Obstacle crossing device and cleaning robot

Abstract

The present invention is applicable to the field of smart home technology, and provides an obstacle crossing device and a cleaning robot. The obstacle crossing device includes: a gearbox connected to the shell; a running wheel connected to the gearbox; an obstacle crossing component, which is used to rotate and press against an obstacle to lift the shell; wherein the obstacle crossing component is connected to the gearbox to obtain a rotational force. The above-mentioned cleaning robot includes the above-mentioned obstacle crossing device; a shell; a driving member, which is arranged in the shell and connected to the gearbox; wherein the gearbox is movably connected to the shell. In the present invention, the running wheel and the obstacle crossing component are arranged to be connected to the gearbox, so that the driving force output by the gearbox is directly used to drive the obstacle crossing component to rotate. Since the obstacle crossing component is not directly connected to the running wheel, there are no other components connected to the running wheel, which improves the aesthetics of the overall structure.

Description

Technical Field

[0001] The present invention belongs to the field of smart home technology, and in particular relates to an obstacle crossing device and a cleaning robot. Background Technology

[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 the home and simultaneously inhale surrounding dust or impurities to complete floor cleaning.

[0003] In homes, there are many places with staircase thresholds, such as balcony living rooms, living room bathrooms, sliding doors, etc. These staircase thresholds will become obstacles for the movement of cleaning robots. In order to enable the cleaning robot to pass through these obstacles, an obstacle crossing device is usually provided on the cleaning robot to achieve escape. In the specific setting, the obstacle crossing device is directly connected to the roller to obtain driving force. However, such a setting, because it is directly connected to the surface of the roller, causes the overall aesthetics of the cleaning robot to be poor. SUMMARY OF THE INVENTION

[0004] In view of this, the present invention provides an obstacle crossing device and a cleaning robot to solve the problem of poor overall aesthetics of the cleaning robot.

[0005] To solve the above problems, the technical solution of the present invention is implemented as follows: an obstacle crossing device, used to be installed on the shell of a movable cleaning robot, the obstacle crossing device includes: a gearbox connected to the shell; a walking wheel connected to the gearbox; an obstacle crossing component, used to rotate and press against an obstacle to lift the shell, the walking wheel and the obstacle crossing component are respectively located on opposite sides of the gearbox, and the obstacle crossing component is connected to the gearbox to obtain a rotational force; wherein the gearbox includes: a box body, including a first side wall and a second side wall arranged oppositely, the walking wheel is arranged on the outside of the first side wall, and the obstacle crossing component is arranged on the outside of the second side wall; a driving gear connected to a driving member arranged in the shell; a speed change gear set, cooperating with the driving gear to change the rotation speed;

[0006] The gearbox also includes one of the following:

[0007] 1) A first output gear meshed with the speed gear set, the first output gear comprising a first connection structure connected to the travel wheel; a second output gear meshed with the speed gear set, the second output gear comprising a second connection structure connected to the obstacle crossing assembly;

[0008] 2) An output gear that meshes with the speed-changing gear set. A first connection structure for connecting to the traveling wheel is provided on one side of the output gear relative to the first side wall, and a second connection structure for connecting to the obstacle-crossing assembly is provided on the other side of the output gear relative to the second side wall;

[0009] Wherein, the obstacle-crossing assembly includes: a first obstacle-crossing member for pressing against the obstacle; a support member, one end of the support member is connected to the transmission or the housing, and the other end of the support member is connected to the first obstacle-crossing member; a transmission member, one end of the transmission member is connected to the second connection structure, and the other end of the transmission member is connected to the first obstacle-crossing member; the obstacle-crossing assembly further includes: a connecting member, one end is used for connecting to the transmission member and the first obstacle-crossing member, and the other end is connected to the support member; a second obstacle-crossing member for pressing against the obstacle, the second obstacle-crossing member is connected to the support member and / or the first obstacle-crossing member; wherein, the first obstacle-crossing member and the second obstacle-crossing member alternately press against the obstacle.

[0010] Preferably, the first connection structure is a first output shaft that protrudes outside the first side wall and is connected to the traveling wheel; or a first connection hole provided on the first output gear for connecting the traveling wheel.

[0011] Preferably, the second connection structure is a second output shaft that protrudes outside the second side wall and is connected to the obstacle-crossing assembly; or a second connection hole provided on the second output gear for connecting the obstacle-crossing assembly.

[0012] Preferably, the first obstacle-crossing member includes: a first connection portion, one end of which is used for connecting to the transmission member and the connecting member; a first pressing portion provided at the other end of the first connection portion and having a first edge contact portion that bends downward.

[0013] Preferably, the second obstacle-crossing member includes: a second connection portion for connecting to the first obstacle-crossing member; a second pressing portion provided at one end of the second connection portion and having a second edge contact portion that bends downward.

[0014] The present invention also provides a cleaning robot, including: the above-mentioned obstacle-crossing device; a housing; a driving member provided in the housing and connected to the transmission; wherein, the transmission is connected to the housing.

[0015] An obstacle-crossing device provided by the present invention includes a gearbox, traveling wheels, and an obstacle-crossing assembly. By arranging the traveling wheels and the obstacle-crossing assembly to be both connected to the gearbox, the driving force is directly output from the gearbox to drive the rotation of the obstacle-crossing assembly. In this way of setting, the obstacle-crossing assembly and the traveling wheels are separated and not connected. The obstacle-crossing assembly does not need to obtain the driving force from the traveling wheels, and the obstacle-crossing assembly is not directly connected to the traveling wheels, so that there are no other components connected to the traveling wheels, improving the aesthetics of the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 is a schematic structural diagram of the obstacle-crossing device provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of the obstacle-crossing device provided by an embodiment of the present invention in an obstacle-crossing state;

[0019] Figure 3 is a schematic diagram of the internal structure of the gearbox provided by an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of the internal structure of the gearbox in another state provided by an embodiment of the present invention;

[0021] Figure 5 is a schematic partial cross-sectional view of the cleaning robot provided by an embodiment of the present invention.

[0022] DESCRIPTION OF THE REFERENCE NUMERALS

[0023] 1. Obstacle-crossing device; 11. Gearbox; 111. Housing; 112. Driving gear; 113. Gear train; 114. First output gear; 115. Second output gear; 12. Traveling wheels; 13. Obstacle-crossing assembly; 131. First obstacle-crossing member; 1311. First connecting portion; 1312. First pressing portion; 1313. First edge contact portion; 132. Support member; 133. Transmission member; 134. Connecting member; 135. Second obstacle-crossing member; 1351. Second connecting portion; 1352. Second pressing portion; 1353. Bending portion; 1354. Second edge contact portion; 2. Cleaning robot; 20. Housing; 21. Driving member. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to 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 used to limit the present invention.

[0025] It should be noted that the terms "arrangement" and "connection" should be understood in a broad sense. For example, it can be a direct arrangement or connection, or an indirect arrangement or connection through intermediate components or intermediate structures.

[0026] In the specific embodiments, the various specific technical features and each embodiment, without conflict, can be combined in any suitable manner. For example, different embodiments can be formed by combining different specific technical features / embodiments. To avoid unnecessary repetition, the various possible combination methods of the various specific technical features / embodiments in the present invention will not be described separately.

[0027] As Figure 1 shown, an obstacle-crossing device 1 provided by an embodiment of the present invention is mainly used for use on devices that can move on the ground, such as toy cars or floor cleaning devices, so that when such devices need to cross obstacles (such as when they need to pass through obstacles such as low-step thresholds), it can play an auxiliary support role during obstacle crossing to improve the obstacle-crossing passing ability of the device. In the embodiment of the present invention, an example is given by applying the obstacle-crossing device 1 to a cleaning robot. Specifically, the obstacle-crossing device 1 is used to be installed on the housing of a movable cleaning robot, and the movable cleaning of the cleaning robot is realized through the obstacle-crossing device 1, and when encountering an obstacle, it can play a role in helping the cleaning robot smoothly pass through the obstacle, avoiding the situation that the cleaning robot cannot be normally cleaned due to being trapped by the obstacle.

[0028] As Figure 1 and Figure 2As shown, the obstacle-crossing device 1 includes a gearbox 11, a traveling wheel 12, and an obstacle-crossing assembly 13. The gearbox 11 is connected to the housing 20 to achieve an assembly connection. At the same time, the gearbox 11 is also connected to a driving member 21 for providing driving force. The traveling wheel 12 and the obstacle-crossing assembly 13 are both connected to the gearbox 11, so that they can obtain the power transmitted and output by the gearbox 11 to achieve rotation. That is, the rotation of the traveling wheel 12 can drive the movement of the entire cleaning robot. The obstacle-crossing assembly 13 is used to rotate and press against an obstacle to lift the housing 20. Therefore, the rotation of the obstacle-crossing assembly 13 can play a role in lifting the housing 20 to achieve reliable obstacle crossing when obstacle crossing is required. In the embodiment of the present invention, the traveling wheel 12 and the obstacle-crossing assembly 13 are both connected to the gearbox 11, and the two share a power source to obtain driving force, realizing that the obstacle-crossing assembly 13 is directly connected to the gearbox 11 to obtain power, so that the obstacle-crossing assembly 13 does not need to be connected to the traveling wheel 12, overcoming the problems of complex local structure and poor overall aesthetics caused by directly connecting the obstacle-crossing assembly 13 to the traveling wheel 12.

[0029] As Figure 1 shown, in the embodiment of the present invention, it is preferably adopted that the traveling wheel 12 and the obstacle-crossing assembly 13 are respectively arranged on opposite sides of the gearbox 11. In this way, the traveling wheel 12 and the obstacle-crossing assembly 13 do not interfere with each other during rotation, ensuring the reliability of rotation.

[0030] As Figure 1 and Figure 3As shown, the transmission 11 includes a housing 111, a driving gear 112, a speed-changing gear set 113, a first output gear 114, and a second output gear 115. The housing 111 includes a first side wall and a second side wall which are oppositely arranged, and the interior of the housing 111 has a hollow structure. The driving gear 112, the speed-changing gear set 113, the first output gear 114, and the second output gear 115 are all installed inside the housing 111. The driving gear 112 is connected to a driving member 21 provided in the housing 20 so as to be able to rotate under the drive of the driving member 21; the speed-changing gear set 113 is used to cooperate with the driving gear 112 to change the speed. At the same time, the first output gear 114 and the second output gear 115 are respectively engaged with the speed-changing gear set 113 so as to be able to obtain different rotational driving forces from the speed-changing gear set 113 according to the design regulations and achieve rotation. Specifically, the first output gear 114 includes a first connection structure connected to the traveling wheel 12, and the traveling wheel 12 is arranged outside the first side wall. By connecting the traveling wheel 12 to the first connection structure, the power transmitted on the first output gear 114 can be obtained, and thus the rotation of the traveling wheel 12 can be achieved. Similarly, the second output gear 115 includes a second connection structure connected to the obstacle-crossing assembly 13, and the obstacle-crossing assembly 13 is arranged outside the second side wall. By connecting the obstacle-crossing assembly 13 to the second connection structure, the power transmitted on the second output gear 115 can be obtained, and thus the rotation of the obstacle-crossing assembly 13 can be achieved. That is, in this way of setting, the traveling wheel 12 and the obstacle-crossing assembly 13 are respectively connected to different output gears for outputting power inside the transmission 11. Moreover, the traveling wheel 12 and the obstacle-crossing assembly 13 are respectively located on opposite sides of the transmission 11.

[0031] As another implementation of the structure of the transmission 11, the transmission 11 can also be set to include a housing 111, a driving gear 112, a speed-changing gear set 113, and an output gear. Similarly, the housing 111 includes a first side wall and a second side wall arranged opposite to each other, and the interior of the housing 111 has a hollow structure. The driving gear 112, the speed-changing gear set 113, and the output gear are all installed inside the housing 111. The driving gear 112 is connected to a driving member 21 arranged inside the housing 20 so as to be able to rotate under the drive of the driving member 21; and the speed-changing gear set 113 is used to cooperate with the driving gear 112 to change the speed. The output gear meshes with the speed-changing gear set 113, and a first connection structure for connecting to the traveling wheel 12 is arranged on one side of the output gear relative to the first side wall, and a second connection structure for connecting to the obstacle-crossing assembly 13 is arranged on the other side of the output gear relative to the second side wall. The traveling wheel 12 is arranged outside the first side wall, and the obstacle-crossing assembly 13 is arranged outside the second side wall. With such a setting, the first connection structure and the second connection structure are respectively arranged on the opposite sides of the same output gear, that is, the traveling wheel 12 and the obstacle-crossing assembly 13 are connected to the opposite sides of the same output gear, and the traveling wheel 12 and the obstacle-crossing assembly 13 are driven to rotate by the same output gear. Moreover, the traveling wheel 12 and the obstacle-crossing assembly 13 are respectively located on the opposite sides of the transmission 11. Therefore, this setting method can also meet the use requirements of driving the traveling wheel 12 and the obstacle-crossing assembly 13 to rotate.

[0032] Specifically, in actual setting, the first connection structure can be set as a first output shaft that penetrates outside the first side wall to connect to the traveling wheel 12, or as a first connection hole arranged on the first output gear 114 for the traveling wheel 12 to connect, and the setting method has good flexibility. That is, when the first connection structure is set as the first output shaft, the first output shaft penetrates out of the first side wall, and the traveling wheel 12 is provided with a shaft hole that can be cooperatively connected with the first output shaft. The connection between the first output gear 114 and the traveling wheel 12 can be realized through the cooperation of the first output shaft and the shaft hole. When the first connection structure is set as the first connection hole, a connecting shaft that can penetrate from the first side wall into the housing 111 to be connected to the first connection hole is arranged on the traveling wheel 12. The connection between the first output gear 114 and the traveling wheel 12 is realized through the cooperation of the connecting shaft and the first connection hole.

[0033] Similarly, in the actual setting, the second connection structure can be set to protrude outside the second side wall and connect with the second output shaft of the obstacle-crossing assembly 13, or be set as the second connection hole provided on the second output gear 115 for the obstacle-crossing assembly 13 to connect. That is, when the second connection structure is set as the second output shaft, the second output shaft penetrates out of the second side wall, and the obstacle-crossing assembly 13 is provided with a shaft hole that can be cooperatively connected with the second output shaft. The connection between the second output gear 115 and the traveling wheel 12 can be realized through the cooperation of the second output shaft and the shaft hole. When the second connection structure is set as the second connection hole, the traveling wheel 12 is provided with a connection shaft that can penetrate into the box body 111 from the second side wall and be connected with the second connection hole. The connection between the second output gear 115 and the obstacle-crossing assembly 13 is realized through the cooperation of the connection shaft and the second connection hole.

[0034] Specifically, two traveling wheels 12 are usually arranged in pairs in the cleaning robot, and each traveling wheel 12 is connected with a gearbox 11. Therefore, the first side wall mentioned above can refer to the two side walls that are relatively arranged and closest to each other on the two gearboxes 11 in the use state of the cleaning robot, and at this time, the second side wall is the two side walls that are both arranged outward and farthest from each other on the two gearboxes 11. Of course, when the first side wall is the two side walls that are both arranged outward and farthest from each other on the two gearboxes 11, then the second side wall is the two side walls that are relatively arranged and closest to each other on the two gearboxes 11.

[0035] As Figure 1 and Figure 2 shown, in the embodiment of the present invention, the obstacle-crossing assembly 13 includes a first obstacle-crossing member 131, a support member 132, and a transmission member 133. The first obstacle-crossing member 131 is used to press against an obstacle; one end of the support member 132 is connected with the gearbox 11 or the housing 20, and the other end of the support member 132 is connected with the first obstacle-crossing member 131; one end of the transmission member 133 is connected with the second connection structure, and the other end of the transmission member 133 is connected with the first obstacle-crossing member 131. Specifically, the connection mode of the support member 132 with the gearbox 11 or the housing 20 is a movable connection, and it can be a direct connection or an indirect connection. The transmission member 133 is used to transmit the driving force to the first obstacle-crossing member 131, driving the first obstacle-crossing member 131 to rotate and press against the obstacle, so as to lift the housing 20, making the distance between the housing 20 and the cleaning surface greater than the height of the obstacle, so as to smoothly pass over the obstacle. The movement trajectory of the first obstacle-crossing member 131 is restricted and guided by the support member 132 to ensure that the first obstacle-crossing member 131 can rotate smoothly within a limited rotation range and play a reliable role in crossing obstacles.

[0036] Specifically, referring to Figure 1 and Figure 4, since the transmission member 133 is used to output the power on the output gear to drive the first obstacle-crossing member 131 to rotate. Therefore, the transmission member 133 can be a transmission shaft, the second connection structure is eccentrically arranged on the output gear, one end of the transmission shaft is connected to the second connection structure, and the other end is connected to the first obstacle-crossing member 131. Of course, the transmission member 133 can also be a transmission wheel with an eccentric shaft, and the second connection structure is coaxially arranged on the output gear, one end of the transmission wheel is connected to the second connection structure, and the eccentric shaft is connected to the first obstacle-crossing member 131. In this setting mode, it is ensured that when the cleaning device is in the normal cleaning state, the first obstacle-crossing member 131 will not interfere with the normal movement of the cleaning device; and when the cleaning device is in the obstacle-crossing state, the first obstacle-crossing member 131 can press against the obstacle to achieve the obstacle-crossing of the cleaning device.

[0037] As Figure 1 and Figure 3 shown, the obstacle-crossing assembly 13 further includes a connecting member 134 and a second obstacle-crossing member 135. One end of the connecting member 134 is used to connect to the transmission member 133 and the first obstacle-crossing member 131, and the other end is connected to the support member 132; the second obstacle-crossing member 135 is used to press against the obstacle, and the second obstacle-crossing member 135 is connected to the support member 132 and / or the first obstacle-crossing member 131. With this setting, the obstacle-crossing assembly 13 is enabled to have the first obstacle-crossing member 131 and the second obstacle-crossing member 135 to press against the obstacle during obstacle-crossing. Moreover, the first obstacle-crossing member 131 and the second obstacle-crossing member 135 press against the obstacle alternately. Thus, in actual obstacle-crossing, by the first obstacle-crossing member 131 and the second obstacle-crossing member 135 pressing against the obstacle alternately, the housing 20 can be gradually lifted, thereby avoiding the housing 20 touching the obstacle and achieving reliable obstacle-crossing.

[0038] As Figure 1As shown, since the movement trajectories of the first obstacle-crossing member 131 and the second obstacle-crossing member 135 are restricted and guided by the support member 132, and the support member 132 is movably connected to the first obstacle-crossing member 131, therefore, the second obstacle-crossing member 135 can be directly connected to the first obstacle-crossing member 131 or directly connected to the support member 132. In the embodiment of the present invention, it is preferably adopted that the second obstacle-crossing member 135 is simultaneously connected to the first obstacle-crossing member 131 and the support member 132. In this setting mode, among the parts of the support member 132, the transmission member 133, the connecting member 134, the first obstacle-crossing member 131 and the second obstacle-crossing member 135, all the interconnected parts are preferably movably connected, so that the obstacle-crossing assembly 13 forms a five-bar linkage structure. Moreover, the driving force for driving the entire obstacle-crossing assembly 13 to rotate is transmitted by the transmission member 133. At the same time, during the rotation process, the movement trajectories of the first obstacle-crossing member 131 and the second obstacle-crossing member 135 are restricted and guided by the support member 132 to ensure that the first obstacle-crossing member 131 and the second obstacle-crossing member 135 can rotate along the specified movement trajectories, and then during the obstacle-crossing process, they can continuously press against the obstacle to lift the lifting housing 20, realizing reliable obstacle-crossing of the cleaning device.

[0039] As Figure 1 shown, the first obstacle-crossing member 131 includes a first connecting portion 1311 and a first pressing portion 1312. One end of the first connecting portion 1311 is used to connect to the transmission member 133 and / or the connecting member 134, and the first pressing portion 1312 is arranged at the other end of the first connecting portion 1311 and has a first edge contact portion 1313 that bends downward. When the first obstacle-crossing member 131 rotates to cross an obstacle, by pressing against the obstacle through the first edge contact portion 1313, a pushing force can be generated to lift the housing 20. In a specific setting, the first obstacle-crossing member 131 is usually formed by an integral molding method, and preferably the first edge contact portion 1313 is arranged at the front end of the first obstacle-crossing member 131, and the bending direction is towards the obstacle. Thus, it is ensured that during obstacle-crossing, the first edge contact portion 1313 on the first obstacle-crossing member 131 can first contact the obstacle to generate a force for lifting the housing 20. At the same time, the first edge contact portion 1313 can be set to be a continuously curved arc at least on the side in contact with the cleaning surface, which can improve the smoothness of the first edge contact portion 1313 when rotating on the obstacle and reduce the friction force when contacting the obstacle. Moreover, an anti-slip structure such as an anti-slip groove or an anti-slip protrusion can be arranged at the position where the first edge contact portion 1313 first contacts the obstacle to ensure that the first edge contact portion 1313 does not slip when first contacting the obstacle, realizing reliable pressing and obstacle-crossing.

[0040] As Figure 1 and Figure 3As shown, the second obstacle-crossing member 135 includes a second connecting portion 1351 and a second pressing portion 1352. The second connecting portion 1351 is used to connect with the first obstacle-crossing member 131. The second pressing portion 1352 is provided at one end of the second connecting portion 1351 and has a second edge contact portion 1354 that bends downward. Similarly, when the second obstacle-crossing member 135 needs to press against an obstacle to cross the obstacle, by pressing against the obstacle through the second edge contact portion 1354, a pushing force can be generated to lift the housing 20. Specifically, the second obstacle-crossing member 135 is usually formed by an integral molding method. Moreover, preferably, the second edge contact portion 1354 is provided at the front end of the second obstacle-crossing member 135, and the bending direction is towards the obstacle. Thus, it is ensured that during obstacle crossing, the second edge contact portion 1354 on the second obstacle-crossing member 135 can first contact the obstacle to generate a force to lift the housing 20. At the same time, the side of the second edge contact portion 1354 that at least contacts the cleaning surface can be set as a continuously curved arc, which can improve the smoothness of the second edge contact portion 1354 when rotating on the obstacle and reduce the frictional force when contacting the obstacle. Moreover, an anti-slip structure such as an anti-slip groove or anti-slip protrusion can be provided at the position where the second edge contact portion 1354 first contacts the obstacle to ensure that the second edge contact portion 1354 does not slip when first contacting the obstacle and can achieve reliable pressing and obstacle crossing.

[0041] Specifically, in actual use, the first obstacle-crossing member 131 and the second obstacle-crossing member 135 need to press against the obstacle alternately, that is, the first obstacle-crossing member 131 first presses against the obstacle to lift the housing 20, and then the second obstacle-crossing member 135 presses against the obstacle to lift the housing 20 again. Therefore, to enable the first edge contact portion 1313 and the second edge contact portion 1354 to alternately press against the obstacle in sequence, as Figure 1 shown, the second connecting portion 1351 is further provided with a bending portion 1353 having a bending direction opposite to that of the second edge contact portion 1354, that is, the bending portion 1353 and the second edge contact portion 1354 are a continuous and reversely curved structure. In this way, the bending portion 1353 can lift the position of the second edge contact portion 1354 upward by a certain height relative to the position of the first edge contact portion 1313. Thus, a dislocation setting of the first edge contact portion 1313 and the second edge contact portion 1354 is achieved, ensuring that the second edge contact portion 1354 can press against the obstacle later than the first edge contact portion 1313.

[0042] In the obstacle-crossing device provided in the embodiment of the present invention, the traveling wheels and the obstacle-crossing components are both connected to the gearbox. Thus, the driving force is directly output by the gearbox to drive the rotation of the obstacle-crossing components. In this setting method, the obstacle-crossing components and the traveling wheels are separated and not connected. The obstacle-crossing components do not need to obtain the driving force from the traveling wheels, and the obstacle-crossing components are not directly connected to the traveling wheels, so that there are no other components connected to the traveling wheels. Moreover, the obstacle-crossing component 13 and the traveling wheel 12 are respectively located on opposite sides of the gearbox 11, avoiding the increase in structural complexity caused by setting the traveling wheel 12 and the obstacle-crossing component 13 on the same side and improving the aesthetics of the overall structure.

[0043] As Figure 5 shown, in the embodiment of the present invention, a cleaning robot 2 is further provided, including the above-mentioned obstacle-crossing device 1, a housing 20, and a driving member 21 (refer to Figure 1 ). The driving member 21 is arranged inside the housing 20 and is connected to the gearbox 11; and the gearbox 11 is connected to the housing 20. The driving member 21 is used to input the driving force into the gearbox 11 to make the gear set inside the gearbox 11 rotate. Then, after the speed change output of the gearbox 11, the traveling wheels 12 of the obstacle-crossing device 1 can rotate to realize the corresponding usage functions. By adopting the above-mentioned obstacle-crossing device 1 in this cleaning robot 2, and the obstacle-crossing component 13 in the above-mentioned obstacle-crossing device 1 is not directly connected to the traveling wheel 12 and is respectively located on opposite sides of the gearbox 11. In this way, the problem of the increase in structural complexity caused by setting the traveling wheel 12 and the obstacle-crossing component 13 on the same side and affecting the overall aesthetics is overcome, and the overall aesthetics of the cleaning robot 2 is improved.

[0044] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An obstacle crossing device, used to be installed on the housing of a movable cleaning robot, characterized in that: The obstacle crossing device comprises: A gearbox connected to the housing; A traveling wheel connected to the gearbox; An obstacle-crossing assembly is used to rotate and press against an obstacle to lift the housing, the travel wheel and the obstacle-crossing assembly are respectively located on opposite sides of the gearbox, and the obstacle-crossing assembly is connected to the gearbox to obtain a rotational force; Wherein, the gearbox comprises: The box body comprises a first side wall and a second side wall which are arranged opposite to each other, the walking wheel is arranged outside the first side wall, and the obstacle crossing assembly is arranged outside the second side wall; A driving gear connected to a driving member disposed in the housing; A speed-changing gear set, cooperating with the driving gear to change the rotation speed; The gearbox also includes one of the following: 1) A first output gear meshed with the speed gear set, the first output gear comprising a first connection structure connected to the travel wheel; a second output gear meshed with the speed gear set, the second output gear comprising a second connection structure connected to the obstacle crossing assembly; 2) an output gear meshing with the speed change gear set, wherein a first connection structure connected to the running wheel is disposed on a side of the output gear relative to the first side wall, and a second connection structure connected to the obstacle crossing assembly is disposed on a side of the output gear relative to the second side wall; Wherein, the obstacle crossing component comprises: A first obstacle-crossing member, used to press against the obstacle; A support member, one end of which is connected to the gearbox or the housing, and the other end of which is connected to the first obstacle-crossing member; a transmission member, one end of which is connected to the second connection structure, and the other end of which is connected to the first obstacle-crossing member; The obstacle crossing component also includes: A connecting member, one end of which is used to be connected to the transmission member and the first obstacle-crossing member, and the other end of which is connected to the supporting member; A second obstacle-surmounting member, used for pressing against the obstacle, the second obstacle-surmounting member being connected to the support member and / or the first obstacle-surmounting member; Wherein, the first obstacle-surmounting member and the second obstacle-surmounting member press against the obstacle in turn.

2. The obstacle surmounting device according to claim 1, characterized in that: The first connection structure is a first output shaft extending out of the first side wall and connected to the travel wheel; or is a first connection hole provided on the first output gear for connecting the travel wheel.

3. The obstacle surmounting device according to claim 1, characterized in that: The second connection structure is a second output shaft extending out of the second side wall and connected to the obstacle surmounting assembly; or is a second connection hole provided on the second output gear for connecting the obstacle surmounting assembly.

4. The obstacle surmounting device according to claim 1, characterized in that: The first obstacle-crossing component comprises: A first connecting part, one end of which is used to connect 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 edge contact portion bent downward.

5. The obstacle surmounting device according to claim 4, characterized in that: The second obstacle-crossing component comprises: A second connecting portion, used to connect with the first obstacle-crossing component; The second pressing portion is arranged at one end of the second connecting portion and has a second edge contact portion bent downward.

6. A cleaning robot, characterized in that: include: The obstacle surmounting device according to any one of claims 1 to 5; case; A driving member, disposed in the housing and connected to the gearbox; Wherein, the gearbox is connected to the housing.

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