Obstacle crossing mechanism, moving wheel device and cleaning robot

Abstract

The invention provides an obstacle crossing mechanism, a moving wheel device and a cleaning robot. The obstacle crossing mechanism comprises an obstacle crossing assembly and a driving assembly, the obstacle crossing assembly is rotationally connected to the moving wheel shell, the rotating direction of the obstacle crossing assembly is the same as that of the walking wheel, and the rotating center of the obstacle crossing assembly is arranged on the side, facing the preset walking direction, of the rotating center of the walking wheel. The driving assembly drives the obstacle crossing assembly to rotate when the obstacle enters the rotating path of the obstacle crossing assembly, so that the obstacle crossing assembly abuts against the obstacle and drives the walking wheels to cross the obstacle. The driving assembly stops driving after the walking wheels cross the obstacle, so that the obstacle crossing assembly stops rotating. Due to the fact that the obstacle crossing assembly stops rotating when the cleaning robot normally walks and after the walking wheels cross the obstacle, the situation that the obstacle crossing assembly continuously rotates is avoided, the probability that the obstacle crossing assembly hooks foreign matter and brings the foreign matter into the machine body is reduced, the probability that the obstacle crossing assembly is stuck and stuck is reduced, and the probability that the obstacle crossing mechanism is abnormal is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to an obstacle crossing mechanism, a moving wheel device and a cleaning robot. Background Art

[0002] A ground cleaning robot is used to clean the ground. A plurality of moving wheel devices are arranged at the bottom of the ground cleaning robot. The ground cleaning robot moves on the ground through the moving wheel devices. The moving wheel device includes a moving wheel housing, a driving mechanism, a traveling gear and a traveling wheel. The driving mechanism is arranged in the moving wheel housing. The traveling gear is rotatably connected to the moving wheel housing. The traveling gear is transmission-connected to the driving mechanism. The traveling wheel is coaxially fixed with the traveling gear. The driving mechanism is used to drive the traveling gear to rotate, so that the traveling gear drives the traveling wheel to rotate, so that the traveling wheel rolls on the ground, thereby making the ground cleaning robot walk along the ground.

[0003] When the moving wheel device encounters a higher obstacle, the traveling wheel of the moving wheel device will idle or get stuck, causing the floor cleaning robot to be unable to move normally. Therefore, the moving wheel device is generally required to have an obstacle crossing function, specifically, an obstacle crossing mechanism is set on one side of the moving direction of the traveling wheel, and when the moving wheel device encounters an obstacle, the obstacle is crossed by the obstacle crossing mechanism.

[0004] In the related art, the obstacle overcoming mechanism includes a linkage mechanism and an obstacle overcoming gear, and the traveling gear is connected to the obstacle overcoming gear through the linkage mechanism, so that the traveling gear and the obstacle overcoming gear rotate synchronously. When the moving wheel device encounters an obstacle, the obstacle overcoming gear presses against the obstacle and rotates, so that the obstacle overcoming gear assists the traveling wheel to cross the obstacle.

[0005] However, since the obstacle-crossing gear rotates synchronously with the traveling gear, and the traveling gear also rotates synchronously with the traveling wheel, this causes the obstacle-crossing gear to rotate synchronously with the traveling wheel, that is, during the movement, the obstacle-crossing gear continues to rotate. Since the obstacle-crossing gear continues to rotate during the movement, it is easier for the obstacle-crossing gear to hook onto foreign objects and bring them into the interior of the ground cleaning robot, causing the obstacle-crossing gear to become stuck or even stuck, resulting in a higher probability of abnormality in the obstacle-crossing mechanism. Since the obstacle-crossing gear rotates synchronously with the traveling wheel, when the obstacle-crossing gear has the above-mentioned rotation abnormality, the traveling wheel will also have a rotation abnormality, resulting in a higher probability of abnormality in the traveling wheel. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an obstacle crossing mechanism, a moving wheel device and a cleaning robot.

[0007] The purpose of this disclosure is achieved through the following technical solutions:

[0008] An obstacle crossing mechanism, comprising:

[0009] An obstacle surmounting assembly, which is rotatably connected to the moving wheel housing, and the rotation direction of the obstacle surmounting assembly is used to be the same as the rotation direction of the walking wheel, and the rotation center of the obstacle surmounting assembly is used to be arranged on the side of the rotation center of the walking wheel facing the preset walking direction; and

[0010] The driving assembly is used to drive the obstacle-crossing assembly to rotate when an obstacle enters the rotation path of the obstacle-crossing assembly, so that the obstacle-crossing assembly is pressed against the obstacle and drives the running wheels to cross the obstacle; the driving assembly is also used to stop driving after the running wheels cross the obstacle, so that the obstacle-crossing assembly stops rotating.

[0011] In some embodiments, the obstacle overcoming mechanism further includes a clutch assembly, which is respectively connected to the drive assembly and the obstacle overcoming assembly when the obstacle enters the rotation path of the obstacle overcoming assembly, so that the drive assembly, the clutch assembly and the obstacle overcoming assembly are sequentially connected in transmission, thereby causing the obstacle overcoming assembly to rotate; the clutch assembly is separated from the obstacle overcoming assembly and / or the drive assembly after the walking wheel passes over the obstacle, causing the obstacle overcoming assembly to stop rotating.

[0012] In some embodiments, the obstacle surmounting mechanism further includes a trigger component, and the trigger component is used to control the clutch component to transmit power or cut off power.

[0013] In some embodiments, the obstacle-crossing assembly includes a connecting shaft and an obstacle-crossing member, wherein the connecting shaft is used to be rotatably connected to the moving wheel housing, and the obstacle-crossing member is fixedly connected to the connecting shaft;

[0014] The driving assembly is used to drive the obstacle-crossing assembly to rotate when the obstacle enters the rotation path of the obstacle-crossing assembly, so that the obstacle-crossing member presses against the obstacle and drives the walking wheel to cross the obstacle.

[0015] In some embodiments, the clutch assembly includes a clutch member and an elastic member, the clutch member is movably connected to the connecting shaft in the axial direction of the connecting shaft, the clutch member is fixedly connected to the connecting shaft in the circumferential direction of the connecting shaft, and the elastic member is connected to the clutch member;

[0016] The elastic member is elastically reset when the obstacle enters the rotation path of the obstacle-crossing component, so as to drive the clutch member to be connected with the driving component in transmission, so that the driving component, the clutch member, the connecting shaft and the obstacle-crossing component are sequentially connected in transmission, and the clutch member is separated from the driving component when the walking wheel passes over the obstacle, so that the obstacle-crossing component stops rotating and the elastic member is deformed.

[0017] In some embodiments, the obstacle surmounting mechanism further includes a trigger assembly, the trigger assembly being used to abut against the clutch member to separate the clutch member from the driving assembly, and to cause the clutch member to drive the elastic member to deform;

[0018] The trigger assembly is separated from the clutch when the obstacle enters the rotation path of the obstacle-crossing assembly, so that the elastic member is elastically reset and drives the clutch to be transmission-connected with the driving assembly; the trigger assembly is reset and abuts against the clutch again after the walking wheel passes over the obstacle.

[0019] In some embodiments, the trigger assembly is further used to limit the rotation of the clutch member after abutting against the clutch member.

[0020] In some embodiments, the obstacle-pressing member has two pressing portions, and the two pressing portions are arranged in a circumferential array along the obstacle-pressing member;

[0021] The clutch has two symmetrically arranged transmission parts, and the trigger assembly is connected to one of the transmission parts so that the trigger assembly limits the rotation of the clutch; when the trigger assembly is connected to each of the transmission parts, the obstacle-pressing member is used to be completely accommodated in the moving wheel housing.

[0022] A moving wheel device comprises the obstacle surmounting mechanism described in any one of the above embodiments.

[0023] A cleaning robot comprises the above-mentioned moving wheel device.

[0024] Compared with the prior art, the present invention has at least the following advantages:

[0025] 1. When the cleaning robot is walking normally, the driving component will not drive the obstacle crossing component to rotate, and the obstacle crossing component stops rotating at this time. When an obstacle enters the rotation path of the obstacle crossing component, the driving component drives the obstacle crossing component to rotate, so that the rotating obstacle crossing component presses against the obstacle. As the obstacle crossing component rotates, the obstacle crossing component will provide assistance to the walking wheels, so that the walking wheels pass over the obstacle. After the walking wheels pass over the obstacle, the driving component stops driving the obstacle crossing component, so that the obstacle crossing component stops rotating. In this way, since the obstacle crossing component stops rotating when the cleaning robot is walking normally and after the walking wheels pass over the obstacle, the situation where the obstacle crossing component continues to rotate is avoided, the probability of the obstacle crossing component hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle crossing component getting stuck or stuck is reduced, and the probability of the obstacle crossing mechanism being abnormal is reduced.

[0026] 2. Since the probability of the obstacle-crossing mechanism being abnormal is low, even if the obstacle-crossing component rotates synchronously with the running wheels, the probability of the running wheels being abnormal is also low. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a schematic structural diagram of a moving wheel device according to an embodiment;

[0029] Figure 2 for Figure 1 A partial structural schematic diagram of the moving wheel device shown;

[0030] Figure 3 for Figure 1 A structural schematic diagram of an obstacle crossing mechanism of a mobile wheel device shown;

[0031] Figure 4 for Figure 3 A schematic diagram of a partial structure of the obstacle crossing mechanism shown;

[0032] Figure 5 for Figure 4 An enlarged schematic diagram of the obstacle crossing mechanism at position A is shown;

[0033] Figure 6 for Figure 3 Another partial structural schematic diagram of the obstacle crossing mechanism shown;

[0034] Figure 7 for Figure 3 Another partial structural schematic diagram of the obstacle crossing mechanism shown;

[0035] Figure 8 for Figure 3 The schematic diagram of the structure of the obstacle crossing mechanism shown in another perspective;

[0036] Fig. 9 is a structural schematic diagram of a moving wheel device according to another embodiment;

[0037] Fig.10 FIG. 4 is a schematic structural diagram of a moving wheel device according to another embodiment.

[0038] Figure numerals: 10, obstacle crossing mechanism; 100, obstacle crossing assembly; 110, connecting shaft; 120, obstacle crossing member; 121, pressing portion; 1211, pressing arc convex surface; 200, driving assembly; 201, connecting groove; 210, distance sensor; 220, controller; 230, first in-position sensor; 240, second in-position sensor; 300, clutch assembly; 310, clutch member; 311, main body; 312, pushed portion; 313, transmission portion; 314, fault-tolerant gap; 315, pushed inclined surface; 320, elastic member; 330, guide member; 331, guide hole; 400, trigger assembly; 401, limit groove; 402, push inclined surface; 410, separation swing arm;

[0039] 20. Moving wheel housing; 30. Traveling assembly; 510. Traveling wheel; 520. Traveling gear;

[0040] 40. Transmission assembly; 610. Input gear; 620. Output gear. DETAILED DESCRIPTION

[0041] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] In order to better understand the technical solutions and beneficial effects of the present invention, the present invention is further described in detail below in conjunction with specific embodiments:

[0045] Embodiment 1:

[0046] like Figure 1 and Figure 2 As shown, the obstacle overcoming mechanism 10 of the embodiment of the present disclosure includes an obstacle overcoming component 100 and a driving component 200, wherein the obstacle overcoming component 100 is used to be rotatably connected to the moving wheel housing 20, and the obstacle overcoming component 100 will extend out of the bottom of the moving wheel housing 20 at least when rotating, and the rotation direction of the obstacle overcoming component 100 is used to be the same as the rotation direction of the walking wheel 510, so that the obstacle overcoming component 100 can provide the walking wheel 510 with a force in a preset walking direction. The rotation center of the obstacle overcoming component 100 is used to be set on the side of the rotation center of the walking wheel 510 facing the preset walking direction, so that the obstacle overcoming component 100 can press against the obstacle before the walking wheel 510 contacts the obstacle. The driving assembly 200 is used to drive the obstacle-crossing assembly 100 to rotate when an obstacle enters the rotation path of the obstacle-crossing assembly 100, that is, when the obstacle coincides with the rotation path of the obstacle-crossing assembly 100, the obstacle-crossing assembly 100 is driven to rotate so that the obstacle-crossing assembly 100 is pressed against the obstacle. At this time, since the rotation direction of the obstacle-crossing assembly 100 is the same as the rotation direction of the running wheel 510, the obstacle-crossing assembly 100 provides the running wheel 510 with a force in a preset running direction, so that the obstacle-crossing assembly 100 drives the running wheel 510 to cross the obstacle. The driving assembly 200 is also used to stop driving after the running wheel 510 crosses the obstacle, so that the obstacle-crossing assembly 100 stops rotating.

[0047] like Figure 1 and Figure 2 As shown, in this embodiment, when the cleaning robot walks normally, the driving component 200 will not drive the obstacle-crossing component 100 to rotate, and the obstacle-crossing component 100 stops rotating, that is, when there is no obstacle to lift the body of the cleaning robot, the driving component 200 will not drive the obstacle-crossing component 100 to rotate; when the cleaning robot encounters an obstacle, the obstacle will lift the front end of the body, so that the body is lifted; when the obstacle enters the rotation path of the obstacle-crossing component 100, the driving component 200 drives the obstacle-crossing component 100 to rotate, so that the rotating obstacle-crossing component 100 presses against the obstacle, and as the obstacle-crossing component 100 rotates, the obstacle-crossing component 100 will provide assistance to the walking wheel 510, so that the walking wheel 510 passes over the obstacle. After the walking wheel 510 passes over the obstacle, the driving component 200 stops driving the obstacle-crossing component 100, so that the obstacle-crossing component 100 stops rotating.

[0048] It is understood that the preset walking direction may be the forward direction, backward direction, leftward translation direction, rightward translation direction or other walking directions of the machine body. The obstacle may be an obstacle with a certain height such as a step or a steel pipe.

[0049] It should be emphasized that the driving assembly 200 is used to drive the obstacle overcoming assembly 100 to rotate when an obstacle enters the rotation path of the obstacle overcoming assembly 100, and it does not limit the driving assembly 200 to start driving the obstacle overcoming assembly 100 to rotate only when the obstacle enters the rotation path of the obstacle overcoming assembly 100. For example, in some embodiments, the driving assembly 200 starts to drive the obstacle overcoming assembly 100 to rotate when the obstacle enters the rotation path of the obstacle overcoming assembly 100. In other embodiments, the driving assembly 200 starts to drive the obstacle overcoming assembly 100 to rotate when the obstacle lifts up the body.

[0050] Similarly, the driving assembly 200 is also used to stop driving after the running wheel 510 passes over the obstacle, which does not limit the driving assembly 200 to stop driving immediately after the running wheel 510 passes over the obstacle. For example, in some embodiments, the driving assembly 200 can stop driving immediately after the running wheel 510 passes over the obstacle, so that the obstacle-crossing assembly 100 stops rotating immediately after the running wheel 510 passes over the obstacle. The driving assembly 200 can also stop driving immediately after the machine body completely passes over the obstacle, so that the obstacle-crossing assembly 100 stops rotating after the machine body completely passes over the obstacle.

[0051] In the above obstacle-crossing mechanism 10, when the cleaning robot is walking normally, the driving component 200 will not drive the obstacle-crossing component 100 to rotate, and the obstacle-crossing component 100 stops rotating. When an obstacle enters the rotation path of the obstacle-crossing component 100, the driving component 200 drives the obstacle-crossing component 100 to rotate, so that the rotating obstacle-crossing component 100 presses against the obstacle. As the obstacle-crossing component 100 rotates, the obstacle-crossing component 100 will provide assistance to the walking wheel 510, so that the walking wheel 510 passes over the obstacle. After the walking wheel 510 passes over the obstacle, the driving component 200 stops driving the obstacle-crossing component 100, so that the obstacle-crossing component 100 stops rotating. In this way, since the obstacle crossing component 100 stops rotating when the cleaning robot is walking normally and after the walking wheels pass over an obstacle, the situation where the obstacle crossing component 100 continues to rotate is avoided, the probability of the obstacle crossing component 100 hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle crossing component 100 getting stuck or jammed is reduced, and the probability of the obstacle crossing mechanism 10 malfunctions is reduced.

[0052] Furthermore, since the probability of the obstacle overcoming mechanism 10 being abnormal is low, even if the obstacle overcoming component 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0053] like Figure 2 As shown, in some of the embodiments, the driving component 200 is used to be connected to the traveling gear 520 in transmission, so that the traveling gear 520 drives the driving component 200 to move. Since the traveling gear 520 drives the traveling wheel 510 to move, the obstacle crossing component 100 and the traveling wheel 510 share power, thereby reducing the energy consumption of the cleaning robot.

[0054] Embodiment 2:

[0055] The difference between this embodiment and embodiment 1 is that this embodiment further optimizes the structure of the obstacle surmounting mechanism 10 disclosed in the present invention.

[0056] like Figure 3 As shown, the obstacle overcoming mechanism 10 of this embodiment further includes a clutch assembly 300. When an obstacle enters the rotation path of the obstacle overcoming assembly 100, the clutch assembly 300 is connected to the driving assembly 200 and the obstacle overcoming assembly 100 respectively, so that the driving assembly 200, the clutch assembly 300 and the obstacle overcoming assembly 100 are sequentially connected in transmission, thereby rotating the obstacle overcoming assembly 100. The clutch assembly 300 is separated from the obstacle overcoming assembly 100 and / or the driving assembly 200 after the running wheel 510 passes over the obstacle, that is, after the running wheel 510 passes over the obstacle, the clutch assembly 300 is separated from at least one of the obstacle overcoming assembly 100 and the driving assembly 200 to cut off the power source of the obstacle overcoming assembly 100 and stop the rotation of the obstacle overcoming assembly 100.

[0057] like Figure 3 As shown, in this embodiment, the clutch assembly 300 has a transmission state and a cut-off state. When the clutch assembly 300 is in the transmission state, the driving assembly 200 drives the obstacle surmounting assembly 100 to rotate through the clutch assembly 300. When the clutch assembly 300 is in the cut-off state, the clutch assembly 300 cuts off the transmission connection between the driving assembly 200 and the obstacle surmounting assembly 100. The clutch assembly 300 enables the obstacle surmounting assembly 100 to obtain the power for rotation, and the clutch assembly 300 cuts off the power source of the obstacle surmounting assembly 100, so that the control convenience of the obstacle surmounting assembly 100 is higher.

[0058] like Figure 4 As shown, in some embodiments, the obstacle surmounting mechanism 10 further includes a trigger assembly 400, which is used to control the clutch assembly 300 to transmit power or cut off power. In this embodiment, through the action or control of the trigger assembly 400, the driving assembly 200 is connected to the obstacle surmounting assembly 100 through the clutch assembly 300, or the transmission connection between the driving assembly 200 and the obstacle surmounting assembly 100 is cut off, thereby realizing the control of the clutch assembly 300.

[0059] like Figure 3As shown, in some embodiments, the clutch assembly 300 is installed on the obstacle crossing assembly 100, and the clutch assembly 300 is connected to the driving assembly 200 when the obstacle enters the rotation path of the obstacle crossing assembly 100, so that the driving assembly 200, the clutch assembly 300 and the obstacle crossing assembly 100 are sequentially connected in transmission, thereby rotating the obstacle crossing assembly 100. The clutch assembly 300 is separated from the driving assembly 200 after the walking wheel 510 passes over the obstacle, so that the obstacle crossing assembly 100 stops rotating. In this embodiment, the clutch assembly 300 is installed on the obstacle crossing assembly 100, which avoids the problem of the clutch assembly 300 falling during switching, and ensures that the clutch assembly 300 can work normally.

[0060] Of course, the clutch assembly 300 is not limited to being installed on the obstacle crossing assembly 100. For example, in some other embodiments, the clutch assembly 300 is installed on the drive assembly 200. When the obstacle enters the rotation path of the obstacle crossing assembly 100, the clutch assembly 300 is connected to the obstacle crossing assembly 100, so that the drive assembly 200, the clutch assembly 300 and the obstacle crossing assembly 100 are sequentially connected in transmission. The clutch assembly 300 is separated from the obstacle crossing assembly 100 after the walking wheel 510 passes the obstacle.

[0061] like Figure 3 As shown, in some embodiments, the obstacle-crossing assembly 100 includes a connecting shaft 110 and a pressing obstacle-crossing member 120, wherein the connecting shaft 110 is used to be rotatably connected to the moving wheel housing 20, and the pressing obstacle-crossing member 120 is fixedly connected to the connecting shaft 110. The driving assembly 200 is used to drive the obstacle-crossing assembly 100 to rotate when an obstacle enters the rotation path of the obstacle-crossing assembly 100, so that the pressing obstacle-crossing member 120 presses against the obstacle and drives the running wheel 510 to cross the obstacle. The driving assembly 200 is used to stop driving after the running wheel 510 crosses the obstacle, so that the pressing obstacle-crossing member 120 stops rotating after the running wheel 510 crosses the obstacle. In this embodiment, the obstacle-pressing and overcoming component 120 is a component that directly presses against the obstacle. The obstacle-pressing and overcoming component 120 is connected to the connecting shaft 110 so that the obstacle-pressing and overcoming component 120 can maintain a certain distance from the moving wheel housing 20, so that a certain installation space can be formed between the obstacle-pressing and overcoming component 120 and the moving wheel housing 20, which is convenient for installing other parts and improves the assembly convenience of the obstacle-surmounting mechanism 10.

[0062] like Figure 3 As shown, in some embodiments, the obstacle-crossing member 120 has a plurality of pressing portions 121, which are arranged in a circumferential array along the obstacle-crossing member 120. The pressing portions 121 are used to press against the obstacle when the obstacle enters the rotation path of the obstacle-crossing assembly 100, and drive the walking wheel 510 to cross the obstacle. In this embodiment, when the pressing portion 121 presses against the obstacle, the pressing portion 121 extends out of the moving wheel housing 20.

[0063] like Figure 2 and Figure 3 As shown, in some embodiments, each pressing portion 121 is provided with a pressing arc-shaped convex surface 1211 on one side facing the rotation direction thereof, and the pressing arc-shaped convex surface 1211 is used to press against an obstacle. In this embodiment, the pressing arc-shaped convex surface 1211 is used to contact with an obstacle. Since the pressing arc-shaped convex surface 1211 is an arc-shaped surface, the pressing portion 121 is prevented from being hooked on the obstacle, and the pressing portion 121 is prevented from being stuck on the obstacle, thereby ensuring that the pressing portion 121 can assist the walking wheel 510 in crossing the obstacle. In addition, since the pressing arc-shaped convex surface 1211 is an arc-shaped surface, the pressing obstacle-crossing member 120 can better fit obstacles of different shapes and angles, such as door sills, slide rails, etc., so that it is easier to cross these obstacles, and the pressing obstacle-crossing member 120 can better disperse the impact force, which not only reduces the risk of the pressing obstacle-crossing member 120 being stuck and damaged, but also better reduces the friction and collision with the obstacle, thereby reducing the generation of noise.

[0064] like Figure 3 As shown, in some embodiments, the clutch assembly 300 is installed on the connecting shaft 110, and the clutch assembly 300 is connected to the driving assembly 200 when the obstacle enters the rotation path of the obstacle crossing assembly 100, so that the driving assembly 200, the clutch assembly 300, the connecting shaft 110 and the obstacle-crossing member 120 are sequentially connected in transmission, thereby rotating the obstacle-crossing member 120, thereby pressing the obstacle-crossing member 120 against the obstacle and driving the running wheel 510 to cross the obstacle. After the running wheel 510 crosses the obstacle, the clutch assembly 300 is separated from the driving assembly 200 to cut off the power of the connecting shaft 110 of the obstacle crossing assembly 100, so that the connecting shaft 110 and the obstacle-crossing member 120 both stop rotating.

[0065] like Figure 3 As shown, in this embodiment, the clutch assembly 300 is installed on the connecting shaft 110, which avoids the problem of the clutch assembly 300 falling during switching and ensures that the clutch assembly 300 can work normally.

[0066] Of course, the clutch assembly 300 is not limited to being installed on the connecting shaft 110 . For example, in some other embodiments, the clutch assembly 300 is installed on the driving assembly 200 .

[0067] like Figure 3 As shown, in some embodiments, the clutch assembly 300 includes a clutch member 310 and an elastic member 320, the clutch member 310 is movably connected to the connecting shaft 110 in the axial direction of the connecting shaft 110, and the clutch member 310 is fixedly connected to the connecting shaft 110 in the circumferential direction of the connecting shaft 110. That is, the clutch member 310 moves along the axial direction of the connecting shaft 110, but cannot rotate relative to the connecting shaft 110.

[0068] like Figure 3As shown, further, the elastic member 320 is connected to the clutch member 310, and the elastic member 320 is used to drive the clutch member 310 to be connected to the driving assembly 200. Specifically, the elastic member 320 is elastically reset when the obstacle enters the rotation path of the obstacle crossing assembly 100, so as to drive the clutch member 310 to be connected to the driving assembly 200, so that the driving assembly 200, the clutch member 310, the connecting shaft 110 and the obstacle-crossing member 120 are connected to each other in sequence, and then the obstacle-crossing member 120 is rotated. The clutch member 310 is separated from the driving assembly 200 when the walking wheel 510 passes over the obstacle, so that the obstacle-crossing assembly 100 stops rotating and the elastic member 320 is deformed.

[0069] like Figure 3 As shown, in this embodiment, when the walking wheel 510 passes over an obstacle or walks normally, the elastic member 320 separates from the driving assembly 200, so that the obstacle-crossing assembly 100 stops rotating, and the elastic member 320 is deformed, so that the elastic member 320 accumulates force. When an obstacle enters the rotation path of the obstacle-crossing assembly 100, the elastic member 320 is elastically reset to drive the clutch member 310 to be connected with the driving assembly 200, so that the driving assembly 200, the clutch member 310, the connecting shaft 110 and the obstacle-crossing member 120 are sequentially connected, and the obstacle-crossing member 120 is rotated. In this way, the clutch member 310 is driven to be connected with the driving assembly 200 through the elastic reset force of the elastic member 320, and the connection between the clutch member 310 and the driving assembly 200 can be achieved without external force, which improves the convenience of the transmission connection between the clutch member 310 and the driving assembly 200, and reduces the complexity of the obstacle-crossing mechanism 10.

[0070] It can be understood that the deformation of the elastic member 320 can be compression or extension.

[0071] like Figure 3 As shown, in some embodiments, the clutch member 310 is sleeved on the connecting shaft 110 , so that the connection area between the clutch member 310 and the connecting shaft 110 is larger, thereby improving the position stability of the clutch member 310 .

[0072] like Figure 3 As shown, in some embodiments, the connecting shaft 110 is provided with a rotation-stopping plane, and the clutch 310 is provided with an anti-rotation plane, and the anti-rotation plane is connected to the rotation-stopping plane. In this embodiment, the anti-rotation plane is continuously connected to the rotation-stopping plane to prevent the clutch 310 from rotating relative to the connecting shaft 110.

[0073] like Figure 4 As shown, in some embodiments, the obstacle surmounting mechanism 10 further includes a trigger assembly 400, which abuts against the clutch member 310 to separate the clutch member 310 from the driving assembly 200, and causes the clutch member 310 to deform the elastic member 320, so that the elastic member 320 accumulates force.

[0074] like Figure 4 As shown, further, when an obstacle enters the rotation path of the obstacle-crossing assembly 100, the trigger assembly 400 is separated from the clutch 310, so that the elastic member 320 is elastically reset, and the clutch 310 is driven to be connected with the driving assembly 200 by the elastic force of the elastic member 320, so that the driving assembly 200, the clutch 310, the connecting shaft 110 and the obstacle-crossing member 120 are sequentially connected, so that the obstacle-crossing member 120 is rotated and assists the walking wheel 510 to cross the obstacle. After the walking wheel 510 crosses the obstacle, the trigger assembly 400 is reset and abuts against the clutch 310 again, so that the clutch 310 is separated from the driving assembly 200 again, and the clutch 310 drives the elastic member 320 to deform again, so that the elastic member 320 accumulates force again.

[0075] like Figure 4 As shown, in this embodiment, when the trigger assembly 400 is used to abut against the clutch 310, the clutch 310 is separated from the driving assembly 200, so that the driving assembly 200 cannot drive the obstacle surmounting assembly 100 to rotate. When the trigger assembly 400 is separated from the clutch 310, the trigger assembly 400 triggers the obstacle surmounting assembly 100 to rotate the obstacle surmounting assembly 100, so that the clutch assembly 300 can transmit power to the obstacle surmounting assembly 100 or cut off the power of the obstacle surmounting assembly 100, thereby enabling the obstacle surmounting assembly 100 to rotate when an obstacle enters the rotation path of the obstacle surmounting assembly 100, and stop rotating after the running wheel 510 passes the obstacle.

[0076] Of course, in other embodiments, when the trigger assembly 400 abuts against the clutch 310, the obstacle surmounting assembly 100 can obtain power. Specifically, the obstacle surmounting mechanism 10 further includes a trigger assembly 400, which abuts against the clutch 310 when an obstacle enters the rotation path of the obstacle surmounting assembly 100, so as to push the clutch 310 to be connected with the driving assembly 200 for transmission, and deform the elastic member 320. After the walking wheel 510 passes over the obstacle, the trigger assembly 400 separates from the clutch 310, so that the elastic member 320 is elastically reset, and then the elastic force of the elastic member 320 drives the clutch 310 to separate from the driving assembly 200, so as to disconnect the power of the obstacle surmounting assembly 100.

[0077] like Figure 4 and Figure 5As shown, in some embodiments, the clutch 310 is provided with a push-in bevel 315, which is arranged toward the drive assembly 200, and is used to abut against the trigger assembly 400. The push-in bevel 315 is inclined to the axial direction of the connecting shaft 110, so that the trigger assembly 400 gradually pushes the clutch 310 and the drive assembly 200 to separate after the machine body passes over the obstacle, thereby reducing the impact force on the clutch 310 and the trigger assembly 400, and extending the service life of the clutch 310 and the trigger assembly 400. In addition, since the push-in bevel 315 is inclined to the axial direction of the connecting shaft 110, the distance between one end of the push-in bevel 315 and the clutch 310 is large, which is conducive to the trigger assembly 400 entering the predetermined position and contacting with the push-in bevel 315, and reducing the difficulty of aligning the trigger assembly 400 and the clutch 310.

[0078] like Figure 4 and Figure 5 As shown, in some embodiments, the trigger assembly 400 is provided with a push bevel 402, which is arranged away from the drive assembly 200, and is used to abut against the clutch 310. The push bevel 402 is inclined to the axial direction of the connecting shaft 110, so that the trigger assembly 400 gradually pushes the clutch 310 to separate from the drive assembly 200 after the body passes over the obstacle, thereby reducing the impact force on the clutch 310 and the trigger assembly 400, and extending the service life of the clutch 310 and the trigger assembly 400. In addition, since the push bevel 402 is inclined to the axial direction of the connecting shaft 110, the distance between one end of the push bevel 402 and the clutch 310 is large, which is conducive to the trigger assembly 400 entering the predetermined position and contacting with the clutch 310, and reducing the difficulty of aligning the trigger assembly 400 and the clutch 310.

[0079] like Figure 4 and Figure 5 As shown, further, the pushed inclined surface 315 is connected to the pushing inclined surface 402 , thereby increasing the contact area between the trigger assembly 400 and the clutch member 310 and alleviating the wear of the trigger assembly 400 and the clutch member 310 .

[0080] like Figure 4 As shown, in some embodiments, the trigger assembly 400 is rotatably connected to the moving wheel housing 20, so that the position of the trigger assembly 400 is maintained on the moving wheel housing 20, which improves the convenience of the trigger assembly 400 to perform actions.

[0081] like Figure 4 As shown, in some embodiments, two ends of the elastic member 320 are respectively connected to the connecting shaft 110 and the clutch member 310 , so that the elastic member 320 can drive the clutch member 310 to connect with the driving assembly 200 .

[0082] like Figure 4As shown, in some embodiments, the elastic member 320 is sleeved on the connecting shaft 110, so that the elastic member 320 is limited on the connecting shaft 110, ensuring that the elastic member 320 drives the clutch member 310 along a predetermined path, that is, avoiding the elastic member 320 from deviating from the predetermined path, ensuring that the elastic member 320 can drive the clutch member 310 normally.

[0083] like Figure 4 As shown, in some embodiments, a connecting groove 201 is provided on one side of the driving assembly 200 adjacent to the clutch 310, and the clutch 310 has a transmission part 313, which is used to connect to the connecting groove 201 when an obstacle enters the rotation path of the obstacle crossing assembly 100, so that the clutch 310 is connected to the driving assembly 200. The transmission part 313 is used to disengage from the connecting groove 201 when the walking wheel 510 passes over the obstacle. In this embodiment, when the obstacle enters the rotation path of the obstacle crossing assembly 100, the transmission part 313 is inserted into the connection, so that the transmission part 313 rotates with the driving assembly 200, and the transmission connection between the clutch 310 and the driving assembly 200 is realized.

[0084] Of course, the position of the connecting slot 201 is not limited. For example, in other embodiments, the connecting position of the connecting slot 201 is swapped with the connecting position of the transmission part 313, that is, the connecting slot 201 is opened in the clutch 310, and the transmission part 313 is arranged on the side of the driving component 200 adjacent to the clutch 310.

[0085] like Figure 3 and Figure 4 As shown, in some embodiments, the number of the connecting grooves 201 is multiple, and the multiple connecting grooves 201 are arranged at intervals along the circumference of the driving assembly 200. In this embodiment, since the number of the connecting grooves 201 is multiple, there are more connecting grooves 201 that the transmission part 313 can be inserted into, ensuring that the transmission part 313 can be smoothly inserted into the connecting groove 201 when moving toward the driving assembly 200, thereby ensuring that the transmission part 313 is smoothly connected to the driving assembly 200.

[0086] like Figure 3 and Figure 4 As shown, in some embodiments, there are multiple transmission parts 313, and the multiple transmission parts 313 are arranged at intervals along the circumference of the clutch 310. In this embodiment, the multiple transmission parts 313 are connected to the drive assembly 200 through transmission, and the force of the drive assembly 200 is dispersed to the multiple transmission parts 313, which reduces the stress of each transmission part 313, prolongs the service life of the transmission part 313, and further prolongs the service life of the clutch 310.

[0087] like Figure 3 and Figure 4As shown, in some embodiments, there is a tolerance gap 314 between the transmission part 313 and the peripheral wall of the connecting groove 201, which reduces the alignment accuracy requirement of the transmission part 313 and the connecting groove 201, making it easier to insert the transmission part 313 into the connecting groove 201, thereby ensuring the smoothness of the connection between the transmission part 313 and the driving assembly 200.

[0088] like Figure 4 As shown, in some embodiments, the clutch 310 includes a main body 311, a pushed part 312 and a transmission part 313. The main body 311 is connected to the connecting shaft 110. The main body 311 is movably connected to the connecting shaft 110 in the axial direction of the connecting shaft 110, that is, the main body 311 can move along the axial direction of the connecting shaft 110. The main body 311 is fixedly connected to the connecting shaft 110 in the circumferential direction of the connecting shaft 110, that is, the main body 311 cannot rotate relative to the connecting shaft 110. The pushed part 312 is fixedly connected to the main body 311, so that the pushed part 312 moves synchronously with the main body 311. The transmission part 313 is fixedly connected to a side of the main body 311 adjacent to the driving assembly 200, so that the transmission part 313, the pushed part 312 and the main body 311 move synchronously.

[0089] like Figure 4 and Figure 5 As shown, further, the trigger assembly 400 is used to abut against the pushed part 312, so that the transmission part 313 is separated from the driving assembly 200, so as to cut off the power of the obstacle surmounting assembly 100, and make the clutch 310 drive the elastic part 320 to deform, so that the elastic part 320 accumulates force, so that the elastic part 320 is subsequently used to push the clutch 310 to connect with the driving assembly 200. When the obstacle enters the rotation path of the obstacle surmounting assembly 100, the trigger assembly 400 is separated from the pushed part 312, so that the elastic part 320 is elastically reset and drives the transmission part 313 to be connected with the driving assembly 200. After the walking wheel 510 passes over the obstacle, the trigger assembly 400 is reset and abuts against the pushed part 312 again, so that the transmission part 313 is separated from the driving assembly 200 again, so as to cut off the power of the obstacle surmounting assembly 100 again, and make the clutch 310 drive the elastic part 320 to deform again, so that the elastic part 320 accumulates force again. In this embodiment, the trigger assembly 400 cooperates with the pushed portion 312 to switch the clutch assembly 300 between the transmission state and the cut-off state, thereby achieving control of the clutch assembly 300 .

[0090] It should be emphasized that the transmission part 313 can be directly fixedly connected to the main body 311, or fixedly connected to the main body 311 through an intermediate piece. For example, in some embodiments, the transmission part 313 is fixedly connected to the side of the pushed part 312 adjacent to the driving assembly 200, so that the transmission part 313 is fixedly connected to the main body 311 through the pushed part 312.

[0091] It is understandable that the elastic member 320 can be installed on the connecting shaft 110, any position of the clutch member 310, the moving wheel housing 20 or any other position, but it is necessary to ensure that the elastic member 320 can be used to drive the clutch member 310 to be connected to the driving assembly 200.

[0092] Of course, the clutch 310 is not limited to being connected to the drive assembly 200 through the transmission part 313. For example, in other embodiments, the clutch 310 is meshed and connected to the drive assembly 200, and the elastic member 320 is used to drive the clutch 310 to mesh with the drive assembly 200. Specifically, the elastic member 320 is elastically reset when an obstacle enters the rotation path of the obstacle crossing assembly 100 to drive the clutch 310 to mesh and connect with the drive assembly 200, so that the drive assembly 200, the clutch 310, the connecting shaft 110 and the obstacle-crossing member 120 are sequentially connected in transmission, thereby rotating the obstacle-crossing member 120. The clutch 310 is separated from the drive assembly 200 when the walking wheel 510 passes over the obstacle, so that the obstacle-crossing assembly 100 stops rotating and the elastic member 320 is deformed.

[0093] like Figure 4 As shown, in some of the embodiments, the driving assembly 200 is rotatably connected to the connecting shaft 110, so that the structure of the obstacle surmounting mechanism 10 is more compact.

[0094] like Figure 6 As shown, in some of the embodiments, the clutch assembly 300 also includes a guide member 330, which is fixedly connected to the connecting shaft 110. The guide member 330 is used to guide the movement of the clutch member 310 on the connecting shaft 110, thereby improving the movement accuracy of the clutch member 310 and ensuring that the clutch member 310 is smoothly connected to the drive assembly 200.

[0095] like Figure 6 As shown, further, the guide member 330 is provided with a guide hole 331, and the clutch member 310 has a transmission part 313, and the transmission part 313 is slidably connected in the guide hole 331. In this embodiment, the transmission part 313 is used to be slidably connected with the inner wall of the guide hole 331, so that the inner wall of the guide hole 331 guides the transmission part 313, so as to avoid the problem of accidental displacement of the transmission part 313 when approaching the drive assembly 200, and further improve the connection smoothness between the transmission part 313 and the drive assembly 200. In addition, since the transmission part 313 is slidably connected in the guide hole 331, the guide member 330 covers at least part of the transmission part 313, so that the guide member 330 plays a role in protecting the transmission part 313, and also makes the guide member 330 improve the strength of the transmission part 313, thereby reducing the risk of breaking the transmission part 313, reducing the failure rate of the clutch member 310, and further extending the service life of the clutch member 310.

[0096] It can be understood that since the clutch 310, the connecting shaft 110 and the obstacle-pressing member 120 are synchronized in the rotation direction, when the trigger assembly 400 is in contact with the pushed portion 312, if the obstacle-pressing member 120 is accidentally moved, the pushed portion 312 of the clutch 310 will be separated from the trigger assembly 400, thereby causing the driving assembly 200, the clutch 310, the connecting shaft 110 and the obstacle-pressing member 120 to be connected in sequence.

[0097] like Figure 7 As shown, in order to avoid the above technical problems, in some embodiments, the trigger assembly 400 is also used to limit the rotation of the clutch 310 after it contacts the clutch 310. In this embodiment, after the trigger assembly 400 contacts the clutch 310, if an external force acts on the obstacle-pressing component 120, the clutch 310 is prevented from rotating by the trigger assembly 400, so that the clutch 310, the connecting shaft 110 and the obstacle-pressing component 120 will not rotate, thereby preventing the clutch 310 from accidentally detaching from the trigger assembly 400, thereby preventing the driving assembly 200 from being in transmission connection with the obstacle-surmounting component 100 due to an accident.

[0098] like Figure 7 and Figure 8 As shown, in some embodiments, the obstacle-pressing member 120 has two pressing portions 121, and the two pressing portions 121 are arranged in a circumferential array along the obstacle-pressing member 120. The clutch member 310 has two symmetrically arranged transmission portions 313, and the trigger assembly 400 is connected to one of the transmission portions 313, so that the trigger assembly 400 restricts the clutch member 310 from rotating. When the trigger assembly 400 is connected to each transmission portion 313, the obstacle-pressing member 120 is used to be completely accommodated in the moving wheel housing 20.

[0099] Such as 7 and Figure 8 As shown, in the present embodiment, since the two transmission parts 313 are symmetrically arranged and the trigger assembly 400 is connected to one of the transmission parts 313, when the trigger assembly 400 is connected to any transmission part 313, the obstacle-pressing and overcoming component 120 can be hidden in the moving wheel housing 20, thereby preventing the obstacle-pressing and overcoming component 120 from contacting foreign objects during normal walking, improving the cleanliness of the obstacle-pressing and overcoming component 120, and preventing the obstacle-pressing and overcoming component 120 from generating resistance to the normal walking of the walking wheel 510, thereby reducing the energy consumption of the cleaning robot.

[0100] It can be understood that in some other embodiments, the number of the pressing portions 121 is not limited to two, and the number of the pressing portions 121 can also be one, three, four, five or other numbers.

[0101] like Figure 7As shown, in some embodiments, the clutch 310 has a transmission part 313, and the trigger assembly 400 is provided with a limiting groove 401, and the inner wall of the limiting groove 401 is used to connect with the transmission part 313. In this embodiment, when the trigger assembly 400 is connected with the transmission part 313, the transmission part 313 is limited in the limiting groove 401, so that the trigger assembly 400 limits the rotation of the transmission part 313, so that the clutch 310, the connecting shaft 110 and the obstacle-crossing component 120 do not rotate, thereby avoiding the clutch 310 from accidentally detaching from the trigger assembly 400, thereby avoiding the problem of transmission connection between the driving assembly 200 and the obstacle-crossing assembly 100 caused by accidents.

[0102] It can be understood that the limiting groove 401 can be an arc groove, a square groove or other existing limiting grooves 401 of shapes.

[0103] like Figure 7 As shown, in some embodiments, the trigger assembly 400 includes a separation swing arm 410, a height sensor, a control element, and a trigger motor. The separation swing arm 410 is rotatably connected to the moving wheel housing 20, and the separation swing arm 410 is used to abut against the clutch 310 to separate the clutch 310 from the driving assembly 200, and the clutch 310 drives the elastic member 320 to deform, so that the elastic member 320 accumulates force.

[0104] Furthermore, the height sensor is used to be installed at the bottom of the machine body, the control element is installed on the moving wheel housing 20, the control element is connected to the height sensor in communication, the trigger motor is installed on the moving wheel housing 20, and the trigger motor is connected to the control element in communication. In this embodiment, when the detection value of the height sensor reaches a preset value, the obstacle lifts the machine body to a certain height, and the control element controls the trigger motor to rotate forward, so that the trigger motor drives the separation swing arm to swing and separate from the clutch. When the detection value of the height sensor is less than the preset value, after the machine body completely passes the obstacle, the control element controls the trigger motor to reverse, so that the separation swing arm is reset and abuts against the clutch.

[0105] It should be noted that the detection method of the height sensor and the signal transmission method between the height sensor, the control element and the trigger motor belong to the existing technology and will not be described in detail here.

[0106] Embodiment 3:

[0107] The difference between this embodiment and the second embodiment is that the driving assembly 200 of this embodiment is different from the driving assembly 200 of the second embodiment.

[0108] like Fig. 9As shown, the driving assembly 200 of this embodiment includes a distance sensor 210, a controller 220 and a driving motor. The distance sensor 210 is used to be installed at the bottom of the body. The distance sensor 210 is used to detect the height of the location. The controller is connected to the distance sensor 210 in communication. The controller 220 is installed on the moving wheel housing 20. The driving motor is installed on the moving wheel housing 20. The driving motor is connected to the controller 220 in communication. The power output end of the driving motor is connected to the obstacle crossing assembly 100. In this embodiment, when the cleaning robot encounters an obstacle of a certain height, the detection value of the distance sensor 210 reaches a preset value. At this time, the controller 220 controls the driving motor to start, so that the driving motor drives the obstacle crossing assembly 100 to rotate. After the cleaning robot completely crosses the obstacle, the detection value of the distance sensor 210 is less than the preset value. At this time, the controller 220 controls the driving motor to stop, so that the obstacle crossing assembly 100 stops rotating. In this way, through the cooperation of the distance sensor, control and drive motor, the obstacle surmounting assembly 100 rotates when an obstacle enters the rotation path of the obstacle surmounting assembly 100, and the obstacle surmounting assembly 100 stops rotating after the running wheels 510 pass over the obstacle.

[0109] It should be noted that the detection method of the distance sensor and the signal transmission method between the distance sensor, the controller and the drive motor belong to the prior art and will not be described in detail here.

[0110] Embodiment 4:

[0111] like Fig.10 As shown, the difference between this embodiment and embodiments 2 and 3 is that the driving assembly 200 of this embodiment is different from the driving assembly 200 of embodiments 2 and 3.

[0112] like Fig.10As shown, the driving assembly 200 of this embodiment includes a first in-position sensor 230, a second in-position sensor 240, a controller 220 and a driving motor. Among them, the first in-position sensor 230 and the second in-position sensor 240 are both used to be installed at the bottom of the body, the first in-position sensor 230 is located on the side of the obstacle crossing assembly 100 facing the preset walking direction, and the first in-position sensor 230 is used to detect whether the obstacle is in place, and the second in-position sensor 240 is located on the side of the obstacle crossing assembly 100 away from the preset walking direction, and the second in-position sensor 240 is used to detect whether the obstacle is in place. The controller 220 is respectively connected to the first in-position sensor 230 and the second in-position sensor 240 for communication, the controller 220 is installed on the moving wheel housing 20, the driving motor is installed on the moving wheel housing 20, the driving motor is connected to the controller 220 for communication, and the power output end of the driving motor 220 is connected to the obstacle crossing assembly 100. In this embodiment, when the first in-position sensor 230 detects an obstacle, the obstacle is about to enter the rotation path of the obstacle surmounting component 100, and the controller 220 controls the drive motor to start, so that the drive motor drives the obstacle surmounting component 100 to rotate. After the cleaning robot completely crosses the obstacle, the second in-position sensor 240 detects the obstacle, and the controller 220 controls the drive motor to stop, so that the obstacle surmounting component 100 stops rotating. In this way, through the cooperation of the first in-position sensor 230, the second in-position sensor 240, the controller 220 and the drive motor, the obstacle surmounting component 100 rotates when the obstacle enters the rotation path of the obstacle surmounting component 100, and the obstacle surmounting component 100 stops rotating after the walking wheel 510 crosses the obstacle.

[0113] It should be noted that the detection method of the first in-position sensor, the detection method of the second in-position sensor, and the signal transmission method between the first in-position sensor, the second in-position sensor, the controller and the drive motor belong to the prior art and are not described in detail here.

[0114] Embodiment 5:

[0115] like Figure 1 and Figure 2As shown, an embodiment of the present disclosure provides a moving wheel device, including an obstacle-crossing mechanism 10 of any of the above-mentioned embodiments. The moving wheel device also includes a moving wheel housing 20 and a traveling assembly 30, the traveling assembly 30 includes a walking wheel 510, the walking wheel 510 is rotatably connected to the moving wheel housing 20, the obstacle-crossing assembly 100 is rotatably connected to the moving wheel housing 20, the rotation direction of the obstacle-crossing assembly 100 is the same as the rotation direction of the walking wheel 510, and the rotation center of the obstacle-crossing assembly 100 is set on the side of the rotation center of the walking wheel 510 facing the preset walking direction, that is, the rotation center of the obstacle-crossing assembly 100 is set on the side of the rotation center of the walking wheel 510 facing the moving direction of the machine body. When an obstacle enters the rotation path of the obstacle-crossing assembly 100, the driving assembly 200 drives the obstacle-crossing assembly 100 to rotate, so that the obstacle-crossing assembly 100 presses against the obstacle and drives the walking wheel 510 to cross the obstacle, and the obstacle-crossing assembly 100 stops rotating after the walking wheel 510 crosses the obstacle.

[0116] In the above-mentioned moving wheel device, when the cleaning robot is walking normally, the driving component 200 will not drive the obstacle crossing component 100 to rotate, and the obstacle crossing component 100 stops rotating. When an obstacle enters the rotation path of the obstacle crossing component 100, the driving component 200 drives the obstacle crossing component 100 to rotate, so that the rotating obstacle crossing component 100 presses against the obstacle. As the obstacle crossing component 100 rotates, the obstacle crossing component 100 will provide assistance to the walking wheel 510, so that the walking wheel 510 passes over the obstacle. After the walking wheel 510 passes over the obstacle, the driving component 200 stops driving the obstacle crossing component 100, so that the obstacle crossing component 100 stops rotating. In this way, since the obstacle crossing component 100 stops rotating when the cleaning robot is walking normally and after the walking wheels pass over an obstacle, the situation where the obstacle crossing component 100 continues to rotate is avoided, the probability of the obstacle crossing component 100 hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle crossing component 100 getting stuck or jammed is reduced, and the probability of the obstacle crossing mechanism 10 malfunctions is reduced.

[0117] Furthermore, since the probability of the obstacle overcoming mechanism 10 being abnormal is low, even if the obstacle overcoming component 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0118] like Figure 1 and Figure 2 As shown, in some embodiments, the traveling component 30 also includes a traveling gear 520, which is coaxially arranged and fixedly connected to the traveling wheel 510, and the traveling gear 520 is transmission-connected to the driving component 200, so that the traveling gear 520 drives the driving component 200 to move, and because the traveling gear 520 drives the traveling wheel 510 to move, the obstacle crossing component 100 and the traveling wheel 510 share power, thereby reducing the energy consumption of the cleaning robot.

[0119] like Figure 1 and Figure 2 As shown, in some embodiments, the moving wheel device further includes a transmission assembly 40 , and the traveling gear 520 is transmission-connected to the driving assembly 200 via the transmission assembly 40 , so that the traveling gear 520 is transmission-connected to the driving assembly 200 .

[0120] like Figure 2 As shown, in some embodiments, the transmission assembly 40 includes an input gear 610 and an output gear 620 that are meshed with each other, the input gear 610 is coaxially arranged and fixedly connected with the traveling gear 520, and the driving assembly 200 is a gear structure, and the driving assembly 200 is meshed with the output gear 620.

[0121] like Figure 2 As shown, in some embodiments, the linear speed of the periphery of the obstacle crossing component 100 is less than or equal to the linear speed of the periphery of the walking wheel 510. In this embodiment, the linear speed of the periphery of the obstacle crossing component 100 is less than or equal to the linear speed of the periphery of the walking wheel 510, so that the walking speed of the obstacle crossing component 100 is less than or equal to the walking speed of the walking wheel 510, so as to avoid the situation that the walking speed of the walking wheel 510 cannot keep up with the walking speed of the obstacle crossing component 100, thereby avoiding the problem of the walking wheel 510 being stuck relative to the obstacle crossing component 100, improving the obstacle crossing effect of the walking wheel 510, and reducing the stress concentration of the walking wheel 510, thereby extending the service life of the walking wheel 510.

[0122] Embodiment 6:

[0123] An embodiment of the present disclosure provides a cleaning robot, comprising a moving wheel device in any of the above embodiments.

[0124] In the above-mentioned cleaning robot, when the cleaning robot is walking normally, the driving component 200 will not drive the obstacle-crossing component 100 to rotate, and the obstacle-crossing component 100 stops rotating. When an obstacle enters the rotation path of the obstacle-crossing component 100, the driving component 200 drives the obstacle-crossing component 100 to rotate, so that the rotating obstacle-crossing component 100 presses against the obstacle. As the obstacle-crossing component 100 rotates, the obstacle-crossing component 100 will provide assistance to the walking of the running wheel 510, so that the running wheel 510 passes over the obstacle. After the running wheel 510 passes over the obstacle, the driving component 200 stops driving the obstacle-crossing component 100, so that the obstacle-crossing component 100 stops rotating. In this way, since the obstacle-crossing component 100 stops rotating when the cleaning robot is walking normally and after the running wheel passes over the obstacle, the situation where the obstacle-crossing component 100 continues to rotate is avoided, the probability of the obstacle-crossing component 100 hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle-crossing component 100 being stuck or stuck is reduced, and the probability of the obstacle-crossing mechanism 10 being abnormal is reduced.

[0125] Furthermore, since the probability of the obstacle overcoming mechanism 10 being abnormal is low, even if the obstacle overcoming component 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0126] Compared with the prior art, the present invention has at least the following advantages:

[0127] 1. When the cleaning robot is walking normally, the driving component 200 will not drive the obstacle-crossing component 100 to rotate, and the obstacle-crossing component 100 stops rotating. When an obstacle enters the rotation path of the obstacle-crossing component 100, the driving component 200 drives the obstacle-crossing component 100 to rotate, so that the rotating obstacle-crossing component 100 presses against the obstacle. As the obstacle-crossing component 100 rotates, the obstacle-crossing component 100 will provide assistance to the walking of the walking wheel 510, so that the walking wheel 510 passes over the obstacle. After the walking wheel 510 passes over the obstacle, the driving component 200 stops driving the obstacle-crossing component 100, so that the obstacle-crossing component 100 stops rotating. In this way, since the obstacle-crossing component 100 stops rotating when the cleaning robot is walking normally and after the walking wheel passes over the obstacle, the situation where the obstacle-crossing component 100 continues to rotate is avoided, the probability of the obstacle-crossing component 100 hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle-crossing component 100 being stuck or stuck is reduced, and the probability of the obstacle-crossing mechanism 10 being abnormal is reduced.

[0128] 2. Since the probability of the obstacle-crossing mechanism 10 being abnormal is low, even if the obstacle-crossing assembly 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0129] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the disclosed patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the disclosed patent shall be subject to the attached claims.

Claims

1. An obstacle crossing mechanism, characterized in that: include: An obstacle surmounting component (100) is used for being rotatably connected to a moving wheel housing (20), wherein the rotation direction of the obstacle surmounting component (100) is used to be the same as the rotation direction of the walking wheel (510), and the rotation center of the obstacle surmounting component (100) is used to be arranged on a side of the rotation center of the walking wheel (510) facing a preset walking direction; as well as The driving assembly (200) is used to drive the obstacle-crossing assembly (100) to rotate when an obstacle enters the rotation path of the obstacle-crossing assembly (100), so that the obstacle-crossing assembly (100) is pressed against the obstacle and drives the running wheel (510) to cross the obstacle; the driving assembly (200) is also used to stop driving after the running wheel (510) crosses the obstacle, so that the obstacle-crossing assembly (100) stops rotating.

2. The obstacle surmounting mechanism according to claim 1, characterized in that: The obstacle surmounting mechanism further comprises a clutch assembly (300), wherein when the obstacle enters the rotation path of the obstacle surmounting assembly (100), the clutch assembly (300) is respectively connected to the drive assembly (200) and the obstacle surmounting assembly (100), so that the drive assembly (200), the clutch assembly (300) and the obstacle surmounting assembly (100) are sequentially connected in transmission, thereby causing the obstacle surmounting assembly (100) to rotate; after the walking wheel (510) passes over the obstacle, the clutch assembly (300) is separated from the obstacle surmounting assembly (100) and / or the drive assembly (200), so that the obstacle surmounting assembly (100) stops rotating.

3. The obstacle surmounting mechanism according to claim 2, characterized in that: The obstacle surmounting mechanism further comprises a trigger assembly (400), and the trigger assembly (400) is used to control the clutch assembly (300) to transmit power or cut off power.

4. The obstacle surmounting mechanism according to claim 2, characterized in that: The obstacle-crossing assembly (100) comprises a connecting shaft (110) and an obstacle-crossing pressing member (120), wherein the connecting shaft (110) is used to be rotatably connected to the moving wheel housing (20), and the obstacle-crossing pressing member (120) is fixedly connected to the connecting shaft (110); The driving assembly (200) is used to drive the obstacle surmounting assembly (100) to rotate when the obstacle enters the rotation path of the obstacle surmounting assembly (100), so that the obstacle surmounting member (120) presses against the obstacle and drives the walking wheel (510) to surmount the obstacle.

5. The obstacle surmounting mechanism according to claim 4, characterized in that: The clutch assembly (300) comprises a clutch member (310) and an elastic member (320), wherein the clutch member (310) is movably connected to the connecting shaft (110) in the axial direction of the connecting shaft (110), the clutch member (310) is fixedly connected to the connecting shaft (110) in the circumferential direction of the connecting shaft (110), and the elastic member (320) is connected to the clutch member (310); The elastic member (320) is elastically reset when the obstacle enters the rotation path of the obstacle-crossing component (100), so as to drive the clutch member (310) to be transmission-connected with the driving component (200), so that the driving component (200), the clutch member (310), the connecting shaft (110) and the obstacle-crossing component (120) are sequentially transmission-connected; the clutch member (310) is separated from the driving component (200) when the walking wheel (510) crosses the obstacle, so that the obstacle-crossing component (100) stops rotating and the elastic member (320) is deformed.

6. The obstacle surmounting mechanism according to claim 5, characterized in that: The obstacle-crossing mechanism further comprises a trigger assembly (400), wherein the trigger assembly (400) is used to abut against the clutch member (310) to separate the clutch member (310) from the driving assembly (200), and to cause the clutch member (310) to drive the elastic member (320) to deform; The trigger component (400) is separated from the clutch component (310) when the obstacle enters the rotation path of the obstacle-crossing component (100), so that the elastic component (320) is elastically reset and drives the clutch component (310) to be transmission-connected with the driving component (200), and the trigger component (400) is reset and abuts against the clutch component (310) again after the walking wheel (510) crosses the obstacle.

7. The obstacle surmounting mechanism according to claim 6, characterized in that: The trigger assembly (400) is also used to limit the rotation of the clutch member (310) after abutting against the clutch member (310).

8. The obstacle surmounting mechanism according to claim 7, characterized in that: The obstacle-crossing and pressing member (120) has two pressing portions (121), and the two pressing portions (121) are arranged in a circumferential array along the obstacle-crossing and pressing member (120); The clutch member (310) has two symmetrically arranged transmission parts (313), and the trigger assembly (400) is connected to one of the transmission parts (313) so that the trigger assembly (400) limits the rotation of the clutch member (310); when the trigger assembly (400) is connected to each of the transmission parts (313), the obstacle-pressing member (120) is used to be completely accommodated in the moving wheel housing (20).

9. A moving wheel device, characterized in that: The invention comprises the obstacle surmounting mechanism (10) according to any one of claims 1 to 8.

10. A cleaning robot, characterized in that: Includes the moving wheel device as described in claim 9.

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