The embodiment of the invention provides an obstacle crossing wheel device and a self-walking robot. The obstacle crossing wheel device comprises a wheel body and an obstacle crossing assembly. The wheel body is provided with a rotating axis and a walking surface. The obstacle crossing assembly comprises a mounting base, supporting legs and elastic pieces, the mounting base and the wheel body synchronously rotate around the rotating axis, the supporting legs can slide in the inner-outer direction of the wheel body relative to the mounting base, and the elastic pieces apply acting force towardsthe outer side of the wheel body to the supporting legs so that the ends, away from the rotating axis, of the supporting legs can protrude out of the walking surface. According to the obstacle crossing wheel device, when the obstacle crossing wheel device encounters an obstacle, one end of each supporting leg abuts against the top surface of the obstacle, in the climbing process, overturning is conducted with the contact point of the supporting leg and the obstacle as the supporting point, the friction force between the wheel body and the obstacle is increased through the supporting point, and the obstacle crossing wheel device can be assisted in climbing over the obstacle.
本申请实施例提供一种越障轮装置及自行走机器人,越障轮装置包括轮体以及越障组件;轮体具有转动轴线以及行走表面;越障组件包括安装座、支腿以及弹性件,安装座与轮体绕转动轴线同步转动,支腿能够相对安装座沿轮体的内外方向滑动,弹性件对支腿施加朝向轮体外侧的作用力,以使支腿远离转动轴线一端的端部能够凸出于行走表面。本申请实施例的越障轮装置,遇到障碍物时,支腿的一端抵靠在障碍物的顶表面,翻越时,以支腿与障碍物的接触点为支点进行翻转,该支点增加了轮体与障碍物的摩擦力,能够辅助越障轮装置翻越该障碍物。
Obstacle crossing wheel device and self-walking robot
越障轮装置及自行走机器人
2021-01-12
Patent
Electronic Resource
Chinese
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