CN113069044A - Auxiliary obstacle crossing device and assembly - Google Patents
Auxiliary obstacle crossing device and assembly Download PDFInfo
- Publication number
- CN113069044A CN113069044A CN202110321721.2A CN202110321721A CN113069044A CN 113069044 A CN113069044 A CN 113069044A CN 202110321721 A CN202110321721 A CN 202110321721A CN 113069044 A CN113069044 A CN 113069044A
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- obstacle crossing
- plate
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- auxiliary
- moving
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The embodiment of the invention provides an auxiliary obstacle crossing device and an auxiliary obstacle crossing assembly, wherein the auxiliary obstacle crossing device comprises: the main body seat is internally provided with a moving cavity, the main body seat is provided with a top surface and a bottom surface which are arranged oppositely, and one side of the main body seat is provided with an obstacle crossing inclined surface which gradually rises from the bottom surface to the top surface; a strap movably connected within the moving chamber and at least partially extendable from or retractable into the moving chamber. According to the technical scheme provided by the embodiment of the invention, the auxiliary obstacle crossing device can enable the movable equipment to smoothly cross obstacles, particularly the obstacles such as doorsills, sliding door sliding rails and the like, along the obstacle crossing inclined plane, so that the condition that the movable equipment cannot work when being blocked by the obstacles is avoided. Meanwhile, the lap plate can extend out of or retract into the movable cavity, so that the auxiliary obstacle crossing device does not influence the opening and closing of the movable door. In addition, the auxiliary obstacle crossing device is simple in structure and applicable to obstacles with different heights.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an auxiliary obstacle crossing device and an auxiliary obstacle crossing assembly.
Background
With the continuous development of scientific technology, various cleaning apparatuses suitable for different cleaning objects have appeared. Various cleaning devices bring great convenience to the users in working, life and study, such as a sweeping robot. With the popularization of sweeping robots, more and more sweeping robots are introduced into thousands of families, and the cleaning work of the sweeping robots is continuously completed for the thousands of families.
However, the cleaning function of the existing sweeping robot is more and more powerful, but the obstacle crossing capability of the existing sweeping robot is a pain point of a large number of users, for example, the existing sweeping robot has a lot of positions with doorsills or sliding door sliding rails, because the doorsills or the sliding door sliding rails have a certain height, the existing climbing capability of the sweeping robot cannot cross, and meanwhile, for the wider sliding door sliding rails, the sliding rail grooves are also very deep and wide, the wheels of the sweeping robot can be often clamped in the sliding door sliding rails, so that the sweeping robot cannot reach places, for example, the sweeping robot cannot enter a balcony, and therefore cleaning cannot be performed, and meanwhile, a base station cannot be placed on the balcony, and the performance of the work of the sweeping robot is affected.
Disclosure of Invention
The present invention has been made in view of the above problems, and provides an auxiliary obstacle crossing device and assembly that solve the above problems.
In one embodiment of the present invention, there is provided an auxiliary obstacle crossing device including:
the main body seat is internally provided with a moving cavity, the main body seat is provided with a top surface and a bottom surface which are arranged oppositely, and one side of the main body seat is provided with an obstacle crossing inclined surface which gradually rises from the bottom surface to the top surface;
a strap movably connected within the moving chamber and at least partially extendable from or retractable into the moving chamber.
Optionally, at least a portion of the strap extending out of the mobile cavity is of deformable construction.
Optionally, the lapping plate is further provided with a guide angle surface;
an external object can act on the lapping plate along the angle guide surface to drive the lapping plate to retract into the moving cavity;
when the acting force of the external object disappears, the lap joint plate can extend out of the moving cavity.
Optionally, a guide rail and an elastic member are arranged in the moving cavity;
the guide rail is connected with the main body seat and extends along the moving direction of the lapping plate, and the lapping plate is movably connected with the guide rail;
the elastic piece is respectively connected with the main body seat and the lap joint plate.
Optionally, a support frame is arranged at one end of the lapping plate, and the lapping plate is movably connected with the guide rail through the support frame; and/or
One end of the lapping plate is provided with a connecting sleeve, and the lapping plate is movably connected with the guide rail through the connecting sleeve.
Optionally, the guide rail is a threaded rod, and the threaded rod is fixedly connected or rotatably connected to the main body seat;
the one end of overlap joint board is equipped with the bearing, the outer ring portion of bearing with overlap joint board fixed connection, the interior ring portion of bearing have with the internal thread that the threaded rod matches, the bearing pass through interior ring portion with threaded rod threaded connection.
Optionally, the obstacle crossing device further comprises a lifting structure, the lifting structure is connected with the bottom of the main body seat, and the lifting structure is provided with a lifting inclined plane which corresponds to the obstacle crossing inclined plane and extends in the same direction.
Optionally, the lifting structure comprises at least one lifting plate;
the lifting plate is stacked on the bottom of the main body seat, and the lifting plate is close to one end of the obstacle crossing inclined plane and is provided with the lifting inclined plane.
Optionally, the lifting structure comprises a driver and a lifting platform coupled with the driver;
the lifting platform is connected with the bottom of the main body seat, a telescopic inclined plane is arranged at one end, close to the obstacle crossing inclined plane, of the lifting platform, and the inclined plane serves as the lifting inclined plane.
Correspondingly, the embodiment of the invention also provides an auxiliary obstacle crossing device assembly, which comprises:
the auxiliary obstacle crossing device comprises a main body seat and a lap plate, and a moving cavity and an obstacle crossing inclined plane are formed in the main body seat; the lap joint plate is movably connected in the moving cavity and at least partially extends out of or retracts into the moving cavity;
the auxiliary obstacle crossing devices in pairs are oppositely arranged on two sides of the obstacle in a split mode, the auxiliary obstacle crossing devices are respectively connected onto the obstacle in an overlapping mode through the overlapping plates, and the two obstacle crossing inclined planes form an obstacle crossing channel which is raised firstly and then lowered from one side of the obstacle to the other side of the obstacle.
Optionally, the lapping plate is positioned on one side of the main body seat facing the obstacle, and at least the part of the lapping plate extending out of the moving cavity is of a deformable structure;
the obstacle crossing inclined plane is positioned on one side of the main body seat, which faces away from the obstacle.
Optionally, the barrier is provided with a moving member which can move along the extending direction of the barrier;
one side of the lapping plate facing the moving part along the extending direction of the barrier is provided with a lead angle surface;
the moving piece can act on the lapping plate along the angle guide surface to drive the lapping plate to retract into the moving cavity;
when the acting force of the moving part disappears, the lapping plate can extend out of the moving cavity.
Optionally, a guide rail and an elastic member are arranged in the moving cavity;
the guide rail is connected with the main body seat and extends along the moving direction of the lapping plate, and the lapping plate is movably connected with the guide rail;
the elastic piece is respectively connected with the main body seat and the lap joint plate.
In addition, optionally, the auxiliary obstacle crossing device further comprises a lifting structure, the lifting structure is connected with the bottom of the main body seat, and the lifting structure is provided with a lifting inclined plane which corresponds to the obstacle crossing inclined plane and extends in the same direction.
According to the technical scheme provided by the embodiment of the invention, the auxiliary obstacle crossing device can enable the movable equipment to smoothly cross obstacles, especially the obstacles such as doorsills, sliding door sliding rails and the like, along the obstacle crossing inclined plane, so that the movable equipment can continuously and normally work, and the situation that the movable equipment cannot work due to the obstruction of the obstacles is avoided. Meanwhile, the lap plate can extend out of or retract into the movable cavity, so that the auxiliary obstacle crossing device does not influence the opening and closing of movable objects such as a movable door. In addition, the auxiliary obstacle crossing device is simple in structure and applicable to obstacles with different heights.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an auxiliary obstacle crossing device according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional view of an auxiliary obstacle crossing device according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating a usage state of the auxiliary obstacle crossing device according to an embodiment of the present invention;
fig. 4 is a schematic top view of an auxiliary obstacle crossing device according to an embodiment of the present invention;
fig. 5 is a schematic top view of a retractable plate according to an embodiment of the present invention;
fig. 6 is a schematic side view of a retractable plate according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
The inventor finds that, in the prior art, when a sweeping robot executes a cleaning command, the sweeping robot often encounters an obstacle, for example, when the sweeping robot encounters a position of a threshold or a sliding door rail, because the threshold or the sliding door rail has a certain height, the current climbing capability of the sweeping robot cannot cross the obstacle, and meanwhile, for the wider sliding door rail, the rail groove is also very deep and wide, and wheels of the sweeping robot are often clamped in the sliding door rail, so that the sweeping robot cannot reach places, for example, the sweeping robot cannot enter a balcony, and therefore cleaning cannot be performed, and meanwhile, a base station cannot be placed on the balcony, so that the performance of the work of the sweeping robot is affected.
In view of the above problems, the present invention provides an auxiliary obstacle crossing device and an auxiliary obstacle crossing assembly, which can enable a movable apparatus to cross an obstacle very smoothly, thereby preventing the movable apparatus from being obstructed.
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an auxiliary obstacle crossing device according to an embodiment of the present invention, and fig. 2 is a schematic sectional structural diagram of the auxiliary obstacle crossing device according to the embodiment of the present invention, as shown in fig. 1 and fig. 2.
In one embodiment of the present invention, there is provided an auxiliary obstacle crossing device 100 including: a main body seat 10, and a strap 20 provided on the main body seat 10. The main body seat 10 has a moving cavity 11 therein, the main body seat 10 has a top surface and a bottom surface which are opposite to each other, and one side of the main body seat 10 has an obstacle crossing inclined surface 12 which gradually rises from the bottom surface to the top surface. The strap 20 is movably connected within the moving chamber 11 and at least partially extends or retracts into the moving chamber 11.
According to the technical scheme provided by the embodiment of the invention, the auxiliary obstacle crossing device 100 can enable the movable equipment to smoothly cross obstacles, particularly obstacles such as doorsills, sliding door sliding rails 201 and the like, along the obstacle crossing inclined plane 12, so that the movable equipment can continuously and normally work, and the situation that the movable equipment cannot work due to being blocked by the obstacles is avoided. Meanwhile, since the bridging plate 20 can extend or retract into the moving chamber 11, the auxiliary obstacle crossing device 100 does not affect the opening and closing of the movable object such as the moving door 200. In addition, the auxiliary obstacle crossing device 100 has a simple structure and is applicable to obstacles with different heights.
In the embodiment of the present invention, in order to extend and retract the bridging plate 20, a telescopic hole is formed on a side plate of the main body seat 10 facing away from the obstacle crossing inclined surface 12, one end of the bridging plate 20 is movably connected in the moving cavity 11, and the other end of the bridging plate can extend or retract from the telescopic hole into the moving cavity 11. Further, in order to make the obstacle crossing path of the movable equipment smoother, the retractable hole may be provided at a region close to the top surface, so that the height of the bridge plate 20 is closer to the top surface of the main body seat 10, and when the movable equipment crosses the obstacle through the auxiliary obstacle crossing device 100, the movable equipment travels along the obstacle crossing inclined surface 12 first, the relative height gradually rises, and then travels to the top surface of the main body seat 10, and since the bridge plate 20 is relatively close to the top surface, the movable equipment can travel smoothly onto the bridge plate 20, and thus can smoothly cross the obstacle.
Referring to fig. 3 in conjunction with fig. 2, taking an obstacle as an example of a door sliding rail 201, a top surface of the door sliding rail 201 has a certain height relative to the ground, a movable door 200 is disposed on the door sliding rail 201, and the movable door 200 can move relative to the door sliding rail 201 along an extending direction of the door sliding rail 201. The main part seat 10 is arranged on the ground through the bottom surface, one side of the main part seat 10, which is provided with the lapping plate 20, is arranged towards the sliding door sliding rail 201, the height of the lapping plate 20 can be arranged according to different height requirements, for example, the height of the lapping plate 20 can be matched with the height of the sliding door sliding rail 201, and also can be lower than the height of the sliding door sliding rail 201, and the height of the main part seat 10 is adjusted through the lifting structure 40, so that the relative height of the lapping plate 20 is adjusted, and the auxiliary obstacle crossing device 100 can be suitable for obstacles with different heights. The specific implementation of the lifting structure 40 is described in detail in the following embodiments.
The part of the bridging plate 20, which can extend out of the moving cavity 11, is bridged on the top surface of the sliding door sliding rail 201, and the bridging plate 20 can extend out of and retract into the moving cavity 11 relative to the sliding door sliding rail 201. The main body seat 10 is provided with the side of the obstacle crossing inclined plane 12 back to the direction of the sliding door sliding rail 201, and the obstacle crossing inclined plane 12 gradually rises relative to the height of the ground from the direction away from the sliding door sliding rail 201 to the direction close to the sliding door sliding rail 201, taking the orientation in fig. 2 as an example, namely from right to left, namely, the obstacle crossing inclined plane 12 gradually rises from the ground to the direction of the sliding door sliding rail 201. Since both sides of the sliding door sliding rail 201 have a height difference with the ground, the auxiliary obstacle crossing devices 100 may be respectively disposed on both sides of the sliding door sliding rail 201, and when the obstacle has a height difference with the ground on one side and a plane on the other side, the auxiliary obstacle crossing device 100 may be disposed only on the side having the height difference.
Referring to fig. 3, taking the movable device as the sweeping robot 300 as an example, when the sweeping robot 300 needs to cross the door-moving sliding rail 201, the sweeping robot can travel along the obstacle-crossing inclined plane 12 on the auxiliary obstacle-crossing device 100 on one side to gradually raise the position, and when the sweeping robot 300 travels to the position of the top surface of the main body seat 10, the height of the sweeping robot 300 is close to the height of the top surface of the door-moving sliding rail 201, and the sweeping robot 300 continues to travel to cross the door-moving sliding rail 201 through the lap plate 20. The lapping plate 20 can also cover the slide rail groove of the sliding door slide rail 201, so that the sweeping robot 300 smoothly passes over the slide rail groove, and parts such as wheels of the sweeping robot 300 are prevented from being clamped in the slide rail groove. After the sweeping robot 300 passes through the sliding door sliding rail 201, the height of the sweeping robot is gradually reduced through the obstacle crossing inclined plane 12 in the auxiliary obstacle crossing device 100 on the other side until the sweeping robot travels to the ground, so that the obstacle crossing action is completed.
When the movable door 200 is in the opened state, the lap plate 20 can extend out of the movable cavity 11 and thus overlap on the movable door sliding rail 201, when the movable door 200 slides along the movable door sliding rail 201 and is gradually closed, the movable door 200 contacts the lap plate 20 in the sliding process and gradually presses the lap plate 20, so that the lap plate 20 gradually retracts into the movable cavity 11, the movable door 200 can be normally closed, and when the movable door 200 is opened again, the lap plate 20 can extend out of the movable cavity 11 again, so that the robot 300 for sweeping can perform obstacle crossing action again.
In the embodiment of the present invention, the number of the auxiliary obstacle crossing devices 100 may be adjusted according to different obstacles, for example, when the obstacle is an obstacle having a height difference between two sides of a threshold, a sliding door sliding rail 201, and the like and the ground, the auxiliary obstacle crossing devices 100 may be respectively disposed on two sides of the obstacle, the number of the auxiliary obstacle crossing devices 100 located on one side may also be set to one or more according to different requirements, the height of the movable apparatus may be increased by the auxiliary obstacle crossing device 100 on one side, that is, the movable apparatus may ascend a slope, and the height of the movable apparatus may be decreased by the auxiliary obstacle crossing device 100 on the other side, that is, the movable. For another example, when the obstacle is an obstacle having a height difference with the ground, such as a platform, one or more auxiliary obstacle crossing devices 100 may be disposed on the side of the obstacle having the height difference, so that the movable apparatus can be raised and lowered by the auxiliary obstacle crossing devices 100 on the same side.
In embodiments of the present invention, the mobile device includes, but is not limited to, a sweeping robot 300, a self-moving washing machine, a wheelchair, a vehicle, etc.
In order to make the obstacle crossing of the mobile equipment more stable, in the embodiment of the invention, at least the part of the lap plate 20 extending out of the mobile cavity 11 is in a deformable structure. The part of the lap joint plate 20 extending out of the movable cavity 11 at least comprises but is not limited to be made of flexible soft rubber materials such as rubber materials and silica gel materials, so that the extending part of the lap joint plate 20 is non-rigid, when the movable equipment passes through the obstacle through the lap joint plate 20, the movable equipment is in contact with the extending part of the lap joint plate 20, the extending part of the lap joint plate 20 is of a deformable structure, and the lap joint plate 20 is enabled to be more attached to the top surface of the obstacle under the action of gravity of the movable equipment. For example, when the robot 300 sweeps across the sliding door sliding rail 201 through the lapping plate 20, the lapping plate 20 can deform the lapping plate 20 itself due to the downward pressing of the wheels of the robot 300 during the passing of the robot 300, so that the lapping plate 20 can be tightly attached to the surface of the sliding door sliding rail 201, and the auxiliary obstacle crossing device 100 is ensured not to be tilted due to the gravity action of the robot 300, so that the obstacle crossing action of the robot 300 is more stable and smooth.
The portion of the strap 20 located in the moving chamber 11 may be a rigid structure, and the portion of the deformable structure is supported by the rigid portion, so that the movement of the strap 20 relative to the main body seat 10 is more stable. Of course, the entire strap 20 may be of a deformable construction, which makes manufacture easier.
Further, referring to fig. 4 and 5, the strap 20 is further provided with a corner guide surface 21. A foreign object may act on the strap 20 along the chamfered surface 21 to retract the strap 20 into the moving chamber 11. When the force of the external object is removed, the bridge plate 20 may extend out of the moving chamber 11. Taking the orientation of fig. 4 and 5 as an example, the strap 20 is provided with a fillet surface 21 at least at one end in the left-right direction, which may also be referred to as the longitudinal direction of the strap 20. The chamfered surface 21 is a smooth transition surface so that the transition from one end of the strap plate 20 in the longitudinal direction to the end of the strap plate 20 away from the main body seat 10 can be smooth.
Referring to fig. 3, when a movable external object such as a movable door 200 contacts with the strap 20, the strap 20 may be gradually pressed by the external object along the corner guide surface 21 through the corner guide surface 21, so that the strap 20 gradually retracts into the movable cavity 11, and the rigid contact between the external object and the strap 20 may be reduced through the corner guide surface 21, thereby avoiding damage to the strap 20 and the external object. When the force of the external object is removed, such as when the movable door 200 is opened again, the movable door 200 does not act on the bridging plate 20 any more, and the bridging plate 20 can extend out of the movable chamber 11 again.
According to different setting requirements, the two ends of the lapping plate 20 along the length direction are provided with angle guide surfaces 21, or the angle guide surfaces 21 can be arranged at one end of the lapping plate 20 along the length direction. For example, referring to fig. 3 in conjunction with fig. 4 and 5, the movable doors 200 are disposed on both left and right sides of the auxiliary obstacle crossing device 100, and the movable doors 200 on both sides can move away from or close to each other, i.e., the movable doors 200 can be opened or closed. When the two side moving doors 200 approach each other, the two side moving doors 200 gradually press the strap 20 through the chamfered surfaces 21 at both ends of the strap 20, respectively, so that the strap 20 gradually retracts into the moving chamber 11. For another example, the auxiliary obstacle crossing device 100 is provided with a movable door 200 on the left side or the right side, and the other side is a door frame or a wall, and the movable door 200 is far away from or close to the door frame or the wall, that is, the movable door 200 is opened or closed. The strap 20 is provided with a corner guide surface 21 toward one end of the sliding door 200, and when the sliding door 200 moves, the strap 20 is gradually pressed by the corner guide surface 21 at one end of the strap 20, so that the strap 20 gradually retracts into the moving chamber 11.
Referring to fig. 2, in some practical embodiments of the present invention, in order to improve the stability of the movement of the strap 20 relative to the main body seat 10, it is a practical way to provide a guide rail 30 and an elastic member 31 in the moving chamber 11. The guide rail 30 is connected to the main body housing 10 and extends in the moving direction of the bridge plate 20, and the bridge plate 20 is movably connected to the guide rail 30. The elastic member 31 is connected to the main body housing 10 and the strap 20, respectively. Can inject the moving direction of bridging plate 20 through guided way 30, avoid bridging plate 20 to appear the condition to other direction removal for bridging plate 20 can smoothly pass in and out and remove chamber 11, and simultaneously, bridging plate 20 cooperation guided way 30 removes, makes the removal of bridging plate 20 more stable. When the strap 20 retracts into the moving cavity 11 under the action of an external force, the elastic member 31 deforms, and when the external force disappears, the elastic member 31 provides the acting force for the strap 20 while restoring the deformation, so that the strap 20 extends out of the moving cavity 11.
In the embodiment of the present invention, the guide rail 30 may be implemented in various ways according to different requirements, and the guide rail 30 includes, but is not limited to, at least one of a guide protrusion, a guide groove, and a guide rod. When the guide rail 30 is a guide protrusion, the connecting portion of the strap 20 and the guide rail 30 may be a groove-like structure used in cooperation with the guide protrusion. When the guide rail 30 is a guide groove, the connection portion of the strap 20 and the guide rail 30 may be a protrusion structure used in cooperation with the guide protrusion. When the guide rail 30 is a guide rod, a guide hole is formed in a portion of the connecting plate 20 connected to the guide rail 30, and the guide hole is sleeved on the guide rod so as to be movable along the axial direction of the guide rod. The guide protrusion, the guide groove and the guide rod can realize the guide function independently, and can also be combined together to realize the guide function according to different requirements, and the arrangement mode of the guide rail 30 is not particularly limited in the embodiment of the invention.
The part that the lapping plate 20 is connected with the guided way 30 can be flexible structure, also can be rigid structure, when moving through rigid part relative guided way 30, frictional force is less, can make to remove more smoothly, and is stable better simultaneously. The guide rail 30 may be a plurality of guide rails, and the position of the overlapping plate 20 corresponding to the guide rods is provided with corresponding guide structures, and the number of the guide structures is the same as that of the guide rods.
Further, referring to fig. 2, 5 and 6, in order to make the movement between the strap 20 and the guide rail 30 more stable, one end of the strap 20 is provided with a support bracket 22, and the strap 20 is movably connected with the guide rail 30 through the support bracket 22. The supporting frame 22 may be a rigid structure, and the supporting frame 22 is provided with a structure matching with the guide rail 30, such as a groove-shaped structure, a protrusion structure, a guide hole, and the like. Support frame 22 provides the support for bridging plate 20, simultaneously with guided way 30 swing joint, when bridging plate 20 received external force and removed the chamber 11 and remove, bridging plate 20 drove support frame 22 and removes, and the relative guided way 30 of support frame 22 removes, and support frame 22 is hard structure, and when support frame 22 removed relative guided way 30, frictional force was less, can make to remove more smoothly, and is simultaneously stable better.
Referring to fig. 2 and 6, the supporting frame 22 can be realized in a manner that the supporting frame 22 includes a straight section 221 and a vertical section 222, the straight section 221 and the vertical section 222 form an L-shaped structure, the straight section 221 is connected with the bridging plate 20, and the vertical section 222 is connected with the guide rail 30. The vertical section 222 provides a distance between the strap 20 and the guide rail 30, so that the guide rail 30 does not obstruct the strap 20 when the strap 20 enters or exits the moving chamber 11. In another implementation of the supporting frame 22, the supporting frame 22 includes a vertical section 222, one end of the vertical section 222 is connected to the strap 20, and the strap 20 and the vertical section 222 form an L-shaped structure, so that a certain distance is formed between the strap 20 and the guide rail 30. When the one end of bridging plate 20 is equipped with support frame 22, bridging plate 20 can only be through support frame 22 and guided way 30 swing joint, also can be connected with guided way 30 while bridging plate 20, rethread support frame 22 is connected with guided way 30, and under the mode of setting up like this, it supports to have formed the multiple spot between bridging plate 20 and the guided way 30 to it is more stable during the relative movement to make being connected between bridging plate 20 and the guided way 30.
In addition to making the movement between the strap 20 and the guide rail 30 more stable by the support bracket 22, further, referring to fig. 2, 5 and 6, one end of the strap 20 is provided with a connection sleeve 23, and the strap 20 is movably connected with the guide rail 30 by the connection sleeve 23. The function of the connecting sliding sleeve is similar to that of the supporting frame 22, and the difference lies in that the connection between the connecting sliding sleeve and the guide rail is tighter, and the friction force between the connecting sliding sleeve and the guide rail 30 is smaller, so that the movement of the lapping plate 20 is smoother, and the stability is better. When the one end of the bridging plate 20 is equipped with the connecting sliding bush, the bridging plate 20 can be movably connected with the guide rail 30 only through the connecting sliding bush, and when the bridging plate 20 is connected with the guide rail 30, the rethread connecting sliding bush is connected with the guide rail 30. The number of the connection sleeves 23 may be plural and arranged at intervals along the length direction of the bridge 20, and accordingly, the number of the guide rails 30 is the same as that of the connection sleeves 23.
Further, with continued reference to fig. 2, 5 and 6, the connecting sliding sleeve may further cooperate with the supporting frame 22 for use, the bridging plate 20 is connected with the supporting frame 22, the connecting sliding sleeve is connected with the vertical section 222 of the supporting frame 22, both the supporting frame 22 and the connecting sliding sleeve are connected with the guide rail 30, and multi-point support between the bridging plate 20 and the guide rail 30 is realized through the supporting frame 22 and the connecting sliding sleeve, so that the connection and relative movement between the bridging plate 20 and the guide rail 30 are more stable.
In the above embodiment, the movement of the strap 20, the support frame 22 and the connecting sliding sleeve relative to the guide rail 30 can be sliding. Besides, the movement of the bridging plate 20, the supporting frame 22 and the connecting sliding sleeve relative to the guide rail 30 can also be a spiral movement. In one implementation, the guide rail 30 is a threaded rod fixedly or rotatably connected to the main body seat 10. One end of the lapping plate 20 is provided with a bearing, the outer ring part of the bearing is fixedly connected with the lapping plate 20, the inner ring part of the bearing is provided with an internal thread matched with the threaded rod, and the bearing is connected with the threaded rod through the inner ring part and the threaded rod. When the lapping plate 20 is moved in the moving cavity 11 by external force, the lapping plate 20 drives the bearing to move, and when the bearing moves relative to the threaded rod, the inner ring part rotates relative to the threaded rod and moves spirally along the axial direction of the threaded rod, so that the lapping plate 20 moves relative to the threaded rod and retracts into the moving cavity 11. When the external force disappears, the inner ring part rotates relatively to the threaded rod under the action of the elastic member 31, so as to drive the bridging plate 20 to extend out of the moving cavity 11. Of course, the strap 20 may be screwed into the moving chamber 11 in other ways. When the support frame 22 and the connecting sliding sleeve are arranged on the lapping plate 20, the bearing can be arranged on the support frame 22 and the connecting sliding sleeve.
Further, the guiding rail 30 can be realized through a rack, a gear used in a matched mode is arranged on the lapping plate 20, the supporting frame 22 and the connecting sliding sleeve, and when the lapping plate 20 moves relative to the guiding rail 30, the gear moves along the rack, so that the connection and the relative movement between the lapping plate 20 and the guiding rail 30 are more stable.
With reference to fig. 2, in the embodiment of the present invention, the elastic member 31 includes, but is not limited to, a compression torsion spring, and the compression spring is sleeved on the guide rail 30, and both ends of the compression torsion spring abut against the main body seat 10 and the bridging plate 20, respectively. The guide rail 30 may be a guide rod, the pressure spring is sleeved on the guide rod, and the guide rod may limit a compression path of the pressure spring to prevent the pressure spring from being bent, so that the force application direction of the pressure spring faces the bridging plate 20, and the bridging plate 20 may smoothly extend out of the moving cavity 11.
To further enable the main body seat 10 to be suitable for obstacles with different heights, referring to fig. 1, 2 and 4, the auxiliary obstacle crossing device 100 further includes a lifting structure 40, the lifting structure 40 is connected to the bottom of the main body seat 10, and the lifting structure 40 has a lifting inclined surface 41 corresponding to and extending in the same direction as the obstacle crossing inclined surface 12. The relative height of the main body seat 10 is raised by the lifting structure 40, and the height difference between the obstacle crossing inclined surface 12 and the ground after the lifting is compensated by the lifting inclined surface 41, so that the obstacle crossing inclined surface 12 and the ground can be smoothly transited.
Taking an obstacle as the sliding door sliding rail 201 as an example, the top surface of the sliding door sliding rail 201 has a certain height relative to the ground, and the sliding door sliding rail 201 is provided with the sliding door 200. The main body seat 10 is disposed on the ground through the bottom surface, one side of the main body seat 10, on which the lapping plate 20 is disposed, is disposed toward the sliding door sliding rail 201, and the height of the lapping plate 20 is lower than the height of the top surface of the sliding door sliding rail 201, so that the lapping plate 20 cannot be lapped on the sliding door sliding rail 201. At this time, a lifting structure 40 may be provided at the bottom of the main body base 10, and the height of the main body base 10 is raised by the lifting structure 40, so that the lapping plate 20 can be lapped on the top surface of the sliding door sliding rail 201, and the height difference between the obstacle crossing inclined surface 12 and the ground after lifting is compensated by the lifting inclined surface 41. When the movable equipment needs to cross the sliding door sliding rail 201, the movable equipment can travel along the lifting inclined surface 41 and the obstacle crossing inclined surface 12, so as to gradually raise the position, and further cross the sliding door sliding rail 201 through the lapping plate 20.
With continued reference to fig. 1 and 2, one implementation of the lifting structure 40 is that the lifting structure 40 includes at least one lifting plate. The lifting plate is stacked at the bottom of the main body seat 10, and a lifting inclined surface 41 is arranged at one end of the lifting plate close to the obstacle crossing inclined surface 12. The auxiliary obstacle crossing device 100 can be adapted to obstacles with different heights by at least one lifting plate through the principle of layer-by-layer superposition. Further, in order to reduce the weight of the auxiliary obstacle crossing device 100, a plurality of hollow structures can be arranged on the lifting plate, so that the supporting strength of the lifting plate is ensured, and the weight of the lifting plate is reduced. Furthermore, besides the moving cavity 11, a plurality of hollow cavities are also provided inside the main body seat 10, so that the supporting strength of the main body seat 10 is ensured, the weight of the main body seat 10 is reduced, the overall weight of the auxiliary obstacle crossing device 100 is reduced, and the carrying and arrangement at different positions are facilitated for users.
Another implementation of the lifting structure 40 is that the lifting structure 40 includes a driver and a lifting platform coupled to the driver. The lifting platform is connected with the bottom of the main body seat 10, and one end of the lifting platform, which is close to the obstacle crossing inclined plane 12, is provided with a telescopic inclined plane, and the telescopic inclined plane is used as a lifting inclined plane 41. The driver can drive the lifting platform to lift, thereby driving the main body seat 10 to adjust at different heights, so as to meet the requirement of crossing obstacles at different heights.
Based on the auxiliary obstacle crossing device 100 in the above embodiment, the embodiment of the present invention further provides an auxiliary obstacle crossing device assembly. Referring to fig. 3, an auxiliary obstacle crossing device assembly includes: at least one pair of auxiliary obstacle crossing devices 100, and the implementation of the auxiliary obstacle crossing devices 100 can refer to the implementation of the auxiliary obstacle crossing devices 100 described in the above embodiments.
Specifically, referring to fig. 1 and 2, the auxiliary obstacle crossing device 100 includes a main body seat 10 and a lap plate 20, wherein the main body seat 10 has a moving cavity 11 and an obstacle crossing inclined surface 12 therein. The strap 20 is movably connected within the moving chamber 11 and at least partially extends or retracts into the moving chamber 11. Referring to fig. 3, two auxiliary obstacle crossing devices 100 in pair are oppositely disposed on opposite sides of the obstacle, and are respectively overlapped on the obstacle through an overlapping plate 20, and from one side of the obstacle to the other side, the two obstacle crossing inclined surfaces 12 form an obstacle crossing channel which is raised first and then lowered.
According to the technical scheme provided by the embodiment of the invention, the two auxiliary obstacle crossing devices 100 in pair can enable the movable equipment to smoothly cross obstacles, particularly obstacles such as doorsills and sliding door sliding rails 201, along the obstacle crossing inclined plane 12, so that the movable equipment can continue to normally work. Meanwhile, since the bridging plate 20 can extend or retract into the moving chamber 11, the auxiliary obstacle crossing device 100 does not affect the opening and closing of the movable object such as the moving door 200.
Referring to fig. 3, taking the movable device as the sweeping robot 300 as an example, when the sweeping robot 300 needs to cross the door-moving sliding rail 201, the sweeping robot can travel along the obstacle-crossing inclined plane 12 on the auxiliary obstacle-crossing device 100 on one side to gradually raise the position, and when the sweeping robot 300 travels to the position of the top surface of the main body seat 10, the height of the sweeping robot 300 is close to the height of the top surface of the door-moving sliding rail 201, and the sweeping robot 300 continues to travel to cross the door-moving sliding rail 201 through the lap plate 20. After the sweeping robot 300 passes through the sliding door sliding rail 201, the height of the sweeping robot is gradually reduced through the obstacle crossing inclined plane 12 in the auxiliary obstacle crossing device 100 on the other side until the sweeping robot travels to the ground, so that the obstacle crossing action is completed.
Meanwhile, when the movable door 200 is in the open state, the lap plate 20 can extend out of the movable cavity 11 and thus overlap on the movable door sliding rail 201, when the movable door 200 slides along the movable door sliding rail 201 and is gradually closed, the movable door 200 contacts the lap plate 20 in the sliding process and gradually extrudes the lap plate 20, so that the lap plate 20 gradually retracts into the movable cavity 11, so that the movable door 200 can be normally closed, and when the movable door 200 is opened again, the lap plate 20 can extend out of the movable cavity 11 again, so that the robot 300 for sweeping can perform obstacle crossing action again.
Referring to fig. 3 in conjunction with fig. 2, the lap plate 20 is located on the side of the main body seat 10 facing the obstacle, and the obstacle crossing slope 12 is located on the side of the main body seat 10 facing away from the obstacle. The position that bridging plate 20 set up makes bridging plate 20 overlap joint more conveniently on the barrier, and simultaneously, bridging plate 20 all is in movable equipment's the route of advancing with obstacle crossing inclined plane 12 on, makes things convenient for movable equipment to pass through to bridging plate 20 from obstacle crossing inclined plane 12 more to make movable equipment's the action of crossing obstacle more smooth and easy.
Further, at least the portion of the strap 20 extending out of the moving chamber 11 is of deformable configuration. When mobile device crossed the barrier through bridging plate 20, with the partial contact that bridging plate 20 stretched out, the part that bridging plate 20 stretched out was deformable structure, made bridging plate 20 more laminate in the top surface of barrier under mobile device's action of gravity, and effectively avoided supplementary obstacle crossing device 100's whole can not take place the perk because of mobile device's action of gravity for mobile device's obstacle crossing action is more steady, and is smooth.
With continued reference to fig. 3, the barrier has a moving member thereon that is movable along the direction of extension of the barrier. For example, the obstacle is a sliding door sliding rail 201, the sliding door sliding rail 201 is provided with a movable door 200, and the movable door 200 can move along the sliding door sliding rail 201, so as to open and close the movable door 200. When the movable door 200 is in the opened state, the lap plate 20 can extend out of the movable cavity 11 and thus overlap on the movable door sliding rail 201, when the movable door 200 slides along the movable door sliding rail 201 and is gradually closed, the movable door 200 contacts the lap plate 20 in the sliding process and gradually presses the lap plate 20, so that the lap plate 20 gradually retracts into the movable cavity 11, the movable door 200 can be normally closed, and when the movable door 200 is opened again, the lap plate 20 can extend out of the movable cavity 11 again, so that the robot 300 for sweeping can perform obstacle crossing action again.
In order to prevent the damage of the landing plate 20 when the moving door 200 moves, referring to fig. 4 and 5 in conjunction with fig. 3, the side of the landing plate 20 facing the moving member has a chamfered surface 21 along the extending direction of the obstacle. The moving member can act on the bridging plate 20 along the guiding surface 21 to drive the bridging plate 20 to retract into the moving cavity 11. When the force of the moving member is removed, the bridging plate 20 can extend out of the moving chamber 11. For example, when the movable door 200 contacts the strap 20, the angle guiding surface 21 allows the movable door 200 to gradually press the strap 20 along the angle guiding surface 21, so that the strap 20 gradually retracts into the movable cavity 11, and the angle guiding surface 21 can reduce the hard contact between the external object and the strap 20, thereby avoiding damaging the strap 20 and the external object. When the force of the moving door 200 is removed, such as when the moving door 200 is opened again, the moving door 200 does not act on the bridge plate 20 any more, and the bridge plate 20 may extend out of the moving chamber 11 again.
According to different setting requirements, the two ends of the lapping plate 20 are provided with angle guide surfaces 21, or the angle guide surfaces 21 can be arranged at one end of the lapping plate 20. For example, the movable doors 200 are disposed on both left and right sides of the auxiliary obstacle crossing device 100, the two ends of the strap 20 are provided with the corner guide surfaces 21, and when the movable doors 200 on both sides are close to each other, the movable doors 200 on both sides gradually press the strap 20 through the corner guide surfaces 21 on both ends of the strap 20, respectively, so that the strap 20 gradually retracts into the movable cavity 11. For another example, a movable door 200 is provided on the left or right side of the auxiliary obstacle crossing device 100, and the other side is a door frame or a wall, and a corner guide surface 21 is provided at one end of the strap 20 facing the movable door 200, so that when the movable door 200 moves, the strap 20 is gradually pressed by the corner guide surface 21 at one end of the strap 20, and the strap 20 is gradually retracted into the movable chamber 11.
Referring to fig. 2, in some practical embodiments of the present invention, in order to improve the stability of the movement of the strap 20 relative to the main body seat 10, a guide rail 30 and an elastic member 31 are provided in the moving chamber 11. The guide rail 30 is connected to the main body housing 10 and extends in the moving direction of the bridge plate 20, and the bridge plate 20 is movably connected to the guide rail 30. The elastic member 31 is connected to the main body housing 10 and the strap 20, respectively. Can inject the moving direction of bridging plate 20 through guided way 30, avoid bridging plate 20 to appear the condition to other direction removal for bridging plate 20 can smoothly pass in and out and remove chamber 11, and simultaneously, bridging plate 20 cooperation guided way 30 removes, makes the removal of bridging plate 20 more stable. When the strap 20 retracts into the moving cavity 11 under the action of an external force, the elastic member 31 deforms, and when the external force disappears, the elastic member 31 provides the acting force for the strap 20 while restoring the deformation, so that the strap 20 extends out of the moving cavity 11. It should be noted that, the implementation manners of the guide rail 30 and the elastic element 31 can refer to the implementation manners of the guide rail 30 and the elastic element 31 in the foregoing embodiments, and are not described in detail here.
To further enable the main body seat 10 to be suitable for obstacles with different heights, referring to fig. 1, 2 and 4, the auxiliary obstacle crossing device 100 further includes a lifting structure 40, the lifting structure 40 is connected to the bottom of the main body seat 10, and the lifting structure 40 has a lifting inclined surface 41 corresponding to and extending in the same direction as the obstacle crossing inclined surface 12. The relative height of the main body seat 10 is raised by the lifting structure 40, and the height difference between the obstacle crossing inclined surface 12 and the ground after the lifting is compensated by the lifting inclined surface 41, so that the obstacle crossing inclined surface 12 and the ground can be smoothly transited. It should be noted that, the implementation manner of the lifting structure 40 may refer to the implementation manner of the lifting structure 40 in the foregoing embodiment, and details are not repeated here.
In summary, according to the technical solution provided by the embodiment of the present invention, the auxiliary obstacle crossing device 100 enables the movable device to smoothly cross the obstacle, especially the obstacle such as the doorsill and the sliding door sliding rail 201, along the obstacle crossing inclined plane 12, and continue to operate normally, so as to prevent the movable device from being blocked by the obstacle and being unable to operate. Meanwhile, since the bridging plate 20 can extend or retract into the moving chamber 11, the auxiliary obstacle crossing device 100 does not affect the opening and closing of the moving door 200. In addition, the auxiliary obstacle crossing device 100 has a simple structure and is applicable to obstacles with different heights.
The technical solution adopted by the present invention is described below with reference to specific application scenarios to assist understanding. In the following application scenario, the movable device is taken as a sweeping robot as an example.
Application scenario 1
The sweeping robot moves from the drawing room to the balcony, a sliding door sliding rail is arranged in the advancing direction of the sweeping robot, and the top surface of the sliding door sliding rail is provided with a certain height, so that the existing sweeping robot cannot directly pass through the sliding door sliding rail and cannot enter the balcony.
The auxiliary obstacle crossing devices are arranged on two sides of the sliding door sliding rail respectively, when a sweeping robot needs to cross the sliding door sliding rail to work, the sweeping robot identifies the position of the auxiliary obstacle crossing device, the sweeping robot can advance along the obstacle crossing inclined plane on the auxiliary obstacle crossing device on one side of the living room and gradually rises to the position, when the sweeping robot advances to the position of the top surface of the main body seat, the height of the sweeping robot is close to the height of the top surface of the sliding door sliding rail, the sweeping robot continues to advance, then the sweeping robot crosses the sliding door sliding rail through the lap joint plate, and then the obstacle crossing inclined plane in the auxiliary obstacle crossing device on one side of the balcony gradually reduces the height of the sweeping robot until the sweeping robot advances to the ground, so that obstacle crossing action is completed and the robot enters the balcony.
When the robot of sweeping the floor need not hinder, can close the sliding door on the sliding door slide rail, when the sliding door slides along the sliding door slide rail and closes gradually, the sliding door slides the angle guiding face on the in-process contact lapping plate, avoids haring lapping plate and sliding door, and the sliding door extrudees the lapping plate gradually for the lapping plate is the indentation gradually removes the intracavity, makes the sliding door can normally close.
When the sweeping robot needs to cross the obstacle, the movable door is opened, the lap plate stretches out of the movable cavity again under the action of the elastic piece, and therefore the sweeping robot can perform obstacle crossing action again.
Application scenario 3
When the robot of sweeping the floor crosses sliding door slide rail through the lap joint board, the lap joint board is the deformable structure, be flexible glue board if the lap joint board, for non-rigid material, the lap joint board is sweeping the floor the robot when passing through, because the pushing down of the wheel of the robot of sweeping the floor can make lap joint board self warp, make the lap joint board can hug closely the surface that moves sliding door slide rail to guarantee that supplementary obstacle crossing device's whole can not take place the perk because of the gravity action of the robot of sweeping the floor, make the obstacle crossing action of the robot of sweeping the floor more steady, smoothly. Meanwhile, the sliding rail groove of the sliding door sliding rail can be covered by the lapping plate, so that the sweeping robot can smoothly cross the sliding rail groove, and the wheels of the sweeping robot are prevented from being clamped in the sliding rail groove.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (14)
1. An auxiliary obstacle crossing device, comprising:
the main body seat is internally provided with a moving cavity, the main body seat is provided with a top surface and a bottom surface which are arranged oppositely, and one side of the main body seat is provided with an obstacle crossing inclined surface which gradually rises from the bottom surface to the top surface;
a strap movably connected within the moving chamber and at least partially extendable from or retractable into the moving chamber.
2. The auxiliary obstacle crossing device as defined in claim 1, wherein at least a portion of the lap plate protruding out of the moving chamber is of a deformable structure.
3. The auxiliary obstacle crossing device according to claim 1, wherein the lapping plate is further provided with a guide angle surface;
an external object can act on the lapping plate along the angle guide surface to drive the lapping plate to retract into the moving cavity;
when the acting force of the external object disappears, the lap joint plate can extend out of the moving cavity.
4. An auxiliary obstacle crossing device according to any one of claims 1 to 3 wherein a guide rail and a resilient member are provided within the moving chamber;
the guide rail is connected with the main body seat and extends along the moving direction of the lapping plate, and the lapping plate is movably connected with the guide rail;
the elastic piece is respectively connected with the main body seat and the lap joint plate.
5. The auxiliary obstacle crossing device according to claim 4, wherein a support frame is provided at one end of the lap plate, and the lap plate is movably connected with the guide rail through the support frame; and/or
One end of the lapping plate is provided with a connecting sleeve, and the lapping plate is movably connected with the guide rail through the connecting sleeve.
6. The auxiliary obstacle crossing device as claimed in claim 4, wherein the guide rail is a threaded rod fixedly or rotatably connected to the body mount;
the one end of overlap joint board is equipped with the bearing, the outer ring portion of bearing with overlap joint board fixed connection, the interior ring portion of bearing have with the internal thread that the threaded rod matches, the bearing pass through interior ring portion with threaded rod threaded connection.
7. The auxiliary obstacle crossing device as claimed in any one of claims 1 to 3, further comprising a lifting structure connected to a bottom of the main body seat, the lifting structure having a lifting slope corresponding to the obstacle crossing slope and extending in the same direction.
8. An auxiliary obstacle crossing device as defined in claim 7 wherein said elevating structure includes at least one elevating plate; the lifting plate is stacked on the bottom of the main body seat, and the lifting plate is close to one end of the obstacle crossing inclined plane and is provided with the lifting inclined plane.
9. The auxiliary obstacle crossing device of claim 7 wherein the lifting structure includes a drive and a lifting platform coupled to the drive;
the lifting platform is connected with the bottom of the main body seat, a telescopic inclined plane is arranged at one end, close to the obstacle crossing inclined plane, of the lifting platform, and the inclined plane serves as the lifting inclined plane.
10. An auxiliary obstacle crossing device assembly, comprising:
the auxiliary obstacle crossing device comprises a main body seat and a lap plate, and a moving cavity and an obstacle crossing inclined plane are formed in the main body seat; the lap joint plate is movably connected in the moving cavity and at least partially extends out of or retracts into the moving cavity;
the auxiliary obstacle crossing devices in pairs are oppositely arranged on two sides of the obstacle in a split mode, the auxiliary obstacle crossing devices are respectively connected onto the obstacle in an overlapping mode through the overlapping plates, and the two obstacle crossing inclined planes form an obstacle crossing channel which is raised firstly and then lowered from one side of the obstacle to the other side of the obstacle.
11. The auxiliary obstacle crossing device assembly as recited in claim 10 wherein said strap is located on a side of said main body mount facing said obstacle, at least a portion of said strap extending beyond said travel chamber being of deformable construction;
the obstacle crossing inclined plane is positioned on one side of the main body seat, which faces away from the obstacle.
12. The supplemental obstacle crossing device assembly of claim 10 wherein the obstacle has a moving member thereon that is movable in a direction of extension of the obstacle;
one side of the lapping plate facing the moving part along the extending direction of the barrier is provided with a lead angle surface;
the moving piece can act on the lapping plate along the angle guide surface to drive the lapping plate to retract into the moving cavity;
when the acting force of the moving part disappears, the lapping plate can extend out of the moving cavity.
13. An auxiliary obstacle crossing device assembly as claimed in any one of claims 10 to 12, wherein a guide rail and a resilient member are provided within the moving chamber;
the guide rail is connected with the main body seat and extends along the moving direction of the lapping plate, and the lapping plate is movably connected with the guide rail;
the elastic piece is respectively connected with the main body seat and the lap joint plate.
14. An auxiliary obstacle crossing device assembly as defined in any one of claims 10 to 12, further comprising a lifting structure connected to the bottom of the body seat, the lifting structure having a lifting ramp corresponding to and extending in the same direction as the obstacle crossing ramp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110321721.2A CN113069044A (en) | 2021-03-25 | 2021-03-25 | Auxiliary obstacle crossing device and assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110321721.2A CN113069044A (en) | 2021-03-25 | 2021-03-25 | Auxiliary obstacle crossing device and assembly |
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| CN113069044A true CN113069044A (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110321721.2A Pending CN113069044A (en) | 2021-03-25 | 2021-03-25 | Auxiliary obstacle crossing device and assembly |
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| CN114886332A (en) * | 2022-05-23 | 2022-08-12 | 美智纵横科技有限责任公司 | Obstacle crossing auxiliary device and ground cleaning equipment |
| WO2023241584A1 (en) * | 2022-06-17 | 2023-12-21 | 北京石头世纪科技股份有限公司 | Obstacle surmounting auxiliary device |
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Application publication date: 20210706 |