CN114750847A

CN114750847A - Obstacle crossing device and mobile equipment

Info

Publication number: CN114750847A
Application number: CN202210311876.2A
Authority: CN
Inventors: 张传泰; 解德杰; 崔保平
Original assignee: Xuzhou Construction Machinery Group Co Ltd XCMG
Current assignee: Xuzhou Construction Machinery Group Co Ltd XCMG
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2022-07-15

Abstract

The present disclosure relates to an obstacle crossing device and a mobile device. Obstacle crossing device, comprising: a base body (7); a turntable (1) rotatably arranged on the base body (7); a first wheel train, rotatably connected with the turntable (1); the plurality of walking units are in driving fit with the first gear train; wherein the turntable (1) is configured to be driven to rotate around a rotation axis to drive the walking unit and the first wheel train to revolve around the rotation axis.

Description

Obstacle crossing device and mobile equipment

Technical Field

The utility model relates to an obstacle surmounting machinery especially relates to an obstacle surmounting device and mobile device.

Background

In the face of severe environments such as earthquakes, fires and the like, the gear type obstacle crossing mechanism, the triangular wheel type obstacle crossing mechanism and the like are adopted in the related technology, so that the robot can enter the scene to perform rescue tasks, secondary accidents of rescuers in rescue are avoided, and the loss of personnel and property can be reduced to the maximum extent.

Disclosure of Invention

The inventor finds that the obstacle crossing mechanism in the related technology can not realize active obstacle crossing, can only turn over passively, and can not meet the requirement of long-distance transmission, and the requirement on wheel distance is higher when the unmanned platform is required to span higher obstacles and wider trenches.

In view of this, the embodiment of the present disclosure provides an obstacle crossing device and a mobile device, so as to implement active obstacle crossing.

In one aspect of the present disclosure, there is provided an obstacle detouring device including:

a base;

the rotary disc is rotatably arranged on the base body;

the first wheel train is rotatably connected with the rotating disc; and

the plurality of walking units are in driving fit with the first wheel train;

the turntable is configured to drive the traveling unit and the first wheel train to revolve around the rotation axis when the turntable rotates around the rotation axis under the driving action.

In some embodiments, the turntable has sprockets, and the obstacle crossing device further comprises:

the first chain wheel is matched with the chain teeth of the turntable through a chain;

and the first power unit is in driving connection with the first chain wheel and is configured to drive the first chain wheel to rotate so as to provide power for the turntable.

In some embodiments, the first power unit comprises:

a first motor coupled to the first sprocket and configured to provide torque to the first sprocket; and

and the first brake is connected with the first motor and is configured to control the starting and stopping of the first motor.

In some embodiments, the first power unit further comprises:

and the first speed reducer is arranged between the first chain wheel and the first motor so as to adjust the rotating speed of the first chain wheel.

In some embodiments, the travel unit includes a travel wheel and a first transmission mechanism coupled between the travel wheel and the first gear train, the travel wheel configured to rotate while driving the substrate to move in a horizontal direction.

In some embodiments, the first transmission mechanism comprises:

the first gear is rotatably arranged on the turntable and is meshed with the corresponding first gear train;

the second chain wheel is rotatably arranged on the turntable, is coaxial with the first gear and synchronously rotates; and

and the third chain wheel is in chain transmission with the second chain wheel, is coaxially arranged with the traveling wheel and is fixedly connected with the traveling wheel.

In some embodiments, the first train of wheels comprises:

the sun wheel is rotatably arranged on the turntable; and

the plurality of inertia wheels are meshed with the sun wheel through tooth shapes and respectively correspond to the plurality of walking units; and

and the second power unit is in driving connection with the sun wheel and is configured to drive the sun wheel to rotate so as to provide power for the plurality of walking units.

In some embodiments, the second power unit comprises:

the second motor is connected with the sun gear and is configured to transmit torque to the sun gear;

and the second brake is connected with the second motor and is configured to control the starting and stopping of the second motor.

In some embodiments, the second power unit further comprises:

a second reducer disposed between the sun gear and the second motor and configured to adjust a rotational speed of the sun gear.

In some embodiments, further comprising:

the first planet carrier is positioned on one side of the first wheel train, which is far away from the rotating disc, and provides rotating support for the first wheel train and the first transmission mechanism together with the rotating disc; and/or

And the second planet carrier is connected with the travelling wheel in each travelling unit and provides rotary support for the travelling wheel in each travelling unit.

In some embodiments, the second planet carrier comprises:

the outer planet carrier plate and the inner planet carrier plate are arranged at intervals;

the outer planet carrier plate is arranged on one side close to the first planet carrier, and the inner planet carrier plate is arranged on one side close to the rotating disc.

In some embodiments, the turntable has gear teeth, and the obstacle crossing device further comprises:

the second gear is meshed with the rotary table through tooth profiles;

and the first power unit is in driving connection with the second gear and is configured to drive the second gear to rotate so as to provide power for the turntable.

In some embodiments, the lines connecting the plurality of support positions of the first planet carrier form an equilateral triangle.

In one aspect of the disclosure, a mobile device is provided, which includes any one of the obstacle crossing devices.

In some embodiments, the mobile device is an unmanned platform, a robot, or an engineering vehicle.

Therefore, according to the embodiment of the disclosure, the first wheel train is rotatably connected with the rotating disc, and the traveling units are in driving fit with the first wheel train, so that the first wheel train can revolve around the rotating axis of the rotating disc and drive the traveling units to also revolve around the rotating axis when the rotating disc rotates, and therefore, the obstacle crossing device can realize active obstacle crossing by driving the traveling units to revolve when encountering an obstacle, and the operability and flexibility of the obstacle crossing device are improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

fig. 1 is a schematic view of the internal structure of an obstacle crossing device according to some embodiments of the present disclosure;

FIG. 2 is a schematic structural view of an obstacle crossing device according to some embodiments of the present disclosure;

FIG. 3 is a schematic view of an obstacle crossing device according to further embodiments of the present disclosure;

fig. 4 is a transmission schematic diagram of an obstacle crossing device according to some embodiments of the present disclosure.

It should be understood that the dimensions of the various parts shown in the figures are not drawn to scale. Further, the same or similar reference numerals denote the same or similar components.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present disclosure, when a particular device is described as being located between a first device and a second device, intervening devices may or may not be present between the particular device and the first device or the second device. When a particular device is described as being coupled to another device, it can be directly coupled to the other device without intervening devices or can be directly coupled to the other device with intervening devices.

All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

The gear type obstacle crossing mechanism in the related technology can not realize active obstacle crossing, only can be turned passively, and the gear train can be turned forwards in a self-adaptive manner under the action of ground friction force during emergency braking, so that the gear type obstacle crossing mechanism can not adapt to the working condition of emergency braking during the high-speed running of an unmanned platform.

In other related technologies, when the obstacle crossing mechanism only depends on obstacle crossing, the front wheel is blocked to cause the load of the motor to be increased, the torque provided by the motor realizes the gear train conversion and the obstacle crossing, and when the vehicle runs on an ice and snow road with a small adhesion coefficient, the front wheel is easy to slip, and cannot provide enough obstacle crossing overturning torque.

Fig. 1 is a schematic view of an internal structure of an obstacle crossing device according to some embodiments of the present disclosure, fig. 2 is a schematic view of a structure of an obstacle crossing device according to some embodiments of the present disclosure, and fig. 3 is a schematic view of a structure of an obstacle crossing device according to other embodiments of the present disclosure. Referring to fig. 1 to 3, an obstacle crossing device and a mobile device are provided in the embodiments of the present disclosure, which may implement active obstacle crossing.

The obstacle crossing device includes: base member 7, carousel 1, first train and a plurality of walking unit. The turntable 1 is rotatably arranged on the base body 7, the first wheel train is rotatably connected with the turntable 1, and the plurality of walking units are in driving fit with the first wheel train. The turntable 1 is configured to drive the traveling unit and the first train wheel to revolve around the rotation axis when driven to rotate around the rotation axis.

In this embodiment, the first wheel train is rotatably connected with the turntable 1, and the traveling units are in driving fit with the first wheel train, so that when the turntable 1 rotates, the first wheel train can revolve around the rotation axis of the turntable 1 and drive the traveling units to also revolve around the rotation axis, and therefore the obstacle crossing device can actively cross the obstacle through the revolution of the traveling units when encountering the obstacle, and operability and flexibility of the obstacle crossing device are improved.

In some embodiments, the rotary table 1 has a sprocket, and the obstacle crossing device further includes: a first sprocket 51 and a first power unit 52. The first chain wheel 51 is engaged with the teeth of the turntable 1 by a chain. The chain transmission mode can lead the first chain wheel 51 to be away from the turntable 1 by a longer transmission distance, thus leading the transmission to be more flexible and avoiding interference with other transmission mechanisms.

The way in which the turntable 1 is driven includes, but is not limited to, a gear drive. In some embodiments, the turntable 1 has gear teeth, and the obstacle crossing device further comprises a second gear, wherein the second gear is engaged with the turntable 1 through tooth profile. The second gear can be a single gear or a gear group consisting of a plurality of gears. The first power unit 52 is in driving connection with the second gear and is configured to drive the second gear to rotate so as to provide power for the turntable 1, and the gear transmission mode can make the arrangement of the second gear and the turntable 1 more compact.

The first power unit 52 is in driving connection with the first chain wheel 51 and is configured to drive the first chain wheel 51 to rotate so as to provide power for the turntable 1 to enable the turntable 1 to rotate around the axis thereof.

In this embodiment, the first chain wheel 51 and the first power unit 52 are arranged to provide torque and rotation speed for the turntable 1, so that the turntable 1 can independently rotate without interfering with the traveling condition of the traveling unit. When the travelling wheel 21 is blocked or skidded and can not rotate, the obstacle crossing function can still be realized through the rotation of the turntable 1.

In some embodiments, first power unit 52 includes: a first motor 521 and a first brake 522. The first motor 521 is connected to the first sprocket 51 and configured to provide torque to the first sprocket 51. The first brake 522 is connected to the first motor 521 and configured to control start and stop of the first motor 521.

In this embodiment, the first motor 521 is provided to provide torque to the first sprocket 51, and the first brake 522 is provided to enable the obstacle crossing driving mechanism to achieve independent braking, so that the rotation of the turntable 1 can be independently adjusted, and the operability and reliability of the obstacle crossing device can be improved.

In some embodiments, the first power unit 52 further includes a first speed reducer 523, and the first speed reducer 523 is disposed between the first sprocket 51 and the first motor 521 to adjust the rotation speed of the first sprocket 51 so as to control the rotation speed of the turntable 1.

In this embodiment, by setting the speed reducer 523, the rotation speed of the first sprocket 51 can be adjusted, and then the rotation speed of the turntable 1 is adjusted, so that flexible adjustment of the obstacle crossing working condition of the obstacle crossing wheel mechanism is realized.

In some embodiments, the traveling unit includes a traveling wheel 21 and a first transmission mechanism 22, the first transmission mechanism 22 is connected between the traveling wheel 21 and the first train wheel, and the traveling wheel 21 is configured to drive the base 7 to move in the horizontal direction when rotating.

In this embodiment, the first transmission mechanism 22 is disposed between the traveling wheel 21 and the first gear train, so that the first transmission mechanism 22 is driven to rotate when the first gear train rotates, and the traveling wheel 21 is driven to rotate, thereby moving the substrate 7 in the horizontal direction. In this embodiment, the control of the rotation of the walking unit is independent of the rotation of the turntable 1, so that the reliability and operability of the system can be improved.

In some embodiments, first transmission 22 comprises: a first gear 221, a second sprocket 222, and a third sprocket 223. The first gear 221 is rotatably arranged on the turntable 1 and is meshed with the corresponding first gear train; the second chain wheel 222 is rotatably arranged on the turntable 1, is coaxial with the first gear 221 and rotates synchronously; the third sprocket 223 and the second sprocket 222 are driven by a chain, and are coaxially arranged and fixedly connected with the traveling wheel 21.

In the embodiment, the transmission mechanism adopts a chain transmission mode, so that the obstacle crossing requirements of high obstacles and wide ditches can be met. The wrap angle of the second chain wheel 222 and the third chain wheel 223 can be set to be larger than 120 degrees, the wrap angle of the chain wheels is large, the phenomena of tooth jumping and the like can be effectively avoided, and the structural reliability is improved.

In some embodiments, the first train of wheels comprises: a sun gear 41, a plurality of idler gears 42, and a second power unit 60. The sun wheel 41 is rotatably provided on the turntable 1, and the idler wheels 42 are each engaged with the sun wheel 41 by a tooth profile and correspond to the traveling units one by one, for example, when the obstacle crossing apparatus includes three traveling units, the first train includes three idler wheels. The second power unit 60 is in driving connection with the sun gear 41 and is configured to drive the sun gear 41 to rotate in order to power the plurality of walking units.

In this embodiment, the second power unit 60 provides power for the rotation of the sun gear 41, so as to drive the idle wheels 42 and the traveling units to rotate therewith. The second power unit 60 and the first power unit 52 respectively realize independent control of the obstacle crossing device on the walking condition and the obstacle crossing condition.

In some embodiments, the second power unit 60 includes: a second motor 61 and a second brake 62. The second motor 61 is connected to the sun gear 41 and configured to transmit torque to the sun gear 41, and the rotation of the sun gear 41 can rotate the idler gear 42, thereby rotating the first transmission mechanism 22. The second brake 62 is connected to the second motor 61 and configured to control the start and stop of the second motor 61.

In this embodiment, the second motor 61 and the second brake 62 are provided to independently control the start and stop of the walking unit. The switching of the rotation and revolution of the first gear train can realize different power flow distribution, and when an obstacle is met, the traveling wheel 21 is switched from the rotation to the compound motion of the rotation and the revolution around the rotation axis of the turntable 1, so that the active obstacle crossing is realized; the walking unit is braked during emergency braking, so that self-adaptive overturning can be avoided. The walking working condition and the obstacle crossing working condition have independent braking capability respectively, and the system reliability can be effectively improved.

In some embodiments, the second power unit further comprises a second speed reducer 63, the second speed reducer 63 being disposed between the sun gear 41 and the second motor 61 and configured to adjust the rotation speed of the sun gear 41. The embodiment can adjust the rotating speed of the traveling unit by adjusting the rotating speed of the sun gear 41, thereby controlling the moving speed of the transmission mechanism.

In some embodiments, the obstacle crossing device further comprises: a first planet carrier 30 and a second planet carrier 31. The first planet carrier 30 is located on the side of the first train remote from the turntable 1 and provides rotational support to the first train and the first transmission 22 together with the turntable 1; and/or a second planet carrier 31, the second planet carrier 31 is positioned on the side of the rotating disc 1 far away from the second power unit 60, and the second planet carrier 31 is connected with the travelling wheel 21 in each travelling unit and provides rotary support for the travelling wheel 21 in each travelling unit.

In this embodiment, the first carrier 30 is provided to support the rotation of the first train and the first transmission mechanism 22, so that the structural stability and reliability of the obstacle crossing device can be improved. The planet carrier 30 can also comprise a planetary gear cover plate, so that foreign matters are prevented from entering the transmission structure, meanwhile, the lubricating oil can be prevented from running off, the oxidation of the lubricating oil is slowed down, and the service life of the obstacle crossing device can be effectively guaranteed.

In some embodiments, the second planet carrier 31 comprises an outer planet carrier plate 31a and an inner planet carrier plate 31b arranged at intervals; the outer carrier plate 31a is disposed adjacent the first carrier 30, the outer carrier plate 31a may be disposed between the first gear 221 and the first sprocket 51, and the inner carrier plate 31b is disposed adjacent the turntable 1. In this embodiment, the planet carrier 30 is a simple beam support type, which provides sufficient support for the obstacle crossing device, and effectively improves the reliability and structural safety of the mechanism.

In some embodiments, a line of the plurality of support positions of the first planet carrier 30 in the vertical direction forms an equilateral triangle, a plurality of walking units are arranged at three end points of the first planet carrier 30 at equal angles, and the number of the idler wheels 42 and the first transmission mechanisms 22 can also be set to be 3 correspondingly. In this embodiment, the connecting line of the plurality of support positions of the first carrier 30 is shaped as an equilateral triangle, so that the first carrier can support the first train and the first transmission mechanism 22 more stably.

Fig. 4 is a schematic transmission diagram of some embodiments of the present disclosure, and referring to fig. 4, a second motor 61 is coaxially disposed with a second brake 61, and is connected with the sun gear 41 through a second speed reducer 63 to provide torque to the sun gear 41. The sun gear 41 meshes with the idler gear 42, and the idler gear 42 meshes with the first gear 221. The first gear 221 and the second sprocket 222 are coaxially arranged and synchronously rotate, the second sprocket 222 and the third sprocket 223 are driven by a chain, and the traveling wheel 21 and the third sprocket are coaxially arranged and fixedly connected.

The first gear 221 is rotatably disposed on the turntable 1, the turntable 1 is disposed on the base 7, and the first sprocket 51 is engaged with the sprocket of the turntable 1 through a chain. The first motor 521 and the first brake 522 provide torque for the first sprocket 51, and the first speed reducer 523 is connected to the first sprocket 51 to adjust the rotation speed of the first sprocket 51.

In another aspect of the present disclosure, there is provided a mobile device including an obstacle crossing apparatus as in any one of the above. The mobile equipment includes but is not limited to engineering vehicles, unmanned platforms, robots and the like. Through the mobile device in the embodiment, high-pass high obstacle crossing capability of devices such as an unmanned platform and a robot can be realized, so that the devices can enter a scene in advance to perform rescue and emergency tasks when accidents such as fire happen, secondary accidents of rescuers in emergency are avoided, and personnel and property losses are reduced.

With reference to fig. 1 to 3, a walking condition, an obstacle crossing condition and an emergency braking condition during the process of moving and turning over the obstacle crossing of a mobile device will be described below.

In the traveling mode, the first brake 522 brakes the first motor 521, so that the turntable 1 is fixed relative to the base 7 and the first carrier 30 does not rotate. When the second motor 61 is started, the rotating bodies in the first wheel train and the traveling unit rotate around the axes thereof to fix the shafts, so that the traveling wheels 21 are driven to rotate to realize the advancing and retreating of the base body 7, and the second brake 62 is started to realize the braking of the base body 7 during traveling.

In the obstacle crossing condition, the first motor 521 and the second motor 61 are activated, and the first brake 522 and the second brake 62 are not braked. The turntable 1 rotates around the axis thereof, the planet carrier 30 rotates around the axis of the turntable 1, so that the idler wheel 42 and the first transmission mechanism 22 rotate around the axis thereof and revolve around the rotation axis of the turntable 1, and at the moment, the gear train is a planetary gear mechanism with a large speed ratio, thereby realizing active obstacle crossing.

If the substrate 7 moves at a faster speed, the first brake 522 brakes the first motor 521 and the second brake 62 brakes the second motor 61 in the emergency braking operation. It is possible to avoid ground friction from generating a forward overturning moment on the base body 7, so that the base body 7 does not overturn forward.

Thus far, various embodiments of the present disclosure have been described in detail. Some details well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. Those skilled in the art can now fully appreciate how to implement the teachings disclosed herein, in view of the foregoing description.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. An obstacle crossing device, comprising:

a base body (7);

a turntable (1) rotatably arranged on the base body (7);

a first wheel train, rotatably connected with the turntable (1); and

the plurality of walking units are in driving fit with the first gear train;

wherein the turntable (1) is configured to be driven to rotate around a rotation axis to drive the walking unit and the first wheel train to revolve around the rotation axis.

2. The device according to claim 1, characterized in that said rotating disc (1) has sprockets, said device further comprising:

a first chain wheel (51) which is matched with the chain teeth of the turntable (1) through a chain;

a first power unit (52) is in driving connection with the first chain wheel (51) and is configured to drive the first chain wheel (51) to rotate so as to provide power for the turntable (1).

3. The obstacle crossing device of claim 2, wherein the first power unit (52) comprises:

a first motor (521) connected to the first sprocket (51) and configured to provide torque to the first sprocket (51); and

a first brake (522) connected with the first motor (521) and configured to control the start and stop of the first motor (521).

4. The obstacle crossing device of claim 3 wherein the first power unit (52) further comprises:

a first reducer (523) disposed between the first sprocket (51) and the first motor (521) to adjust a rotational speed of the first sprocket (51).

5. Obstacle crossing device according to claim 1, wherein the travelling unit comprises a travelling wheel (21) and a first transmission (22), the first transmission (22) being connected between the travelling wheel (21) and the first wheel system, the travelling wheel (21) being configured to move the substrate (7) in a horizontal direction when rotating.

6. The obstacle crossing device according to claim 5, wherein the first transmission mechanism (22) comprises:

a first gear (221), wherein the first gear (221) is rotatably arranged on the turntable (1) and is meshed with the corresponding first gear train;

the second chain wheel (222) is rotatably arranged on the rotary table (1), is coaxial with the first gear (221) and rotates synchronously; and

and the third chain wheel (223) is in chain transmission with the second chain wheel (222), and is coaxially arranged with the traveling wheel (21) and fixedly connected with the traveling wheel.

7. The obstacle crossing device of claim 1 wherein said first train of wheels includes:

a sun wheel (41), wherein the sun wheel (41) is rotatably arranged on the rotary disc (1); and

a plurality of idle wheels (42) which are meshed with the sun wheel (41) through tooth profiles and respectively correspond to the plurality of walking units; and

a second power unit (60) drivingly connected to the sun gear (41) and configured to drive the sun gear (41) in rotation to power the plurality of travel units.

8. The obstacle crossing device of claim 7 wherein said second power unit (60) comprises:

a second electric machine (61) connected to the sun gear (41) and configured to transmit torque to the sun gear (41);

a second brake (62) connected with the second motor (61) and configured to control the start and stop of the second motor (61).

9. The obstacle crossing device of claim 8 wherein said second power unit (60) further comprises:

a second speed reducer (63) disposed between the sun gear (41) and the second motor (61), and configured to adjust a rotation speed of the sun gear (41).

10. The obstacle crossing device of claim 5 further comprising:

A first planet carrier (30) located on the side of the first train remote from the turntable (1) and providing rotational support with the turntable (1) for the first train and the first transmission (22); and/or

A second planet carrier (31) connected to the travelling wheel (21) in each travelling unit and providing rotational support to the travelling wheel (21) in each travelling unit.

11. The obstacle crossing device according to claim 10, wherein the second planet carrier (31) comprises:

the outer planet carrier plate (31a) and the inner planet carrier plate (31b) are arranged at intervals;

the outer planet carrier plate (31a) is arranged at a side close to the first planet carrier (30) and the inner planet carrier plate (31b) is arranged at a side close to the turntable (1).

12. The device according to claim 1, characterized in that said rotating disc (1) has gear teeth, said device further comprising:

the second gear is meshed with the rotary table (1) through tooth form;

a first power unit (52) in driving connection with the second gear, configured to drive the second gear in rotation to power the turntable (1).

13. Obstacle crossing device according to claim 10, wherein the connection lines of the plurality of support positions of the first planet carrier (30) form an equilateral triangle.

14. A mobile device, characterized by comprising an obstacle crossing device according to any one of claims 1 to 13.

15. The mobile device of claim 14, wherein the mobile device is an unmanned platform, a robot, or an engineering vehicle.