CN111055946B

CN111055946B - Obstacle crossing device and mobile equipment provided with same

Info

Publication number: CN111055946B
Application number: CN202010082819.2A
Authority: CN
Inventors: 徐东
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-02-09
Filing date: 2020-02-07
Publication date: 2021-10-22
Anticipated expiration: 2040-02-07
Also published as: CN111055946A

Abstract

The invention discloses an obstacle crossing device and mobile equipment provided with the obstacle crossing device, which comprise a fixed frame, a first supporting rod, a second supporting rod and a transmission device, wherein the first supporting rod, the second supporting rod and the transmission device are arranged on the fixed frame; when the obstacle crossing device passes through an obstacle, the wheels alternately extend and retract up and down in the backward tilting direction when the two support rods are blocked by the obstacle, so that the first support rod and the second support rod sequentially pass through the obstacle, the obstacle crossing function is realized, and the problem that the existing obstacle crossing device is limited by the designed obstacle crossing height and cannot be applied to any obstacle is solved. The invention has simple structure, can walk on flat ground and can cross obstacles through stairs and the like; the obstacle-surmounting stair climbing is stable, small in fluctuation and strong in capability of adapting to obstacles of different types of stairs and the like.

Description

Obstacle crossing device and mobile equipment provided with same

Technical Field

The invention relates to the technical field of mobile equipment, in particular to an obstacle crossing device and mobile equipment provided with the same.

Background

The structure of the conventional obstacle crossing device is of three types, namely a crawler type, a stepping type and a star wheel type: the crawler type structure is complex, the resistance is large and the turning is difficult when the crawler type walking machine walks on flat ground, and the crawler type walking machine can move only by installing a driver per se; the existing stepping type can drive the telescopic legs to move up and down by installing a driver per se like a crawler type, and can not pass through obstacles under the condition of only external pushing and pulling acting force; the star wheel type structure is simple, a driver does not need to be installed, the star wheel type structure can pass through obstacles under the condition of only external pushing and pulling acting force, but the obstacle crossing principle is that when a planet wheel is blocked by an obstacle, the planet wheel rotates around the planet wheel through a frame to cross the obstacles, so that the moving track is a section of circular arc when the planet wheel crosses the obstacles, the wheel is in an unstable state when rotating to the highest point and continuously rotates, the ground smashing phenomenon is easy to occur, the fluctuation of the wheel is large, and when the support arm of the star wheel is longer, the encountered obstacle is smaller in height, and the collision and fluctuation are more serious.

In order to overcome the defects, the invention provides an obstacle crossing device and a mobile device provided with the obstacle crossing device, wherein the obstacle crossing device can move under the action of external force and can also be driven by a driver, the driver can realize obstacle crossing by directly driving wheels to rotate, and obstacles such as bulges, pits or stairs and the like can be actively adapted to obstacles with different heights or depths.

Disclosure of Invention

The invention is realized by the following technical scheme:

an obstacle crossing device comprises a fixed frame, a first supporting rod, a second supporting rod, a first wheel, a second wheel and a reverse transmission mechanism;

the first supporting rod and the second supporting rod are arranged on the fixed frame at intervals along the advancing direction, the first wheel is arranged at the lower end of the first supporting rod, and the second wheel is arranged at the lower end of the second supporting rod;

the reverse transmission mechanism is connected with the first supporting rod and the second supporting rod, and the first supporting rod and the second supporting rod do telescopic alternate motion relative to the fixed frame under the control of the reverse transmission mechanism.

The obstacle crossing device is characterized in that the first wheel or the second wheel moves along the surface of the obstacle in the process of passing through the obstacle;

when the barrier is a boss, the supporting rod on the barrier retracts relative to the fixing frame, and the other supporting rod extends relative to the fixing frame;

when the barrier is a pit, the supporting rod on the barrier extends out relative to the fixed frame, and the other supporting rod retracts relative to the fixed frame.

When the obstacle crossing device climbs the stairs, the first wheels retract into the fixing frame and move upwards along the surface of the stairs under the reaction force of the stairs steps when meeting the obstacles of the stairs, and simultaneously drive the second wheels to extend outwards; when the second wheel meets the block of the stair steps, under the reaction force of the stair steps, the second wheel retracts towards the fixed frame and moves upwards along the surfaces of the steps, and meanwhile, the first wheel is driven to extend outwards;

in the process of horizontal movement of the obstacle crossing device on the flat ground, the first supporting rod and the second supporting rod are static relative to the fixed frame, and the fixed frame moves through rotation of the first wheel and the second wheel.

When the wheel moves on the flat ground, the first wheel and the second wheel are in contact with the ground and bear load together, and the first supporting rod and the second supporting rod are static relative to the fixed frame, so that the fixed frame moves under the action of external force through the rotation of the first wheel and the second wheel.

The obstacle crossing device moves up and down stairs in the following process:

when going upstairs, the fixed frame moves forwards under the action of external force, so that the obstacle crossing device keeps the direction of the telescopic motion of the first supporting rod and the second supporting rod relative to the fixed frame and inclines backwards relative to the vertical step surface of the stair or the obstacle; when the wheels on the first support rod or the second support rod are blocked by the stair steps, the wheels on the first support rod or the second support rod move towards the direction close to the fixed frame under the reaction force of the stair steps, the movement of the wheels moves backwards and upwards relative to the stair, meanwhile, the wheels on the second support rod or the first support rod are driven to move towards the direction far away from the fixed frame, the movement of the wheels moves forwards and downwards relative to the stair, the frame is driven to move upwards and stably, when the wheels on the first support rod or the second support rod rise to the next step surface, the reaction force disappears, the wheels on the first support rod and the second support rod support the obstacle crossing device together, and the obstacle crossing device is similar to that on the flat ground; the fixed frame continues to move forwards under the action of external force, when the wheels on the second supporting rod or the first supporting rod are blocked by steps of the stairs, under the action of reaction force, the wheels on the second supporting rod or the first supporting rod move towards the direction close to the fixed frame, the movement of the wheels moves backwards and upwards relative to the stairs, meanwhile, the wheels on the first supporting rod or the second supporting rod are driven to move towards the direction far away from the fixed frame, the movement of the wheels moves forwards and downwards relative to the stairs, the fixed frame is further driven to move upwards and stably, when the wheels on the second supporting rod or the first supporting rod rise to the next step surface, the reaction force disappears, the wheels on the first supporting rod and the second supporting rod support the obstacle crossing device together, and the situation is similar to that when the wheels on the flat ground; reciprocating in this way, the function of climbing stairs is realized.

When going downstairs, the moving tracks of the wheels on the first supporting rod and the second supporting rod on the fixing frame are kept on the fixing frame under the action of external force, the wheels are inclined forwards relative to the vertical step surface of the stair, and the moving conditions of all parts in the obstacle crossing device are similar to those of climbing stairs.

The movement through other raised or depressed obstacles is similar to that when going up or down stairs.

Preferably, the mount is provided with two straight line guiding mechanisms or two pitch arc guiding mechanisms at intervals, first bracing piece and second bracing piece are connected with two straight line guiding mechanisms or two pitch arc guiding mechanisms respectively, and first bracing piece and second bracing piece slide or remove along pitch arc guiding mechanism along straight line guiding mechanism straight line.

The linear guide mechanism is of a sliding groove structure, a pulley is arranged on the supporting rod, and the supporting rod moves along the sliding groove through the pulley.

The arc guiding mechanism is a rotating fulcrum, the supporting rod is hinged to the rotating fulcrum, and the supporting rod rotates around a hinged point.

The arc guiding mechanism comprises a plurality of connecting rods, and the connecting rods are connected with the supporting rods to form a quadrilateral mechanism.

The first support bar and the second support bar according to the present invention include, but are not limited to, the following: the device comprises a sliding support rod, a connecting rod group, a rocker arm and an action cylinder; the reversing mechanism of the present invention includes, but is not limited to, the following: the device comprises a gear and chain wheel mechanism, a lever mechanism, flexible parts such as ropes, belts, chains and the like, a communicating pipe mechanism, a link mechanism and a gear rack mechanism; the specific structure of the invention is susceptible of various forms, with various alternatives and equivalents, being referred to above. For example, the reverse drive mechanism, the first support rod and the second support comprise any one of the following features a, b, c, d, e, f, g and h:

a. the reverse transmission mechanism is a gear set, the first support rod and the second support rod are in a rack structure, and the first support rod and the second support rod are respectively in meshed connection with gears on the gear set;

b. the reverse transmission mechanism is a connecting rod, the middle part of the connecting rod is hinged with the fixed frame, two ends of the connecting rod are respectively provided with a sliding groove, the middle parts of the two supporting rods are respectively provided with a sliding part, and the sliding parts are arranged in the sliding grooves and connected in a groove forming way;

c. the support rods are in a linear chain structure, the reverse transmission mechanism is a chain wheel set, and the chain wheel set is meshed with the two support rods;

d. the reverse transmission mechanism comprises a flexible rope which is arranged in a U shape, the bottom of the fixed frame is provided with a plurality of guide wheels, the flexible rope is wound at the bottom of the guide wheels, and two ends of the flexible rope are fixedly connected with the upper ends of the two support rods respectively;

e. the reverse transmission mechanism is two action cylinders with inner cavities communicated with each other, the two action cylinders are arranged on the fixed frame at intervals in the front and back direction, a piston rod in the action cylinder extends downwards out of the bottom of the fixed frame, and wheels are arranged at the lower ends of the piston rod;

f. the reverse transmission mechanism is a connecting rod, the first supporting rod and the second supporting rod are respectively arranged on the fixed frame through a quadrilateral connecting rod device, and two ends of the connecting rod are respectively connected with the two quadrilateral connecting rod devices;

g. the end part of the supporting rod is hinged with the fixed frame through a gear, the reverse transmission mechanism is a rack, the rack is arranged on the fixed frame in a sliding manner, one end of the rack is meshed with the top of one gear, and the other end of the rack is meshed with the bottom of the other gear;

h. the reverse transmission mechanism is two connecting rods which are arranged in parallel, the two connecting rods are arranged on the fixing frame at intervals up and down, the centers of the connecting rods are hinged with the fixing frame, the two supporting rods are arranged on two sides of the two connecting rods and hinged with the end parts of the two connecting rods, and the lengths of the two supporting rods are different.

The support rod is provided with a driver, and an output shaft of the driver is connected with a wheel arranged at the lower end of the support rod to drive the wheel to rotate.

Preferably, the first wheel and the second wheel are electric wheels.

The invention also provides a mobile device, and a plurality of obstacle crossing devices are arranged on the mobile device.

And the braking device is connected with the reverse transmission mechanism or the supporting rod and is used for limiting the telescopic alternate motion of the supporting rod on the fixed frame or the mobile device.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention discloses an obstacle crossing device which comprises a fixed frame, a first supporting rod, a second supporting rod and a transmission device, wherein the first supporting rod, the second supporting rod and the transmission device are arranged on the fixed frame; when the obstacle crossing device passes through an obstacle, the wheels alternately extend and retract up and down in the backward tilting direction when the two support rods are blocked by the obstacle, so that the first support rod and the second support rod sequentially pass through the obstacle, the obstacle crossing function is realized, the alternate extension and retraction movement is changed depending on the height of the obstacle, and the problem that the existing obstacle crossing device is limited by the designed obstacle crossing height and cannot be suitable for the obstacles with different heights is solved. The invention has simple structure, can walk on flat ground and can cross obstacles through stairs and the like; the obstacle-surmounting stair climbing is stable, small in fluctuation and strong in capability of adapting to obstacles of different types of stairs and the like.

Drawings

FIG. 1 is a schematic view of a cart according to embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of an obstacle crossing device according to embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of an obstacle crossing device in embodiment 2 of the present invention;

fig. 4 is a schematic structural diagram of an obstacle crossing device according to embodiment 3 of the present invention;

fig. 5 is a schematic structural view of a support rod in embodiment 3 of the present invention;

FIG. 6 is a schematic structural view of a sprocket in embodiment 3 of the present invention;

FIG. 7 is a side view of the sprocket of embodiment 3 of the present invention;

fig. 8 is a schematic structural diagram of an obstacle crossing device according to embodiment 4 of the present invention;

FIG. 9 is a front view of an obstacle detouring apparatus according to embodiment 5 of the present invention;

fig. 10 is a perspective view of an obstacle detouring apparatus according to embodiment 5 of the present invention;

FIG. 11 is a top view of an obstacle detouring apparatus according to embodiment 5 of the present invention;

FIG. 12 is a perspective view of a support rod according to embodiment 5 of the present invention;

fig. 13 is a schematic structural view of an obstacle crossing device according to embodiment 6 of the present invention;

fig. 14 is a schematic structural view of an obstacle detouring apparatus according to embodiment 7 of the present invention;

FIG. 15 is a schematic structural view of a front link mechanism in embodiment 7 of the invention;

FIG. 16 is a schematic structural view of a rear link mechanism in embodiment 7 of the invention;

fig. 17 is a schematic structural view of an obstacle crossing device according to embodiment 8 of the present invention;

FIG. 18 is a front view of FIG. 17;

FIG. 19 is a rear view of FIG. 17;

fig. 20 is a schematic structural view of an obstacle crossing device according to embodiment 9 of the present invention;

FIG. 21 is a perspective view of the obstacle crossing device of FIG. 20 mounted on a hand truck;

FIG. 22 is a schematic view showing an obstacle detouring apparatus according to embodiment 8 of the present invention in a state on a flat ground;

fig. 23 is a schematic view of the first wheel of the obstacle crossing device according to embodiment 8 of the present invention in a state of each component when the first wheel encounters a block when climbing a building;

fig. 24 is a schematic view of the obstacle crossing device according to embodiment 8 of the present invention in a state where each component is blocked when the second wheel is blocked;

fig. 25 is a schematic view of the obstacle crossing device of embodiment 8 of the present invention in a state of crossing a first step when climbing a building;

fig. 26 is a plan view of the frame-mounted brake apparatus according to embodiment 1 of the present invention.

In the figure: 1. a fixed mount; 2. a first support bar; 3. a second support bar; 4. a gear; 5. a first wheel; 6. a second wheel; 8. rolling a rod; 11. a chute; 14. a rack; 21. a first swing arm; 22. a first crank arm; 23. a first fixing lever; 31. a second swing arm; 32. a second crank arm; 33. a second fixing bar; 41. a first sprocket; 42. a second sprocket; 43. a chain; 44. a reverse link; 51. a first pulley; 52. a second pulley; 53. a first wire rope; 54. a second wire rope; 62. a first motion cylinder; 63. a second motion cylinder; 621. a first piston rod; 631. a second piston rod; 64. a communicating pipe; 71. a first guide wheel; 72. a second guide wheel; 73. a third guide wheel; 74. a fourth guide wheel; 75. a fifth guide wheel; 76. a sixth guide wheel; 77. a seventh leading wheel; 78. an eighth guide wheel; 82. a balancing strap; 83. a grooved wheel; 91. a first bolt; 92. a second bolt; 93. a third bolt; 94. a fourth bolt; 110. a frame; 141. a first gear; 142. a second gear; 154. a connecting rod; 241. an upper counter link; 242. a lower reversing link.

Detailed Description

The present invention will now be described in further detail with reference to the attached drawings, which are illustrative, but not limiting, of the present invention.

[ example 1 ]

Referring to fig. 1 and 2, the cart comprises a frame 110 and two obstacle crossing devices symmetrically arranged on two sides of the rear end of the frame, the two obstacle crossing devices have the same structure, and the structure and the installation mode of the two obstacle crossing devices are explained in detail by taking only one obstacle crossing device as an example.

Referring to fig. 2 again, the obstacle crossing apparatus includes a fixed frame 1, a first support bar 2, a second support bar 3, a gear 4, a first wheel 5, and a second wheel 6.

The two sides of the rear end of the frame 110 are respectively provided with a fixed mount 1, two parallel sliding grooves are arranged on the fixed mount 1 at intervals along the front end and the rear end of the frame 110 to form two parallel groove type linear guide rails, and the sliding grooves are vertical to the horizontal plane of the frame 110. The center of gear 4 sets up the connecting axle, and gear 4 passes through the rotatable installation of connecting axle on mount 1, and is located the centre of two spouts. The first supporting rod 2 and the second supporting rod 3 are respectively installed in the two sliding grooves and are meshed with the gear 4, and the gear 4 rotates to enable the first supporting rod 2 and the second supporting rod 3 to alternately move up and down along the axial direction of the sliding grooves.

Specifically, the first support rod 2 and the second support rod 3 have the same structure and are both of a rack structure, the meshing teeth of the first support rod 2 and the second support rod 3 are arranged oppositely, and the racks on the first support rod 2 and the second support rod 3 are meshed with the gear 4, so that the movement directions of the first support rod 2 and the second support rod 3 relative to the fixing frame are opposite, and the initial meshing positions of the racks and the first support rod 2 and the second support rod 3 are located at the axial center of the racks.

The lower ends of the first supporting rod 2 and the second supporting rod 3 are both provided with wheels, the wheel at the lower end of the first supporting rod 2 is a first wheel 5, and the wheel at the lower end of the second supporting rod 3 is a second wheel 6.

The top of the fixing frame 1 is also provided with a baffle plate for limiting the upward movement stroke of the first supporting rod 2 and the second supporting rod 3, when one of the supporting rods moves upward to the baffle plate at the upper end of the fixing frame 1, the baffle plate stops the upward movement and cannot continue to move upward, so that the other supporting rod cannot move downward to separate from the fixing frame 1.

The operation principle of the cart provided by this embodiment is described in detail below, and the operation process is as follows:

when moving on the flat ground, an operator lifts the front end of the frame and controls the height of the frame, so as to control the angle of the frame 110 relative to the ground, when the first wheel 5 and the second wheel 6 are both on the ground, the acting force of the first wheel 5 on the gear 4 through the first support rod 2 is balanced with the acting force of the second wheel 6 on the gear 4 through the second support rod 3, the gear 4 is static, namely does not rotate relative to the fixed frame 1, the first support rod 2 and the second support rod 3 are static relative to the frame 110, and the frame 110 moves through the rotation of the first wheel 5 and the second wheel 6.

When the front end of the frame 110 is lifted, the second support rod 3 retracts relative to the frame 110, the first support rod 2 extends relative to the frame 110, when the second support rod 3 is blocked by the baffle at the upper end of the fixing frame, the second support rod cannot retract continuously, at the moment, the first support rod 2 cannot extend continuously, the first wheel 5 leaves the ground, and the frame is completely supported by the second wheel 6, so that the turning difficulty when the first wheel 5 and the second wheel 6 are grounded simultaneously is overcome. When the front end of the frame 110 is depressed, the motion is reversed.

The process of passing the hand cart over an obstacle will be described in detail below, taking the case of going up and down stairs as an example.

When moving on stairs, the height of the front end of the carriage 110 is changed to tilt the first support bar 2 and the second support bar 3 backward to a proper angle, and the carriage is controlled to maintain its angle within a proper range, for example, to make the angle of the carriage substantially the same as the slope of the stairs.

Applying traction to the carriage 110 to move the cart up the stairs; the traction force is a pulling force applied to the front end of the frame or a pushing force applied to the rear end.

When the first wheel 5 and the second wheel 6 are both on the horizontal step surface of the stair 10 and are not blocked by the vertical step surface of the stair 10, the movement is similar to that in the flat ground.

When going upstairs, the moving direction of the frame is taken as the front, traction force is applied to the front section of the frame, when the first wheel 5 moves to the vertical step surface of the stair 10, under the action of the traction force, the stair 10 generates a horizontal backward reaction force on the first wheel 5, and because the traction force is larger when going upstairs, the action force of the first wheel 5 on the gear 4 through the first support rod 2 is larger than the action force of the second wheel 6 on the gear 4 through the second support rod 3, so that the gear 4 rotates anticlockwise, the first support rod 2 moves upwards relative to the frame along the guide rail where the first support rod is located, the second support rod 3 moves downwards relative to the frame along the guide rail where the second support rod is located, the first wheel 5 moves upwards along the vertical step surface of the stair, the second wheel 6 moves forwards along the horizontal step surface, and the frame moves upwards in an inclined manner; when the first wheel 5 moves to the horizontal step surface of the stair 10, the ascending process of the stage is finished, the first wheel 5 and the second wheel 6 both move on the respective horizontal step surfaces, and the carriage moves forwards as on the flat ground; when the second wheel 6 moves to the vertical step surface of the stair 10, the movement of the first support rod 2, the gear 4 and the second support rod 3 is opposite to the above, the first wheel 5 moves forwards along the horizontal step surface of the stair, the second wheel 6 moves upwards along the vertical step surface, and the frame continues to move obliquely upwards. The above processes are repeated, and continuous stair climbing can be realized.

When going downstairs, the front is opposite to the front when going upstairs by taking the frame moving direction as the front, namely the second wheel 6 is in the front, the first wheel 5 is in the rear, and the first support rod 2 and the second support rod 3 are inclined forwards.

When traction is applied to the carriage to move the trolley forwards, when the second wheels 6 leave the horizontal step surface of the stairs 10, the supporting force of the horizontal step of the staircase 10 against the second wheel 6 disappears, the weight of the carriage increases to the first wheel 5, so that the acting force of the first supporting rod 2 to the gear 4 is larger than the acting force of the second supporting rod 3 to the gear 4, the second supporting rod 3 extends out to the vertical step surface of the stair 10 and is subjected to the reaction force of the vertical step surface of the stair 10, thereby enabling the gear 4 to rotate anticlockwise, the first supporting rod 2 moves upwards relative to the frame along the guide rail where the first supporting rod is located, the second supporting rod 3 moves downwards relative to the frame along the guide rail where the second supporting rod is located, the second wheel 6 moves downwards along the vertical step surface of the stair, the first wheel 5 moves forwards along the horizontal step surface, the frame 110 is further moved downwards in an inclined way, and the descending process of the stage is finished when the second wheel 6 moves to the horizontal step surface of the stair 10; the first wheel 5 and the second wheel 6 move on respective horizontal step surfaces, and the frame moves forwards as on the flat ground; when the first wheel 5 leaves the horizontal step surface of the stair 10, the movement of the first support rod 2, the gear 4 and the second support rod 3 is opposite to the above, the second wheel 6 moves forwards along the horizontal step surface of the stair 10, the first wheel 5 moves downwards along the vertical step surface of the stair 10, and the frame continues to move forwards and downwards.

Because the movement process of crossing the vertical step surface of the stair each time depends on the height of the vertical step surface, the obstacle crossing device can adapt to obstacles such as different types of stairs; in addition, the higher the height of the front end of the frame is, the larger the inclination angle of the first support rod 2 and the second support rod 3 is, the less the traction force to be applied to the frame when moving on stairs will be, i.e. the more labor-saving, but the distance between the first wheel 5 and the second wheel 6 on the horizontal step surface will be increased due to the increase of the inclination angle of the first support rod 2 and the second support rod 3, and therefore, the inclination angle of the first support rod 2 and the second support rod 3 cannot be infinitely increased due to the limitation of the horizontal step surface when moving on stairs.

When the embodiment passes through a convex or concave obstacle, the movement principle is the same as that when the embodiment goes upstairs or downstairs.

In order to facilitate the walking of the trolley on the flat ground, jackscrews are respectively arranged in the two sliding grooves of the fixing plate, the jackscrews are rotated to enable the end parts of the jackscrews to be abutted against the supporting rods, so that the axial positioning of the supporting rods is realized, the telescopic movement of the supporting rods relative to the fixing frame is limited, and therefore the trolley is more stable to use on the flat ground, and meanwhile, one of the wheels is enabled to be off the ground when the trolley is turned, so that the trolley is convenient to turn.

The braking function can also be realized by connecting a braking device arranged on the frame with the gear.

Fig. 26 shows a schematic mounting diagram of the braking device, which includes a frame 110, a first support rod 2, a second support rod 3, a gear 4, a brake handle 101, a brake pad 102 and a brake 103.

The brake handle 101 is mounted on the armrest of the frame to facilitate the operation, the brake handle 101 is connected with the brake 103 through a pull wire, the brake 103 is mounted on the bottom of the frame, and the brake plate 102 is fixedly mounted on the connecting shaft of the gear 4 and is positioned in the brake groove of the brake 103.

During braking, the brake handle 101 is operated to operate the brake 103, i.e. the brake is closed to limit the rotation of the brake block, thereby controlling the rotation of the gear 4 and the up-and-down movement of the first support rod 2 and the second support rod 3.

The brake 103 is a brake caliper, and the brake pad 102 is a disc.

[ example 2 ]

The obstacle crossing device of the embodiment 2 has the same working principle as the obstacle crossing device of the embodiment 1, and the difference lies in the structures of the vehicle frame and the obstacle crossing device, which are specifically as follows:

the frame is a flat-plate cart type frame, and a control device of the obstacle crossing device is changed into a connecting rod rotating around the center from a gear. The two obstacle crossing devices are symmetrically arranged on two sides of the bottom plate of the frame 110, the two obstacle crossing devices have the same structure, and the structure and the installation mode of the two obstacle crossing devices are explained in detail by taking only one obstacle crossing device as an example:

as shown in fig. 3, the device comprises a fixing frame 1, a first support rod 2, a second support rod 3, a connecting rod 154, a first wheel 5 and a second wheel 6.

Wherein, the front and back both ends of mount 1 are provided with two parallel spouts each other, form two parallel slot type linear guide, and the spout interval sets up as required.

The center of the connecting rod 154 is hinged at the center of the fixing frame 1 through a connecting shaft, and the first support rod 2 and the second support rod 3 are respectively assembled in the two sliding grooves and can move along the axial direction of the sliding grooves.

The middle positions of the outer sides of the first support rod 2 and the second support rod 3 are respectively provided with a pulley, two ends of the connecting rod 154 are respectively provided with a U-shaped groove, the pulleys on the first support rod 2 and the second support rod 3 are respectively slidably installed in the U-shaped grooves and connected in a groove mode, and therefore, the moving directions of the first support rod 2 and the second support rod 3 relative to the bottom plate of the frame 110 are opposite under the control of the connecting rod 154.

When the frame 110 encounters an obstacle such as a stair in the moving process, the handrail of the frame 110 is pressed downwards at first, the first support rod 2 and the second support rod 3 are kept inclined backwards relative to the obstacle, and the frame is pushed forwards, so that stair climbing or obstacle crossing can be realized. When climbing stairs and crossing obstacles, the movement of the first support rod 2 and the second support rod 3 is similar to that in embodiment 1, and is not described in detail.

The braking function of the supporting rod and the fixing frame is realized in the following way in the embodiment: the bottom of mount sets up a bolt hole to the spout direction, with the rotatory bolt hole that advances of bolt, the butt realizes spacing the locking of bracing piece at the bracing piece to the motion of the relative mount of restriction bracing piece reaches the braking effect.

[ example 3 ]

The obstacle crossing device of the embodiment 3 has the same working principle as the obstacle crossing device of the embodiment 1, and the difference is that the structure of the obstacle crossing device, and only the structure of the obstacle crossing device is explained in detail below:

in this embodiment: 1. the automatic feeding device comprises a fixed frame, 2, a first supporting rod, 3, a second supporting rod, 41, a first chain wheel, 42, a second chain wheel, 43, a chain, 5, a first wheel, 6, a second wheel, 71, a first guide wheel, 72, a second guide wheel, 73, a third guide wheel, 74, a fourth guide wheel, 75, a fifth guide wheel, 76, a sixth guide wheel, 77, a seventh guide wheel, 78, an eighth guide wheel and 8 rolling rods.

As shown in fig. 4-7, the front end and the rear end of the fixing frame 1 are respectively provided with a guiding device, the guiding device is four guiding wheels, the four guiding wheels are distributed in a rectangular shape, the front end guiding device is composed of a first guiding wheel 71, a second guiding wheel 72, a third guiding wheel 73 and a fourth guiding wheel 74, and the rear end guiding device is composed of a fifth guiding wheel 75, a sixth guiding wheel 76, a seventh guiding wheel 77 and an eighth guiding wheel 78.

The fixed frame 1 is further provided with a first chain wheel 41 and a second chain wheel 42, the first chain wheel 41 and the second chain wheel 42 have the same structure, as shown in fig. 6 and 7, fig. 7 is a side view of fig. 6, and the first chain wheel 41 and the second chain wheel 42 are respectively formed by fixing a large chain wheel and a small chain wheel on the same rotating shaft.

The first support rod 2 and the second support rod 3 have the same structure, as shown in fig. 5, the first support rod 2 comprises two slide rails fixedly connected in parallel, a row of rolling rods 8 are arranged between the two slide rails at intervals from top to bottom, the rolling rods 8 can be meshed with a chain wheel to realize a transmission function, and mounting holes for wheels are formed in the lower ends of the slide rails. The first supporting rod 2 and the second supporting rod 3 are respectively installed in the front end guide device and the rear end guide device, and the two sides of the first supporting rod 2 and the second supporting rod 3 are respectively abutted to the guide wheels of the corresponding guide devices and can linearly move up and down along the guide devices relative to the fixing frame.

The large sprocket of the first sprocket 41 is engaged with the roller 8 on the first support bar 2, and the large sprocket of the second sprocket 42 is engaged with the roller 8 on the second support bar 3. The small sprocket of the first sprocket 41 is connected with the small sprocket of the second sprocket 42 by a chain 43, so that the first sprocket 41 and the second sprocket 42 rotate synchronously and in the same direction.

A first wheel 5 is mounted at the lower end of the first support bar 2 and a second wheel 6 is mounted at the lower end of the second support bar 3.

When the first support rod 2 moves up and down, the first chain wheel 41 is driven to rotate anticlockwise and clockwise, the first chain wheel 41 drives the second chain wheel 42 to rotate anticlockwise and clockwise through the chain 43, and finally the second chain wheel 42 drives the second support rod 3 to move up and down, so that the reverse movement of the first support rod 2 and the second support rod 3 is realized.

When the obstacle crossing device climbs a building or crosses an obstacle, the movement of the first support rod 2 and the second support device 3 is the same as the working principle of the obstacle crossing device in the embodiment 1, and the details are not repeated.

When the obstacle crossing device is installed on a trolley, a jackscrew is arranged on a fixing plate, the supporting rod is positioned through positioning, and the braking principle of the obstacle crossing device is the same as that of the obstacle crossing device in embodiment 1.

[ example 4 ]

The obstacle crossing device of the embodiment 4 has the same working principle as the obstacle crossing device of the embodiment 3, except that the structure of the obstacle crossing device is changed, the embodiment 4 replaces the combination structure of a chain wheel and a chain with the combination structure of a pulley and a cable, and only the structure of the obstacle crossing device is explained in detail as follows:

in this embodiment: 1. the first guide wheel is connected with the second guide wheel through a first bolt, the second bolt is connected with the fourth guide wheel through a second bolt, the first bolt is connected with the second bolt, the second bolt is connected with the fourth bolt, and the fourth bolt is connected with the fourth bolt, the second bolt is connected with the fourth bolt, and the third bolt is connected with the fourth bolt.

As shown in fig. 8, the front end and the rear end of the front side wall of the fixing frame are respectively provided with a guide device, which is a front guide device and a rear guide device, the guide device is four guide wheels, the four guide wheels are distributed in a rectangular shape, the front guide device is composed of a first guide wheel 71, a second guide wheel 72, a third guide wheel 73 and a fourth guide wheel 74, the rear guide device is composed of a fifth guide wheel 75, a sixth guide wheel 76, a seventh guide wheel 77 and an eighth guide wheel 78, the back side wall of the fixing frame 1 is provided with a first pulley 51 and a second pulley 52, and the first pulley 51 and the second pulley 52 are located between the two guide devices.

The first support rod 2 and the second support rod 3 are respectively arranged in the front end guide device and the rear end guide device, the front side and the rear side of the first support rod 2 and the front side and the rear side of the second support rod 3 are respectively abutted against the guide wheels, and the guide devices can move linearly up and down relative to the fixed frame 1.

One end of the first cable 43 is fixed to the back of the upper end of the second support rod 3 by a first bolt 91, the first cable 53 sequentially passes around the second pulley 52 and the first pulley 51, and the other end of the first cable 53 is fixed to the back of the upper end of the first support rod 2 by a second bolt 92, so that the first cable 53 is arranged in a U-shape with an open end facing upward.

One end of the second cable 54 is fixed to the back of the lower end of the second support rod 3 by a third bolt 93, after the second cable 54 sequentially passes around the second pulley 42 and the first pulley 51, the other end of the second cable 54 is fixed to the back of the lower end of the first support rod 2 by a fourth bolt 94, so that the second cable 54 is arranged in an inverted U shape, i.e. with an open end facing downward.

When the first support bar 2 moves up and down, the second support bar 3 moves up and down through the first and

second cables

53 and 54, thereby achieving the reverse movement of the first and second support bars 2 and 3.

When the obstacle crossing device climbs a building or crosses an obstacle, the movement of the first support rod 2 and the second support device 3 is similar to that of the embodiment 1, and the description is omitted.

The limiting device of the support rod in the obstacle crossing device is the same as that in the embodiment 3.

[ example 5 ]

The obstacle crossing device of the embodiment 5 has the same working principle as the obstacle crossing device of the embodiment 4, and the difference is the structure of the obstacle crossing device, which is concretely as follows.

In this embodiment: 1. the device comprises a fixed frame, 2, a first supporting rod, 3, a second supporting rod, 82, a balance belt and 83 grooved wheels.

Referring to fig. 9-11, the obstacle crossing device includes a fixed frame 1, a first stay 2, a second stay 3, a balance belt 82, and a sheave 83.

The both sides of mount 1 are provided with fixed ear, and mount 1 passes through fixed ear to be connected in the both sides of frame 110, is provided with two slides on the mount 1 perpendicularly, and first vaulting pole 2 and second vaulting pole 3 set up respectively in the slide.

The first and

second struts

2, 3 are identical in structure, and only one of the struts is described in detail herein.

Referring to fig. 12, the first support rod 2 includes two slide rails disposed at an interval, the two slide rails are connected through a plurality of rollers, the slide rails are disposed at two ends of the rollers, the plurality of rollers are disposed at an interval along a longitudinal direction of the slide rails, a fixing pin is disposed at the bottom of the roller at the lowest layer, two ends of the fixing pin are respectively connected with the two slide rails, and the wheel is disposed at the lower ends of the two slide rails.

The sliding rail is assembled in the sliding way, and the diameter of the roller is larger than the width of the sliding rail and smaller than the width of the sliding way. The slide rail moves in the slide way, and the roller moves up and down along the front wall and the rear wall of the slide way.

The first support rod 2 and the second support rod 3 are installed in a slide way of a fixed frame and are connected through a balance belt 82, two grooved wheels 83 are arranged at the bottom of the fixed frame, the balance belt 12 is wound on two guide wheels, two ends of the balance belt 12 are respectively connected with fixing pins of the first support rod 2 and the second support rod 3, and when the first support rod 2 moves upwards, the balance belt 12 drives the second support rod 3 to move downwards.

During operation, when the first support rod 2 moves upwards, one end of the synchronous belt connected with the first support rod 2 rises, one end of the synchronous belt connected with the second support rod 3 falls, and the second support rod 3 moves downwards under the tension of the balance belt 82, so that the first support rod and the second support rod move up and down alternately.

[ example 6 ]

The obstacle crossing device of the embodiment 6 has the same working principle as the obstacle crossing device of the embodiment 1, and the difference is that the structure of the obstacle crossing device, and only the structure of the obstacle crossing device is explained in detail below:

in this embodiment: 1. the device comprises a fixed frame, 62, a first action cylinder, 63, a second action cylinder, 621, a first piston rod, 631, a second piston rod, 64, a communication pipe, 5, a first wheel and 6, a second wheel.

As shown in fig. 13, two parallel mounting holes are provided at the front and rear ends of the fixed frame, and the lower ends of the first actuating cylinder 62 and the second actuating cylinder 63 are respectively fixedly mounted in the two mounting holes.

The first piston rod 621 is hermetically arranged in the first action cylinder 62 and can move along the first action cylinder 62, and the first piston rod 621 extends out of the lower end of the first action cylinder 62; the second piston rod 631 is sealingly provided in the second cylinder 63 to be movable along the second cylinder 63, and the second piston rod 631 protrudes from a lower end of the second cylinder 63.

Oil filler points are arranged at the upper ends of the first actuating cylinder 62 and the second actuating cylinder 63, half volume of hydraulic oil is filled into each actuating cylinder through the oil filler points, the oil filler point of the first actuating cylinder 62 is connected with one end of the communicating pipe 64, and the oil filler point of the second actuating cylinder 3 is connected with the other end of the communicating pipe 64.

A first wheel 5 is mounted at the bottom of the first piston rod 621 and a second wheel 6 is mounted at the bottom of the second piston rod 631.

When the first piston rod 621 moves upward, the fluid in the first actuating cylinder 62 is squeezed to flow into the second actuating cylinder 63 through the communication pipe 64, so as to drive the second piston rod 631 to move downward, and conversely, when the second piston rod 31 is blocked from moving upward, the fluid in the second actuating cylinder 63 is squeezed to flow into the first actuating cylinder 62 through the communication pipe 64, so as to drive the first piston rod 621 to move downward. Thereby achieving the up and down opposite alternating motion of the first and

second piston rods

621 and 631.

The method for realizing the braking function of the obstacle crossing device comprises the following steps: a pipe shut-off valve is installed at the fluid outlet of the first actuating cylinder 62 or the second actuating cylinder 63 or the communication pipe 64, and the movement of the fluid in the communication pipe 64 is switched on or off, so that the movement of the first piston rod 621 and the second piston rod 631 can be controlled.

When the obstacle crossing device climbs a building or crosses an obstacle, the movement of the first piston rod 621 and the second piston rod 631 is the same as the principle of the obstacle crossing device in embodiment 1, and details are not described.

[ example 7 ]

The obstacle crossing device of the embodiment 7 has the same working principle as the obstacle crossing device of the embodiment 1, and is different from the obstacle crossing device in that the wheels of the obstacle crossing device rotate relative to the fixed frame in a telescopic motion instead of a translation motion.

Four obstacle crossing devices are symmetrically arranged on the front, back, left and right of the frame, fig. 14 is a schematic view of two obstacle crossing devices on one side of the frame at different positions on a stair, the four obstacle crossing devices have the same structure, and the structure of one of the obstacle crossing devices is explained in detail as follows:

in the figure: 1. the device comprises a fixed frame, 2, a first supporting rod, 21, a first swing arm, 22, a first crank arm, 23, a first fixed rod, 3, a second supporting rod, 31, a second swing arm, 32, a second crank arm, 33, a second fixed rod, 44, a reverse connecting rod, 5, a first wheel and 6, and a second wheel.

The obstacle crossing device comprises two link mechanisms, wherein each link mechanism is a parallelogram link mechanism, the two link mechanisms are respectively a front link mechanism and a rear link mechanism, the motion principles of the two link mechanisms are the same, and the difference is that the directions of short arms on a crank arm are opposite.

The fixed frame is arranged at the side of the frame 110, two link mechanisms are fixed on the side wall of the fixed frame, and the two link mechanisms are connected through a reverse connecting rod 44 to realize the reverse movement of the first supporting rod 2 and the second supporting rod 3.

As shown in fig. 15, the front link mechanism includes a first support rod 2, a first swing arm 21, a first crank arm 22 and a first fixing rod 23, the first fixing rod 23 is fixedly installed on the frame 110 and is perpendicular to the direction of the frame plane, the first crank arm 22 includes a long arm and a short arm, the long arm and the short arm are arranged at an included angle, the short arm bends upward relative to the long arm, the inflection point of the first crank arm 22 is hinged to the upper end of the first fixing rod 23, the other end of the long arm on the first crank arm 22 is hinged to the upper end of the first support rod 2, the middle of the first support rod 2 is hinged to one end of the first swing arm 21, and one end of the first swing arm 21 is hinged to the lower end of the first fixing rod 23. The distance from the upper end hinge point of the first support rod 2 to the middle hinge point is equal to the distance from the upper end hinge point of the first fixing rod 23 to the lower end hinge point, and the distance from the two end hinge points on the long arm of the first crank arm 22 is equal to the distance from the two end hinge points of the first swing arm 21, so that the first support rod 2, the first swing arm 21, the first crank arm 22 and the first fixing rod 23 form a parallelogram mechanism, and the first support rod 2 can extend or retract relative to the frame 110; the lower end of the first support bar 2 is fitted with a first wheel 5.

As shown in fig. 16, the rear link mechanism includes a second support rod 3, a second swing arm 31, a second connecting lever 32 and a second fixing lever 33, the second fixing lever 33 is fixedly mounted on the fixing frame 1, the second fixing lever 33 is parallel to the first fixing lever 23, a vertical distance between the second fixing lever 33 and the first fixing lever 23 is not less than a length of the first swing arm 21, the second fixing lever 33 is located behind and below the first fixing lever 23, the second connecting lever 32 includes a long arm and a short arm, the long arm and the short arm are arranged at an included angle with each other, the short arm bends downward relative to the long arm, an end of the second connecting lever 32, connected to the long arm and the short arm, is hinged to an upper end of the second fixing lever 33, the other end of the second connecting lever 32, is hinged to an upper end of the second support rod 3, a middle portion of the second support rod 3 is hinged to one end of the second swing arm 31, and an end of the second swing arm 31 is hinged to a lower end of the second fixing lever 33. The distance from the upper end hinge point of the second support rod 3 to the middle hinge point is equal to the distance from the upper end hinge point of the second fixing rod 33 to the lower end hinge point, the distance from the hinge points at the two ends of the long arm of the second crank arm 32 is equal to the distance from the hinge points at the two ends of the second swing arm 31, therefore, the second support rod 3, the second swing arm 31, the second crank arm 32 and the second fixing rod 33 form a parallelogram mechanism, and the second support rod 3 can extend or retract relative to the frame 110; the lower end of the second support bar 3 is provided with a second wheel 6.

One end of the reversing link 44 is hinged to the end of the short arm on the first crank arm 22, and the other end of the reversing link 44 is hinged to the end of the short arm on the second crank arm 32. Two ends of the reverse link 44 are respectively located at two sides of a connecting line of rotation centers of the first crank arm 22 and the second crank arm 32, so that the first crank arm 22 and the second crank arm 32 can rotate reversely, and the first support rod 2 and the second support rod 3 can make alternate telescopic motion relative to the frame 110.

Two limit position limiting stoppers of the second crank arm 32 are arranged on the fixed frame 1, so that the second crank arm 32 can rotate in a certain range, and the connection between the reverse connecting rod 44 and the first crank arm 22 or the second crank arm 32 is prevented from being in a dead angle state and being incapable of driving the first crank arm 22 or the second crank arm 32 to rotate.

The movement of the first support bar 2 and the second support bar 3 when the device goes upstairs or downstairs or crosses obstacles is the same as the principle of the obstacle crossing device of the embodiment 1, and the movement of each link when climbing stairs is explained below.

As shown in fig. 14, when the first wheel 5 encounters a step of a stair and blocks the stair, the first wheel moves upward along the step of the stair and drives the first support rod 2 to retract toward the frame 110, and the first crank arm 22 rotates clockwise, the first crank arm 22 drives the second crank arm 32 to rotate counterclockwise through the reverse link 44, so that the second support rod 3 extends toward the ground, and the stair climbing function is realized. When the second wheel 6 meets the block of the stair step, it moves upward along the stair step surface and drives the second support rod 3 to move backward and upward, and at the same time, when the second crank arm 32 rotates clockwise, it drives the first crank arm 22 to rotate counterclockwise through the reverse link 44, and then the first support rod 2 extends toward the frame 110. The above-mentioned motion is repeated, the building function of climbing is realized.

When the obstacle crossing device is installed on mobile equipment, the braking principle of the obstacle crossing device is the same as that of the method of installing the braking device on the frame 1 in the embodiment 1, and the braking device is connected with a rotating shaft of the crank arm or the swing arm to limit the rotation of the crank arm or the swing arm.

[ example 8 ]

The obstacle crossing device of the embodiment 8 has the same working principle as the obstacle crossing device of the embodiment 7, and is different from the obstacle crossing device in the structure, and the structure of the obstacle crossing device is explained in detail as follows:

in this embodiment: 1. the rack comprises a fixed frame, 11 sliding grooves, 2 first supporting rods, 3 second supporting rods, 14 racks, 141 first gears, 142 second gears, 5 first wheels and 6 second wheels.

As shown in fig. 17 to 19, the first support rod 2 and the second support rod 3 have the same structure and are both L-shaped structures, the horizontal arms and the vertical arms of the first support rod 2 and the second support rod 3 have the same length, the front ends of the horizontal arms of the first support rod 2 and the second support rod 3 are provided with a rotating shaft to be rotatably installed on the outer side of the fixing frame 1, the inner side of the fixing frame 1 is provided with a first gear 141 and a second gear 142, the first gear 141 is fixed on the rotating shaft of the first support rod 2, and the second gear 142 is fixed on the rotating shaft of the second support rod 3, so that the first support rod 2 and the first gear 141 rotate synchronously, and the second support rod 3 and the second gear 142 rotate synchronously.

As shown in fig. 19, a sliding groove 11 is further fixedly installed inside the fixed frame 1, the sliding groove 11 is obliquely arranged and located between the first gear 141 and the second gear 142, the rack 4 is slidably arranged in the sliding groove 11, one surface of each of two ends of the rack 14, which is in contact with the first gear 141 and the second gear 142, is provided with a tooth, one end of the rack 14 forms a rack-and-pinion connection with the lower portion of the first gear 141, and the other end of the rack 14 forms a rack-and-pinion connection with the upper portion of the second gear 142.

The lower end of the vertical arm of the first support rod 2 is provided with a first wheel 5, and the lower end of the vertical arm of the second support rod 3 is provided with a second wheel 6.

When the first wheel 5 moves backwards and upwards, the first supporting rod 2 is driven to rotate clockwise, and then the first gear 141 is driven to rotate clockwise, the first gear 141 drives the rack 14 to move backwards along the sliding chute 11, and the rack 14 moves backwards and drives the second gear 142 and the second supporting rod 3 to rotate anticlockwise, so that the wheel 6 moves forwards and downwards.

The support rod is bent backward in order to prevent collision with the stairs, and may include an irregular recess including a circular arc shape, not limited to a right angle in the drawing, and may be a straight rod when the radius of the first and

second wheels

5 and 6 is large.

When the obstacle crossing device moves to different positions of the stairs, the position relationship of each support rod and each wheel is shown in figures 22 to 25.

The movement of the obstacle crossing device when climbing stairs or crossing obstacles is similar to that of embodiment 7, and is not described in detail.

A bolt hole is radially arranged in the sliding groove 11, and a bolt is rotated into the bolt hole to abut against the rack, so that the movement of the rack relative to the sliding groove 11 is limited, and the limiting effect on supporting safety is realized.

[ example 9 ]

The obstacle crossing device of the embodiment 9 has the same working principle as the obstacle crossing device of the embodiment 7, and is different from the obstacle crossing device in the structure, and the structure of the obstacle crossing device is explained in detail as follows:

in this embodiment: 1. the device comprises a fixed frame, 2, a first supporting rod, 3, a second supporting rod, 241, an upper reverse connecting rod, 242, a lower reverse connecting rod, 5, a first wheel and 6, a second wheel.

As shown in fig. 20 and 21, a rotating shaft is respectively arranged at the upper and lower parts in the direction perpendicular to the frame outside the fixing frame, the upper counter link 241 and the lower counter link 242 have the same size and structure, the centers of the upper counter link 41 and the lower counter link 42 are connected to the two rotating shafts in a pin joint manner, the front end and the rear end of the upper counter link 241 are respectively hinged to the upper ends of the first support rod 2 and the second support rod 3, the front end and the rear end of the lower counter link 242 are respectively hinged to the middle parts of the first support rod 2 and the second support rod 3, the distance between the hinge point of the middle parts of the two support rods and the hinge point of the upper ends of the two support rods is the same as the distance between the two rotating shafts on the fixing frame, so that the upper counter link 241 and the lower counter link 242 are parallel, and the first support rod 2 and the second support rod 3 are parallel; the upper counter link 241, the lower counter link 242, the first support bar 2, the second support bar 3 and the fixing frame together form a parallelogram mechanism.

The lower end of the first supporting rod 2 is provided with a first wheel 5, and the lower end of the second supporting rod 3 is provided with a second wheel 6.

The length of the second support bar 3 is less than that of the first support bar 2, and the front ends of the upper counter link 241 and the lower counter link 242 are higher than the rear ends, so that when the first wheel 5 is subjected to a backward acting force blocked by an obstacle, the upper counter link 241 and the lower counter link 242 will rotate counterclockwise.

The movement of the first and

second support rods

2 and 3 when the device goes upstairs or downstairs or crosses an obstacle is similar to that of embodiment 7, and the movement of each link when going upstairs will be described below.

When the wheels 5 meet an obstacle, the wheels rotate upwards relative to the fixed frame 1 and move along the obstacle surface due to the action of the parallelogram, so that the upper reverse connecting rod 241 and the lower reverse connecting rod 242 are driven to rotate anticlockwise, the wheels 6 are driven to move downwards relative to the fixed frame 1 and move along the ground, and the vehicle frame is driven to move obliquely upwards. When the second wheel 6 encounters an obstacle, the movement of the links is reversed.

When the obstacle crossing device is installed on the mobile equipment, the braking principle of the obstacle crossing device is the same as that of the method of installing the braking device on the vehicle frame 110 in the embodiment 7, namely, the braking device is connected with the rotating shaft of the upper reversing connecting rod or the lower reversing connecting rod to limit the rotation of the reversing connecting rod.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims

1. An obstacle crossing device is characterized by comprising a fixed frame, a first supporting rod, a second supporting rod, a first wheel, a second wheel and a reverse transmission mechanism;

the reverse transmission mechanism is connected with the first supporting rod and the second supporting rod, and the first supporting rod and the second supporting rod do telescopic alternate motion relative to the fixed frame under the control of the reverse transmission mechanism;

the obstacle crossing device is characterized in that the first wheels and the second wheels move along the surface of the obstacle in the process of passing through the obstacle and are always in contact with the surface of the obstacle in the moving process;

2. The obstacle crossing device of claim 1 wherein the reverse drive mechanism, first support bar and second support include any one of the following features a, b, c, d, e, f, g and h:

3. The obstacle crossing device of claim 1 wherein the first and second wheels are powered wheels.

4. The obstacle crossing device according to claim 1, wherein two linear guide mechanisms or two arc guide mechanisms are provided at intervals on the fixed frame, the first support rod and the second support rod are respectively connected with the two linear guide mechanisms or the two arc guide mechanisms, and the first support rod and the second support rod slide linearly along the linear guide mechanisms or move along the arc guide mechanisms.

5. The obstacle crossing device according to claim 4, wherein the linear guide mechanism is a sliding chute structure, and a pulley is provided on the support rod, and the support rod moves along the sliding chute through the pulley.

6. The device of claim 4 wherein the arc guide is a pivot point, the support rod is hinged to the pivot point, and the support rod pivots about the hinge point.

7. The device of claim 6 wherein the arc guide mechanism includes a plurality of links connected to the support rod to form a quadrilateral mechanism.

8. A mobile device, characterized in that a plurality of obstacle crossing devices as claimed in any one of claims 1 to 7 are installed on the mobile device.

9. The mobile device of claim 8, wherein a brake device is mounted on the mobile device or the fixed frame, and the brake device is connected with the reverse transmission mechanism or the support rod.