Devices for crossing obstacles and cleaning devices

Abstract

The present invention is applicable to the field of smart home technology, and provides a device for crossing obstacles and a cleaning device. The above-mentioned device for crossing obstacles includes: a connecting rod mechanism, which is used to be movably connected to the shell; an obstacle crossing component, one end of which is movably connected to the connecting rod mechanism, and the other end opposite to it is used to press against the obstacle to lift the shell. The above-mentioned cleaning device includes a shell; an action wheel; a driving member installed in the shell and connected to the action wheel to drive the action wheel to move; the above-mentioned device for crossing obstacles; the support member is connected to the shell, and the obstacle crossing component is connected to the driving member. In the present invention, the connecting rod mechanism is movably connected to one end of the obstacle crossing component, so that during the movement of the obstacle crossing component, under the guidance of the connecting rod mechanism, the obstacle crossing component has a larger movement space and can lift the shell to a greater height, thereby improving the reliability of obstacle crossing.

Description

Technical Field

[0001] The invention belongs to the technical field of smart homes, and in particular relates to a device for crossing obstacles and a cleaning device. Background Art

[0002] In modern life, the emergence of autonomous cleaning devices has provided convenience for floor cleaning and reduced labor intensity. Household cleaning robots are common autonomous cleaning devices that can automatically move around a home room and simultaneously inhale surrounding dust or impurities to complete floor cleaning.

[0003] In homes, there are many steps, such as balcony living rooms, living room bathrooms, sliding doors, etc. These steps will become obstacles for cleaning robots to move. When encountering these obstacles, a large part of existing sweeping robots will get stuck and require human intervention to get out of trouble. In order to improve the obstacle-crossing ability of cleaning robots, rollers are usually used for obstacle-crossing. However, the obstacle-crossing ability of rollers is still poor, and it is impossible to truly meet the use requirements of reliable obstacle-crossing. Summary of the invention

[0004] In view of this, the present invention provides a device for crossing obstacles and a cleaning device to solve the problem that the cleaning device has poor obstacle crossing capability.

[0005] To solve the above-mentioned problem, the technical solution of the present invention is implemented as follows: a device for crossing obstacles, used to be installed on the shell of a movable cleaning device, comprising: a connecting rod mechanism, which is used to be movably connected to the shell; an obstacle crossing component, one end of which is movably connected to the connecting rod mechanism, and the other end opposite to it is used to press the obstacle to lift the shell; wherein, the obstacle crossing component comprises a rotatable first component and a second component, and the first component and the second component press the obstacle in turn; the connecting rod mechanism comprises: a support member, one end of which is movably connected to the shell, and the other end of which is movably connected to the second component; a connecting member, which is used to be movably connected between the support member and the first component; wherein, the end of one end of the first component is movably connected to at least the connecting member, and the second component is also movably connected to the first component so as to rotate with the rotation of the first component.

[0006] Preferably, the obstacle surmounting assembly further comprises a transmission member for connecting with the connecting member and the first component to drive the first component and the connecting member to rotate.

[0007] Preferably, one end of the transmission member is connected to the connecting member and the first component, and the other end of the transmission member is connected to a driving member disposed in the housing.

[0008] Preferably, the first component comprises: a first connecting portion, one end of which is used to connect with the transmission member and / or the connecting member; and a first pressing portion, which is arranged at the other end of the first connecting portion and has a first free contact portion bent downward.

[0009] Preferably, the second component comprises: a second connecting portion, used to be connected to the first component; and a second pressing portion, which is arranged at one end of the second connecting portion and has a second free contact portion bent downward.

[0010] Preferably, the second connecting portion is also used to be movably connected to the first component.

[0011] The present invention also provides a cleaning device, comprising: a shell; an action wheel; a driving member installed in the shell and connected to the action wheel to drive the action wheel to move; the above-mentioned device for crossing obstacles; wherein the support member is connected to the shell, and the obstacle crossing component is connected to the driving member.

[0012] Preferably, the driving member includes: a motor having an output shaft; a driving gear fixed to the output shaft; and a speed-changing gear set cooperating with the driving gear to change the rotation speed; wherein the action wheel and the obstacle-crossing assembly are respectively located on opposite sides of the speed-changing gear set and are both connected to the speed-changing gear set.

[0013] The device for crossing obstacles provided by the present invention includes a connecting rod mechanism and an obstacle crossing assembly; the connecting rod mechanism is used to be movably connected to a shell, one end of the obstacle crossing assembly is movably connected to the connecting rod mechanism, and the other end is used to press against the obstacle to lift the shell. In this way, the connecting rod mechanism is movably connected to one end of the obstacle crossing assembly, so that the obstacle crossing assembly has a larger movement space under the guidance of the connecting rod mechanism during the movement. In this way, in the process of overcoming obstacles, compared with the normal state, the obstacle crossing assembly can move more beyond the normal state, and then can lift the shell to a greater height, thereby achieving effective obstacle crossing and improving the reliability of obstacle crossing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 is a side schematic diagram of a cleaning device provided by an embodiment of the present invention, in which part of the housing is omitted;

[0016] Figure 2is a partial cross-sectional schematic diagram of a cleaning device provided by an embodiment of the present invention;

[0017] Figure 3 is a schematic structural diagram of a device for crossing an obstacle provided by an embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of the obstacle crossing device provided by an embodiment of the present invention in an obstacle crossing state;

[0019] Figure 5 is a schematic diagram of the internal structure of a driving member provided by an embodiment of the present invention;

[0020] Figure 6 It is a structural schematic diagram of an auxiliary obstacle crossing component provided by an embodiment of the present invention installed in a housing;

[0021] Figure 7 It is a schematic diagram of the structure of the obstacle-crossing auxiliary component provided in an embodiment of the present invention.

[0022] Description of reference numerals:

[0023] 11. connecting rod mechanism; 111. supporting member; 112. connecting member; 12. obstacle crossing assembly; 121. first component; 1211. first connecting portion; 1212. first pressing portion; 1213. first free contact portion; 122. second component; 1221. second connecting portion; 1222. second pressing portion; 1223. second free contact portion; 1224. bending portion; 124. transmission member; 20. housing; 21. action wheel; 2 2. Driving member; 221. Motor; 222. Driving gear; 223. Speed-changing gear set; 224. Output gear; 23. Buffer bracket; 231. First end; 232. Second end; 25. Obstacle-crossing auxiliary component; 251. Driving component; 2511. Electric motor; 2512. First transmission member; 252. Pushing assembly; 2520. Pressing portion; 2521. Cam; 2522. Transmission shaft; 2523. Second transmission member. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] It should be noted that the terms “setting” and “connection” should be understood in a broad sense. For example, it can be directly setting or connecting, or it can be indirectly setting or connecting through a central component or a central structure.

[0026] The various specific technical features and embodiments described in the specific implementation methods can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of the specific technical features in the present invention will not be described separately.

[0027] like Figure 1 As shown, an obstacle-crossing device provided in an embodiment of the present invention is mainly used on equipment that can move on the ground, such as a toy car or a floor cleaning device, so that when such equipment needs to cross obstacles (such as obstacles such as stair thresholds with low heights), it can play an auxiliary support role in crossing obstacles, so as to improve the equipment's ability to cross obstacles. In an embodiment of the present invention, the obstacle-crossing device is used in a cleaning device for illustration. Specifically, the obstacle-crossing device is used to be installed on the housing 20 of a movable cleaning device, and the obstacle-crossing device is used to realize mobile cleaning of the cleaning device, and when encountering an obstacle, it can help the cleaning device to pass the obstacle smoothly, thereby avoiding the situation where the cleaning device cannot clean normally due to being trapped by the obstacle.

[0028] like Figure 1 and Figure 2As shown, the device for crossing obstacles includes a connecting rod mechanism 11 and an obstacle crossing assembly 12. The connecting rod mechanism 11 is used to be movably connected with the housing 20; one end of the obstacle crossing assembly 12 is movably connected with the connecting rod mechanism 11, and the other end is used to press against the obstacle to lift the housing 20. The movably connected mode between the connecting rod mechanism 11 and the housing 20 can be a direct connection or an indirect connection. One end of the obstacle crossing assembly 12 is movably connected with the connecting rod mechanism 11 to form a kinematic pair. The installation position of the obstacle crossing assembly 12 is located by the connecting rod mechanism 11, and the rotation range of the obstacle crossing assembly 12 can be guided and limited. The housing 20 is lifted by pressing the obstacle crossing assembly 12 against the obstacle, so that the distance between the housing 20 and the cleaning surface is greater than the height of the obstacle, so that it can pass smoothly over the obstacle. In the embodiment of the present invention, the connecting rod mechanism 11 is movably connected to one end of the obstacle crossing assembly 12, and is preferably connected to the limit position of the obstacle crossing assembly 12 in the length direction. That is, the obstacle-crossing component 12 has two extreme ends in the length direction, and the link mechanism 11 is movably connected to one end of the obstacle-crossing component 12 under the premise of satisfying effective movable connection. Therefore, during the rotation of the obstacle-crossing component 12, the other end of the obstacle-crossing component 12 can have a larger movement space under the guidance of the link mechanism 11. In this way, during the obstacle-crossing process, compared with the normal state, the free end of the rotating obstacle-crossing component 12 can further exceed the movement range in the normal state, and then the shell can be lifted to a greater height, thereby achieving effective obstacle-crossing and improving the reliability of obstacle-crossing.

[0029] In some possible implementations, such as Figure 1 As shown, the obstacle crossing component 12 may be a component that can rotate and press against an obstacle to lift the housing 20. Figure 2 and Figure 3 As shown, the obstacle-crossing assembly 12 is configured to include a rotatable first component 121 and a second component 122, and the first component 121 and the second component 122 are configured to cross obstacles by pressing against obstacles in turn. Specifically, the first component 121 and the second component 122 can be driven by different driving members 22, and the rotation speeds can be different, so as to press against obstacles in sequence; or the first component 121 and the second component 122 can be connected to different positions on the same driving member 22 to ensure that the obstacles can be pressed against in sequence; and when the first component 121 and the second component 122 are connected to the same driving member 22, the driving member 22 can be a separate additional driving member 22, or it can be directly connected to the roller of the cleaning device, and the same driving member 22 is shared with the roller to achieve driving, and the setting method has good flexibility.

[0030] like Figure 2 and Figure 3As shown, in an embodiment of the present invention, the first component 121 and the second component 122 share a driving motor with the roller of the cleaning device. Therefore, during the normal walking and cleaning process of the cleaning device, the first component 121 and the second component 122 will rotate together, and the movement range of the first component 121 and the second component 122 will not exceed the movement range of the roller, and will only rotate within a range not larger than the movement range of the roller, so as not to contact the cleaning surface and interfere with the normal rotation of the roller. When the roller encounters an obstacle, since the roller and the shell 20 are rotatably connected and supported by an elastic member, the roller will be compressed after touching the obstacle, and will shrink and reduce the distance from the shell 20. At this time, the movement range of the first component 121 and the second component 122 will be transformed into a range beyond the movement range of the roller. Refer to Figure 4 In this way, the first component 121 and the second component 122 can press against the obstacle in turn to gradually lift the shell 20, thereby preventing the shell 20 from touching the obstacle and climbing over the obstacle, and improving the stability of climbing over the obstacle.

[0031] The pressing mentioned above refers to the contact between two interacting objects and a certain force, such as the first component 121 is in contact with an obstacle, and the first component 121 exerts a certain force on the obstacle to squeeze the obstacle.

[0032] like Figure 2 and Figure 3 As shown, the link mechanism 11 includes a support member 111 and a connecting member 112. One end of the support member 111 is movably connected to the housing 20, and the other end is movably connected to the second component 122; and the connecting member 112 is used to movably connect between the support member 111 and the first component 121, and the end of one end of the first component 121 is at least movably connected to the connecting member 112, and the second component 122 is also movably connected to the first component 121 to rotate with the rotation of the first component 121. The end refers to the extreme position close to one end of the connecting member 112 in the length direction of the first component 121. By adopting the above arrangement, a four-bar linkage is formed between the link mechanism 11 and the obstacle crossing assembly 12, and each connection is movably connected. Under the joint guidance and limitation of the support member 111 and the connecting member 112, the first component 121 and the second component 122 can smoothly and reliably move alternately to press against the obstacle. Moreover, the end of one end of the first component 121 is at least movably connected to the connecting member 112, so that the length of the first component 121 is utilized to the maximum extent, the range of movement of the first component 121 is increased, and the first component 121 and the second component 122 have a larger movement space, thereby improving the height and reliability of obstacle crossing.

[0033] like Figure 2 and Figure 3As shown, since the first component 121 and the second component 122 are driven to rotate by the same driving member 22, the obstacle crossing assembly 12 is configured to further include a transmission member 124. The transmission member 124 is used to connect with the connecting member 112 and the first component 121 to drive the first component 121 and the connecting member 112 to rotate. Specifically, in the actual setting, since the movement trajectory of the first component 121 and the second component 122 is limited and guided by the support member 111, and the support member 111 and the first component 121 are movably connected, the second component 122 can be connected directly to the first component 121 or directly to the support member 111. In the embodiment of the present invention, it is preferred to connect the second component 122 to the first component 121 and the support member 111 at the same time. Under this setting, among the parts of the support member 111, the transmission member 124, the connecting member 112, the first component 121 and the second component 122, all interconnected parts are preferably movably connected, so that the obstacle crossing assembly 12 forms a five-bar mechanism. Moreover, the driving force that drives the entire obstacle crossing component 12 to rotate is transmitted by the transmission member 124. At the same time, during the rotation process, the movement trajectory of the first component 121 and the second component 122 is limited and guided by the support member 111 to ensure that the first component 121 and the second component 122 can rotate according to the prescribed movement trajectory, and then in the process of obstacle crossing, it can continue to press against the obstacle to lift the shell 20, thereby realizing reliable obstacle crossing of the cleaning device.

[0034] like Figure 2 and Figure 3 As shown, one end of the transmission member 124 is connected to the connecting member 112 and the first component 121, and the other end of the transmission member 124 is connected to the driving member 22 disposed in the housing 20. Specifically, a connecting column is eccentrically disposed on the transmission member 124, and the connecting member 112 and the first component 121 are both connected to the connecting column. When the driving member 22 drives the transmission member 124 to rotate, it can drive the first component 121 and the connecting member 112 to rotate eccentrically. At the same time, the connecting member 112 transmits the rotational force to the supporting member 111, driving the supporting member 111 to rotate to limit and guide the movement trajectory of the first component 121 and the second component 122. It is ensured that when the cleaning device is in the normal cleaning state, the first component 121 and the second component 122 will not interfere with the normal movement of the cleaning device; and when the cleaning device is in the obstacle crossing state, the first component 121 and the second component 122 can continuously press against the obstacle to achieve obstacle crossing.

[0035] like Figure 3As shown, the first component 121 includes a first connecting portion 1211 and a first pressing portion 1212. One end of the first connecting portion 1211 is used to connect with the transmission member 124 and the connecting member 112, and the first pressing portion 1212 is arranged at the other end of the first connecting portion 1211 and has a first free contact portion 1213 bent downward. When the first component 121 rotates to overcome an obstacle, the first free contact portion 1213 presses against the obstacle, so that a pushing force can be generated to lift the housing 20. In a specific setting, the first component 121 is usually formed in an integrally formed manner, and the first free contact portion 1213 is preferably arranged at the front end of the first component 121, and the bending direction is toward the obstacle. Thereby, it is ensured that when overcoming an obstacle, the first free contact portion 1213 on the first component 121 can first contact the obstacle and generate a force to lift the housing 20. The front end refers to the end of the first component 121 that first contacts the obstacle. At the same time, the first free contact portion 1213 may be configured to have at least one side in contact with the cleaning surface in an arc shape, so as to improve the smoothness of the first free contact portion 1213 when rotating on the obstacle and reduce the friction between the first free contact portion 1213 and the obstacle. In addition, an anti-skid structure such as an anti-skid groove or an anti-skid protrusion may be provided at the position where the first free contact portion 1213 first contacts the obstacle, so as to ensure that the first free contact portion 1213 does not slip when it first contacts the obstacle and achieves reliable pressure over the obstacle.

[0036] like Figure 2As shown, the second component 122 includes a second connection portion 1221 and a second pressing portion 1222. The second connection portion 1221 is used to be movably connected to the first component 121, and the second pressing portion 1222 is arranged at one end of the second connection portion 1221 and has a second free contact portion 1223 bent downward. Similarly, when the second component 122 needs to press against an obstacle to overcome the obstacle, the second free contact portion 1223 presses against the obstacle to generate a pushing force to lift the housing 20. In a specific setting, the second component 122 is usually formed in an integrally formed manner, and the second free contact portion 1223 is preferably arranged at the front end of the second component 122, and the bending direction is toward the obstacle. The front end refers to the part of the second component 122 that first contacts the obstacle. Thereby, it is ensured that when overcoming the obstacle, the second free contact portion 1223 on the second component 122 can first contact the obstacle to generate a force to lift the housing 20. At the same time, the second free contact portion 1223 can be configured to have at least one side in contact with the cleaning surface in an arc shape, so as to improve the smoothness of the second free contact portion 1223 when rotating on the obstacle and reduce the friction between the second free contact portion 1223 and the obstacle. In addition, an anti-skid structure such as an anti-skid groove or an anti-skid protrusion can be provided at the position where the second free contact portion 1223 first contacts the obstacle, so as to ensure that the second free contact portion 1223 does not slip when it first contacts the obstacle and can achieve reliable pressure over the obstacle.

[0037] In the embodiment of the present invention, the second connection portion 1221 is connected to the support member 111 and the first component 121 at the same time. In this way, after the connection, the second connection portion 1221 is movably connected between the support member 111 and the first component 121, and the rotation of the first component 121 can drive the second component 122 to rotate, and the support member 111 can guide the movement trajectory of the second component 122, so that the second free contact portion 1223 can swing accurately. Specifically, in actual use, the first component 121 and the second component 122 are required to press against the obstacle in turn, that is, the first component 121 first presses against the obstacle to lift the shell 20, and then the second component 122 presses against the obstacle to lift the shell 20 again. Therefore, in order to realize that the first free contact portion 1213 and the second free contact portion 1223 can press against the obstacle in turn, as shown in FIG. Figure 2As shown, the second connection portion 1221 is further provided with a bent portion 1224 in the opposite direction to the bending direction of the second free contact portion 1223, that is, the bent portion 1224 and the second free contact portion 1223 are continuous and reversely bent. In this way, the bent portion 1224 can lift the position of the second free contact portion 1223 upward by a certain height relative to the position of the first free contact portion 1213, thereby achieving the staggered setting of the first free contact portion 1213 and the second free contact portion 1223, ensuring that the second free contact portion 1223 can be pressed against the obstacle later than the first free contact portion 1213.

[0038] The obstacle crossing device provided in the embodiment of the present invention is movably connected to the obstacle crossing component 12 by setting a connecting rod mechanism 11, so that the obstacle crossing component 12 has a larger movement space, and can lift the shell 20 to a greater height. The obstacle crossing component 12 includes a movable first component 121 and a second component 122, and the first component 121 and the second component 122 are configured to press against the obstacle in turn. In this way, in the process of overcoming obstacles, the shell 20 can be lifted by rotating the first component 121 and the second component 122 to press against the obstacle, and in the process of lifting the shell 20, the first component 121 and the second component 122 take turns to press, the first component 121 first lifts the shell 20, and then the second component 122 lifts the shell 20, and under the continuous lifting action of the first component 121 and the second component 122 on the shell 20, it is ensured that the cleaning device can reliably cross obstacles.

[0039] like Figure 1 and Figure 2 As shown, a cleaning device is also provided in an embodiment of the present invention, comprising: a housing 20, a moving wheel 21, a driving member 22 and the above-mentioned device for crossing obstacles. The moving wheel 21 is connected to the housing 20; the driving member 22 is installed in the housing 20 and connected to the moving wheel 21 to drive the moving wheel 21 to move; and the support member 111 is connected to the housing 20, and the obstacle crossing component 12 is connected to the driving member 22. In this way, under the action of the driving force provided by the driving member 22, the moving wheel 21 and the obstacle crossing component 12 can rotate at the same time, and when it is necessary to cross an obstacle, the housing 20 is lifted by pressing the obstacle crossing component 12 against the obstacle to achieve the obstacle crossing. Since the device for crossing obstacles has the function of continuously lifting the housing 20, under the action of the device, the cleaning device can achieve reliable obstacle crossing when it is necessary to cross obstacles, thereby avoiding the inability to effectively cross obstacles and causing the automatic cleaning function to fail to be smoothly realized. The cleaning device is provided with the above-mentioned device for crossing obstacles, so that it can effectively cross obstacles and ensure that automatic cleaning can be reliably achieved.

[0040] like Figure 3 and Figure 5As shown, the driving member 22 includes a motor 221, a driving gear 222 and a speed gear set 223. The motor 221 has an output shaft, and the driving gear 222 is fixed to the output shaft so that it can rotate under the drive of the output shaft. The speed gear set 223 cooperates with the driving gear 222 to change the rotation speed, and the action wheel 21 and the obstacle crossing component 12 are respectively located on opposite sides of the speed gear set 223, and are both connected to the speed gear set 223. Specifically, the driving gear 222 drives the speed gear set 223 to rotate by meshing with the speed gear set 223. The speed gear set 223 is meshed with an output gear 224 that can output different rotations. The action wheel 21 and the obstacle crossing component 12 are respectively connected to the corresponding output gear 224 according to the requirements of their own rotation speeds, so that the driving force can be obtained to achieve rotation. In the process of transmitting the driving force, the transmission is transmitted through the mutual meshing of the gears, and the transmission reliability is good. The action wheel 21 and the obstacle crossing component 12 are respectively located on opposite sides of the speed gear set 223, so that the action wheel 21 and the obstacle crossing component 12 are separated and not connected, so that one side of the action wheel 21 is not connected to other components, which reduces the structural complexity when the action wheel 21 and the obstacle crossing component 12 are arranged on the same side and improves the overall aesthetics.

[0041] like Figure 2 and Figure 3 As shown, when the cleaning device crosses an obstacle, collision vibration is easily generated due to the height difference. In order to reduce the impact of the collision vibration on the stability of the cleaning device when crossing the obstacle, a buffer bracket 23 is provided, and the buffer bracket 23 has a first end 231 fixedly connected to the housing 20 and a second end 232 abutting against the walking component, and the first end 231 and the second end 232 are arranged opposite to each other. A return member is provided between the buffer bracket 23 and the housing 20 to keep the second end 232 of the buffer bracket 23 abutting against the walking component. In actual settings, it is preferred that the buffer bracket 23 and the return member are set as components that can undergo a certain degree of elastic deformation, and the second end 232 of the buffer support frame abuts against the obstacle crossing device, so that when the walking wheel touches and is squeezed by the obstacle, the collision impact of the walking wheel can be transmitted to the buffer bracket 23, and then the buffer bracket 23 and / or the return member are elastically deformed to absorb the vibration generated in the obstacle crossing process, so as to avoid the occurrence of unstable movement due to the collision of the cleaning device, and ensure the stability of the cleaning device in the obstacle crossing process.

[0042] like Figure 2As shown, in the specific obstacle crossing process, since the obstacle blocks the movement of the cleaning device in front of the moving device, when crossing the obstacle, the obstacle crossing component 12 first lifts the front side of the moving cleaning device to cross the obstacle. In this way, the entire cleaning device will be tilted, and there will be a situation where the tail of the shell 20 of the cleaning device contacts and rubs with the cleaning surface, which will increase the difficulty of the cleaning device to cross the obstacle. The tail refers to the position of the cleaning device in the working state, along the direction of moving cleaning, located behind the cleaning direction, that is, close to the rear edge of the housing; or the tail can also refer to the distance from the rear end of the shell 20 within 20% of the length of the shell 20. Therefore, in order to avoid the friction between the tail of the shell 20 and the cleaning surface during the process of the cleaning device crossing the obstacle, an auxiliary obstacle crossing component 25 is provided at the bottom of the shell 20 of the cleaning device, and the auxiliary obstacle crossing component 25 is used to avoid the friction between the tail of the shell 20 of the cleaning device and the cleaning surface, so as to improve the reliability of the cleaning device crossing the obstacle.

[0043] like Figure 6 and Figure 7 As shown, the auxiliary obstacle crossing assembly 25 includes a driving component 251 and a pushing component 252. The driving component 251 is arranged on the housing 20, and the pushing component 252 includes a pressing portion 2520 in contact with the cleaning surface, and the pushing component is connected to the driving component 251, and is used to enable the pressing portion 2520 to move between a first position and a second position under the drive of the driving component 251. The first position is the position where the pushing component 252 is farthest from the cleaning surface, and the second position is the position where the pushing component 252 presses on the cleaning surface; at the same time, the distance refers to the distance from the center of gravity of the pushing component 252 to the cleaning surface. That is, in actual use, when there is no need to assist in obstacle crossing, the pushing component 252 remains in a retracted state and remains in the first position, and when it is necessary to assist in obstacle crossing, it is unfolded under the drive of the driving component 251 until it moves to the second position and can at least lift the tail of the shell.

[0044] like Figure 7 As shown, the driving component 251 includes an electric motor 2511 and a first transmission member 2512. The electric motor 2511 is disposed in the housing 20 (see Figure 1 ) is used to generate a driving force that can move the ejection assembly 252. The first transmission member 2512 is connected between the electric motor 2511 and the ejection assembly 252, and is used to transmit the driving force generated by the electric motor 2511 to the ejection assembly 252, so as to drive the ejection assembly 252 to move between the first position and the second position, thereby meeting the use requirement of the auxiliary cleaning device to overcome obstacles.

[0045] like Figure 7As shown, the push-up assembly 252 is configured to include a cam 2521, a transmission shaft 2522, and a second transmission member 2523. The cam 2521 is a component with a curved profile. During the rotation process, the motion ranges of various parts are uneven, and there are parts with the largest motion range and parts with the smallest motion range. Therefore, a cam 2521 is provided, and a pressing portion 2520 capable of forming the largest motion range is provided. In this way, during the assisting obstacle crossing process, the pressing portion 2520 rotates and contacts the cleaning surface in a cyclical contact, so as to achieve intermittent lifting of the housing 20 (see FIG. 2 ). Figure 2 ) to meet the use requirements of the auxiliary cleaning device to achieve reliable obstacle crossing. Specifically, the transmission shaft 2522 passes through the cam 2521 and is fixedly connected to the cam 2521, and the two ends of the transmission shaft 2522 are movably connected to the shell 20 to achieve stable installation of the ejection assembly 252; at the same time, the second transmission member 2523 is fixedly connected to the transmission shaft 2522, and the second transmission member 2523 is connected to the first transmission member 2512, and the connection between the first transmission member 2512 and the second transmission member 2523 can be an indirect connection through a belt, or the first transmission member 2512 and the second transmission member 2523 can be directly connected. In this way, after the first transmission member 2512 transmits the driving force generated by the electric motor 2511 to the second transmission member 2523, it can directly drive the cam 2521 to rotate, and when the part of the cam 2521 that can achieve the maximum range of motion is pressed against the cleaning surface, the tail of the shell 20 is lifted.

[0046] Specifically, as another implementation of the ejection assembly 252, the ejection assembly 252 can also be set as a lifting structure composed of a screw rod and a slider, and then the motor drives the screw rod to move forward and reversely to lift the tail of the shell 20.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for crossing obstacles, used for being mounted on a housing of a movable cleaning device, characterized in that: include: A connecting rod mechanism, used for being movably connected with the housing; An obstacle-crossing component, one end of which is movably connected to the connecting rod mechanism, and the other end of which is opposite to the obstacle to lift the housing; Wherein, the obstacle-crossing assembly comprises a rotatable first component and a second component, the first component and the second component press against the obstacle in turn; the first component and the second component share a driving motor with the roller of the cleaning device; The connecting rod mechanism comprises: A support member, one end of which is movably connected to the housing, and the other end of which is movably connected to the second member; A connecting member, used for movably connecting between the supporting member and the first member; Wherein, the end of one end of the first component is at least movably connected to the connecting piece, and the second component is also movably connected to the first component to rotate with the rotation of the first component.

2. The device for crossing obstacles according to claim 1, characterized in that: The obstacle crossing component also includes: A transmission member is used to connect with the connecting member and the first member to drive the first member and the connecting member to rotate.

3. The device for crossing obstacles according to claim 2, characterized in that: One end of the transmission member is connected to the connecting member and the first component, and the other end of the transmission member is connected to a driving member arranged in the housing.

4. The device for crossing obstacles as claimed in claim 3, characterized in that: The first component comprises: A first connecting part, one end of which is used for movably connecting with the transmission member and the connecting member; The first pressing portion is arranged at the other end of the first connecting portion and has a first free contact portion bent downward.

5. The device for crossing obstacles according to claim 1, characterized in that: The second component comprises: A second connecting portion, used for movably connecting with the supporting member and the first component; The second pressing portion is arranged at one end of the second connecting portion and has a second free contact portion bent downward.

6. The device for crossing obstacles according to claim 5, characterized in that: The second connecting portion is also used for being movably connected to the first component.

7. A cleaning device, characterized in that: include: case; Action wheel; A driving member, installed in the housing and connected to the action wheel to drive the action wheel to move; The device for crossing obstacles as claimed in any one of claims 1 to 6; Wherein, the support member is connected to the shell, and the obstacle crossing assembly is connected to the driving member.

8. The cleaning device according to claim 7, characterized in that The driving member comprises: a motor having an output shaft; A driving gear, fixed to the output shaft; A speed-changing gear set, cooperating with the driving gear to change the rotation speed; Wherein, the action wheel and the obstacle-crossing assembly are respectively located on opposite sides of the speed-changing gear set and are both connected to the speed-changing gear set.

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