Cleaning apparatus and robotic vacuum cleaner

Abstract

The application relates to a cleaning device and a sweeping robot, which comprises a main body, a support assembled on the main body and capable of rotating around a first axis relative to the main body, a containing cavity arranged in the support, an opening communicated with the containing cavity arranged at one end of the support away from the main body, and a walking wheel installed in the containing cavity and partially protruding out of the opening, wherein the tangent plane of the outer circumferential surface of the part of the walking wheel protruding out of the opening is a first tangent plane, and the first included angle between the first tangent plane and the advancing plane of the walking wheel is greater than 0 and less than or equal to 55 degrees. When the sweeping robot walks and encounters an obstacle, the force applied by the obstacle on the walking wheel is opposite to the advancing direction of the walking wheel. If the force applied by the obstacle on the walking wheel is set as F1, and the first included angle is set as theta1, then the main force resisting the walking wheel from crossing the obstacle is F1*sin theta1. When 0 < theta1 <= 55 degrees is set, the force resisting the walking wheel from crossing the obstacle is ensured to be small, and the obstacle-crossing effect is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning equipment and a sweeping robot. BACKGROUND

[0002] With the development of economy and the progress of society, people's demand for the quality of life is getting higher and higher, so some cleaning equipment that can liberate people's hands has emerged. Among them, the sweeping robot as a kind of cleaning equipment plays an increasingly important role in people's daily life.

[0003] The sweeping robot generally includes a shell, a dust collection system, a walking system, a mopping system and a navigation system assembled on the shell, wherein the walking system is assembled at the bottom of the shell to provide driving force for the sweeping robot to walk.

[0004] In the working process of the sweeping robot, obstacles will inevitably be encountered, so it needs to have the ability to cross obstacles. However, the traditional sweeping robot has a large force when crossing obstacles, which leads to poor obstacle crossing effect of the sweeping robot. SUMMARY

[0005] Therefore, it is necessary to provide a cleaning equipment and a sweeping robot which can reduce the obstacle crossing force and improve the obstacle crossing effect in view of the problem that the traditional sweeping robot has a large force when crossing obstacles, which leads to poor obstacle crossing effect.

[0006] A cleaning equipment, comprising:

[0007] a main body;

[0008] a support assembled on the main body and capable of rotating about a first axis relative to the main body; the support is provided with a receiving cavity, and an opening in communication with the receiving cavity is further provided at one end of the support away from the main body;

[0009] a walking wheel installed in the receiving cavity, and a tangent surface of a part of the walking wheel protruding out of the opening is a first tangent surface, a first included angle between the first tangent surface and a walking plane of the walking wheel is greater than 0° and less than or equal to 55°.

[0010] In one of the embodiments, a guide surface in communication with the outer circumferential surface of the part of the walking wheel protruding out of the opening is formed on the support, the guide surface is inwardly inclined toward the opening from one end close to the main body to one end away from the main body, and the guide surface can guide the obstacle to the outer circumferential surface of the part of the walking wheel protruding out of the opening.

[0011] The tangent plane tangent to the guide surface is a second tangent plane, and the second tangent plane forms a second included angle with the walking plane, which is greater than or equal to 23° and less than 45°.

[0012] In one of the embodiments, the bracket is provided with a guide surface in communication with the outer circumferential surface of the part of the walking wheel protruding out of the opening, and the guide surface is inwardly inclined towards the opening from one end close to the main body to one end away from the main body, and the guide surface can guide the obstacles to the outer circumferential surface of the part of the walking wheel protruding out of the opening.

[0013] The tangent plane tangent to the outer circumferential surface of the part of the walking wheel protruding out of the opening and the guide surface is a third tangent plane, and the third tangent plane forms a third included angle with the walking plane, which is greater than 0° and less than 30°.

[0014] In one of the embodiments, the bracket is provided with a guide surface in communication with the outer circumferential surface of the part of the walking wheel protruding out of the opening, and the guide surface is inwardly inclined towards the opening from one end close to the main body to one end away from the main body, and the guide surface can guide the obstacles to the outer circumferential surface of the part of the walking wheel protruding out of the opening. The guide surface is an arc surface protruding outwardly away from the walking wheel.

[0015] In one of the embodiments, one of the bracket and the main body comprises a mounting shaft, and the other comprises a shaft sleeve, the bracket further comprises a guide frame connected with the mounting shaft or the shaft sleeve, the mounting shaft is arranged in the shaft sleeve, the receiving cavity and the opening are formed on the guide frame, and the mounting shaft and the shaft sleeve are matched to drive the guide frame and the walking wheel to rotate relative to the main body around the first axis.

[0016] In one of the embodiments, the guide frame partially surrounds the walking wheel in the circumferential direction, the walking wheel is rotatably arranged in the guide frame around a second axis, the second axis is perpendicular to and spaced apart from the first axis, and the guide frame is provided with a guide surface in communication with the outer circumferential surface of the part of the walking wheel protruding out of the opening on the side of the first axis away from the second axis, and the guide surface can guide the obstacles to the outer circumferential surface of the part of the walking wheel protruding out of the opening.

[0017] In one of the embodiments, the bracket is provided with a first clamping part, the main body is provided with a second clamping part, and the second clamping part is clamped with the first clamping part.

[0018] In one of the embodiments, one of the support and the main body comprises a mounting shaft, and the other comprises a shaft sleeve, the support further comprises a guide frame connected with the mounting shaft or the shaft sleeve, the mounting shaft is arranged in the shaft sleeve, the receiving cavity and the opening are formed on the guide frame, and the mounting shaft and the shaft sleeve are matched to drive the guide frame and the walking wheel to rotate relative to the main body around the first axis.

[0019] The first clamping part is arranged on one of the shaft sleeve and the mounting shaft, and the second clamping part is arranged on the other of the shaft sleeve and the mounting shaft.

[0020] In one of the embodiments, the clamping part arranged on the mounting shaft is a circumferential groove, and the clamping part arranged on the shaft sleeve is an elastic buckle, which is clamped with the circumferential groove and can be circumferentially rotated.

[0021] A cleaning device comprises:

[0022] a main body;

[0023] a support arranged on the main body and capable of rotating relative to the main body around a first axis, a receiving cavity arranged in the support, and an opening arranged at one end of the support away from the main body and in communication with the receiving cavity;

[0024] a walking wheel mounted in the receiving cavity, and part of the walking wheel protruding out of the opening, a tangent surface of an outer circumferential surface of the part of the walking wheel protruding out of the opening being a first tangent surface, and a first included angle between the first tangent surface and a running plane of the walking wheel being greater than 0° and less than or equal to 55°.

[0025] When the cleaning device and the sweeping robot walk into an obstacle, the force applied by the obstacle to the walking wheel is opposite to the running direction of the walking wheel, if the force applied by the obstacle to the walking wheel is set as F1, and the first included angle is set as θ1, the main force hindering the walking wheel from crossing the obstacle is F1*sinθ1, when 0°<θ1≤55° is set, the force hindering the walking wheel from crossing the obstacle is small, thereby improving the obstacle-crossing effect of the sweeping robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 An exploded view of the cleaning device provided by one of the embodiments of the present application;

[0027] Figure 2 An assembly view of the cleaning device shown in FIG. 1; Figure 1

[0028] An assembly view of the cleaning device shown in FIG. 1; Figure 3 Figure 1 An isometric view of part of the structure of the cleaning device shown in FIG. 1; ​

[0029] Figure 4 is a front view of the structure shown in Figure 3

[0030] Figure 5 is a structure diagram of the cleaning device shown in Figure 1

[0031] Figure 6 is an enlarged view of A of the cleaning device shown in Figure 5

[0032] Figure 7 is a structure diagram of another view of the structure shown in Figure 3

[0033] Figure 8 is a structure diagram of a walking wheel included in the structure shown in Figure 3

[0034] Figure 9 is a sectional view of the cleaning device shown in Figure 1

[0035] Figure 10 is an enlarged view of B of the cleaning device shown in Figure 9

[0036] Figure 11 Figure 3 is a structure diagram of the structure cooperating with a shaft sleeve

[0037] Figure 12 is a structure diagram of the shaft sleeve of the cleaning device shown in Figure 1

[0038] Figure 13 is a sectional view of the structure shown in Figure 12

[0039] Figure 14 is a partial structure diagram of the structure shown in Figure 3

[0040] 100, cleaning device; 10, main body; 11, shell; 111, assembly hole; 20, universal wheel assembly; 21, support; 211, first clamping part; 212, assembly shaft; 213, guide frame; 214, receiving cavity; 215, opening; 2131, guide surface; 22, walking wheel; 30, shaft sleeve; 40, second clamping part; 41, connection end; 42, overhanging end; 43, guide surface; 200, obstacle. DETAILED DESCRIPTION

[0041] ​​​​​​​​​​In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described below in detail with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in many different ways from what is described herein, and should not be construed as being limited to the embodiments set forth herein, but should be understood to include all possible embodiments.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and therefore should not be construed as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

[0043] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implying a specified number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0044] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0046] It is to be understood that when an element such as a layer, film or region is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In addition, it should be understood that when a layer, film, or region is referred to as being "formed on", "connected to", or "coupled to" another layer, film, or region, it can be directly formed, connected, or coupled to the other layer, film, or region or intervening elements can also be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The terminology used herein, such as "vertical", "horizontal", "upper", "lower", "left", "right", and the like, is for the purpose of illustration only and does not limit the present application.

[0047] Referring to Figure 1 and Figure 2 , an embodiment of the present application provides a cleaning device 100, which is provided with a universal wheel assembly 20, and specifically, the cleaning device 100 is a sweeping robot. It should be understood that in other embodiments, the cleaning device 100 can also be other cleaning devices 100 provided with a universal wheel assembly 20, such as a wall-climbing robot. The type of the cleaning device 100 is not limited herein.

[0048] The technical solution of the present application will be described in detail below with the cleaning device 100 being a sweeping robot as an example. The embodiment is only used as an example for illustration and does not limit the technical scope of the present application. Moreover, the drawings in the embodiment also omit unnecessary components to clearly show the technical features of the present application.

[0049] The sweeping robot includes a main body 10 and a universal wheel assembly 20, which is assembled on the main body 10 and used for walking of the sweeping robot. The universal wheel assembly 20 includes a bracket 21 and a walking wheel 22. The bracket 21 is assembled on the main body 10 and can rotate relative to the main body 10 about a first axis, that is, the bracket 21 is rotatably assembled on the main body 10 about the first axis by 360°. When the sweeping robot is placed on a horizontal plane, the bracket 21 is rotatably assembled on the main body 10 about the first axis by 360° in the horizontal plane. The bracket 21 is internally provided with a receiving cavity 214, and an end of the bracket 21 away from the main body 10 is also provided with an opening 215 (see Figure 3 communicating with the receiving cavity 214. The walking wheel 22 is installed in the receiving cavity 214 through the opening 215.

[0050] Part of the walking wheel 22 protrudes out of the opening 215 (see Figure 4 A tangent first tangent surface B tangent to the outer peripheral surface of the part of the walking wheel 22 protruding out of the opening 215, and a first included angle θ1 between the first tangent surface B and a walking plane A of the walking wheel 22 is greater than 0° and less than or equal to 55° (see Figure 5 and Figure 6That is, when the sweeping robot is placed on a horizontal surface, a first included angle θ1 between the first surface B and the horizontal surface is greater than 0° and less than or equal to 55°.

[0051] When the sweeping robot walks into the obstacle 200, the force applied by the obstacle 200 to the walking wheel 22 is opposite to the direction of the walking wheel 22, if the force applied by the obstacle 200 to the walking wheel 22 is F1, the main force hindering the walking wheel 22 from crossing the obstacle 200 is F1*sinθ1, when 0°<θ1≤55° is set, the force hindering the walking wheel 22 from crossing the obstacle 200 is small, thereby improving the obstacle-crossing effect of the sweeping robot. At the same time, since the force applied to the walking wheel 22 is small, the service life of the walking wheel 22 is long.

[0052] Referring to Figure 7 and Figure 8 It should be noted that the more the part of the walking wheel 22 protruding out of the opening 215, the greater the first included angle θ1, if the maximum dimension of the walking wheel 22 protruding out of the opening 215 in the direction parallel to the first axis is a, and the diameter of the walking wheel 22 is d, the greater the value of E=a / d, the greater the first included angle θ1. Therefore, the part of the walking wheel 22 protruding out of the opening 215 is not too large, that is, the dimension of the part of the walking wheel 22 protruding out of the opening 215 is not too large, and more than 1 / 2 of the walking wheel 22 is accommodated in the accommodating cavity. It should be noted that the diameter d of the walking wheel 22 is the maximum diameter, that is, if the walking wheel 22 is cylindrical, the above-mentioned diameter d is the diameter of the cylinder, and if the walking wheel 22 is shaped like a cylinder with concave ends and a convex middle portion, the above-mentioned diameter d is the diameter of the middle portion.

[0053] Further, the first included angle θ1 is greater than 20° and less than 50°, which ensures the obstacle-crossing effect of the walking wheel 22, and the dimension of the part of the walking wheel 22 protruding out of the opening 215 is not too small. It should be understood that in other embodiments, the angle of the first included angle θ1 is not particularly limited, as long as it is in the range of greater than 0° and less than or equal to 55°.

[0054] Referring to Figure 9 and Figure 10 In one embodiment, the support 21 is provided with a first clamping portion 211, and the main body 10 is provided with a second clamping portion 40, and the first clamping portion 211 and the second clamping portion 40 are clamped and fixed. In this way, the external components are avoided to connect the support 21 and the main body 10, and the support 21 and the main body 10 are directly clamped and fixed by the second clamping portion 40 and the first clamping portion 211, thereby reducing the number of parts and simplifying the assembly process of the sweeping robot.

[0055] The one of the bracket 21 and the main body 10 comprises a shaft sleeve 30, and the other comprises a fitting shaft 212. A first clamping portion 211 is arranged on one of the shaft sleeve 30 and the fitting shaft 212, and a second clamping portion 40 is arranged on the other of the shaft sleeve 30 and the fitting shaft 212. The fitting shaft 212 is sleeved in the shaft sleeve 30 (see Figure 11 ). The bracket 21 drives the walking wheel 22 to rotate 360° in a horizontal plane around an axis by cooperation of the fitting shaft 212 and the shaft sleeve 30.

[0056] Further, the bracket 21 comprises the fitting shaft 212 and a guide frame 213, and the main body 10 comprises the shaft sleeve 30. The first clamping portion 211 is arranged on the fitting shaft 212, and the second clamping portion 40 is arranged on the shaft sleeve 30 (see Figure 12 and Figure 13 ). The accommodation cavity 214 and the opening 215 are formed on the guide frame 213. It should be understood that, in another embodiment, the bracket 21 comprises the shaft sleeve 30, the main body 10 comprises the fitting shaft 212, the first clamping portion 211 is arranged on the shaft sleeve 30, and the second clamping portion 40 is arranged on the fitting shaft 212.

[0057] In an embodiment, the guide surface 2131 is an arc surface protruding outward away from the walking wheel 22, so as to facilitate guiding. Specifically, the guide frame 213 partially surrounds the walking wheel 22 in a circumferential direction. The walking wheel 22 is rotatably arranged in the guide frame 213 around a second axis. The second axis is perpendicular to and spaced apart from the first axis. The guide surface 2131 is arranged on a side of the first axis away from the second axis.

[0058] Specifically, the first clamping portion 211 is a circumferential groove arranged on the fitting shaft 212, and the second clamping portion 40 is an elastic buckle arranged on the shaft sleeve 30. The elastic buckle is clamped with the circumferential groove and is circumferentially rotatable. In this way, when the sweeping robot works, the bracket 21 can drive the walking wheel 22 to rotate 360° in a horizontal plane around an axis of the fitting shaft 212.

[0059] Continuing to refer to Figure 10 , the elastic buckle comprises a connecting end 41 connected with the shaft sleeve 30 and a suspended end 42 connected with the connecting end 41. The suspended end 42 is provided with a protrusion facing a side of the circumferential groove, and the protrusion is clamped with the circumferential groove. The elastic buckle comprises an even number of elastic buckles. All the elastic buckles form at least one elastic buckle group. Each elastic buckle group comprises two elastic buckles symmetrically arranged around an axis of the fitting shaft 212, so as to ensure uniformity of force.

[0060] An inner side of each protrusion is provided with a guide surface 43 guiding cooperation with the circumferential groove. The guide surface 43 facilitates clamping or disengaging of the elastic buckle with the circumferential groove.

[0061] The thickness of the elastic buckle gradually decreases from the connecting end 41 to the suspended end 42. In this way, the elastic buckle has good elasticity, so as to facilitate elastic deformation to clamp or disengage the circumferential groove.

[0062] In one embodiment, the main body 10 comprises a shell 11 and a shaft sleeve 30, the shell 11 is provided with an assembly hole 111, and the shaft sleeve 30 is arranged in the assembly hole 111. From the connecting end 41 to the free end 42, the thickness of the elastic buckle gradually thins, and the free end 42 does not protrude from the outer circumferential surface of the shaft sleeve 30. In this way, when the bracket 21 is disassembled from the shaft sleeve 30 or assembled in the shaft sleeve 30, the elastic buckle has good elasticity, and interference between the elastic buckle and the inner wall of the assembly hole 111 when the elastic buckle is deformed can be avoided, facilitating the disassembly and assembly of the bracket 21.

[0063] Further, the outer surface of the connecting end 41 is flush with the outer circumferential surface of the shaft sleeve 30. In this way, the outer surface of the connecting end 41 of the elastic buckle and the outer circumferential surface of the shaft sleeve 30 are both in contact with the inner wall of the assembly hole 111, so that the shell 11 can limit the outer circumferential surface of the shaft sleeve 30 and the second clamping portion 40, thereby ensuring the fixing firmness of the shaft sleeve 30 and the second clamping portion 40 to the shell 11.

[0064] In one embodiment, the guide frame 213 is formed with a guide surface 2131 which communicates with the outer circumferential surface of the part of the walking wheel 22 protruding out of the opening 215. The guide surface 2131 is inwardly inclined towards the opening 215 from the end close to the main body 10 to the end away from the main body 10. The guide surface 2131 can guide the obstacle 200 to the outer circumferential surface of the part of the walking wheel 22 protruding out of the opening 215. That is, when the robot cleaner is working, if the obstacle 200 is high, the guide surface 2131 of the guide frame 213 first touches the obstacle 200, and then the outer circumferential surface of the part of the walking wheel 22 protruding out of the opening 215 touches the obstacle 200 under the action of the guide surface 2131.

[0065] Referring to Figure 14 The tangent plane of the guide surface 2131 is a second tangent plane C, and a second included angle θ2 between the second tangent plane C and the walking plane is greater than or equal to 23° and less than 45°. The force applied by the obstacle 200 to the guide frame 213 is opposite to the direction of travel of the robot cleaner when the guide frame 213 touches the obstacle 200, and the main force hindering the walking wheel 22 from crossing the obstacle 200 is F2*sinθ2 if the force applied by the obstacle 200 to the guide frame 213 is F2. When 23°≤θ2<45° is set, the force hindering the guide frame 213 from guiding the obstacle 200 to the walking wheel 22 is small, thereby improving the obstacle crossing effect of the robot cleaner. At the same time, the guide frame 213 bears a smaller force, and accordingly the service life of the guide frame 213 is longer.

[0066] Continuing to refer to Figure 7Further, a tangent surface tangent to the outer circumferential surface of the part of the walking wheel 22 protruding out of the opening 215 and the guide surface 2131 is a third tangent surface D, a third included angle θ3 formed between the walking plane and the third tangent surface D is greater than 0° and less than 30°, so as to ensure that the force impeding the guide frame 213 from guiding the obstacle 200 to the walking wheel 22 is small, and the force impeding the walking wheel 22 from crossing the obstacle 200 is small, thereby improving the obstacle-crossing effect of the sweeping robot.

[0067] Another embodiment of the present application also provides a sweeping robot, which comprises a main body 10, a support 21 and a walking wheel 22, the support 21 is rotatably arranged on the main body 10 around a first axis, and when the sweeping robot is placed on a horizontal plane, the support 21 is rotatably arranged on the main body 10 around the first axis within the horizontal plane. The support 21 is provided with a receiving cavity 214, and an opening 215 in communication with the receiving cavity 214 is formed on one end of the support 21 away from the main body 10, and the walking wheel 22 is partially accommodated in the receiving cavity 214 from the opening 215.

[0068] The walking wheel 22 has a part protruding out of the opening 215, and a tangent surface tangent to the outer circumferential surface of the part of the walking wheel 22 protruding out of the opening 215 is a first tangent surface B, and a first included angle θ1 formed between the walking plane A of the walking wheel 22 and the first tangent surface B is greater than 0° and less than or equal to 55°. That is, when the sweeping robot is placed on a horizontal plane, a first included angle θ1 formed between the first tangent surface B and the horizontal plane is greater than 0° and less than or equal to 55°.

[0069] When the sweeping robot walks and encounters an obstacle 200, the force exerted by the obstacle 200 on the walking wheel 22 is opposite to the walking direction of the walking wheel 22, and if the force exerted by the obstacle 200 on the walking wheel 22 is F1, then the main force impeding the walking wheel 22 from crossing the obstacle 200 is F1*sinθ1, and when 0°<θ1≤55° is set, the force impeding the walking wheel 22 from crossing the obstacle 200 is small, thereby improving the obstacle-crossing effect of the sweeping robot.

[0070] The technical features of the above-described embodiments can be combined in any manner, and to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist, they should be considered as within the scope of the present application.

[0071] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A cleaning device, characterized in that, The cleaning equipment includes: Main body (10); A bracket (21) is mounted on the main body (10) and is rotatable relative to the main body (10) about a first axis; the bracket (21) is provided with a receiving cavity (214), and the end of the bracket (21) facing away from the main body (10) is also provided with an opening (215) communicating with the receiving cavity (214). A walking wheel (22) is installed in the receiving cavity (214), and a portion of the walking wheel (22) protrudes from the opening (215). The cross surface that is tangent to the outer peripheral surface of the portion of the walking wheel (22) protruding from the opening (215) is the first cross surface. The first included angle formed between the first cross surface and the traveling plane of the walking wheel (22) is greater than 0° and less than or equal to 55°. The bracket (21) has a guide surface (2131) that communicates with the outer peripheral surface of the portion of the walking wheel (22) that protrudes from the opening (215). The guide surface (2131) is inclined inward toward the opening (215) from one end near the main body (10) to the other end away from the main body (10). The guide surface (2131) can guide the obstacle (200) to the outer peripheral surface of the portion of the walking wheel (22) that protrudes from the opening (215). The bracket (21) is provided with a first snap-fit ​​part (211), and the main body (10) is provided with a second snap-fit ​​part (40), the second snap-fit ​​part (40) snaps into the first snap-fit ​​part (211); One of the bracket (21) and the main body (10) includes an assembly shaft (212), and the other includes a bushing (30). The bracket (21) also includes a guide frame (213) connected to the assembly shaft (212) or the bushing (30). The assembly shaft (212) is sleeved (30) inside the bushing (30). The receiving cavity (214) and the opening (215) are both formed on the guide frame (213). The assembly shaft (212) and the bushing (30) cooperate to drive the guide frame (213) and the traveling wheel (22) to rotate relative to the main body (10) around the first axis. The first snap-fit ​​part (211) is provided on one of the bushing (30) and the assembly shaft (212), and the second snap-fit ​​part (40) is provided on the other of the bushing (30) and the assembly shaft (212).

2. The cleaning equipment according to claim 1, characterized in that, The tangent to the guide surface (2131) is the second tangent, and the second included angle formed between the second tangent and the traveling plane is greater than or equal to 23° and less than 45°.

3. The cleaning equipment according to claim 1, characterized in that, The tangent surface on the outer peripheral surface of the portion of the traveling wheel (22) that protrudes from the opening (215) and the guide surface (2131) is the third tangent surface, and the third included angle formed between the third tangent surface and the traveling plane is greater than 0° and less than 30°.

4. The cleaning equipment according to claim 1, characterized in that, The guide surface (2131) is an arc-shaped surface that protrudes outward from the walking wheel (22).

5. The cleaning equipment according to claim 1, characterized in that, One of the bracket (21) and the main body (10) includes an assembly shaft (212) and the other includes a bushing (30). The bracket (21) also includes a guide frame (213) connected to the assembly shaft (212) or the bushing (30). The assembly shaft (212) is sleeved (30) inside the bushing (30). The receiving cavity (214) and the opening (215) are both formed on the guide frame (213). The assembly shaft (212) and the bushing (30) cooperate to drive the guide frame (213) and the traveling wheel (22) to rotate relative to the main body (10) around the first axis.

6. The cleaning equipment according to claim 5, characterized in that, The guide frame (213) partially surrounds the walking wheel (22) in the circumferential direction. The walking wheel (22) is rotatably disposed in the guide frame (213) about a second axis. The second axis is perpendicular to the first axis and is spaced apart from it. The guide frame (213) is provided with a guide surface (2131) on the side of the first axis facing away from the second axis, which communicates with the outer peripheral surface of the part of the walking wheel (22) that protrudes from the opening (215). The guide surface (2131) can guide the obstacle (200) to the outer peripheral surface of the part of the walking wheel (22) that protrudes from the opening (215).

7. The cleaning equipment according to claim 1, characterized in that, The snap-fit ​​part on the assembly shaft (212) is a circumferential groove, and the snap-fit ​​part on the bushing (30) is an elastic buckle. The elastic buckle snaps into the circumferential groove and is circumferentially rotatable.

8. A robotic vacuum cleaner, characterized in that, The robotic vacuum cleaner includes: Main body (10); A bracket (21) is mounted on the main body (10) and can rotate about a first axis relative to the main body (10). The bracket (21) has a receiving cavity (214) inside, and the bracket (21) also has an opening (215) communicating with the receiving cavity (214) at one end facing away from the main body (10). A walking wheel (22) is installed in the receiving cavity (214), and a portion of the walking wheel (22) protrudes from the opening (215). The cross surface that is tangent to the outer peripheral surface of the portion of the walking wheel (22) protruding from the opening (215) is the first cross surface. The first included angle formed between the first cross surface and the traveling plane of the walking wheel (22) is greater than 0° and less than or equal to 55°. The bracket (21) has a guide surface (2131) that communicates with the outer peripheral surface of the portion of the walking wheel (22) that protrudes from the opening (215). The guide surface (2131) is inclined inward toward the opening (215) from one end near the main body (10) to the other end away from the main body (10). The guide surface (2131) can guide the obstacle (200) to the outer peripheral surface of the portion of the walking wheel (22) that protrudes from the opening (215). The bracket (21) is provided with a first snap-fit ​​part (211), and the main body (10) is provided with a second snap-fit ​​part (40), the second snap-fit ​​part (40) snaps into the first snap-fit ​​part (211); One of the bracket (21) and the main body (10) includes an assembly shaft (212), and the other includes a bushing (30). The bracket (21) also includes a guide frame (213) connected to the assembly shaft (212) or the bushing (30). The assembly shaft (212) is sleeved (30) inside the bushing (30). The receiving cavity (214) and the opening (215) are both formed on the guide frame (213). The assembly shaft (212) and the bushing (30) cooperate to drive the guide frame (213) and the traveling wheel (22) to rotate relative to the main body (10) around the first axis. The first snap-fit ​​part (211) is provided on one of the bushing (30) and the assembly shaft (212), and the second snap-fit ​​part (40) is provided on the other of the bushing (30) and the assembly shaft (212).

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