Obstacle crossing structure for sweeping robot and sweeping robot having the same

Abstract

The present invention discloses an obstacle-crossing structure for a sweeping robot and a sweeping robot having the same. The obstacle-crossing structure comprises: a bracket, a drive wheel assembly, a rocker arm, and an elastic member. The drive wheel assembly comprises: a housing and a drive wheel disposed on the housing, the housing being rotatably disposed on the bracket; the rocker arm pivotally engages with the bracket, the two ends of the rocker arm are respectively disposed on either side of the pivot center of the rocker arm, one end of the rocker arm abuts against the housing and slidably engages with the housing, one end of the elastic member is connected to the housing, and the other end of the elastic member is connected to the other end of the rocker arm. By arranging a combination of the rocker arm and the elastic member, the positive pressure of the drive wheel on the ground is increased by utilizing the elastic force of the elastic member and the driving force of the rocker arm, thereby improving the obstacle-crossing capability of the obstacle-crossing structure. The structure is simple, and stable motion can be quickly restored without increasing the weight of the obstacle-crossing structure.

Description

Technical Field

[0001] The present invention relates to the field of household electrical appliances, and in particular to an obstacle crossing structure for a sweeping robot and a sweeping robot having the same. Background Art

[0002] Smart mobile cleaning devices help people clean floors, significantly reducing the labor intensity and time required for cleaning. However, due to the complexity of work scenarios, such as thresholds between balconies and living rooms, thresholds between living rooms and bathrooms, and the bases of sliding doors, existing smart mobile cleaning devices can become stuck when navigating these scenarios due to insufficient obstacle-crossing capabilities. Unable to overcome obstacles, cleaning cannot continue, requiring manual intervention to help overcome them. Traditional methods for increasing the positive pressure exerted on the ground by the drive wheels at their maximum swing-out position include increasing the spring coefficient. However, increasing the spring coefficient requires a heavier overall weight to maintain balance at the minimum swing-out position, which increases the overall weight and has adverse effects. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide an obstacle-crossing structure for a sweeping robot, the obstacle-crossing structure having a strong obstacle-crossing capability and a simple structure.

[0004] Another object of the present invention is to provide a sweeping robot.

[0005] According to an embodiment of the present invention, an obstacle surmounting structure for a sweeping robot includes: a bracket; a driving wheel assembly, the driving wheel assembly including: a shell and a driving wheel arranged on the shell, the shell being rotatably arranged on the bracket; a rocker arm and an elastic member, the rocker arm pivotally engaged with the bracket, the rocker arm including: a first rod segment located on one side of the pivot center and a second rod segment located on the other side of the pivot center, the free end of the first rod segment abutting against the shell and slidingly engaging with the shell, one end of the elastic member being connected to the shell, and the other end of the elastic member being connected to the first rod segment or the second rod segment.

[0006] According to the obstacle crossing structure for a sweeping robot according to an embodiment of the present invention, a combination of a rocker arm and an elastic member is provided, and the elastic force of the elastic member and the driving force of the rocker arm are used to increase the positive pressure of the driving wheel on the ground, thereby improving the obstacle crossing ability of the obstacle crossing structure. In addition, the structure is simple and stable movement can be quickly restored without increasing the weight of the obstacle crossing structure.

[0007] In some embodiments, the extending direction of the first rod segment is the same as the extending direction of the second rod segment, the second rod segment is provided with a first hook, and the first hook is connected to the other end of the elastic member.

[0008] Optionally, the first rod segment and / or the second rod segment are provided with weight-reducing grooves on both sides in the thickness direction.

[0009] Optionally, the free end of the first rod segment is configured to be arc-shaped to reduce the contact area with the housing.

[0010] In some embodiments, one end of the shell is rotatably disposed on the bracket, the other end of the shell extends toward the front and is provided with the driving wheel, and the first rod segment extends toward the rear to stop against the shell; or the other end of the shell extends toward the rear and is provided with the driving wheel, and the first rod segment extends toward the front to stop against the shell.

[0011] Specifically, a second hook is provided on the one end of the shell, and the second hook is connected to the one end of the elastic member.

[0012] In some embodiments, the elastic member is configured as a coil spring.

[0013] In some embodiments, a driving member is disposed in the housing, and the driving member is connected to the driving wheel to drive the driving wheel to rotate.

[0014] Specifically, a speed reduction mechanism is further provided in the housing, an input end of the speed reduction mechanism is connected to the driving member, and an output end of the speed reduction mechanism is connected to the driving wheel.

[0015] A sweeping robot according to an embodiment of the present invention includes any one of the above-mentioned obstacle-crossing structures for a sweeping robot.

[0016] According to the sweeping robot of the embodiment of the present invention, by setting the above-mentioned obstacle crossing structure, the obstacle crossing ability of the sweeping robot is increased, and the positive pressure of the sweeping robot on the ground when crossing an obstacle is increased, which can improve the ability to cross obstacles and can adapt to a variety of complex working scenarios. In addition, the sweeping robot is light in weight, stable in movement, and has strong working stability.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0019] Figure 1 is a three-dimensional external view of an obstacle crossing structure according to an embodiment of the first part of the present invention;

[0020] Figure 2 is an exploded view of an obstacle crossing structure according to an embodiment of the first part of the present invention;

[0021] Figure 3 is a schematic structural diagram of an obstacle crossing structure according to an embodiment of the first part of the present invention;

[0022] Figure 4 2 is a schematic structural diagram of an obstacle crossing structure according to an embodiment of the second part of the present invention.

[0023] Reference numerals:

[0024] Obstacle structure 100,

[0025] Bracket 1,

[0026] Driving wheel assembly 2, housing 20, driving wheel 21, second hook 22,

[0027] The swing rod 3, the first rod section 31, the second rod section 32, the first hook 33, the weight-reducing groove 34,

[0028] Elastic part 4,

[0029] Rotation axis 5, DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. In the description of the present invention, "plurality" means two or more.

[0032] Reference below Figure 1-Figure 3 An obstacle surmounting structure 100 for a cleaning robot according to an embodiment of the present invention is described.

[0033] According to an embodiment of the present invention, an obstacle crossing structure 100 for a sweeping robot includes: a bracket 1, a driving wheel assembly 2, a rocker arm 3 and an elastic member 4. The driving wheel assembly 2 includes: a shell 20 and a driving wheel 21 arranged on the shell 20, and the shell 20 is rotatably arranged on the bracket 1; the rocker arm 3 is pivotally engaged with the bracket 1, and the rocker arm 3 includes: a first rod segment 31 and a second rod segment 31, the first rod segment 31 is located on one side of the pivot center, and the second rod segment 32 is located on the other side of the pivot center, the free end of the first rod segment 31 is stopped against the shell 20 and slidably engaged with the shell 20, one end of the elastic member 4 is connected to the shell 20, and the other end of the elastic member 4 is connected to the first rod segment 31 or the second rod segment 32.

[0034] Bracket 1 serves as the support and connector for obstacle-crossing structure 100. Drive wheel assembly 2, rocker arm 3, and elastic member 4 are all mounted on bracket 1, with bracket 1 located vertically above drive wheel assembly 2. Drive wheel assembly 2 provides power to move obstacle-crossing structure 100, while rocker arm 3 and elastic member 4 increase the positive pressure exerted by obstacle-crossing structure 100 on the ground, enhancing its ability to overcome obstacles.

[0035] It is understood that the obstacle-crossing structure 100 of the present invention is applied to a sweeping robot. The bracket 1 is connected to the sweeping robot, or the sweeping robot body is mounted on the bracket 1. The improved functionality of the obstacle-crossing structure 100 is ultimately applied to the sweeping robot, enhancing its functionality. The drive wheel assembly 2 of the obstacle-crossing structure 100 drives the bracket 1 to move, thereby driving the sweeping robot across the surface to be cleaned. The rocker arm 3 and elastic member 4 enhance the obstacle-crossing capability of the obstacle-crossing structure 100, ultimately also affecting the sweeping robot, driving it to overcome obstacles, making it suitable for a variety of complex work scenarios and improving its operational capabilities.

[0036] The driving wheel assembly 2 includes a shell 20 and a driving wheel 21. The driving wheel 21 is in contact with the moving plane and can drive the obstacle crossing assembly to move. The shell 20 is rotatably set on the bracket 1, and the driving wheel 21 is set on the shell 20. The distance between the driving wheel 21 and the bracket 1 can be changed due to the rotation of the shell 20, thereby adapting to the movement requirements of various scenarios.

[0037] like Figure 3 As shown, the rocker arm 3 is pivotally engaged with the bracket 1, and the pivot center of the rocker arm 3 is not located at the end of the rocker arm 3. Therefore, the first segment 31 and the second segment 32 of the rocker arm 3 are respectively arranged on both sides of the pivot center of the rocker arm 3. It is worth mentioning that the rocker arm 3 includes the first segment 31 and the second segment 32, which are two parts separated for the convenience of describing the present invention, and does not contain a structural suggestion that the rocker arm 3 is a split structure. The present invention is that the rocker arm 3 can be an integrally formed structure or a split-formed and assembled structure, both of which fall within the scope of protection of the present invention.

[0038] When the rocker arm 3 rotates around the pivot center, the first rod segment 31 and the second rod segment 32 rotate in the same direction with the pivot center as the rotation center. The free end of the first rod segment 31 stops on the shell 20 and slides with the shell 20. The rocker arm 3 slides on the surface of the shell 20, and the relative sliding between the rocker arm 3 and the shell 20 is frictional. Therefore, when the rocker arm 3 slides on the shell 20, the shell 20 is driven to move away from the bracket 1 by the friction force, and the shell 20 rotates in the direction away from the bracket 1. The shell 20 drives the driving wheel 21 to move in the direction away from the bracket 1, that is, to move downward in the vertical direction. The driving wheel 21 is affected by the friction between the rocker arm 3 and the shell 20, and the pressure on the ground increases, thereby improving the obstacle crossing capability of the obstacle crossing structure 100.

[0039] The ends of the elastic member 4 are respectively connected to the housing 20 and the rocker arm 3. The rocker arm 3 is pivotally connected to the bracket 1. The ends of the elastic member 4 are equivalent to connecting the housing 20 and the bracket 1, respectively. Under the elastic force of the elastic member 4, the pressure exerted by the drive wheel 21 on the ground increases, thereby improving the obstacle-surviving capability of the obstacle-surviving structure 100. Furthermore, the elastic member 4 is connected to either the first segment 31 or the second segment 32 of the rocker arm 3. The elastic force of the elastic member 4 can also drive the rocker arm 3 to rotate about its pivot center, driving the end of the rocker arm 3 that abuts against the housing 20 to slide on the surface of the housing 20, driving the housing 20 to rotate away from the bracket 1. This increases the pressure exerted by the drive wheel 21 on the ground, further improving the obstacle-surviving capability of the obstacle-surviving structure 100. The elastic member 4 can be connected to either the first segment 31 or the second segment 32 of the rocker arm 3, and both fall within the scope of protection of this application.

[0040] The obstacle-climbing structure 100 for a sweeping robot of the present invention utilizes a sophisticated structural combination of an elastic member 4 and a rocker arm 3. The combined action of the elastic member 4 and the rocker arm 3 increases the pressure of the drive wheel 21 on the ground, thereby enhancing the obstacle-climbing capability of the obstacle-climbing structure 100. Compared to obstacle-climbing structures 100 that utilize only the elastic member 4 connecting the bracket 1 and the housing 20, the obstacle-climbing structure 100 of the present invention further enhances its obstacle-climbing capability by adding the rocker arm 3. In the prior art, the obstacle-climbing capability of the obstacle-climbing structure 100 is often enhanced by increasing the elastic modulus of the elastic member 4, thereby increasing its elastic force and the pressure of the drive wheel 21 on the ground. However, compared to obstacle-climbing structures 100 that utilize elastic members 4 with larger elastic moduli, the obstacle-climbing structure 100 of the present invention does not require additional weight to maintain stability. After surmounting an obstacle, the obstacle-climbing structure 100 of the present invention can quickly resume stable motion, improving the smoothness of movement. Compared with the design method of using only the rocker arm 3 in the obstacle overcoming structure 100, where one end of the rocker arm 3 is abutted against the shell 20 and slidingly cooperates with the shell 20, and the other end of the rocker arm 3 is rotationally connected to the bracket 1, the obstacle overcoming structure 100 in the embodiment of the present invention exerts greater pressure on the ground and has a stronger obstacle overcoming capability. The force applied by the rocker arm 3 on the shell 20 in the embodiment of the present invention is not only provided by its own gravity, but also by the elastic force of part of the elastic member 4. The driving force on the driving wheel 21 is large, and the obstacle overcoming capability of the obstacle overcoming structure 100 is greatly improved.

[0041] According to the obstacle crossing structure 100 for a sweeping robot according to an embodiment of the present invention, a combination of a rocker arm 3 and an elastic member 4 is provided, and the elastic force of the elastic member 4 and the driving force of the rocker arm 3 are used to increase the positive pressure of the driving wheel 21 on the ground, thereby improving the obstacle crossing ability of the obstacle crossing structure 100. In addition, the structure is simple and stable movement can be quickly restored without increasing the weight of the obstacle crossing structure 100.

[0042] In the first embodiment of the present invention, Figure 2 As shown, the extending direction of the first rod segment 31 is the same as that of the second rod segment 32 . A first hook 33 is provided on the second rod segment 32 , and the first hook 33 is connected to the other end of the elastic member 4 .

[0043] In the first embodiment of the present invention, the other end of the elastic member 4 is connected to the second rod segment 32. A rotational axis 5 is provided on the support 1. The rocker arm 3 is sleeved on the rotational axis 5 and pivotally engaged with the rotational axis 5. The pivotal engagement portion between the rocker arm 3 and the rotational axis 5 forms the pivot center of the rocker arm 3. A first hook 33 is provided at the end of the second rod segment 32 away from the first rod segment 31. The first hook 33 is connected to the other end of the elastic member 4. The elastic force of the elastic member 4 is applied to the second rod segment 32, causing the rocker arm 3 to rotate about the pivot center. The free end of the first rod segment 31, which is connected to the second rod segment 32, rotates away from the elastic member 4. The free end of the first rod segment 31 abuts and slidably engages with the housing 20, driving the housing 20 to rotate away from the support 1. The housing 20 drives the drive wheel 21 in a direction away from the support 1. The pressure of the drive wheel 21 on the ground increases, thereby increasing friction and improving the obstacle-surmounting capability of the obstacle-surmounting structure 100.

[0044] Specifically, the end of the rotating shaft 5 is provided with two adjacent limiting protrusions. The connection between the rocker arm 3 and the rotating shaft 5 is formed as a rotating hole that cooperates with the rotating shaft 5 and one of the limiting protrusions. The limiting protrusions restrict the freedom of movement of the rocker arm 3, thereby improving the stability of its movement. The rotating hole cooperates with one of the limiting protrusions. During disassembly, the rotating hole can be released from one of the limiting protrusions. The portion of the rotating hole that cooperates with the rotating shaft 5 can then be flipped over to clear the other limiting protrusion, allowing the rocker arm 3 to be separated from the rotating shaft 5. The structural coordination between the rocker arm 3 and the rotating shaft 5 in this embodiment of the present invention not only improves the stability of the rocker arm 3 but also facilitates disassembly and installation of the rocker arm 3 from the bracket 1.

[0045] It can be understood that by setting the connection part between the rocker arm 3 and the rotating shaft 5 at a position adjacent to the end of the rocker arm 3, when the elastic member 4 drives one end of the second rod segment 32 of the rocker arm 3 to rotate, since this end is close to the pivot center, when the end of the second rod segment 32 produces a small rotation, the first rod segment 31 of the other end of the rocker arm 3 that slides with the shell 20 will produce a large rotation. Compared with setting the pivot center in the middle of the rocker arm 3, the elastic member 4 of the embodiment of the present invention does not need to drive the rocker arm 3 to rotate a large motion stroke. A small deformation of the elastic member 4 can meet the rotation requirement of the rocker arm 3, and the requirements for parts are simple. In addition, the arrangement positions of the rocker arm 3 and the elastic member 4 in the embodiment of the present invention are easy to select, and do not require a large arrangement space to meet the requirements.

[0046] Alternatively, as Figure 2As shown, weight-reducing grooves 34 are provided on both sides of the first segment 31 and / or the second segment 32 in the thickness direction. The provision of the weight-reducing grooves 34 reduces the weight of the rocker 3, thereby reducing the overall weight of the obstacle surmounting structure 100 and improving the stability of the movement. Compared to reducing weight by providing through holes in the rocker 3, the rocker 3 of the embodiment of the present invention has greater strength, reducing the probability of fracture caused by relative sliding between the rocker 3 and the housing 20, and improving the safety of the obstacle surmounting structure 100. The weight-reducing grooves 34 can be provided in the first segment 31, the second segment 32, or both.

[0047] Alternatively, as Figure 2 As shown, the free end of the first rod segment 31 is configured in an arc shape to reduce the contact area with the housing 20 .

[0048] The free end of the first rod segment 31 is designed to slide with the housing 20. The friction generated by the free end sliding on the housing 20 applies a driving force to the housing 20 away from the bracket 1. By configuring the free end in an arc shape, the contact area with the housing 20 is reduced, facilitating sliding. It will be appreciated that the rocker arm 3 is not fixedly abutted against the housing 20, thereby continuously pressing the housing 20 away from the bracket 1. In this embodiment of the present invention, the rocker arm 3 and the housing 20 slide together, producing different effects in different usage scenarios.

[0049] Taking the first embodiment of the present invention as an example, when the obstacle surmounting structure 100 needs to climb over an obstacle, the driving wheel 21 abuts against the obstacle, and the driving wheel 21 moves along the surface of the obstacle. The driving wheel 21 is slightly lifted, and the housing 20 at the driving wheel 21 swings upward, while the housing 20 connected to the bracket 1 pivots and swings downward. The housing 20 moves downward in the vertical direction relative to the bracket 1, and the rotation of the housing 20 drives the elastic member 4 to deform. The other end of the elastic member 4 is connected to the second rod segment 32. The elastic force of the elastic member 4 drives the end of the rocker arm 3 abutting against the housing 20 to rotate downward in the vertical direction. The rocker arm 3 abuts against the housing 20. The force exerted by the rocker arm 3 on the housing 20 causes the housing 20 to move away from the bracket 1. The housing 20 drives the driving wheel 21 to move away from the bracket 1, that is, downward in the vertical direction. The pressure exerted on the ground by the driving wheel 21 increases, thereby improving the obstacle surmounting capability of the obstacle surmounting structure 100.

[0050] When the obstacle crossing structure 100 climbs over the obstacle, the distance between the bracket 1 and the shell 20 becomes smaller due to the action of gravity. It can be regarded as that the shell 20 moves upward in the vertical direction relative to the bracket 1. The rotation of the shell 20 drives the elastic member 4 to deform. The other end of the elastic member 4 is connected to the second rod segment 32 of the rocker 3. The elastic force of the elastic member 4 drives the rocker 3 and the end of the shell 20 that is stopped to rotate upward in the vertical direction. The driving force of the rocker 3 on the shell 20 in the vertical direction is reduced, and the end of the rocker 3 is constructed in an arc shape to reduce the contact area between the rocker 3 and the shell 20, which is convenient for sliding. When the distance between the bracket 1 and the shell 20 is reduced, the center of gravity of the obstacle crossing structure 100 is lowered, and the movement of the obstacle crossing structure 100 is stable.

[0051] In some specific embodiments of the present invention, Figure 3 As shown, one end of the housing 20 is rotatably mounted on the bracket 1, the other end of the housing 20 extends forward and is provided with a drive wheel 21, and the first rod segment 31 extends rearward to abut against the housing 20. As shown in the figure, the front direction is the direction of movement of the obstacle surmounting structure 100. The drive wheel 21 is provided at the front side of the obstacle surmounting structure 100, driving the obstacle surmounting structure 100 to move. The free end of the first rod segment 31 extends rearward to slide with the housing 20.

[0052] In other specific embodiments of the present invention, one end of the housing 20 is rotatably mounted on the bracket 1, the other end of the housing 20 extends rearward and is provided with a drive wheel 21, and the first rod segment 31 extends forward to abut against the housing 20. The drive wheel 21 is disposed at the rear side of the obstacle surmounting structure 100 to drive the obstacle surmounting structure 100, and the free end of the first rod segment 31 extends forward to slidably engage with the housing 20.

[0053] Specifically, if Figure 3 As shown, a second hook 22 is provided at one end of the housing 20 , and the second hook 22 is connected to one end of the elastic member 4 .

[0054] The elastic member 4 is connected to the second hook 22 at one end of the shell 20. This connection method is suitable for the elastic force of the elastic member 4, reduces energy loss, and facilitates the disassembly and installation of the elastic member 4. It has a simple structure and strong stability in use.

[0055] In some specific embodiments of the present invention, the elastic member 4 is constructed as a coil spring. After reading the above technical solutions, ordinary technicians can apply elastic structures such as belts to the embodiments of the present invention, which also falls within the scope of protection of the present invention.

[0056] In some embodiments, a driving member is provided in the housing 20, and the driving member is connected to the driving wheel 21 to drive the driving wheel 21 to rotate. A reduction mechanism is also provided in the housing 20, and the input end of the reduction mechanism is connected to the driving member, and the output end of the reduction mechanism is connected to the driving wheel 21.

[0057] In some specific embodiments of the present invention, the driving member is a driving motor, and the reduction mechanism is a reducer. The driving member is installed at the rear end of the inner side of the shell 20, and the reduction mechanism is installed at the front end of the inner side of the shell 20. The power output shaft of the driving motor is connected to the reduction input shaft of the reducer, and the power output shaft of the reducer is connected to the driving wheel 21. The power of the driving member is transmitted to the driving wheel 21 after speed reduction and torque increase, thereby improving the driving ability of the driving wheel 21.

[0058] In the second embodiment of the present invention, Figure 4 As shown, the extension direction of the first rod segment 31 is the same as the extension direction of the second rod segment 32 . A connecting portion is provided on the first rod segment 32 , and the connecting portion is connected to the other end of the elastic member 4 .

[0059] The following is based on the attached Figure 4 The second embodiment of the present invention describes a sweeping robot obstacle-crossing structure, comprising a bracket 1, a drive wheel assembly 2, a rocker arm 3, and an elastic member 4. The drive wheel assembly 2 comprises a housing 20 and a drive wheel 21 disposed on the housing 20, wherein the housing 20 is rotatably disposed on the bracket 1. The rocker arm 3 pivotally engages with the bracket 1 and comprises a first segment 31 and a second segment 31. The first segment 31 is located on one side of a pivot center 33, and the second segment 32 is located on the other side of the pivot center 33. The free end of the first segment 31 abuts against and slidably engages with the housing 20. One end of the elastic member 4 is connected to a second hook 22 disposed at one end of the housing 20, and the other end of the elastic member 4 is connected to a connecting portion on the first segment 32. When the obstacle-crossing mechanism 100 is operating normally, the elastic member 4, connected to the housing 20 and the rocker arm, is always in a contracted state and has a tendency to expand.

[0060] When the obstacle surmounting structure 100 needs to climb over an obstacle, the driving wheel 21 stops on the obstacle, and the driving wheel 21 moves along the surface of the obstacle. The driving wheel 21 is slightly lifted, and the shell 20 at the driving wheel 21 swings upward, and the shell 20 connected to the bracket 1 pivots and swings downward. The shell 20 moves downward in the vertical direction relative to the bracket 1, and the rotation of the shell 20 drives the elastic member 4 to produce an extension deformation. The other end of the elastic member 4 connected to the first rod segment 32 also produces an extension deformation, that is, the elastic force of the elastic member 4 drives the end of the rocker arm 3 that stops against the shell 20 to rotate downward in the vertical direction. The rocker arm 3 stops on the shell 20, and the force exerted by the rocker arm 3 on the shell 20 causes the shell 20 to move away from the bracket 1. The shell 20 drives the driving wheel 21 to move in the direction away from the bracket 1, that is, downward in the vertical direction. The pressure of the driving wheel 21 on the ground is increased, thereby improving the obstacle surmounting ability of the obstacle surmounting structure 100.

[0061] The following describes a cleaning robot according to an embodiment of the present invention.

[0062] The sweeping robot according to an embodiment of the present invention includes the obstacle crossing structure 100 described in any one of the above items. By providing the above-mentioned obstacle crossing structure 100, the obstacle crossing ability of the sweeping robot is increased, and the positive pressure of the sweeping robot on the ground when crossing an obstacle is increased, which can improve the ability to cross obstacles and can adapt to a variety of complex working scenarios. In addition, the sweeping robot is light in weight, stable in movement, and has strong working stability.

[0063] Reference below Figure 1-Figure 3 The structure and working process of the obstacle crossing structure 100 of a cleaning robot according to a specific embodiment are described.

[0064] Obstacle-crossing structure 100 comprises a frame 1, a drive wheel assembly 2, a rocker arm 3, and an elastic member 4. The frame 1 serves as the support and connector for the obstacle-crossing structure 100. The drive wheel assembly 2, rocker arm 3, and elastic member 4 are all mounted on the frame 1. The drive wheel assembly 2 provides power to drive the obstacle-crossing structure 100. The rocker arm 3 and elastic member 4 increase the positive pressure exerted by the obstacle-crossing structure 100 on the ground, thereby enhancing its ability to overcome obstacles. The drive wheel assembly 2 comprises a housing 20 and a drive wheel 21. The housing 20 is rotatably mounted on the frame 1, and the drive wheel 21 is mounted on the housing 20. The distance between the drive wheel 21 and the frame 1 can be changed by rotating the housing 20, thereby adapting to the movement requirements of various scenarios.

[0065] The rocker arm 3 comprises a first segment 31 and a second segment 32. The first segment 31 is located on one side of the pivot center, and the second segment 32 is located on the other side of the pivot center. The free end of the first segment 31 abuts against and slides with the housing 20. One end of the elastic member 4 is connected to the housing 20, and the other end of the elastic member 4 is connected to the second segment 32. A rotating shaft 5 is provided on the bracket 1. The rocker arm 3 is sleeved on the rotating shaft 5 and pivotally engages with the rotating shaft 5. The pivotal engagement portion between the rocker arm 3 and the rotating shaft 5 forms the pivot center of the rocker arm 3. The free end of the first segment 31 is configured as an arc. A first hook 33 is provided on the second segment 32. A second hook 22 is provided on the housing 20. The elastic member 4 is configured as a coil spring, with its ends respectively connected to the first hook 33 and the second hook 22.

[0066] When the obstacle-crossing structure 100 needs to climb over an obstacle, the driving wheel 21 stops on the obstacle and moves along the surface of the obstacle. The driving wheel 21 is slightly lifted, and the bracket 1 is also lifted to a certain height. At this time, the driving wheel 21 is also affected by gravity. The driving wheel 21 drives the shell 20 to rotate in the direction away from the bracket 1, that is, to move downward in the vertical direction. The shell 20 rotates relative to the bracket 1, and the rotation of the shell 20 drives the elastic member 4 to deform. The other end of the elastic member 4 is connected to the second rod segment 32 of the rocker 3. The elastic force of the elastic member 4 drives the rocker 3 to rotate at the end of the rocker 3 that stops against the shell 20 toward the vertical direction. The force applied by the rocker 3 to the shell 20 causes the shell 20 to move away from the bracket 1. The shell 20 drives the driving wheel 21 to move in the direction away from the bracket 1, that is, to move downward in the vertical direction. The pressure of the driving wheel 21 on the ground is increased, thereby improving the obstacle-crossing capability of the obstacle-crossing structure 100. When the obstacle crossing structure 100 climbs over the obstacle, the distance between the bracket 1 and the shell 20 becomes smaller due to the action of gravity. It can be regarded as that the shell 20 moves upward in the vertical direction relative to the bracket 1. The rotation of the shell 20 drives the elastic member 4 to deform. The other end of the elastic member 4 is connected to the second rod segment 32 of the rocker 3. The elastic force of the elastic member 4 drives the rocker 3 and the end of the shell 20 that is resting against the rocker 3 to rotate upward in the vertical direction. The driving force of the rocker 3 on the shell 20 in the vertical direction is reduced, the distance between the bracket 1 and the shell 20 is reduced, the center of gravity of the obstacle crossing structure 100 is lowered, and the movement of the obstacle crossing structure 100 is stable.

[0067] Other components of the obstacle crossing structure 100 according to the embodiment of the present invention, such as the driving motor and the reducer, and their operation are well known to those skilled in the art and will not be described in detail here.

[0068] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0069] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An obstacle crossing structure for a sweeping robot, characterized in that: include: Bracket; A driving wheel assembly, comprising: a housing and a driving wheel disposed on the housing, wherein the housing is rotatably disposed on the bracket; A rocker arm and an elastic member, wherein the rocker arm is pivotally engaged with the bracket, the rocker arm comprising: a first rod segment located on one side of a pivot center and a second rod segment located on the other side of the pivot center, the free end of the first rod segment abutting against the housing and slidingly engaging with the housing, one end of the elastic member being connected to the housing, and the other end of the elastic member being connected to the first rod segment or the second rod segment; A rotating shaft is provided on the bracket, the rocker arm is sleeved on the rotating shaft and is pivotally matched with the rotating shaft, the shaft end of the rotating shaft is provided with two adjacent limiting protrusions, and the connecting part of the rocker arm and the rotating shaft is formed as a rotating hole that matches the rotating shaft and one of the limiting protrusions.

2. The obstacle-crossing structure for a sweeping robot according to claim 1, characterized in that: The extending direction of the first rod segment is the same as the extending direction of the second rod segment. The second rod segment is provided with a first hook, and the first hook is connected to the other end of the elastic member.

3. The obstacle-crossing structure for a sweeping robot according to claim 2, characterized in that: The first rod segment and / or the second rod segment are provided with weight-reducing grooves on both sides in the thickness direction.

4. The obstacle-crossing structure for a sweeping robot according to claim 2, characterized in that: The free end of the first rod segment is configured to be arc-shaped to reduce a contact area with the housing.

5. The obstacle-crossing structure for a sweeping robot according to claim 1, characterized in that: One end of the shell is rotatably disposed on the bracket, the other end of the shell extends toward the front and is provided with the driving wheel, and the first rod segment extends toward the rear to abut against the shell; or The other end of the shell extends toward the rear side and is provided with the driving wheel, and the first rod segment extends toward the front side to abut against the shell.

6. The obstacle-crossing structure for a sweeping robot according to claim 5, characterized in that: A second hook is provided at the one end of the shell, and the second hook is connected to the one end of the elastic member.

7. The obstacle-crossing structure for a sweeping robot according to claim 1, characterized in that: The elastic member is configured as a coil spring.

8. The obstacle-crossing structure for a sweeping robot according to claim 1, characterized in that: A driving member is provided in the housing and is connected to the driving wheel to drive the driving wheel to rotate.

9. The obstacle-crossing structure for a sweeping robot according to claim 8, characterized in that: A speed reduction mechanism is further provided in the housing, wherein an input end of the speed reduction mechanism is connected to the driving member, and an output end of the speed reduction mechanism is connected to the driving wheel.

10. A sweeping robot, characterized in that: The obstacle-crossing structure includes any one of the above-mentioned items.

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