Cleaning device

Abstract

The invention relates to the technical field of cleaning electric appliances, and provides cleaning equipment which comprises a chassis assembly, a driving wheel assembly and an obstacle crossing auxiliary assembly. The driving wheel assembly comprises a driving shell, a driving wheel main body and a driving part, and the driving shell is hinged to the chassis assembly; the obstacle crossing auxiliary assembly comprises a power part and an obstacle crossing lifting mechanism, the obstacle crossing lifting mechanism is provided with an abutting part, the abutting part abuts against the guide mechanism, and the power part can drive the abutting part to slide on the guide mechanism. According to the cleaning equipment provided by the invention, the obstacle crossing auxiliary assembly is additionally arranged, the guide mechanism is arranged on the chassis assembly, and when the power part provides the obstacle crossing lifting mechanism to rotate around the driving wheel main body, the abutting part of the obstacle crossing lifting mechanism slides on the guide mechanism, so that interaction force is formed between the chassis assembly and the driving wheel main body; and finally, the driving wheel main body is lifted relative to the chassis assembly, so that the obstacle crossing height of the cleaning equipment can be greatly increased.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning appliances, and in particular provides a cleaning device. Background Art

[0002] In the related art, in order to achieve the obstacle-crossing function, cleaning devices such as floor-sweeping robots and mopping-and-sweeping integrated robots generally design the size of their driving wheels to be relatively large to meet the need for obstacle-crossing cleaning.

[0003] However, in some scenarios, the heights of obstacles on the same area to be cleaned are different. Especially in some step scenarios, it makes it difficult for the cleaning device to cross obstacles with relatively high heights. Summary of the Invention

[0004] The purpose of the present invention is to provide a cleaning device, aiming to improve the problem that the obstacle-crossing height of the existing cleaning device is relatively low.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is:

[0006] The present application provides a cleaning device, including:

[0007] A chassis assembly, on which a guiding mechanism is provided;

[0008] A driving wheel assembly, which includes a driving housing, a driving wheel main body rotatably connected to the driving housing around an axis, and a driving part for driving the driving wheel main body to rotate around the axis. The driving housing is hinged to the chassis assembly, and in the moving direction of the chassis assembly, the hinge point of the driving housing and the chassis assembly and the rotation axis of the driving wheel main body and the driving housing are arranged front and back.

[0009] An obstacle-crossing auxiliary assembly, which includes a power part and an obstacle-crossing lifting mechanism coaxially arranged with the driving wheel main body. The power part is used to drive the obstacle-crossing lifting mechanism to rotate around the axis.

[0010] Wherein, the obstacle-crossing lifting mechanism has an abutting part, the abutting part abuts against the guiding mechanism, and the power part can drive the abutting part to slide on the guiding mechanism, so that the driving housing rotates around the hinge of the chassis assembly, and the driving wheel main body performs a lifting action relative to the chassis assembly.

[0011] Advantages of the present invention: The cleaning device provided by the present invention is provided with an obstacle-crossing auxiliary component. Moreover, a guiding mechanism is provided on the chassis component. When the power unit provides the rotation of the obstacle-crossing lifting mechanism around the main driving wheel, the abutting portion of the obstacle-crossing lifting mechanism slides on the guiding mechanism, so as to form an interaction force between the chassis component and the main driving wheel, and finally realize the articulated rotation of the main driving wheel and the driving housing around the articulated point relative to the chassis component. That is, the driving housing and the main driving wheel are lifted relative to the chassis component, thereby greatly improving the obstacle-crossing height of the cleaning device.

[0012] In some embodiments, the guiding mechanism includes a first guiding portion, the first guiding portion has a first end and a second end oppositely arranged with respect to the first end, the second end of the first guiding portion points to the rotation axis of the main driving wheel and the driving housing, and the first end of the first guiding portion is inclined away from the articulated point of the driving housing and the chassis component;

[0013] When the main driving wheel is in a non-lifted state, the abutting portion is located at the first end; and when the abutting portion moves from the first end to abut against the second end, the main driving wheel gradually performs a lifting action relative to the chassis component.

[0014] By adopting the above technical solution, driven by the driving force of the power unit, the abutting portion of the obstacle-crossing lifting mechanism rotating around the axis abuts and moves on the first guiding portion, and the movement track is from the first end to the second end. During the whole process, the main driving wheel switches from the non-lifted state to the lifted state to meet the specific lifting requirements.

[0015] In some embodiments, the guiding mechanism includes a second guiding portion, the second guiding portion has a third end and a fourth end oppositely arranged with respect to the third end, the third end is connected to the second end, and the fourth end is inclined towards the articulated point of the driving housing and the chassis component;

[0016] When the abutting portion moves from the third end to abut against the fourth end, the main driving wheel gradually switches from the lifted state to the non-lifted state, and when the abutting portion is located at the fourth end, the main driving wheel is in the non-lifted state again.

[0017] By adopting the above technical solution, a second guiding portion connected to the first guiding portion is added, so that the chassis component can perform lifting and obstacle-crossing in both the front and rear directions, thereby shortening the preparation time before obstacle-crossing.

[0018] In some embodiments, the abutting portion includes a first roller articulated on the obstacle-crossing lifting mechanism.

[0019] By adopting the above technical solution, the friction between the first roller and the guiding mechanism is rolling friction, and the frictional resistance therebetween is small, so as to improve the smoothness of the movement of the abutting portion on the guiding mechanism.

[0020] In some embodiments, the obstacle-crossing auxiliary assembly further includes an obstacle-crossing support structure, which is hinged to the obstacle-crossing lifting mechanism. The obstacle-crossing support structure has a support portion, and the support portion is away from the obstacle-crossing lifting mechanism.

[0021] Wherein, when the abutting portion is at the first end, the obstacle-crossing support structure is received in the chassis assembly to ensure that the driving wheel body is in a non-lifted state; when the abutting portion is at the second end, the support portion and the driving wheel body contact the ground simultaneously; when the abutting portion slides on the second guiding portion, the support portion supports on the ground, and the driving wheel body is lifted off the ground and in a lifted state; when the abutting portion is at the fourth end, the obstacle-crossing support structure swings around the hinge point towards the first guiding portion.

[0022] By adopting the above technical solution, an obstacle-crossing support structure is added and rotates around an axis with the obstacle-crossing lifting mechanism. In this way, the lifting height of the chassis assembly is further increased, and thus the obstacle-crossing height is increased.

[0023] In some embodiments, the support portion includes a second roller hinged to the obstacle-crossing support structure.

[0024] By adopting the above technical solution, the friction between the second roller and the ground is rolling friction, and the frictional resistance therebetween is smaller, so as to reduce the resistance of the cleaning device during the obstacle-crossing process.

[0025] In some embodiments, the obstacle-crossing auxiliary assembly further includes a reset member. The reset member is arranged on the obstacle-crossing support structure and at the hinge point. One end of the reset member is fixedly connected to the obstacle-crossing support structure and the other end is arranged on the obstacle-crossing lifting mechanism, so that the obstacle-crossing support structure is in a straight state relative to the obstacle-crossing lifting mechanism.

[0026] By adopting the above technical solution, the reset member is used to restore the obstacle-crossing support structure to the initial state relative to the obstacle-crossing lifting mechanism, so as to prepare for the next obstacle-crossing.

[0027] In some examples, the driving portion includes a driving motor and a first driving transmission group both arranged in the driving housing. The first driving transmission group includes a plurality of first transmission gears meshed and connected. The first transmission gear at the head is arranged at the output end of the driving motor, and the first transmission gear at the end is arranged on the rotating shaft of the driving wheel body.

[0028] By adopting the above technical solution, the driving motor transmits the torque to the driving wheel body through the first driving transmission group to realize the forward or reverse rotation of the driving wheel body.

[0029] In some embodiments, the power unit includes a lifting motor and a second driving transmission group both arranged in the driving housing. The second driving transmission group includes a plurality of second transmission gears meshed and connected. The first second transmission gear is arranged at the output end of the lifting motor, and the last second transmission gear is arranged on the obstacle-crossing lifting mechanism.

[0030] By adopting the above technical solution, the lifting motor transmits the torque to the obstacle-crossing lifting mechanism through the second driving transmission group to realize the forward or reverse rotation of the obstacle-crossing lifting mechanism.

[0031] In some embodiments, the last second transmission gear is integrally formed with the obstacle-crossing lifting mechanism.

[0032] By adopting the above solution, the overall mechanism form of the obstacle-crossing auxiliary component can be further simplified, and the transmission stability can also be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic structural diagram of the cleaning device provided by the embodiment of the present invention before obstacle crossing;

[0035] Figure 2 It is a schematic structural diagram of the cleaning device provided by the embodiment of the present invention when the driving wheel body is lifted to the highest point during obstacle crossing;

[0036] Figure 3 It is a schematic structural diagram of the cleaning device provided by the embodiment of the present invention when the driving wheel body is lifted off the ground during obstacle crossing;

[0037] Figure 4 It is a schematic structural diagram of the cleaning device provided by the embodiment of the present invention when the driving wheel body returns to the initial state after obstacle crossing;

[0038] Figure 5 It is a schematic structural diagram of the cleaning device provided by the embodiment of the present invention when the obstacle-crossing auxiliary mechanism returns to the initial state after obstacle crossing;

[0039] Figure 6Schematic diagram of the chassis assembly of the cleaning device provided by the embodiment of the present invention;

[0040] Figure 7 Exploded view of the drive wheel assembly and the obstacle crossing assistance assembly of the cleaning device provided by the embodiment of the present invention;

[0041] Figure 8 Rear view of the obstacle crossing lifting mechanism of the obstacle crossing assistance assembly of the cleaning device provided by the embodiment of the present invention.

[0042] Among them, each reference numeral in the figure:

[0043] 100, cleaning device;

[0044] 10, chassis assembly; 11, guiding mechanism; 111, first guiding part; 111a, first end; 111b, second end; 112, second guiding part; 112a, third end; 112b, fourth end;

[0045] 20, drive wheel assembly; 21, drive housing; 22, drive wheel body; 23, drive part; 231, drive motor; 232, first drive transmission group; 2321, first transmission gear;

[0046] 30, obstacle crossing assistance assembly; 31, power part; 32, obstacle crossing lifting mechanism; 33, abutting part; 34, obstacle crossing support structure; 35, support part; 36, reset part; 311, lifting motor; 312, second drive transmission group; 3121, second transmission gear. Detailed implementation manners

[0047] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0048] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0050] In the present invention, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the related art, in order to achieve the obstacle-crossing function, cleaning devices such as floor-sweeping robots and mopping-and-sweeping integrated robots generally design the size of their driving wheels to be relatively large to meet the needs of obstacle-crossing cleaning. However, in some scenarios, the heights of obstacles on the same area to be cleaned are different, especially in some step scenarios, which makes it difficult for the cleaning device to cross obstacles with relatively high heights.

[0052] In view of this, the cleaning device provided in the present application is provided with an obstacle-crossing auxiliary component, and a corresponding guiding mechanism is also provided on the chassis component. Specifically, when the power unit provides the rotation of the obstacle-crossing lifting mechanism around the driving wheel body, the abutting part of the obstacle-crossing lifting mechanism slides on the guiding mechanism, so as to form an interaction force between the chassis component and the driving wheel body, and finally realize the relative hinge rotation of the driving wheel body and the driving housing around the hinge point relative to the chassis component, that is, realize the lifting of the driving housing and the driving wheel body relative to the chassis component, thereby greatly improving the obstacle-crossing height of the cleaning device.

[0053] Please refer to Figure 1 and Figure 2 , the present application provides a cleaning device 100, including a chassis component 10, a driving wheel component 20 and an obstacle-crossing auxiliary component 30.

[0054] It can be understood that the chassis component 10 is the main part of the cleaning device 100, and the chassis component 10 should include a chassis housing, a middle sweeping component provided on the chassis housing, a control component, etc. The driving wheel component 20 is the power part of the cleaning device 100 to realize the movement of the cleaning device 100 on the ground. The obstacle-crossing auxiliary component 30 is used to assist the cleaning device 100 to cross obstacles to improve the obstacle-crossing height of the cleaning device 100.

[0055] Specifically, a guiding mechanism 11 is provided on the chassis assembly 10; the driving wheel assembly 20 includes a driving housing 21, a driving wheel main body 22 rotatably connected to the driving housing 21 about an axis, and a driving part 23 for driving the driving wheel main body 22 to rotate about the axis. The driving housing 21 is hinged to the chassis assembly 10, and in the moving direction of the chassis assembly 10, the hinge point of the driving housing 21 and the chassis assembly 10 and the rotation axis of the driving wheel main body 22 and the driving housing 21 are arranged front and back; the obstacle-crossing assistance assembly 30 includes a power part 31 and an obstacle-crossing lifting mechanism 32 coaxially arranged with the driving wheel main body 22. The power part 31 is used to drive the obstacle-crossing lifting mechanism 32 to rotate about the axis; wherein, the obstacle-crossing lifting mechanism 32 has an abutting part 33, the abutting part 33 abuts against the guiding mechanism 11, and the power part 31 can drive the abutting part 33 to slide on the guiding mechanism 11, so that the driving housing 21 rotates about the hinge of the chassis assembly 10, and the driving wheel main body 22 is lifted relative to the chassis assembly 10.

[0056] Here, the driving housing 21 is hinged to the chassis assembly 10, that is, the driving housing 21 can rotate about the hinge point relative to the chassis assembly 10, and the rotation point of the driving wheel main body 22 relative to the driving housing 21 and the hinge point of the driving housing 21 and the chassis assembly 10 are arranged front and back in the moving direction of the chassis assembly 10, providing a structural basis for the chassis assembly 10 to lift over obstacles; the driving part 23 is used to provide the power for the driving wheel main body 22 to rotate about the axis. At the same time, the driving wheel main body 22 can also rotate forward or backward to meet the forward or backward movement of the chassis assembly 10.

[0057] The obstacle-crossing lifting mechanism 32 is a mechanism that rotates about the same rotation axis as the driving wheel main body 22. However, when the driving wheel main body 22 rotates, the obstacle-crossing lifting mechanism 32 should remain relatively stationary, that is, the two rotate about the rotation axis respectively, independently of each other and without interference. For example, the obstacle-crossing lifting mechanism 32 is arranged on the rotation axis of the driving wheel main body 22 through a bearing. Then, when the driving wheel main body 22 rotates about the moving axis, the obstacle-crossing lifting mechanism 22 can remain relatively stationary and only rotate about the rotation axis when obtaining the torque of the power source. The power part 31 provides the power for the obstacle-crossing lifting mechanism 32 to rotate about the axis, and the power part 31 should not be on the chassis assembly 10. For example, the power part 31 can be arranged inside the driving housing 21 or outside the driving housing 21. The abutting part 33 of the obstacle-crossing lifting mechanism 32 is the part where the obstacle-crossing lifting mechanism 32 interacts with the guiding mechanism 11, that is, a mutual acting force is formed between the chassis assembly 10 and the obstacle-crossing lifting mechanism 32, so that the driving housing 21 rotates about the hinge point, realizing the lifting of the driving wheel main body 22 relative to the chassis assembly 10. In this way, the ground clearance of the chassis assembly 10 is higher, and it can cross higher obstacles.

[0058] The structural forms of the guiding mechanism 11 include, but are not limited to, guiding edges, guiding ribs, guiding grooves, etc. The guiding mechanism 11 and the abutting portion 33 of the obstacle-crossing lifting mechanism 32 are in an abutting relationship with each other. That is, during the lifting process, there is a continuous mutual acting force between the two to satisfy the relative lifting between the driving wheel main body 22 and the chassis assembly 10.

[0059] Optionally, the guiding mechanism 11 includes guiding ribs formed on the chassis assembly 10, and the abutting portion 33 is a roller provided on the obstacle-crossing lifting mechanism 32. The roller abuts on the guiding ribs, and during the movement of the roller relative to the guiding ribs, the driving wheel main body 22 is gradually lifted.

[0060] Optionally, the guiding mechanism 11 may further include a guiding chute formed on the chassis assembly 10, and the abutting portion 33 is a slider provided on the obstacle-crossing lifting mechanism 32. The slider is arranged in the guiding chute, and a mutual acting force is formed. The power portion 31 drives the obstacle-crossing lifting mechanism 32 to rotate around the axis, thereby driving the slider to slide on the guiding chute, and finally realizing the lifting of the driving wheel main body 22.

[0061] The cleaning device 100 provided by the present invention is provided with an obstacle-crossing auxiliary component 30, and a guiding mechanism is arranged on the chassis assembly 10. When the power portion 31 provides the rotation of the obstacle-crossing lifting mechanism 32 around the driving wheel main body 22, the abutting portion 33 of the obstacle-crossing lifting mechanism 32 slides on the guiding mechanism 11, so as to form a mutual acting force between the chassis assembly 10 and the driving wheel main body 22, and finally realize the articulated rotation of the driving wheel main body 22 and the driving housing 21 around the articulated point relative to the chassis assembly 10. That is, the driving housing 21 and the driving wheel main body 22 are lifted relative to the chassis assembly 10, thereby greatly improving the obstacle-crossing height of the cleaning device 100.

[0062] Please refer to Figure 1 、 Figure 2 and Figure 6 In some embodiments, the guiding mechanism 11 includes a first guiding portion 111. The first guiding portion 111 has a first end 111a and a second end 111b oppositely arranged with respect to the first end 111a. The second end 111b of the first guiding portion 111 points to the rotation axis of the driving wheel main body 22 and the driving housing 21, and the first end 111a of the first guiding portion 111 is inclinedly arranged away from the articulated point of the driving housing 21 and the chassis assembly 10.

[0063] When the driving wheel main body 22 is in a non-lifted state, the abutting portion 33 is located at the first end 111a; and when the abutting portion 33 abuts and moves from the first end 111a to the second end 111b, the driving wheel main body 22 gradually performs a lifting action relative to the chassis assembly 10.

[0064] Understandably, the structural form of the first guiding portion 111 includes guiding edges, guiding ribs, guiding grooves, etc. The first end 111a and the second end 111b are two opposite ends of the first guiding portion 111. The abutting portion 33 moves between the first end 111a and the second end 111b. Here, when the abutting portion 33 is located at the first end 111a, the non-lifting state of the driving wheel body 22 means that the driving wheel body 22 is in a non-grounded state. At this time, the driving wheel body 22 is either in a state of rotating around the axis or in a stopped state. At the same time, the obstacle-crossing lifting mechanism 32 is also in an initial state. When the power portion 31 outputs torque to drive the obstacle-crossing lifting mechanism 32 to rotate around the axis, the abutting portion 33 rotates with the obstacle-crossing lifting mechanism 32 and moves from the first end 111a to the second end 111b. At this time, due to the mutual abutting action between the abutting portion 33 and the first guiding portion 111, the reaction force exerted by the first guiding portion 111 on the abutting portion 33 is transmitted to the driving wheel body 22 through the abutting portion 33 and the obstacle-crossing lifting mechanism 32. At this time, the driving wheel body 22 acts on the ground and begins to gradually lift relative to the chassis assembly 10 until the abutting portion 33 moves to the second end 111b, and the lifting height of the driving wheel body 22 reaches the maximum.

[0065] Of course, it can be set that when the power portion 31 outputs forward, the abutting portion 33 moves from the first end 111a to the second end 111b. Then, the driving wheel body 22 switches from the non-lifting state to the lifting state. When the power portion 31 outputs reversely, the abutting portion 33 moves from the second end 111b to the first end 111a. Then, the driving wheel body 22 switches from the lifting state to the non-lifting state. At the same time, since the hinge point of the driving housing 21 and the chassis assembly 10 and the rotation point of the driving wheel body 22 around the axis with respect to the driving housing 21 are arranged before and after in the moving direction of the chassis assembly 10, during the obstacle-crossing process, the front end of the chassis assembly 10 will lift relative to its rear end. Here, the front end of the chassis assembly 10 is the end when the chassis assembly 10 advances, and the rear end is the end opposite to the front end. For example, when the abutting portion 33 moves from the first end 111a to the second end 111b, the driving wheel body 22 is in a lifted state, and the front end of the chassis assembly 10 will lift relative to its rear end; and when the abutting portion 33 moves from the second end 111b to the first end 111a, the driving wheel body 22 is in a falling state, and the front end of the chassis assembly 10 will fall relative to its rear end.

[0066] In this way, driven by the driving force of the power portion 31, the abutting portion 33 of the obstacle-crossing lifting mechanism 32 that rotates around the axis abuts and moves on the first guiding portion 111, and its movement track is from the first end 111a to the second end 111b. During the whole process, the driving wheel body 22 switches from the non-lifting state to the lifting state to meet specific lifting requirements.

[0067] Please refer toFigure 1 , Figure 2 , Figure 3 and Figure 6 , in some embodiments, the guiding mechanism 11 includes a second guiding portion 112. The second guiding portion 112 has a third end 112a and a fourth end 112b disposed opposite to the third end 112a. The third end 112a is connected to the second end 111b, and the fourth end 112b is inclined toward the hinge point of the driving housing 21 and the chassis assembly 10;

[0068] When the abutting portion 33 abuts and moves from the third end 112a to the fourth end 112b, the driving wheel body 22 gradually switches from the lifted state to the non-lifted state. Moreover, when the abutting portion 33 is located at the fourth end 112b, the driving wheel body 22 is again in the non-lifted state.

[0069] It can be understood that the structural form of the second guiding portion 112 includes a guiding edge, a guiding rib, a guiding groove, etc. The third end 112a and the fourth end 112b are two opposite ends of the second guiding portion 112, and the abutting portion 33 also moves between the third end 112a and the fourth end 112b. Among them, the third end 112a is connected to the second end 111b. Therefore, in terms of spatial position, the second end 111b of the first guiding portion 111 directly transitions to the third end 112a of the second guiding portion 112. At this time, the connection between the third end 112a and the second end 111b can be regarded as the crest of the guiding mechanism 11. When the abutting portion 33 abuts at the connection between the third end 112a and the second end 111b, the lifting height of the driving wheel body 22 relative to the chassis assembly 10 reaches the maximum. Thus, when the abutting portion 33 continues to abut and move on the second guiding portion 112 from this connection, the driving wheel body 22 also gradually falls from the highest point of lifting until the abutting portion 33 moves to the fourth end 112b of the second guiding portion 112, and the driving wheel body 22 is in the non-lifted state.

[0070] Optionally, the slope of the second guiding portion 112 can be the same as the slope of the first guiding portion 111. Then, when the output power of the power portion 31 remains unchanged, the moving speed of the abutting portion 33 on the first guiding portion 111 is the same as its moving speed on the second guiding portion 112, that is, the lifting speed or the falling speed of the driving wheel body 22 is the same. Of course, in other embodiments, the slope of the second guiding portion 112 can also be different from the slope of the first guiding portion 111, that is, the moving speed of the abutting portion 33 on the first guiding portion 111 and its moving speed on the second guiding portion 112 are different.

[0071] Meanwhile, a second guiding portion 112 connected to the first guiding portion 111 is added, which enables the chassis assembly 10 to be lifted over obstacles in both the front and rear directions. That is, by continuously outputting in the forward or reverse direction by the power unit 31, the lifting and falling of the driving wheel body 22 can be realized, thereby shortening the preparation time before crossing an obstacle.

[0072] Please refer to Figure 2 and Figure 7 , in some embodiments, the abutting portion 33 includes a first roller hinged to the obstacle-crossing lifting mechanism 32.

[0073] It can be understood that the first roller and the guiding mechanism 11 are in rolling friction, and the frictional resistance between them is small, so as to improve the smoothness of the movement of the abutting portion 33 on the guiding mechanism 11. Moreover, the abutting contact area between the first roller and the guiding mechanism 11 is larger, especially suitable for the case where the guiding mechanism 11 includes two guiding portions and abutting commutation is required.

[0074] Please refer to Figures 2 to 7 , in some embodiments, the obstacle-crossing auxiliary assembly 30 further includes an obstacle-crossing support structure 34, the obstacle-crossing support structure 34 is hinged to the obstacle-crossing lifting mechanism 32, and the obstacle-crossing support structure 34 has a support portion 35, and the support portion 35 is away from the obstacle-crossing lifting mechanism 32;

[0075] Among them, when the abutting portion 33 is at the first end 111a, the obstacle-crossing support structure 34 is received in the chassis assembly 10 to ensure that the driving wheel body 22 is in a non-lifted state; when the abutting portion 33 is at the second end 111b, the support portion 35 and the driving wheel body 22 contact the ground simultaneously; when the abutting portion 33 slides on the second guiding portion 112, the support portion 35 supports on the ground, and the driving wheel body 22 is lifted off the ground, and when the abutting portion 33 is at the fourth end 112b, the obstacle-crossing support structure 34 swings around the hinge point towards the first guiding portion 111.

[0076] It can be understood that the obstacle-crossing support structure 34 is a structure for further lifting the driving wheel body 22. Considering that the obstacle-crossing support structure 34 should not affect the normal use of the driving wheel body 22 when the driving wheel body 22 is in a non-lifted state, then the obstacle-crossing support structure 34 needs to swing unidirectionally with the obstacle-crossing lifting mechanism 32.

[0077] Exemplarily, such as Figures 1 to 6As shown, in the forward direction of the chassis assembly 10, the hinge point between the drive housing 21 and the chassis assembly 10 and the rotation axis of the drive wheel body 22 and the drive housing 21 are arranged front and back. Then, when the abutting portion 33 is at the first end 111a, the obstacle-crossing support structure 34 is received in the chassis assembly 10; when the abutting portion 33 slides from the first end 111a to the second end 111b, the drive wheel body 22 is gradually lifted. Moreover, when the abutting portion 33 moves to the second end 111b, the drive wheel body 22 is lifted to the highest point, that is, the chassis assembly 10 is lifted to the highest point, and the front end of the chassis assembly 10 is higher than the rear end; at the same time, the support portion 35 of the obstacle-crossing support structure 34 begins to abut on the ground; when the abutting portion 33 moves from the third end 112a to the fourth end 112b, the support portion 35 abuts on the ground to perform a secondary lift on the drive wheel body 22 and falls off the ground. And the drive wheel body 22 is received in the chassis assembly 10 with the drive housing 21 rotating around the hinge point. At this time, the hinge point between the obstacle-crossing lifting mechanism 32 and the drive wheel body 22, the hinge point between the obstacle-crossing support structure 34 and the obstacle-crossing lifting mechanism 32, and the support portion 35 are collinear or substantially collinear. And the collinearity of the above three points is called the first line segment, and the collinearity of the abutting portion 33 and the hinge point between the obstacle-crossing lifting mechanism 32 and the drive wheel body 22 is called the second line segment. An obtuse angle is formed between the first line segment and the second line segment; when the abutting portion 33 moves to the fourth end 112b, or approaches the fourth end 112b, the obstacle-crossing support structure 34 swings unidirectionally around the hinge point towards the obstacle-crossing lifting mechanism 32 under the action of gravity; when the abutting portion 33 moves from the fourth end 112b to the third end 112a, the drive housing 21 rotates around the hinge point relative to the chassis assembly 10 again. At the same time, the rear end of the chassis assembly 10 is higher than the front end until the abutting portion 33 moves to the connection between the third end 112a and the second end 111b, the drive wheel body 22 is lifted to the highest point again. At this time, the obstacle-crossing support structure 34 also continues to swing towards the obstacle-crossing lifting mechanism 32; the abutting portion 33 continues to move towards the first end 111a, the drive wheel body 22 falls back again, and the obstacle-crossing lifting mechanism 32 and the obstacle-crossing support structure 34 gradually return to the initial state until the abutting portion 33 returns to the first end 111a.

[0078] Thus, the obstacle-crossing support structure 34 is added and rotates around the axis with the obstacle-crossing lifting mechanism 32, so as to further increase the lifting height of the chassis assembly 10, and then increase the obstacle-crossing height.

[0079] Please refer to Figure 2 and Figure 7 , in some embodiments, the support portion 35 includes a second roller hinged to the obstacle-crossing support structure 34.

[0080] Understandably, the friction between the second roller and the ground is rolling friction, and the frictional resistance therebetween is smaller, so as to reduce the resistance of the cleaning device 100 during the obstacle crossing process.

[0081] Please refer to Figure 7 , in some embodiments, the obstacle crossing assisting assembly 30 further includes a reset member 36. The reset member 36 is disposed on the obstacle crossing support structure 34 and at the hinge point. One end of the reset member 36 is fixedly connected to the obstacle crossing support structure 34 and the other end is disposed on the obstacle crossing lifting mechanism 32, so that the obstacle crossing support structure 34 is in a straight state relative to the obstacle crossing lifting mechanism 32.

[0082] Understandably, the structural form of the reset member 36 includes but is not limited to a reset spring, a reset spring piece, etc. The function of the reset member 36 is to provide the obstacle crossing support structure 34 to return to the initial state of being hingedly connected to the obstacle crossing lifting mechanism 32, that is, the obstacle crossing support structure 34 is in a straight state relative to the obstacle crossing lifting mechanism 32, so as to meet the implementation of the obstacle crossing action in the next cycle.

[0083] In this way, the reset member 36 is used to realize the obstacle crossing support structure 34 to return to the initial state relative to the obstacle crossing lifting mechanism 32, so as to prepare for the next obstacle crossing.

[0084] Please refer to Figure 7 , in some examples, the driving part 23 includes a driving motor 231 and a first driving transmission group 232 both disposed in the driving housing 21. The first driving transmission group 232 includes a plurality of first transmission gears 2321 that are meshed and connected. The first transmission gear 2321 at the head is disposed at the output end of the driving motor 231, and the first transmission gear 2321 at the end is disposed on the rotating shaft of the driving wheel body 22.

[0085] Understandably, the driving motor 231 is used to provide the power for the driving wheel body 22 to rotate around the axis. Of course, the driving motor 231 can output torque in the forward direction and the reverse direction, and then drive the driving wheel body 22 to rotate around the axis in the forward direction and the reverse direction. The first driving transmission group 232 is used to adjust the magnitude of the output torque of the driving motor 231. For example, the first driving transmission group 232 is composed of a plurality of first transmission gears 2321. The output torque of the driving motor 231 is transmitted from the first transmission gear 2321 at the head to the first transmission gear 2321 at the end, and finally transmitted to the driving wheel body 22.

[0086] In this way, the driving motor 231 transmits the torque to the driving wheel body 22 through the first driving transmission group 232, so as to realize the forward rotation or reverse rotation of the driving wheel body 22.

[0087] Please refer to Figure 7, in some embodiments, the power unit 31 includes a lifting motor 311 and a second drive transmission group 312 both disposed within the drive housing 21. The second drive transmission group 312 includes a plurality of second transmission gears 3121 engaged with each other. The first second transmission gear 3121 is disposed at the output end of the lifting motor 311, and the last second transmission gear 3121 is disposed on the obstacle-crossing lifting mechanism 32.

[0088] Understandably, the lifting motor 311 is used to provide the power for the obstacle-crossing lifting mechanism 32 to rotate around the axis. Of course, the lifting motor 311 can output torque in the forward direction and the reverse direction, thereby driving the obstacle-crossing lifting mechanism 32 to rotate around the axis in the forward direction and the reverse direction. The second drive transmission group 312 is used to adjust the magnitude of the output torque of the lifting motor 311. For example, the second drive transmission group 312 is composed of a plurality of second transmission gears 3121. The output torque of the lifting motor 311 is transmitted from the first second transmission gear 3121 to the last second transmission gear 3121 and finally transmitted to the obstacle-crossing lifting mechanism 32.

[0089] Specifically, the lifting motor 311 outputs torque and transmits it to the obstacle-crossing lifting mechanism 32 through the second drive transmission group 312, causing the obstacle-crossing lifting mechanism 32 to rotate around the rotation axis of the drive wheel body 22. When the abutting portion 33 of the obstacle-crossing lifting mechanism 32 starts to slide along the guiding mechanism 11, the drive wheel body 22 performs obstacle-crossing lifting; and, during the lifting process of the drive wheel body 22, the drive wheel body 22 can also be lifted or lowered by the forward or reverse output of the lifting motor 311.

[0090] Optionally, as Figure 7 shown, both the lifting motor 311 and the second drive transmission group 312 are disposed within the drive housing 21, together with the drive motor 231 and the first drive transmission group 232 within the drive housing 21. In this way, the transmission path between the lifting motor 311 and the obstacle-crossing lifting mechanism 32 can be shortened, and the overall volume can be made more compact.

[0091] In this way, the lifting motor 311 transmits the torque to the obstacle-crossing lifting mechanism 32 through the second drive transmission group 312 to enable the obstacle-crossing lifting mechanism 32 to rotate forward or backward.

[0092] Please refer to Figure 8 , in some embodiments, the last second transmission gear 3121 is integrally formed with the obstacle-crossing lifting mechanism 32.

[0093] Understandably, integrally forming the last second transmission gear 3121 with the obstacle-crossing lifting mechanism 32 can further simplify the overall mechanism form of the obstacle-crossing auxiliary assembly 30, and the transmission stability can also be further improved.

[0094] Specifically, please refer toFigures 1 to 8 , in a specific embodiment, the cleaning device 100 includes a chassis assembly 10, a drive wheel assembly 20, and an obstacle crossing assistance assembly 30.

[0095] A guiding mechanism 11 is provided on the chassis assembly 10. The guiding mechanism 11 includes a first guiding portion 111 and a second guiding portion 112. Among them, the first guiding portion 111 has a first end 111a and a second end 111b disposed opposite to the first end 111a. The second end 111b of the first guiding portion 111 points to the rotation axis of the drive wheel main body 22 and the drive housing 21, and the first end 111a of the first guiding portion 111 is inclined away from the hinged point of the drive housing 21 and the chassis assembly 10; the second guiding portion 112 has a third end 112a and a fourth end 112b disposed opposite to the third end 112a. The third end 112a is connected to the second end 111b, and the fourth end 112b is inclined toward the hinged point of the drive housing 21 and the chassis assembly 10. The slopes of the first guiding portion 111 and the second guiding portion 112 are the same.

[0096] The drive wheel assembly 20 includes a drive housing 21, a drive wheel main body 22 rotatably connected to the drive housing 21 about an axis, and a drive portion 23 for driving the drive wheel main body 22 to rotate about an axis. The drive housing 21 is hinged to the chassis assembly 10, and in the moving direction of the chassis assembly 10, the hinged point of the drive housing 21 and the chassis assembly 10 and the rotation axis of the drive wheel main body 22 and the drive housing 21 are arranged front and back; the drive portion 23 includes a drive motor 231 and a first drive transmission group 232 both disposed in the drive housing 21. The first drive transmission group 232 includes a plurality of first transmission gears 2321 meshed and connected. The first transmission gear 2321 at the head is disposed at the output end of the drive motor 231, and the first transmission gear 2321 at the end is disposed on the rotating shaft of the drive wheel main body 22.

[0097] The obstacle-crossing auxiliary assembly 30 includes a power unit 31, an obstacle-crossing lifting mechanism 32 coaxially arranged with the driving wheel main body 22, an obstacle-crossing support mechanism hinged to the obstacle-crossing lifting mechanism 32, and a reset member 36. The power unit 31 is used to drive the obstacle-crossing lifting mechanism 32 to rotate around an axis; wherein, the obstacle-crossing lifting mechanism 32 has an abutting portion 33, the abutting portion 33 abuts against the guiding mechanism 11, and the power unit 31 can drive the abutting portion 33 to slide on the guiding mechanism 11, so that the driving housing 21 rotates around the hinge of the chassis assembly 10, and the driving wheel main body 22 is lifted relative to the chassis assembly 10. The obstacle-crossing support structure 34 has a support portion 35, and the support portion 35 is far away from the obstacle-crossing lifting mechanism 32; the reset member 36 is arranged on the obstacle-crossing support structure 34 and at the hinge point, one end of the reset member 36 is fixedly connected to the obstacle-crossing support structure 34 and the other end is arranged on the obstacle-crossing lifting mechanism 32, so that the obstacle-crossing support structure 34 is in a straight state relative to the obstacle-crossing lifting mechanism 32. Among them, the abutting portion 33 includes a first roller hinged to the obstacle-crossing lifting mechanism 32. The support portion 35 includes a second roller hinged to the obstacle-crossing support structure 34. The power unit 31 includes a lifting motor 311 and a second driving transmission group 312 both arranged in the driving housing 21. The second driving transmission group 312 includes a plurality of second transmission gears 3121 meshed with each other. The first second transmission gear 3121 is arranged at the output end of the lifting motor 311, and the last second transmission gear 3121 is arranged on the obstacle-crossing lifting mechanism 32. The last second transmission gear 3121 is integrally formed with the obstacle-crossing lifting mechanism 32.

[0098] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cleaning device, characterized in that: include: A chassis assembly, wherein a guide mechanism is provided on the chassis assembly; A driving wheel assembly, the driving wheel assembly comprising a driving housing, a driving wheel body rotatably connected to the driving housing, and a driving part for driving the driving wheel body to rotate around the axis, the driving housing being hinged to the chassis assembly, and in the moving direction of the chassis assembly, a hinge point between the driving housing and the chassis assembly and a rotation axis between the driving wheel body and the driving housing are arranged front and rear; An obstacle-crossing auxiliary component, the obstacle-crossing auxiliary component comprising a power unit and an obstacle-crossing lifting mechanism coaxially arranged with the driving wheel body, the power unit being used to drive the obstacle-crossing lifting mechanism to rotate around an axis; Among them, the obstacle-overcoming lifting mechanism has an abutment portion, which abuts against the guide mechanism, and the power unit can drive the abutment portion to slide on the guide mechanism, so that the driving shell is hinged and rotated around the chassis assembly, and the driving wheel body is lifted relative to the chassis assembly.

2. The cleaning device according to claim 1, characterized in that: The guide mechanism comprises a first guide portion, the first guide portion having a first end and a second end arranged opposite to the first end, the second end of the first guide portion pointing to the rotation axis of the driving wheel body and the driving housing, and the first end of the first guide portion is inclined away from the hinge point of the driving housing and the chassis assembly; When the driving wheel body is in a non-lifted state, the abutment portion is located at the first end; and when the abutment portion moves from the first end to the second end, the driving wheel body gradually lifts relative to the chassis assembly.

3. The cleaning device according to claim 2, characterized in that: The guide mechanism comprises a second guide portion, the second guide portion having a third end and a fourth end arranged opposite to the third end, the third end is connected to the second end, and the fourth end is inclined toward a hinge point between the drive housing and the chassis assembly; When the abutment portion moves from the third end to the fourth end, the driving wheel body gradually switches from the raised state to the non-raised state, and when the abutment portion is located at the fourth end, the driving wheel body is in the non-raised state again.

4. The cleaning device according to claim 2 or 3, characterized in that: The abutment portion includes a first roller hinged to the obstacle-crossing lifting mechanism.

5. The cleaning device according to claim 3, characterized in that: The obstacle-crossing auxiliary component further comprises an obstacle-crossing support structure, wherein the obstacle-crossing support structure is hinged to the obstacle-crossing lifting mechanism, and the obstacle-crossing support structure has a support portion, and the support portion is far away from the obstacle-crossing lifting mechanism; Among them, when the abutment portion is at the first end, the obstacle crossing support structure is stored in the chassis assembly to ensure that the driving wheel body is in a non-lifted state; when the abutment portion is at the second end, the support portion and the driving wheel body contact the ground at the same time; when the abutment portion slides on the second guide portion, the support portion is supported on the ground, and the driving wheel body is separated from the ground and is in a lifted state; when the abutment portion is at the fourth end, the obstacle crossing support structure swings around the hinge point toward the first guide portion.

6. The cleaning device according to claim 5, characterized in that: The support portion includes a second roller hinged to the obstacle-crossing support structure.

7. The cleaning device according to claim 5, characterized in that: The obstacle crossing assist component also includes a reset member, which is arranged on the obstacle crossing support structure and located at a hinge point. One end of the reset member is fixedly connected to the obstacle crossing support structure and the other end is arranged on the obstacle crossing lifting mechanism, so that the obstacle crossing support structure is in a straight state relative to the obstacle crossing lifting mechanism.

8. The cleaning device according to any one of claims 1 to 7, characterized in that: The driving part includes a driving motor and a first driving transmission group both of which are arranged in the driving housing. The first driving transmission group includes a plurality of first transmission gears that are meshed and connected with each other. The first first transmission gear is arranged at the output end of the driving motor, and the last first transmission gear is arranged on the rotating shaft of the driving wheel body.

9. The cleaning device according to any one of claims 1 to 7, characterized in that: The power unit includes a lifting motor and a second drive transmission group both of which are arranged in the drive housing. The second drive transmission group includes a plurality of second transmission gears meshingly connected with each other. The first second transmission gear is arranged at the output end of the lifting motor, and the last second transmission gear is arranged on the obstacle lifting mechanism.

10. The cleaning device according to claim 9, characterized in that: The second transmission gear at the last position is formed integrally with the obstacle-crossing lifting mechanism.

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