacle-crossing component 3 can smoothly press on the obstacle through the relative sliding of the second side edge 322 relative to the obstacle, thereby further assisting the rolling wheel 2 to cross the obstacle smoothly and reducing the shaking of the walking device.

[0083] In some embodiments, the guiding part 32 and the first connecting segment 311 have an avoiding gap 301 therebetween, and when the walking device turns left or right, the avoiding gap 301 effectively reduces the resistance of the obstacle located at the side edge of the auxiliary obstacle-crossing component 3 to the walking device, thereby ensuring that the walking device can turn left or right smoothly.

[0084] The guide part 32 comprises a first side edge 321, a second side edge 322 and a third side edge 323 connected in sequence. The first side edge 321 and the third side edge 323 are also connected with the connecting part 31 respectively. The first side edge 321 is the upper top edge of the guide part 32. The second side edge 322 is used to contact the obstacle in the advancing direction and is inclined upward in the advancing direction, and the inclination angle is set between 35 degrees and 45 degrees. The inclination angle of the second side edge 322 is small enough to ensure that the auxiliary obstacle-crossing part 3 can slide relative to the obstacle through the second side edge 322 under the driving of the advancing force, and to reduce the possibility of the auxiliary obstacle-crossing part 3 being pressed against the obstacle. The third side edge 323 is the side edge of the guide part 32 close to the mounting arm 11 of the mounting support 1, so that the guide part 32 is roughly inverted triangular. It can be understood that the guide part 32 is roughly triangular, and the overall strength of the guide part 32 is large when it is applied, so that the auxiliary obstacle-crossing part 3 is not easy to deform when it is applied, thereby ensuring the service life of the auxiliary obstacle-crossing part 3. At the same time, the guide part 32 also forms the second side edge 322 which is inclined upward, that is, the second side edge 322 is an inclined upward bevel, so that the second side edge 322 can smoothly slide relative to the obstacle to lift the height of the rolling wheel 2 when the rolling wheel 2 crosses the obstacle, so that the rolling wheel 2 can smoothly cross the obstacle.

[0085] In other possible embodiments, the side edge of the guide part 32 used to contact the obstacle is an outward convex arc-shaped edge, that is, the second side edge 322 is an outward convex arc-shaped edge (not shown in the figure). It can be understood that the second side edge 322 is set as a convex arc-shaped edge, and the auxiliary obstacle-crossing part 3 can smoothly slide relative to the obstacle through the second side edge 322 when the obstacle-crossing wheel assembly 20 crosses the obstacle, so as to lift the rolling wheel 2 upward, so that the advancing direction of the rolling wheel 2 is an inclined upward direction, thereby ensuring that the rolling wheel 2 can smoothly cross the obstacle.

[0086] The lowest point of the guide portion 32, i.e. the lowest end of the auxiliary obstacle-crossing component 3, is less than or equal to the maximum obstacle-crossing height of the roller body 21, and is lower than or equal to the lowest point of the installation plane. The lowest point of the second side edge 322 is lower than or equal to the lowest point of the installation plane 214, and the highest point of the second side edge 322 is higher than the lowest point of the installation plane 214. The height of the lowest point of the installation plane 214 from the ground is one quarter to one third of the height of the highest point of the rolling wheel 2, and accordingly, the lowest point of the second side edge 322 is arranged as low as possible below one quarter of the height of the rolling wheel 2, and the highest point of the second side edge 322 is arranged as high as possible above one third of the height of the rolling wheel 2. Specifically, in the axial direction of the first rotating shaft 13, the height of the lowest point of the installation plane 214 is between 1 / 4 and 1 / 3 of the diameter of the roller body 21. It can be understood that at the position of 1 / 4 to 1 / 3 of the diameter of the roller body 21, the obstacle-crossing effect of the rolling wheel 2 is poor, and therefore, the lowest point of the guide portion 32 is arranged lower than or equal to the lowest point of the installation plane 214, so that the auxiliary obstacle-crossing component 3 can assist the rolling wheel 2 to smoothly cross the obstacle, i.e. the second side edge 322 first contacts the front obstacle, and under the driving of the forward force, the guide portion 32 slides along the inclined angle of the second side edge 322 towards the obliquely upward direction, and the roller body 21 is gradually lifted upward with the auxiliary obstacle-crossing component 3, so that the rolling wheel 2 can smoothly cross the obstacle.

[0087] It can be understood that the lowest point of the second side edge 322 is arranged as low as possible below one quarter of the height of the rolling wheel 2, and the height of the guide portion 32 is arranged low enough, so that the auxiliary obstacle-crossing component 3 can assist the rolling wheel 2 to smoothly cross most obstacles that the rolling wheel 2 cannot independently and smoothly cross; and the highest point of the second side edge 322 is arranged as high as possible above one third of the height of the rolling wheel 2, and the height of the guide portion 32 is arranged high enough, so that the auxiliary obstacle-crossing component 3 can assist the rolling wheel 2 to smoothly cross obstacles that are high enough.

[0088] Further, when the rolling wheel 2 faces an obstacle located in the interval of 1 / 4 to 1 / 3 of the height of the rolling wheel 2, the obstacle-crossing effect of the rolling wheel 2 is poor, and therefore, the lowest point of the guide portion 32 is arranged lower than or equal to the lowest point of the installation plane 214, and the highest point of the second side edge 322 is arranged higher than the lowest point of the installation plane 214, so that the lowest point of the guide portion 32 is arranged low enough, and the highest point of the guide portion 32 is arranged high enough, and the auxiliary obstacle-crossing component 3 can assist the rolling wheel 2 to smoothly cross the obstacle that is difficult to smoothly cross.

[0089] In addition, the rolling wheel 2 is provided with a circular mounting plane 214 on both sides, and the second rotating shaft 22 is arranged at the center of the mounting plane 214. Therefore, the mounting plane 214 facilitates the installation of the second rotating shaft 22.

[0090] In some embodiments, referring to FIGS. 1-3, the guide part 32 is provided with a second side edge 322, which is inclined upward at an angle of 35-45°. More specifically, the second side edge 322 is inclined upward at an angle of 35-45°, for example, 35°, 40° or 45°. It can be understood that the second side edge 322 is inclined upward at an angle of at least 35°. In this way, the second side edge 322 is inclined at a large enough angle, so that the obstacle-avoiding auxiliary obstacle-crossing part 3 does not need to extend forward for a long distance to lift the rolling wheel 2 to a suitable height. Therefore, the second side edge 322 is provided within the above angle range, so that the obstacle-avoiding auxiliary obstacle-crossing part 3 does not occupy a large space. At the same time, the second side edge 322 is inclined upward at an angle of less than or equal to 45°. In this way, the second side edge 322 is inclined at a small enough angle, so that the obstacle-avoiding auxiliary obstacle-crossing part 3 can slide relative to the obstacle through the second side edge 322 under the drive of the rear driving wheel 30, thereby lifting the height of the rolling wheel 2, and preventing the auxiliary obstacle-crossing part 3 from being pressed against the obstacle.

[0091] Further, the first side edge 321 is a convex arc-shaped edge and is smoothly connected to the second side edge 322. It can be understood that the second side edge 322 of the auxiliary obstacle-crossing part 3 is a convex arc-shaped edge. In this way, the sharp corners of the auxiliary obstacle-crossing part 3 are reduced, thereby effectively preventing the user from being injured when contacting the auxiliary obstacle-crossing part 3. At the same time, the auxiliary obstacle-crossing part 3 is equivalent to cutting off a part of the material, thereby reducing the weight of the auxiliary obstacle-crossing part 3. In addition, the first side edge 321 is smoothly connected to the second side edge 322. In this way, when the auxiliary obstacle-crossing part 3 is in contact with the obstacle, the obstacle can be smoothly slid to the second side edge 322, thereby lifting the height of the rolling wheel 2.

[0092] Please refer to FIG. 9 and FIG. 10, in some embodiments, the auxiliary obstacle-crossing component 3 comprises an extension 33 and an auxiliary wheel 34. One end of the extension 33 is connected with the mounting bracket 1, and the other end of the extension 33 extends forward along the traveling direction. Specifically, one end of the extension 33 is connected with the mounting arm 11 of the mounting bracket 1, and the other end of the extension 33 extends forward along the traveling direction to a position before the rolling wheel 2. The auxiliary wheel 34 is rotatably arranged at the other end of the extension 33. In this way, the rolling wheel 2 is just located before the rolling wheel 2. The lowest end of the auxiliary wheel 34 is located at a distance from the ground that is less than or equal to the maximum obstacle-crossing height of the rolling wheel body 21. When an obstacle is encountered, the rolling wheel 2 encounters an obstacle that is higher than the lowest point of the auxiliary wheel 34, the auxiliary wheel 34 contacts the obstacle first and climbs up the obstacle, and the auxiliary wheel 34 rolls on the surface of the obstacle to lift the rolling wheel body 21 to a height from the ground, so that the rolling wheel 2 can smoothly cross the obstacle.

[0093] In some embodiments, referring to FIG. 1 to FIG. 10, the auxiliary obstacle-crossing component 3 is a one-layer sheet metal structure or a multi-layer stacked sheet metal structure. If the auxiliary obstacle-crossing component 3 is a one-layer sheet metal structure, the auxiliary obstacle-crossing component 3 is a sheet metal part integrally connected with the mounting arm 11. In this way, the obstacle-crossing wheel assembly 20 does not need to separately produce the auxiliary obstacle-crossing component 3 when it is prepared, thereby ensuring that the obstacle-crossing wheel assembly 20 has a low cost when it is produced. Alternatively, the auxiliary obstacle-crossing component 3 is a sheet metal part assembled with the mounting arm 11, for example, the auxiliary obstacle-crossing component 3 is fixedly connected with the mounting arm 11 by bolts. It can be understood that, compared with the material strength of the mounting bracket 1, the auxiliary obstacle-crossing component 3 can select a metal material that has greater strength and a smoother surface, so as to ensure that the auxiliary obstacle-crossing component 3 can more smoothly assist the rolling wheel 2 to cross the obstacle and has a longer service life. In addition, when the second side edge 322 of the auxiliary obstacle-crossing component 3 is seriously worn or the auxiliary obstacle-crossing component 3 is bent, a worker can conveniently replace a new auxiliary obstacle-crossing component 3, so as to ensure the obstacle-crossing effect of the obstacle-crossing wheel assembly 20. Of course, if the auxiliary obstacle-crossing component 3 is a multi-layer stacked sheet metal structure, for example, the auxiliary obstacle-crossing component 3 is a two-layer sheet metal part, one layer of the sheet metal part is integrally connected with the mounting bracket 1, and the other layer of the sheet metal part is assembled with the mounting bracket 1. In this way, the strength of the auxiliary obstacle-crossing component 3 is ensured.

[0094] Please refer to Fig. 1 and Fig. 11, Fig. 11 is a structural schematic diagram of the walking device 100 provided by the embodiment of the present application. The walking device 100 disclosed by the present application adopts the above-mentioned obstacle wheel assembly 20. When the walking device 100 is in the process of moving, if the obstacle wheel assembly 20 encounters an obstacle in front, since the auxiliary obstacle- crossing component 3 extends to the front of the rolling wheel 2, the second side edge 322 of the guide part 32 first abuts against the obstacle in front, and under the driving of the forward movement force of the walking device 100, the auxiliary obstacle-crossing component 3 is inclined upward relative to the obstacle by the second side edge 322, and the rolling wheel 2 is gradually lifted along with the auxiliary obstacle-crossing component 3, so that the rolling wheel 2 can smoothly cross the obstacle. Meanwhile, the rolling wheel body 21 is arranged in a substantially spherical or spherical shape, so that even if the rolling wheel body 21 deviates from the moving direction due to the rotation caused by encountering the obstacle during the process of crossing the obstacle, the rolling wheel body 21 can change the position of the contact point between the rolling wheel body 21 and the ground under the forward movement force to automatically adjust to the required direction with a minimum rotation angle, and more easily and quickly recover to the state of being parallel to the moving direction, so as to continue moving forward, thereby improving the mowing efficiency of the walking device 100.

[0095] Specifically, the walking device 100 comprises a vehicle body 10, a rear driving wheel 30 and the above-mentioned obstacle wheel assembly 20. The rear driving wheel 30 is arranged at the rear of the vehicle body 10 and is used to drive the walking device to move straight forward. The mounting bracket 1 of the obstacle wheel assembly 20 is connected to the front of the vehicle body 10 and is located at the middle position in the width direction of the vehicle body 10. Thus, the walking device 100 provided by the embodiment of the present application can reduce the obstacle-crossing difficulty of the obstacle wheel assembly 20 and improve the steering flexibility of the obstacle wheel assembly 20, so that the walking device 100 can smoothly cross the obstacle when encountering the obstacle, and the obstacle wheel assembly 20 can also flexibly rotate to realize the steering of the walking device 100 in place, thereby continuing to move forward.

[0096] It can be understood that, during the moving process of the walking device 100, if the obstacle wheel assembly 20 encounters an obstacle higher than the lowest point of the auxiliary obstacle-crossing component 3, since the auxiliary obstacle-crossing components 3 on both sides are at least partially located in front of the moving direction of the rolling wheel 2, the auxiliary obstacle-crossing components 3 on both sides first abut against the obstacle in front. With the continuous driving of the rear driving wheel 30 of the walking device to move the walking device forward, the auxiliary obstacle-crossing component 3 is inclined upward relative to the obstacle, and the rolling wheel 2 is gradually lifted upward along with the auxiliary obstacle-crossing component 3. More specifically, the head of the walking device is lifted upward with the rear driving wheel 30 as the fulcrum, thus, under the action of the rear driving wheel 30, the rolling wheel 2 can smoothly cross the obstacle, so as to avoid the problems such as jamming and skidding of the walking device.

[0097] The walking device 100 can be configured as, but not limited to, a lawn mower, a pesticide spraying device, a crop harvesting device, a sweeping device, a transport device, etc. Exemplarily, in the present embodiment, the walking device 100 can be configured as a lawn mower. Of course, in some embodiments, the walking device 100 can also be a sweeper or other intelligent device, but not limited to. The walking device 100 can select the product type according to the use scenario, and the present embodiment does not limit the product type of the walking device 100.

[0098] It should be noted that, since the rolling wheel 2 is arranged on the chassis of the walking device by the first rotating shaft 13 around the vertical shaft, the rolling wheel 2 is prone to turning when encountering an obstacle during travel, especially when the rolling wheel 2 encounters an obstacle higher than the lowest point of the mounting plane 214. The mounting plane 214 can cause the rolling wheel 2 to be unable to turn forward after rotating to a transverse state, which seriously affects the obstacle crossing ability of the rolling wheel 2.

[0099] Based on the above, in the present application, the rolling wheel 2 is arranged in a substantially spherical shape, and the auxiliary obstacle crossing component 3 is arranged on both sides of the rolling wheel 2, and the lowest point of the auxiliary obstacle crossing component 3 is lower than or equal to the lowest point of the mounting plane 214. Therefore, during travel, the auxiliary obstacle crossing component 3 cooperates with the substantially spherical rolling wheel 2. In this way, when the rolling wheel 2 passes through an obstacle, especially when it passes through an obstacle higher than the lowest point of the mounting plane 214, the auxiliary obstacle crossing component 3 increases the height of the rolling wheel 2 and the flexibility of the spherical rolling wheel 2, so that the rolling wheel 2 can smoothly cross the obstacle, effectively avoiding the problem that the mounting plane 214 can cause the rolling wheel 2 to be unable to turn forward. In addition, the rolling wheel 2 is arranged in a substantially spherical shape, which can cover most of the holes in the lawn, and the side of the rolling wheel 2 is arc-shaped, so the rolling wheel 2 itself has a smooth guiding effect. Therefore, the rolling wheel 2 itself has better turning and obstacle crossing ability. Moreover, under the assistance of the auxiliary obstacle crossing component 3, the obstacle crossing ability and smoothness of the rolling wheel 2 are further effectively improved.

[0100] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An obstacle wheel assembly, characterized by, The barrier-crossing wheel assembly comprises: a mounting bracket comprising two oppositely arranged mounting arms; a rolling wheel comprising a rolling wheel body rotatably connected between the two mounting arms, the rolling wheel body having a clearance gap with the mounting bracket, the rolling wheel body being in a spherical or spherical-like shape; an auxiliary barrier-crossing component located in front of the rolling wheel in the rolling direction of the rolling wheel, the auxiliary barrier-crossing component being connected with the mounting arms and being suspended relative to the ground, the lowest end of the auxiliary barrier-crossing component being at a distance from the ground that is less than or equal to the maximum barrier-crossing height of the rolling wheel body.

2. The barrier-crossing wheel assembly according to claim 1, wherein the auxiliary barrier-crossing component comprises an extension and an auxiliary wheel, one end of the extension being connected with the mounting bracket, the other end of the extension extending forward in the rolling direction, the auxiliary wheel being rotatably arranged at the other end of the extension, the lowest end of the auxiliary wheel being at a distance from the ground that is less than or equal to the maximum barrier-crossing height of the rolling wheel body.

3. The obstacle wheel assembly of claim 1, wherein, the auxiliary barrier-crossing component comprises a connecting portion and a guiding portion, one end of the connecting portion being connected with the mounting bracket, the other end of the connecting portion being connected with the guiding portion, the guiding portion being located in front of the rolling wheel and being inclined on the side used for contacting the barrier.

4. The obstacle wheel assembly of claim 3, wherein, the guiding portion comprises a first side edge, a second side edge and a third side edge connected in sequence, the first side edge and the third side edge being further connected with the connecting portion respectively, the second side edge being used for contacting the barrier in the rolling direction and being inclined upward in the rolling direction.

5. The obstacle wheel assembly of claim 4, wherein, the lowest point of the second side edge is not higher than the maximum barrier-crossing height of the rolling wheel, and the highest point of the second side edge is higher than the maximum barrier-crossing height of the rolling wheel.

6. The obstacle wheel assembly of claim 3, wherein, the connecting portion comprises a first connecting segment and a second connecting segment, one end of the second connecting segment being connected with the guiding portion and being arranged at an angle, the other end of the second connecting segment being connected with the first connecting segment and being arranged at an angle, the guiding portion and the first connecting segment having a clearance gap therebetween.

7. The obstacle wheel assembly of claim 3, wherein, the rolling wheel further comprises a second rotating shaft and a bearing, the second rotating shaft being located on the axis of the rolling wheel body and penetrating the rolling wheel body, two ends of the second rotating shaft being connected with the two mounting arms respectively, the inner wall of the bearing being connected with the second rotating shaft, and the outer wall of the bearing being connected with the rolling wheel body.

8. The obstacle wheel assembly of claim 7, wherein, a first rotating shaft is arranged on the mounting bracket, the first rotating shaft being perpendicular to the second rotating shaft, the first rotating shaft being used for connecting with the chassis of a walking device so that the barrier-crossing wheel assembly can rotate relative to the chassis, in the rolling direction of the rolling wheel, the first rotating shaft is arranged forward relative to the second rotating shaft, and in the rolling direction of the rolling wheel, the distance from the first rotating shaft to the front side of the rolling wheel is L1, and in the axial direction of the second rotating shaft, the distance from the second rotating shaft to the left and right sides of the rolling wheel is L2, L1 < L2.

9. The obstacle wheel assembly of claim 7, wherein, the rolling wheel body comprises a rolling portion and a clearance portion, the clearance portion being located on both sides of the rolling portion in the rolling direction, the outer peripheral wall of the clearance portion being a circular arc surface or an inclined plane.

10. The obstacle wheel assembly of claim 9, wherein, The installation plane is perpendicular to the second rotating shaft, and the lowest point of the installation plane is between 1 / 4 and 1 / 3 of the diameter of the roller body.

11. The obstacle wheel assembly of claim 10, wherein, The lowest point of the side of the guide part for contacting the obstacle is located in the axial projection area of the rolling wheel.

12. The obstacle wheel assembly of claim 3, wherein, The side of the guide part for contacting the obstacle is an outward convex arc-shaped side.

13. The obstacle wheel assembly of claim 3, wherein, The lowest point of the side of the guide part for contacting the obstacle is located in the axial projection area of the rolling wheel.

14. The obstacle wheel assembly of claim 3, wherein, The auxiliary obstacle-crossing component is a layer of sheet metal structure or a plurality of layers of stacked sheet metal structures.

15. The obstacle wheel assembly of claim 1, wherein, Comprising:

16. An obstacle wheel assembly, comprising: The installation support is provided with a first rotating shaft, which is used to connect with the chassis of the walking device, so that the obstacle-crossing wheel assembly can rotate relative to the chassis. The rolling wheel comprises a roller body and a second rotating shaft provided on the roller body, the central axis of the second rotating shaft is perpendicular to the central axis of the first rotating shaft, the roller body is provided in a spherical or spherical-like shape and is sleeved on the second rotating shaft, and both sides of the roller body are at least partially provided with an installation plane, the second rotating shaft is provided through the installation plane, and the lowest point of the installation plane is higher than the lowest point of the roller body. The auxiliary obstacle-crossing component is provided on both sides of the installation support and at least partially located in front of the roller body in the traveling direction of the obstacle-crossing wheel assembly, and the lowest point of the auxiliary obstacle-crossing component is not higher than the lowest point of the installation plane. The auxiliary obstacle-crossing component comprises a connecting part and a guide part, one end of the connecting part is connected with the installation support, the other end of the connecting part is connected with the guide part, the guide part is located in front of the traveling direction of the roller body and the side thereof for contacting the obstacle is inclined.

17. The obstacle wheel assembly of claim 16, wherein, The guide part comprises a first side, a second side and a third side connected in sequence, the first side and the third side are also connected with the connecting part respectively, the second side is used for contacting the obstacle in the traveling direction and is inclined upward in the traveling direction.

18. The obstacle wheel assembly of claim 17, wherein, The lowest point of the second side is not higher than the lowest point of the installation plane, and the highest point of the second side is higher than the lowest point of the installation plane.

19. The obstacle wheel assembly of claim 18, wherein, The obstacle-crossing wheel assembly comprises any one of claims 1-19.

20. A walking apparatus, characterized by The obstacle-crossing wheel assembly comprises any one of claims 1-19.

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