Obstacle-crossing assisting device and cleaning robot

Abstract

The present invention is applicable to the field of obstacle crossing technology, and provides an obstacle crossing auxiliary device and a cleaning robot, wherein the obstacle crossing auxiliary device comprises: a main frame; a lifting mechanism, which is arranged on the main frame, and the lifting mechanism comprises a driving assembly and a lifting member driven to rise and fall by the driving assembly, and the driving assembly can be connected to the driving wheel so that the driving wheel provides the power to drive the lifting member to descend; a clutch driving member, which is arranged on the driving wheel and connected to the driving wheel by the control driving assembly; a spare wheel, which is arranged on the lifting member, and when the lifting member descends, the spare wheel extends out of the driving wheel; a second transmission group, which comprises a second transmission member arranged on the spare wheel and a third transmission member arranged on the driving wheel and can cooperate with the second transmission member, and the clutch assembly is used to cancel the control of the driving assembly; and a positioning mechanism, which positions the lifting member after the lifting member descends. The obstacle crossing capability of the machine body can be greatly improved, and the structural design is ingenious, which can save power costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of obstacle crossing, and in particular relates to an obstacle crossing auxiliary device and a cleaning robot. Background Art

[0002] The obstacle crossing ability of existing cleaning robots is limited by the height of the walking wheels, that is, the higher the walking wheels are, the stronger the obstacle crossing ability is, and the shorter the height is, the weaker the obstacle crossing ability is. When the cleaning robot is performing a cleaning task, the body of the cleaning robot cannot be too far from the ground, otherwise it will affect the cleaning robot's ability to clean up garbage on the ground. Therefore, the height of the walking wheels cannot be increased indefinitely. Therefore, the cleaning robot can only pass through some low obstacles, such as carpets, etc., but cannot cross higher obstacles such as thresholds. As a result, the cleaning robot is spatially restricted when performing cleaning tasks, resulting in a series of derivative problems. For example, some special spaces in the room (kitchens, bathrooms, etc.) require higher thresholds, and existing cleaning robots cannot cross these spaces, so the base station of the cleaning robot can only be set in the bedroom or living room. The setting of the base station requires access to a water source at the current location, which makes construction difficult and increases the user's space occupation, resulting in a poor customer experience. Summary of the invention

[0003] The obstacle-crossing assist device provided by the present invention is intended to solve the problem that the existing cleaning robots have low obstacle-crossing ability, resulting in spatial limitations when performing cleaning tasks, thereby causing poor user experience for customers.

[0004] The present invention is implemented as follows: an obstacle-crossing assisting device is applied to a cleaning robot, the cleaning robot comprises a driving wheel assembly, the driving wheel assembly comprises a driving wheel, a main driving member driving the driving wheel to operate, and a first transmission group connecting the driving wheel and the main driving member, the obstacle-crossing assisting device comprises:

[0005] A main body bracket, fixedly mounted on the cleaning robot and located on one side of the driving wheel;

[0006] A lifting mechanism is arranged on the main support, the lifting mechanism includes a driving assembly and a lifting member driven to rise and fall by the driving assembly, the driving assembly can be connected to the driving wheel so that the driving wheel provides power to drive the lifting member to descend, and the moving direction of the lifting member is set at an angle to the vertical direction and is inclined to the rear side of the walking direction of the driving wheel;

[0007] A clutch driving member, disposed on the driving wheel and used to control the connection between the driving assembly and the driving wheel;

[0008] A spare wheel is provided on the lifting member and is located outside the driving wheel and moves with the lifting member. When the lifting member descends, the spare wheel extends out of the driving wheel;

[0009] The second transmission group includes a second transmission member provided on the spare wheel to drive the spare wheel to rotate, and a third transmission member provided on the driving wheel and capable of cooperating with the second transmission member. When the spare wheel extends out of the driving wheel, the second transmission member and the third transmission member are meshed and transmitted, and the clutch assembly cancels the control of the drive assembly to make the drive assembly disengage from the driving wheel.

[0010] The positioning mechanism is used to position the lifting member after the lifting member descends so that the second transmission member and the third transmission member maintain meshing transmission.

[0011] Furthermore, the driving assembly comprises:

[0012] A fourth transmission member is sleeved on the rotating shaft of the driving wheel and passes through the main frame, the third transmission member can rotate relative to the rotating shaft, and the clutch driving member controls the fourth transmission member to be linked with the driving wheel;

[0013] a transmission tooth, provided on the lifting member and extending along the lifting direction of the lifting member, the fourth transmission member being meshed with the transmission tooth;

[0014] A first restoring member is fixedly mounted on the main support and provides a rising power to the lifting member when the clutch driving member cancels the control of the fourth transmission member;

[0015] When the fourth transmission member is linked with the driving wheel, the fourth transmission member rotates on the transmission teeth, and the lifting member descends.

[0016] Furthermore, the fourth transmission member is sleeved on the rotating shaft and can move along the axis of the rotating shaft toward the driving wheel. The obstacle crossing assist device also includes a second reset member arranged between the fourth transmission member and the driving wheel. The second reset member provides a pre-tightening force to the fourth transmission member away from the driving wheel. The clutch driving member is an electromagnet. The clutch driving member is located on the side of the driving wheel away from the main body bracket. The fourth transmission member can be adsorbed by the clutch driving member and moved toward the driving wheel and cooperate with the driving wheel.

[0017] Further, a first positioning portion is provided on a side of the fourth transmission member facing the driving wheel, and a second positioning portion that can cooperate with or separate from the first positioning portion is provided on a side of the driving wheel facing the fourth transmission member.

[0018] Furthermore, the positioning mechanism includes a positioning member rotatably provided on the bracket and located on one side of the lifting member, and a third reset member provided on the bracket, the positioning member abuts against the side surface of the lifting member, the third reset member provides a pre-tightening force for the positioning member to rotate in the direction of the lifting member, and when the lifting member drives the spare wheel to extend out of the driving wheel, the positioning member rotates in the direction of the lifting member and abuts against the top of the lifting member.

[0019] Furthermore, the positioning mechanism also includes a rotating disk, which is sleeved on the fourth transmission member and rotates with the fourth transmission member. A plurality of protrusions are arranged at intervals on the circumference of the rotating disk, and a recess is formed between two adjacent protrusions. A pushing part is provided on the positioning member. When the rotating disk rotates toward the positioning member, the protrusion can push the pushing part to rotate in a direction away from the lifting member. When the pushing part passes over the protrusion and sinks into the recess, the positioning member is reset under the action of the third reset member.

[0020] Further, when the positioning member abuts against the top of the lifting member, the fourth transmission member is located at the upper limit position of the transmission tooth;

[0021] The protrusion includes a first height position and a second height position connected to the first height position, the distance from the first height position to the center of the rotating disk is smaller than the distance from the second height position to the center of the rotating disk, the length of the first height position in the circumferential direction of the rotating disk is larger than the length of the second height position in the circumferential direction of the rotating disk, the second height position is located at the rear side of the first height position when the rotating disk rotates toward the positioning member, when the pushing portion abuts against the first height position, the positioning member is separated from the top of the lifting member, and when the pushing portion abuts against the second height position, the positioning member is away from the lifting member and a gap is formed between the lifting member.

[0022] Furthermore, the obstacle crossing assist device also includes a detection switch, which is arranged on the main body bracket and located on a side of the positioning member away from the lifting member, and the detection switch includes a trigger part pushed back by the positioning member, when the positioning member rotates toward the lifting member and disengages from the trigger part or when the positioning member rotates away from the lifting member to push the trigger part, the clutch drive member cancels the control of the fourth transmission member.

[0023] Furthermore, the second transmission member is evenly distributed on the circumference of the spare wheel on the side facing the main frame, the third transmission member passes through the main frame, and the second transmission group also includes a fifth transmission member evenly distributed on the circumference of the driving wheel on the side facing the main frame, the third transmission member is internally meshed with the lower side of the fifth transmission member for transmission, and when the spare wheel extends out of the driving wheel, the third transmission member is internally meshed with the upper side of the second transmission member.

[0024] The present invention also provides a cleaning robot, comprising a body, a driving wheel assembly and the aforementioned obstacle-crossing assisting device, wherein the driving wheel assembly is arranged on the body, and the obstacle-crossing assisting device is arranged on the driving wheel assembly.

[0025] The beneficial effect achieved by the present invention is that a spare wheel is arranged on the outer side of the driving wheel, and the spare wheel is retractably arranged on the lifting member. When it is necessary to overcome an obstacle, the driving wheel provides power to the driving component to drive the lifting member to descend, so that the spare wheel extends out of the driving wheel to increase the height of the driving wheel, and then the body is lifted, thereby improving the obstacle-overcoming ability of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the external structure of an obstacle-crossing auxiliary device provided by the present invention, in which the spare wheel is retracted onto the driving wheel;

[0027] Figure 2 yes Figure 1 A cross-sectional view of AA;

[0028] Figure 3 It is a partially exploded schematic diagram of a spare wheel of an obstacle-crossing auxiliary device provided by the present invention being retracted onto a driving wheel;

[0029] Figure 4 It is a schematic diagram of the external structure of an obstacle-crossing auxiliary device provided by the present invention, in which a spare wheel extends out of a driving wheel;

[0030] Figure 5 yes Figure 4 Cross-section at the middle BB;

[0031] Figure 6 It is a partially exploded schematic diagram of a spare wheel of an obstacle-crossing auxiliary device provided by the present invention extending out of a driving wheel;

[0032] Figure 7 yes Figure 2 Enlarged view of point C in the middle;

[0033] Figure 8 It is another exploded schematic diagram of a spare wheel of an obstacle-crossing auxiliary device provided by the present invention extending out of a driving wheel;

[0034] Fig. 9 yes Figure 8 The enlarged view of point D in the middle;

[0035] Fig.10 It is a structural schematic diagram of a rotating disk of an obstacle-crossing assisting device provided by the present invention. DETAILED DESCRIPTION

[0036] 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.

[0037] Embodiment 1

[0038] See also Figure 1-6 This embodiment provides a cleaning robot, including a body (not shown in the figure), a driving wheel assembly 1 and an obstacle-crossing assisting device, wherein the driving wheel assembly 1 is arranged on the body, and the obstacle-crossing assisting device is arranged on the driving wheel assembly 1.

[0039] Specifically, the cleaning robot includes a driving wheel assembly 1, the driving wheel assembly 1 includes a driving wheel 11, a main driving component (not shown in the figure) that drives the driving wheel 11 to operate, and a first transmission group 12 connecting the driving wheel 11 and the main driving component. The obstacle crossing auxiliary device includes a main body bracket 2, a lifting mechanism 3, a clutch driving component 4, a spare wheel 5, a second transmission group 6 and a positioning mechanism 8. Among them, the main frame 2 is fixed on the body of the cleaning robot and is located on one side of the driving wheel 11, the lifting mechanism 3 is arranged on the main frame 2, the lifting mechanism 3 includes a driving component 31 and a lifting member 32 driven to rise and fall by the driving component 31, the driving component 31 can be connected to the driving wheel 11 so that the driving wheel 11 provides power to drive the lifting member 32 to descend, the clutch driving member 4 is arranged on the driving wheel 11 and is used to control the connection between the driving component 31 and the driving wheel 11, the spare wheel 5 is arranged on the lifting member 32 and is located on the outside of the driving wheel 11 and moves with the lifting member 32 to extend out of the driving wheel 11 or retract into the driving wheel 11, the outside of the driving wheel 11 refers to the side facing the other driving wheel 11 when the driving wheel 11 is installed on the body, and when the lifting member 32 descends, the spare wheel 5 extends out of the driving wheel 11 1, the second transmission group 6 includes a second transmission member 61 provided on the spare wheel 5 to drive the spare wheel 5 to rotate, and a third transmission member 62 provided on the driving wheel 11 and capable of cooperating with the second transmission member 61. When the spare wheel 5 extends out of the driving wheel 11, the second transmission member 61 and the third transmission member 62 are meshed and transmitted so that the driving wheel 11 drives the spare wheel 5 to rotate, and the clutch driving member 4 cancels the control of the driving assembly 31 to make the driving assembly 31 disengage from the driving wheel 11, so as to avoid that the driving assembly 31 is still linked with the driving wheel 11, thereby increasing the energy loss of the driving wheel 11 or causing the driving assembly 31 to still be in a working state and generate structural wear. The positioning mechanism 8 is used for positioning the lifting member 32 after the lifting member 32 is lowered so that the second transmission member 61 and the third transmission member 62 are kept meshed and transmitted.

[0040] The obstacle-crossing auxiliary device is provided with a spare wheel 5 on the outside of the driving wheel 11, and the spare wheel 5 is retractably provided on the lifting member 32. When it is necessary to cross an obstacle, the driving wheel 11 provides the driving assembly 31 with power to drive the lifting member 32 to descend, so that the spare wheel extends out of the driving wheel 11 to increase the height of the large driving wheel 11, thereby raising the body, thereby improving the obstacle-crossing ability of the cleaning robot. This design scheme has the following advantages on the basis of improving the obstacle-crossing ability:

[0041] (1) The spare wheel 5 is arranged outside the driving wheel 11. The diameter of the spare wheel 5 can be made larger and is not limited by the driving wheel 11. The torque of the spare wheel 5 is increased and the obstacle crossing capability is stronger.

[0042] (2) The driving wheel 11 provides the power for extending the spare wheel 5, and when the spare wheel 5 extends out of the driving wheel 11, the spare wheel 5 is driven to rotate by the driving wheel 11 at the same time, which can save power costs.

[0043] The cleaning robot provided by the present invention can greatly improve the obstacle-crossing capability of the robot body by providing an obstacle-crossing auxiliary device, and at the same time, the structure design is ingenious, which can save power costs.

[0044] See also Figure 2 Furthermore, the second transmission member 61 is evenly distributed on the side of the spare wheel 5 facing the main frame 2, the third transmission member 62 is passed through the main frame, and the second transmission group 6 also includes a fifth transmission member 63 evenly distributed on the side of the driving wheel 11 facing the main frame 2. The third transmission member 63 is meshed with the lower side of the fifth transmission member 62 for transmission. When the spare wheel 5 extends out of the driving wheel 11, the third transmission member 62 is meshed with the upper side of the second transmission member 61. In this way, the second transmission member 61 respectively arranged on the spare wheel 5 and the fifth transmission member 63 arranged on the driving wheel 11 can be driven by the third transmission member 62, so that the driving wheel 11 and the spare wheel 5 are linked, and the structural design is simple and ingenious.

[0045] See also Figure 4 Furthermore, the moving direction of the lifting member 32 is set at an angle to the vertical direction and is tilted toward the rear side of the moving direction of the driving wheel 11. In this way, when the spare wheel 5 extends out of the driving wheel 11, the driving wheel 11 and the spare wheel 5 cooperate to overcome obstacles, and the contact area between the spare wheel 5 and the obstacle can be increased, thereby increasing the traction force, thereby further improving the obstacle-overcoming capability.

[0046] See also Figure 2 Specifically, the driving wheel 11 includes a first hub 11a and a second hub 11b that are arranged opposite to each other, and a wheel body 11c that is sleeved outside the first hub 11a and the second hub 11b. The main frame 2 is arranged on the side of the second hub 11b away from the first hub 11a. The fifth transmission member 63 is circumferentially arranged on the second hub 11b and is located on the side facing the main frame 2. The clutch driving member 4 is arranged on the side of the first hub 11a away from the second hub 11b.

[0047] Embodiment 2

[0048] See also Figure 2-6On the basis of the first embodiment, specifically, the driving assembly 31 includes a fourth transmission member 311 , a transmission tooth 312 and a first reset member 313 . Among them, the fourth transmission member 311 is sleeved on the rotating shaft 13 of the driving wheel 11 and passes through the main frame 2. The third transmission member 62 can rotate relative to the rotating shaft 13 to avoid the fourth transmission member 311 from being driven to rotate when the driving wheel 11 is walking normally. The fourth transmission member 311 passes through the main frame 2 so as to cooperate with the transmission tooth 312 described below for transmission. The clutch driving member 4 controls the fourth transmission member 311 to be linked with the driving wheel 11 so that the fourth transmission member 311 is driven to rotate by the driving wheel 11 when obstacles need to be overcome. The transmission tooth 312 is provided on the lifting member 32 and extends along the lifting direction of the lifting member 32. The fourth transmission member 311 is meshed with the transmission tooth 312. The first reset member 313 is fixedly provided on the main frame 2 and provides the lifting member 32 with ascending power when the clutch driving member 4 cancels the control of the fourth transmission member 311. When the fourth transmission member 311 is linked with the driving wheel 11, the fourth transmission member 311 rotates on the transmission tooth 312, and the lifting member 32 descends.

[0049] When the spare wheel 5 needs to be extended out of the driving wheel 11, the clutch driving component 4 is used to control the fourth transmission component 311 to be linked with the driving wheel 11 so that the driving wheel 11 provides the driving component 31 with power to control the lifting component 32 to descend, so as to save power cost. The first reset component 313 is provided on the driving component 31. When the lifting component 32 is needed to drive the spare wheel 5 to be retracted onto the driving wheel 11, the clutch driving component 4 cancels the control of the fourth transmission component 311 to make the fourth transmission component 311 disengage from the driving wheel 11. The restoring force of the first reset component 313 can pull the lifting component 32 back to its original position, thereby driving the spare wheel 5 to reset.

[0050] When the first reset member 313 drives the lifting member to rise, since the fourth transmission member 311 is disengaged from the driving wheel 11, the transmission tooth 312 causes the fourth transmission member 311 to rotate in the opposite direction. When the clutch driving member 4 cancels the control of the fourth transmission member 311, since the fourth transmission member 311 is always engaged with the transmission tooth 312, when the first reset member 313 pulls the lifting member 32 to rise, the fourth transmission member 311 can cooperate with the transmission tooth 312 to produce a damping effect, thereby making the lifting member 32 rise smoothly and compactly.

[0051] Embodiment 3

[0052] See also Figure 2On the basis of the second embodiment, further, the fourth transmission member 311 is sleeved on the rotating shaft 13 and can move along the axis of the rotating shaft 13 toward the driving wheel 11. The obstacle-crossing auxiliary device also includes a second reset member 7 disposed between the fourth transmission member 311 and the driving wheel 11. The second reset member 7 provides a pre-tightening force away from the driving wheel 11 to the fourth transmission member 311. The clutch drive member 4 is an electromagnet. The clutch drive member 4 is located on the side of the driving wheel 11 away from the main support 2. The fourth transmission member 311 can be adsorbed by the clutch drive member 4 and moved toward the driving wheel 11 and cooperated with the driving wheel 11. In this way, when the electromagnet is powered on, the fourth transmission member 311 is adsorbed and moved toward the driving wheel 11 to cooperate with the driving wheel 11, so that when the driving wheel 11 rotates, it can drive the fourth transmission member 311 to rotate, thereby driving the drive assembly 31 to operate. When the electromagnet is powered off, under the action of the second reset member 7, the fourth transmission member 311 is reset and separated from the driving wheel 11.

[0053] Specifically, the electromagnet can be annular in structure, and the annular electromagnet can be sleeved on the rotating shaft 13 and rotate relative to the rotating shaft 13. The electromagnet can be fixed with the driving wheel assembly 1 (see Figure 2 , which can be a fixing seat 10 on the driving wheel assembly 1 for fixing the driving wheel 11) connected and fixed to prevent the electromagnet from rotating.

[0054] The clutch drive member 4 controls the movement of the fourth transmission member 311 by adopting the structure of the electromagnet and the cooperation of the second reset member 7. Compared with adopting other structures to control the movement of the fourth transmission member 311, it can simplify the installation structure and reduce the energy consumption of the electromagnet, thereby reducing the cost.

[0055] Embodiment 4

[0056] See also Figure 2 , 7 On the basis of the third embodiment, further, the fourth transmission member 311 is provided with a first positioning portion 111 on the side facing the driving wheel 11, and the driving wheel 11 is provided with a second positioning portion 3111 on the side facing the fourth transmission member 311, which can cooperate with or separate from the first positioning portion 111. In this way, when the clutch driving member 4 drives the fourth transmission member 311 to move toward the driving wheel 11, the first positioning portion 111 cooperates with the second positioning portion 3111, so that the driving wheel 11 and the fourth transmission member 311 can be linked.

[0057] Specifically, the first positioning portion 111 and the second positioning portion 3111 may be formed by teeth evenly distributed circumferentially on the driving wheel 11 and the fourth transmission member 311 , respectively, so as to ensure the matching efficiency and matching accuracy of the first positioning portion 111 and the second positioning portion 3111 .

[0058] Embodiment 5

[0059] See also Figure 3 , 4 , 8, 9, on the basis of any one of embodiments 1 to 4, further, the positioning mechanism 8 includes a positioning member 81 rotatably provided on the bracket and located on one side of the lifting member 32, and a third reset member 82 provided on the bracket, the positioning member 81 abuts against the side of the lifting member 32, the third reset member 82 provides a pre-tightening force for the positioning member 81 to rotate in the direction of the lifting member 32, and when the lifting member 32 drives the spare wheel 5 to extend out of the driving wheel 11, the positioning member 81 rotates in the direction of the lifting member 32 and abuts against the top of the lifting member 32.

[0060] When the lifting member 32 drives the spare wheel 5 to be retracted onto the driving wheel 11, the lifting member 32 abuts against the positioning member 81. At this time, the third restoring member 82 is squeezed. When the lifting member 32 descends and drives the spare wheel 5 to extend out of the driving wheel 11 until it is away from the positioning member 81, the restoring ability of the third restoring member 82 causes the positioning member 81 to rotate toward the lifting member 32 and abut against the top of the lifting member 32, thereby keeping the lifting member 32 in the extended state.

[0061] Specifically, a slope 321 is provided at the top of the lifting member 32, and the lower end of the slope 321 extends to the surface of the lifting member 32 in the direction of the positioning member 81. A guide portion 812 is provided at the end where the positioning member 81 abuts against the lifting member 32. The guide portion 812 can be an arc structure or a slope structure that matches the aforementioned slope. This ensures that the positioning member 81 can be smoothly inserted into the top of the lifting member 32 or detached from the top of the lifting member 32 when it rotates.

[0062] Embodiment 6

[0063] See also Fig. 9 , 10 On the basis of the fifth embodiment, the positioning mechanism 8 further includes a rotating disk 83, which is sleeved on the fourth transmission member 311 and rotates with the fourth transmission member 311. A plurality of protrusions 831 are arranged at intervals on the circumference of the rotating disk 83, and a recessed portion 832 is formed between two adjacent protrusions 831. A pushing portion 811 is provided on the positioning member 81. When the rotating disk 83 rotates toward the positioning member 81, the protrusion 831 can push the pushing portion 811 to rotate in a direction away from the lifting member 32. When the pushing portion 811 passes over the protrusion 831 and sinks into the recessed portion 832, the positioning member 81 is reset under the action of the third reset member 82.

[0064] In this way, the positioning member 81 can be rotated away from the lifting member 32 by the protrusions 831 provided on the rotating disk 83, so that when the lifting member 32 needs to rise to drive the spare wheel 5 to be retracted, the restriction on the lifting member 32 can be released. In addition, the protrusions 831 are provided at intervals on the circumference of the rotating disk, which can simplify the design accuracy of the position of the protrusions 831 on the rotating disk 83, and it is not necessary to be limited to the rotation angle of the rotating disk 83, and it can be ensured that the protrusions 831 can push the positioning member 81 away from the lifting member 32.

[0065] When in use, the clutch driving member 4 controls the fourth transmission member 311 to move toward the driving wheel 11 to cooperate with the driving wheel 11, and the driving wheel 11 drives the fourth transmission member 311 to rotate to drive the rotating disk 83 toward the positioning member 81. When the positioning member 81 leaves the top of the lifting member 32, the clutch driving member 4 cancels the rotation of the fourth transmission member 311. Under the action of the second reset member 7, the fourth transmission member 311 moves away from the driving wheel 11 and disengages from the driving wheel 11. Under the action of the first reset member 313, the lifting member 32 drives the spare wheel 5 to rise to retract the spare wheel 5 onto the driving wheel 11.

[0066] Specifically, the rotating disk 83 is located on the side of the main frame 2 facing the driving wheel 11, that is, on the side of the main frame 2 facing the second hub 11b, and the pushing portion 811 passes through the main frame 2 and extends toward the rotating disk 83. Furthermore, the main frame 2 is provided with an arc groove 21 for the pushing portion 811 to pass through, and when the positioning member 81 abuts against the end of the lifting member 32, the pushing portion 811 abuts against the first end of the arc groove 21 close to the lifting member 32, so that the arc groove 21 can realize the positioning of the rotation of the positioning member 81.

[0067] Embodiment 7

[0068] See also Fig. 9 , 10 On the basis of the sixth embodiment, further, when the positioning member 81 abuts against the top of the lifting member 32, the fourth transmission member 311 is located at the upper limit position of the transmission tooth 312, that is, at this time, even if the driving wheel 11 continues to drive the fourth transmission member 311 to rotate, the lifting member 32 will not continue to descend, that is, at this time, the lifting member 32 is at the lowering limit position;

[0069] The protrusion 831 includes a first height position 8311 and a second height position 8312 connected to the first height position 8311. The distance from the first height position 8311 to the center of the rotating disk 83 is smaller than the distance from the second height position 8312 to the center of the rotating disk 83, that is, the second height position 8312 is farther from the center of the rotating disk 83, and the circumferential diameter or radius of the circle where it is located is larger than that of the first height position 8311. The length of the first height position 8311 in the circumferential direction of the rotating disk 83 is greater than the length of the second height position 8312 in the circumferential direction of the rotating disk 83. The position 8312 is located at the rear side of the first height position 8311 when the rotating disk 83 rotates toward the positioning member 81, that is, taking the direction in which the rotating disk 83 rotates toward the positioning member 81 as a reference, the first height position 8311 is located at the front side in the rotation direction, and the second height position 8312 is located at the rear side of the rotation position. When the pushing portion 811 abuts against the first height position 8311, the positioning member 81 is separated from the top of the lifting member 32. When the pushing portion 811 abuts against the second height position 8312, the positioning member 81 is away from the lifting member 32 and a gap is formed between the lifting member 32.

[0070] When the second gear 311 is in the state of being lifted up, the clutch driving member 4 controls the fourth transmission member 311 to be linked with the driving wheel 11, and the fourth transmission member 311 drives the rotating disk 83 to continue to rotate in the direction of the positioning member 81. Since the fourth transmission member 311 is already at the upper limit position of the transmission tooth 312, the rotation of the fourth transmission member 311 does not drive the lifting member 32. At this time, the fourth transmission member 311 is in a slipping state, and the first height position 8311 of the rotating disk 83 first abuts against the pushing portion 811 to push the positioning member 81 to rotate in the direction away from the lifting member 32. At this time, the positioning member 81 is pushed by the first height position 8311 to rotate a certain stroke away from the lifting member 32 to break away from the top of the lifting member 32. When the pushing portion 811 moves at the first height position 8311, the pushing stroke of the positioning member 81 remains unchanged. The lifting member 32 is lifted up from the second height position 8311 to the second height position 8312. At this time, the second height position 8312 continues to rotate the positioning member 81 away from the lifting member 32, so that a gap is formed between the positioning member 81 and the lifting member 32, so that when the clutch driving member 4 cancels the control of the fourth transmission member 311, the lifting member 32 is pulled up under the action of the first reset member 313, and the meshing of the transmission tooth 312 and the fourth transmission member 311 causes the fourth transmission member 311 to rotate away from the positioning member 81. At the same time, the rotating disk 83 also cancels the control of the pushing portion 811 as the fourth transmission member 311 rotates away from the positioning member 81, so that the positioning member 81 is provided with a buffer return stroke when it rotates toward the lifting member 32 under the action of the third reset member 82, thereby preventing the positioning member 81 from resetting when the lifting member 32 has not yet risen and interfering with the lifting member 32, thereby affecting the rise of the lifting member 32.

[0071] Embodiment 8

[0072] See also Figure 3 , 9 On the basis of any one of the fifth to seventh embodiments, the obstacle crossing assist device further includes a detection switch 9, which is arranged on the main support 2 and located on the side of the positioning member 81 away from the lifting member 32. The detection switch 9 includes a trigger part 91 pushed back by the positioning member 81. When the positioning member 81 rotates toward the lifting member 32 to disengage from the trigger part 91 or when the positioning member 81 rotates away from the lifting member 32 to push the trigger part 91, the clutch driving member 4 cancels the control of the fourth transmission member 311.

[0073] A detection switch 9 is provided to provide a power-off signal to the clutch drive 4 after the positioning member 81 is rotated in a direction away from the lifting member 32 or in a direction of the lifting Jan, thereby triggering a signal to the clutch drive 4, making the structure intelligent and stable and reliable.

[0074] Overall working principle:

[0075] The detection switch 9 and the clutch drive member 4 are both electrically connected to the control center of the cleaning robot. When the cleaning robot detects an obstacle, the control center sends a power-on command to the clutch drive member 4. The clutch drive member 4 controls the fourth transmission member 311 to move toward the driving wheel 11 to be linked with the driving wheel 11. The driving wheel 11 rotates while driving the fourth transmission member 311 to rotate. The transmission teeth 312 meshing with the fourth transmission member 311 drive the lifting member 32 to descend. Before the lifting member 32 descends, the positioning member 81 is abutted by the lifting member 32 to push the trigger part 91 of the detection switch 9. When the lifting member 32 descends into place, the positioning member 81 is in Under the action of the third reset member 82, the lifting member 32 rotates in the direction of the lifting member 32 and disengages from the triggering portion 91. When the positioning member 81 completely disengages from the triggering portion 91, the detection switch 9 detects that the positioning member 81 has disengaged from the detection switch 9. The detection switch 9 sends a signal to the control center, and the control center sends a power-off signal to the clutch driving member 4. At this time, under the action of the second reset member 7, the fourth transmission member 311 is disengaged from the driving wheel 11, and the lifting member 32 is in an extended state under the action of the positioning member 81. At this time, the cooperation of the second transmission member 61 and the third transmission member 62 enables the driving wheel 11 to drive the spare wheel 5 to rotate at the same time, thereby achieving obstacle crossing;

[0076] When it is necessary to retract the spare wheel 5 onto the driving wheel 11, the control center sends a power-on signal to the clutch driving component 4, and the clutch driving component 4 controls the fourth transmission component 311 to move toward the driving wheel 11 in linkage, and the driving wheel 11 simultaneously drives the fourth transmission component 311 to rotate. At this time, since the fourth transmission component 311 is already in the extreme position at one end of the transmission tooth 312, the fourth transmission component 311 slips in place and does not change the current descending position of the lifting component 32. When the fourth transmission component 311 drives the rotating disk 83 to rotate, the second height position 8312 of the rotating disk 83 compresses the triggering part 91 of the detection switch 9 to the extreme position. At this time, the detection switch 9 sends a signal to the control center to send a power-off signal to the clutch driving component 4, thereby canceling the power input of the driving wheel 11 to the fourth transmission component 311 to make the fourth transmission component 311 in an idling state, and the lifting component 32 can be lifted up under the action of the first reset component 313.

[0077] In this embodiment, the detection switch 9 can be a micro switch, and the trigger part 91 of the detection switch 9 is a trigger piece of the micro switch. When the trigger piece contacts an object and is squeezed by the object, it has a compression rebound stroke. Different thresholds can be set in the natural state and the compression stroke state of the trigger piece so that the detection switch 9 sends signals to the control center in different states.

[0078] 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. An obstacle-crossing assist device, applied to a cleaning robot, the cleaning robot comprising a driving wheel assembly, the driving wheel assembly comprising a driving wheel, a main driving member driving the driving wheel, and a first transmission group connecting the driving wheel and the main driving member, characterized in that: The obstacle assistance device comprises: A main body bracket, fixedly mounted on the cleaning robot and located on one side of the driving wheel; A lifting mechanism is arranged on the main support, the lifting mechanism includes a driving assembly and a lifting member driven to rise and fall by the driving assembly, the driving assembly can be connected to the driving wheel so that the driving wheel provides power to drive the lifting member to descend, and the moving direction of the lifting member is set at an angle to the vertical direction and is inclined to the rear side of the walking direction of the driving wheel; A clutch drive member, disposed on the driving wheel and used to control the driving assembly to be connected to the driving wheel; A spare wheel is provided on the lifting member and is located outside the driving wheel and moves with the lifting member. When the lifting member descends, the spare wheel extends out of the driving wheel; The second transmission group includes a second transmission member provided on the spare wheel to drive the spare wheel to rotate, and a third transmission member provided on the driving wheel and capable of cooperating with the second transmission member. When the spare wheel extends out of the driving wheel, the second transmission member and the third transmission member are meshed and transmitted, and the clutch driving member cancels the control of the driving assembly to make the driving assembly disengage from the driving wheel. A positioning mechanism, used for positioning the lifting member after the lifting member descends so that the second transmission member and the third transmission member maintain meshing transmission; The drive assembly comprises: A fourth transmission member is sleeved on the rotating shaft of the driving wheel and passes through the main frame, the third transmission member can rotate relative to the rotating shaft, and the clutch driving member controls the fourth transmission member to be linked with the driving wheel; a transmission tooth, provided on the lifting member and extending along the lifting direction of the lifting member, the fourth transmission member being meshed with the transmission tooth; A first restoring member is fixedly mounted on the main support and provides a rising power to the lifting member when the clutch driving member cancels the control of the fourth transmission member; When the fourth transmission member is linked with the driving wheel, the fourth transmission member rotates on the transmission teeth, and the lifting member descends.

2. The obstacle-crossing assisting device according to claim 1, characterized in that: The fourth transmission member is sleeved on the rotating shaft and can move along the axis of the rotating shaft toward the driving wheel. The obstacle-crossing assist device also includes a second reset member arranged between the fourth transmission member and the driving wheel. The second reset member provides a pre-tightening force to the fourth transmission member away from the driving wheel. The clutch driving member is an electromagnet. The clutch driving member is located on the side of the driving wheel away from the main body bracket. The fourth transmission member can be adsorbed by the clutch driving member and moved toward the driving wheel and cooperate with the driving wheel.

3. The obstacle-crossing assisting device according to claim 2, characterized in that: A first positioning portion is provided on a side of the fourth transmission member facing the driving wheel, and a second positioning portion that can cooperate with or separate from the first positioning portion is provided on a side of the driving wheel facing the fourth transmission member.

4. The obstacle-crossing assisting device according to claim 1, characterized in that: The positioning mechanism includes a positioning member rotatably provided on the main frame and located on one side of the lifting member, and a third reset member provided on the main frame, the positioning member abuts against the side surface of the lifting member, the third reset member provides a pre-tightening force for the positioning member to rotate in the direction of the lifting member, and when the lifting member drives the spare wheel to extend out of the driving wheel, the positioning member rotates in the direction of the lifting member and abuts against the top of the lifting member.

5. The obstacle-crossing assisting device according to claim 4, characterized in that: The positioning mechanism also includes a rotating disk, which is sleeved on the fourth transmission member and rotates with the fourth transmission member. A plurality of protrusions are arranged at intervals on the circumference of the rotating disk, and a recess is formed between two adjacent protrusions. A pushing part is provided on the positioning member. When the rotating disk rotates toward the positioning member, the protrusion can push the pushing part to rotate in a direction away from the lifting member. When the pushing part passes over the protrusion and sinks into the recess, the positioning member is reset under the action of the third reset member.

6. The obstacle-crossing assisting device according to claim 5, characterized in that: When the positioning member abuts against the top of the lifting member, the fourth transmission member is located at the upper limit position of the transmission tooth; The protrusion includes a first height position and a second height position connected to the first height position, the distance from the first height position to the center of the rotating disk is smaller than the distance from the second height position to the center of the rotating disk, the length of the first height position in the circumferential direction of the rotating disk is larger than the length of the second height position in the circumferential direction of the rotating disk, the second height position is located at the rear side of the first height position when the rotating disk rotates toward the positioning member, when the pushing portion abuts against the first height position, the positioning member is separated from the top of the lifting member, and when the pushing portion abuts against the second height position, the positioning member is away from the lifting member and a gap is formed between the lifting member.

7. The obstacle-crossing assisting device according to claim 4, characterized in that: The obstacle-crossing assist device also includes a detection switch, which is arranged on the main support and located on a side of the positioning member away from the lifting member. The detection switch includes a trigger part that is pushed back by the positioning member. When the positioning member rotates toward the lifting member and disengages from the trigger part or when the positioning member rotates away from the lifting member to push the trigger part, the clutch drive member cancels the control of the fourth transmission member.

8. The obstacle-crossing assisting device according to claim 1, characterized in that: The second transmission member is evenly distributed on the circumference of the spare wheel on the side facing the main frame, the third transmission member passes through the main frame, and the second transmission group also includes a fifth transmission member evenly distributed on the circumference of the driving wheel on the side facing the main frame, the third transmission member is internally meshed with the lower side of the fifth transmission member for transmission, and when the spare wheel extends out of the driving wheel, the third transmission member is internally meshed with the upper side of the second transmission member.

9. A cleaning robot, characterized in that: It comprises a machine body, a driving wheel assembly and an obstacle-crossing assisting device as claimed in any one of claims 1 to 8, wherein the driving wheel assembly is arranged on the machine body, and the obstacle-crossing assisting device is arranged on the driving wheel assembly.

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