Cleaning equipment capable of crossing obstacles

Abstract

The invention relates to cleaning equipment capable of crossing obstacles. The cleaning apparatus includes: a housing; the obstacle crossing device comprises a telescopic mechanism and a grabbing mechanism; the telescopic mechanism is arranged on the shell, and at least part of the telescopic mechanism can extend out of the shell to cross an obstacle; the grabbing and attaching mechanism is connected with the telescopic mechanism and is telescopically arranged towards a surface to be cleaned; and when the grabbing and attaching mechanism grabs and attaches the to-be-cleaned surface, the grabbing and attaching mechanism can continue to stretch out so that the shell can be separated from the to-be-cleaned surface. According to the cleaning equipment, obstacle crossing can be completed, the moving range is expanded, and the intelligence of the cleaning equipment is enhanced.

Description

Technical Field

[0001] This application relates to the technical field of cleaning equipment, and particularly to a cleaning equipment capable of overcoming obstacles. Background Art

[0002] Intelligent cleaning equipment can be used to clean floors, walls, glass window surfaces, etc. When cleaning, it often encounters obstacles and is blocked, unable to continue cleaning. For example, when a window cleaning robot crawls along a working surface such as a window, it needs to adhere to a vertical outer facade.

[0003] In related technologies, when a cleaning equipment is applied to mobile operations on an outer facade, it often cannot overcome obstacles such as window frames, inner window corners, and outer window corners, resulting in the inability to continue cleaning, limited movement range, and the need for manual assistance to overcome obstacles, causing insufficient intelligence of the cleaning equipment. Summary of the Invention

[0004] To solve or partially solve the problems existing in related technologies, this application provides a cleaning equipment capable of overcoming obstacles, which can complete obstacle overcoming, expand the movement range, and enhance the intelligence of the cleaning equipment.

[0005] This application provides a cleaning equipment capable of overcoming obstacles, including:

[0006] A housing;

[0007] An obstacle overcoming device, including a telescopic mechanism and an attachment mechanism; the telescopic mechanism is arranged on the housing and at least part of it can extend out of the housing to overcome obstacles;

[0008] The attachment mechanism is connected to the telescopic mechanism and is telescopically arranged towards the surface to be cleaned; when the attachment mechanism attaches to the surface to be cleaned, it can continue to extend to separate the housing from the surface to be cleaned.

[0009] In one embodiment, the obstacle overcoming device further includes a steering mechanism, which is respectively connected to the telescopic mechanism and the attachment mechanism, and is used to drive the attachment mechanism to turn so that the attachment mechanism is aligned with the surface to be cleaned.

[0010] In one embodiment, the attachment mechanism includes an attachment rod and a suction cup fixed together; the attachment rod is also connected to the steering mechanism, and the steering mechanism is used to drive the attachment rod to turn so that the suction cup is aligned with the surface to be cleaned;

[0011] The attachment rod is configured to be extendable or retractable to drive the suction cup to contact or separate from the surface to be cleaned, and to extend when the suction cup adsorbs to the surface to be cleaned, so as to separate the housing from the surface to be cleaned.

[0012] In one embodiment, the housing includes an attachment member disposed on a side of the housing facing the surface to be cleaned for attaching to the surface to be cleaned and releasing the adhesion force when the suction cup adsorbs to the surface to be cleaned.

[0013] In one embodiment, the obstacle-crossing device further includes a swinging mechanism disposed on a side of the telescopic mechanism away from the grasping mechanism to drive the telescopic mechanism to swing when the telescopic mechanism extends from the housing so as to cross an obstacle.

[0014] In one embodiment, at least two sets of the telescopic mechanism and the grasping mechanism are provided; at least two sets of the telescopic mechanisms are disposed on the outer peripheral surface of the housing, and at least two sets of the grasping mechanisms are respectively connected to the corresponding telescopic mechanisms.

[0015] In one embodiment, the telescopic mechanism includes a first driving member, a first sliding rail and a first telescopic assembly. The first sliding rail is arranged along a first preset direction and has an opening at one end; the first telescopic assembly is disposed in the first sliding rail, connected to the first driving member, and can extend out of the opening or retract from the opening along the first sliding rail under the drive of the first driving member;

[0016] The grasping mechanism is disposed at an end of the first telescopic assembly close to the opening, and the first telescopic assembly drives the grasping mechanism to move along the first preset direction so as to cross an obstacle.

[0017] In one embodiment, the first telescopic assembly includes a first sliding member and a second sliding member. The first sliding member is slidably disposed in the first sliding rail, the second sliding member is slidably disposed in the first sliding member, and the steering mechanism is rotatably disposed on the second sliding member.

[0018] In one embodiment, the telescopic mechanism includes a second driving member, a second sliding rail and a second telescopic assembly. The second sliding rail is arranged along a second preset direction, the second driving member is disposed at one end of the second sliding rail, and one end of the second telescopic assembly is slidably disposed in the second sliding rail;

[0019] Wherein, the second telescopic assembly includes a third sliding member and a fourth sliding member. The third sliding member is slidably disposed in the second sliding rail along the second preset direction, and the fourth sliding member is slidably disposed in the third sliding member along the first preset direction;

[0020] The steering mechanism is rotatably disposed on the fourth sliding member, and the grasping mechanism is rotatably connected to the steering mechanism.

[0021] In one embodiment, the third sliding member includes a slider and a rotating member. The slider is disposed on the second slide rail and is slidable along the second preset direction. The rotating member is rotatably connected to the slider.

[0022] The technical solution provided by the present application may include the following beneficial effects: The obstacle-crossing cleaning device provided by the present application includes a housing, an obstacle-crossing device, and an attachment mechanism. The obstacle-crossing device includes a telescopic mechanism and an attachment mechanism. The telescopic mechanism is disposed on the housing and at least a part of it can extend out of the housing to cross an obstacle. The attachment mechanism is connected to the telescopic mechanism and is telescopically arranged towards the surface to be cleaned. When the attachment mechanism attaches to the surface to be cleaned, it can continue to extend to separate the housing from the surface to be cleaned. By driving the attachment mechanism to cross the obstacle through the telescopic mechanism and attaching it to the surface to be cleaned on the other side of the obstacle, when the attachment mechanism continues to extend, the housing will be separated from the surface to be cleaned. By contracting the telescopic mechanism, since the attachment mechanism is fixed, the housing will move in the direction of the attachment mechanism driven by the telescopic mechanism, thereby crossing the obstacle.

[0023] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By describing the exemplary embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. Among them, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0025] Figure 1 is a schematic structural diagram of the obstacle-crossing cleaning device attached to the surface to be cleaned shown in the embodiment of the present application;

[0026] Figure 2 is a schematic structural diagram of the obstacle-crossing cleaning device shown in the embodiment of the present application;

[0027] Figure 3 is a schematic structural diagram of the retracted state of the obstacle-crossing device shown in the embodiment of the present application;

[0028] Figure 4 is a schematic structural diagram of the extended state of the obstacle-crossing device shown in the embodiment of the present application;

[0029] Figure 5 is the present application Figure 4 is a schematic left view structure diagram of the obstacle-crossing device shown;

[0030] Figure 6 is a schematic structural diagram of the obstacle-crossing state of the upward obstacle-crossing of the obstacle-crossing cleaning device shown in the embodiment of the present application;

[0031] Figure 7 It is a schematic structural diagram of the obstacle-crossing state of the rightward obstacle-crossing of the obstacle-crossable cleaning device shown in the embodiment of the present application;

[0032] Figure 8 It is a schematic structural diagram of the obstacle-crossing state of the inner-corner obstacle-crossing of the obstacle-crossable cleaning device shown in another embodiment of the present application;

[0033] Figure 9 is the present application Figure 8 An enlarged schematic structural diagram of the T part of the obstacle-crossable cleaning device shown;

[0034] Figure 10 It is a schematic structural diagram of the cleaning device shown in another embodiment of the present application;

[0035] Figure 11 It is a schematic structural diagram of the obstacle-crossing state of the outer-corner obstacle-crossing of the obstacle-crossable cleaning device shown in another embodiment of the present application.

[0036] Reference numerals: 10, cleaning device; A, surface to be cleaned; B, obstacle; 11, housing; 100, obstacle-crossing device; 200, telescopic mechanism; 210, first driving member; 220, first slide rail; 230, first telescopic assembly; 231, first sliding member; 232, second sliding member; 240, second driving member; 250, second slide rail; 260, second telescopic assembly; 261, third sliding member; 2611, slider; 2612, rotating member; 262, fourth sliding member; 300, grasping mechanism; 310, grasping rod; 320, suction cup; 400, steering mechanism; 500, swinging mechanism; Z, first preset direction Z; Y, grasping direction; X, second preset direction. Detailed implementation manners

[0037] Hereinafter, the embodiments of the present application will be described in more detail with reference to the drawings. Although the embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to convey the scope of the present application to those skilled in the art completely.

[0038] It should be understood that although the terms "first", "second", "third", etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0039] In the description of the present application, 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. It is only for the convenience of describing the present application 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 application.

[0040] Unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0041] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings.

[0042] See Figure 1 、 Figure 2 、 Figure 5 、 Figure 8 and Figure 9 , this embodiment provides an obstacle-crossing cleaning device 10, which includes a housing 11, an obstacle-crossing device 100 and an attachment mechanism 300; the obstacle-crossing mechanism includes a telescopic mechanism 200 and an attachment mechanism 300; the telescopic mechanism 200 is arranged in the housing 11 and at least part of it can extend out of the housing 11 to cross an obstacle B; the attachment mechanism 300 is connected to the telescopic mechanism 200 and is telescopically arranged towards the surface A to be cleaned; when the attachment mechanism 300 attaches to the surface A to be cleaned, it can continue to extend to separate the housing 11 from the surface A to be cleaned.

[0043] Among them, the cleaning device 10 in this embodiment is a window cleaning robot, but it can also be a floor sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc., and no specific limitation is made thereto.

[0044] Among them, the housing 11 of the cleaning device 10 can be rectangular, circular or irregular in shape, and the material can be plastic or metal, and no specific limitation is made thereto.

[0045] Among them, the telescopic mechanism 200 can be arranged on the outer peripheral surface of the housing 11. For example, it can be on the side of the housing 11 facing away from the surface A to be cleaned, which can avoid the obstacle-crossing mechanism from hindering when the cleaning device 10 performs edge cleaning, improve the cleaning efficiency, and at the same time utilize the thickness of the housing 11 to increase the height of the telescopic mechanism 200 relative to the surface A to be cleaned, which is beneficial to crossing the obstacle B when extending. However, the telescopic mechanism 200 can also be arranged on the inner wall of the housing 11 and extend out from the corresponding opening of the housing 11 when it needs to extend.

[0046] After the telescopic mechanism 200 extends and crosses the obstacle B, the grasping mechanism 300 moves towards the surface A to be cleaned. After the grasping mechanism 300 grasps the surface A to be cleaned, it can continue to extend. At this time, since one end has abutted against the surface A to be cleaned and cannot move towards the surface A to be cleaned, it will push up the telescopic mechanism 200, and then drive the housing 11 to separate from the surface A to be cleaned. Thus, when the telescopic mechanism 200 contracts, since the grasping mechanism 300 is fixed on the surface A to be cleaned, it will drive the housing 11 to move towards the grasping mechanism 300, thereby crossing the obstacle B.

[0047] Since the housing 11 needs to separate from the surface A to be cleaned and cross the obstacle, the stroke of the grasping mechanism 300 is at least greater than the thickness of the housing 11 in the grasping direction Y. Moreover, the greater the stroke, the thicker the obstacle B that can be crossed. The specific value of the stroke is not limited in this embodiment. Among them, the grasping direction Y can be the direction in which the grasping mechanism 300 moves towards the surface to be cleaned.

[0048] In this embodiment, the telescopic mechanism 200 drives the grasping mechanism 300 to cross the obstacle B and grasp the surface A to be cleaned on the other side of the obstacle B. When the grasping mechanism 300 extends along the grasping direction Y to separate the housing 11 from the surface A to be cleaned, by contracting the telescopic mechanism 200, since the grasping mechanism 300 is fixed, the housing 11 will move in the direction of the grasping mechanism 300 driven by the telescopic mechanism 200, and then cross the obstacle B, realizing the obstacle crossing of the cleaning device 10.

[0049] Reference Figures 3 - 5 , in one of the embodiments, the obstacle-crossing device 100 further includes a steering mechanism 400. The steering mechanism 400 is respectively connected to the telescopic mechanism 200 and the grasping mechanism 300 and is used to drive the grasping mechanism 300 to turn so that the grasping mechanism 300 is aligned with the surface A to be cleaned.

[0050] Among them, the grasping mechanism 300 can include an initial position and a grasping position. The initial position can be the state of being folded on the telescopic mechanism 200, and the grasping position can be the state of being unfolded outward from the telescopic mechanism 200. The steering mechanism 400 is used to drive the grasping mechanism 300 to turn from the initial position to the grasping position, so that the grasping mechanism 300 can be aligned with the surface A to be cleaned. This embodiment is beneficial to adjusting the orientation of the grasping mechanism 300 for alignment and also convenient for storing the grasping mechanism 300.

[0051] Reference Figure 4 and Figure 5 In one embodiment, the grasping mechanism 300 includes a grasping rod 310 and a suction cup 320 fixed together; the grasping rod 310 is also connected to the steering mechanism 400, and the steering mechanism 400 is used to drive the grasping rod 310 to turn so that the suction cup 320 is aligned with the surface A to be cleaned; the grasping rod 310 is configured to be extendable or retractable to drive the suction cup 320 to contact or separate from the surface A to be cleaned, and to extend when the suction cup 320 adsorbs on the surface A to be cleaned so that the housing 11 is separated from the surface A to be cleaned.

[0052] Wherein, the grasping rod 310 and the suction cup 320 can be integrally formed, or can be fixed together by other means such as snap connection, welding, bonding, etc., and this embodiment does not make specific limitations.

[0053] Wherein, one end of the grasping rod 310 can be connected to the suction cup 320, and the other end is movably connected to the steering mechanism 400. When the steering mechanism 400 drives the grasping rod 310 to turn, the grasping rod 310 can also extend and retract relative to the steering mechanism 400 to drive the suction cup 320 to move synchronously in the grasping direction Y, so as to contact or separate from the surface A to be cleaned. After the suction cup 320 adsorbs the surface A to be cleaned, since it is necessary to lift the housing 11 of the cleaning device 10, the grasping rod 310 can continue to extend. It should be noted that the shape of the suction cup 320 can be freely designed, such as circular, square, etc., and no specific limitations are made.

[0054] In one embodiment, the housing 11 includes an attachment member (not shown in the figure), and the attachment member is disposed on the side of the housing 11 facing the surface A to be cleaned for attaching to the surface A to be cleaned and releasing the adhesion force when the suction cup 320 adsorbs on the surface A to be cleaned.

[0055] Wherein, the cleaning device 10 in this embodiment can be a window cleaning robot. When the window cleaning robot cleans the outer surface such as a glass window, it needs to move perpendicular to the ground. Therefore, an attachment member is required to attach to the surface A to be cleaned to avoid falling.

[0056] Wherein, the attachment member can be a suction cup, and the shape of the suction cup can be freely designed, such as circular, square, etc., and no specific limitations are made.

[0057] Before the suction cup 320 of the grasping mechanism 300 crosses the obstacle B and adsorbs on the surface A to be cleaned outside the obstacle B, the housing 11 inside the obstacle B is attached to the surface A to be cleaned through the attachment member to avoid falling. When the suction cup 320 adsorbs the outer surface A to be cleaned, in order to separate the housing 11 from the inner surface A to be cleaned, the adhesion force between the attachment member and the surface A to be cleaned is released. Thus, when the grasping rod 310 extends, the housing 11 will move away from the surface A to be cleaned along with the grasping rod 310.

[0058] Reference Figure 4 、 Figure 6 and Figure 7 In order to achieve obstacle crossing of the cleaning device 10 in multiple directions and the stability and convenience of obstacle crossing, in one embodiment, the obstacle crossing device 100 further includes a swing mechanism 500. The swing mechanism 500 is disposed on a side of the telescopic mechanism 200 away from the grasping mechanism 300, so as to drive the telescopic mechanism 200 to swing when the telescopic mechanism 200 extends out of the housing 11, so as to cross the obstacle B.

[0059] Wherein, the telescopic mechanism 200 may include two ends, one end is connected to the grasping mechanism 300, and the other end is connected to the swing mechanism 500. When the telescopic mechanism 200 is in the extended state, the grasping mechanism 300, the telescopic mechanism 200, and the swing mechanism 500 are arranged in sequence. When the swing mechanism 500 drives the telescopic mechanism 200 to swing, the grasping mechanism 300 on the other side swings synchronously, and thus can also cross the obstacle B and can adsorb the surface to be cleaned A outside the obstacle B.

[0060] It can be understood that when the telescopic direction of the telescopic mechanism 200 is the same as or an acute angle with the direction of gravity, the moment received is smaller. For example, when the telescopic mechanism 200 extends in the vertical direction, the grasping mechanism 300 is relatively stable. If the telescopic mechanism 200 extends in the horizontal direction, at this time, the grasping mechanism 300, the telescopic mechanism 200, and the housing 11 are horizontally arranged. When the housing 11 is subjected to the gravity in the vertical direction, the moment received by the telescopic mechanism 200 is larger and it is easy to be damaged. Therefore, in this embodiment, the swing mechanism 500 is provided to prevent the obstacle crossing device 10 from only crossing obstacles in the telescopic direction of the telescopic mechanism 100, for example, in the vertical direction, and can also cross obstacles in other directions, for example, in the horizontal direction, so as to achieve obstacle crossing of the cleaning device 10 in multiple directions and the stability and convenience of obstacle crossing.

[0061] Reference Figure 1 and Figure 8 In one embodiment, the telescopic mechanism 200 and the grasping mechanism 300 are provided with at least two sets; at least two sets of telescopic mechanisms 200 are disposed on the outer peripheral surface of the housing 11, and at least two sets of grasping mechanisms 300 are respectively connected to the corresponding telescopic mechanisms 200.

[0062] Wherein, two telescopic mechanisms 200 may be disposed on one side of the outer peripheral surface of the housing 11, for example, both are disposed on the top surface of the housing 11 facing away from the surface to be cleaned A, or one of the side surfaces; in other embodiments, the telescopic mechanisms 200 may also be disposed on different sides, for example, one telescopic mechanism 200 is disposed on the top surface and the other telescopic mechanism 200 is disposed on the side surface. This embodiment does not make specific limitations on this.

[0063] In one embodiment, four sets of telescopic mechanisms 200 and attachment mechanisms 300 are provided. Two sets of telescopic mechanisms 200 are provided on the top surface of the housing 11, and two sets of telescopic mechanisms 200 are provided on the side surface of the housing 11. Thus, through the telescopic mechanisms 200 and attachment mechanisms 300 on the top surface, obstacles can be overcome in any direction on the plane, such as in the up, down, left, and right directions; through the telescopic mechanisms 200 and attachment mechanisms 300 on the side surface, obstacles between different planes can be overcome, such as crossing the obstacle B at the inner or outer corner.

[0064] Taking the telescopic mechanism 200 and the attachment mechanism 300 provided on the top surface of the housing 11 as an example, refer to Figures 3 - 5 , in one embodiment, the telescopic mechanism 200 includes a first driving member 210, a first sliding rail 220, and a first telescopic assembly 230. The first sliding rail 220 is arranged along a first preset direction Z and has an opening at one end; the first telescopic assembly 230 is arranged in the first sliding rail 220, connected to the first driving member 210, and can extend out of the opening or retract from the opening along the first sliding rail 220 under the drive of the first driving member 210; the attachment mechanism 300 is arranged at one end of the first telescopic assembly 230 close to the opening, and the first telescopic assembly 230 drives the attachment mechanism 300 to move along the first preset direction Z to cross the obstacle B.

[0065] Among them, the first driving member 210 can be a motor for driving the first telescopic assembly 230 to move on the first sliding rail 220. When the first telescopic assembly 230 extends out of the opening of the first sliding rail 220, it drives the attachment mechanism 300 arranged on the first telescopic assembly 230 to move synchronously, so that the attachment mechanism 300 can cross the obstacle B.

[0066] When the attachment mechanism 300 grabs the obstacle B and lifts the housing 11, the first driving member 210 drives the first telescopic assembly 230 to retract. At this time, since the attachment mechanism 300 is fixed by grabbing the surface to be cleaned A, and the housing 11 is movable, the housing 11 will move towards the attachment mechanism 300 due to the retraction of the first telescopic assembly 230, and then cross the obstacle. After the housing 11 crosses the obstacle B, the attachment mechanism 300 can be shortened relative to the surface to be cleaned A, so that the housing 11 reattaches to the surface to be cleaned A. Then the attachment mechanism 300 can be separated from the surface to be cleaned A, and the first telescopic assembly 230 continues to shorten and retracts from the opening until it works again when crossing the next obstacle.

[0067] Refer to Figure 4 and Figure 5 , in one embodiment, the first telescopic assembly 230 includes a first sliding member 231 and a second sliding member 232. The first sliding member 231 is slidably arranged in the first sliding rail 220, the second sliding member 232 is slidably arranged on the first sliding member 231, and the steering mechanism 400 is rotatably arranged on the second sliding member 232.

[0068] Among them, the first sliding member 231 can slide on the first sliding rail 220, so that the entire first telescopic assembly 230 slides on the first sliding rail 220. The first sliding member 231 can be a sliding rod provided with a groove or a track, and the second sliding member 232 is disposed on the groove or the track of the first sliding member 231 and can slide relative to the first sliding member 231.

[0069] For example, when the obstacle-crossing device 100 works, the first driving member 210 drives the first sliding member 231 to extend out of the opening on the first sliding rail 220, and the second sliding member 232 can extend out of the first sliding member 231, thereby increasing the extension range of the first telescopic assembly 230 and enabling the second sliding member 232 to be received in the first sliding member 231, reducing the occupied space of the first telescopic assembly 230.

[0070] Among them, the second sliding member 232 can include two ends, one end is slidably connected to the first sliding member 231, and the other end is rotatably connected to the steering mechanism 400. When the second sliding member 232 extends, it drives the steering mechanism 400 to move synchronously, thereby driving the grasping mechanism 300 on the steering mechanism 400 to move, which is beneficial to realizing that the grasping mechanism 300 crosses an obstacle and grasps the surface A to be cleaned.

[0071] In one embodiment, the obstacle-crossing device 100 can include 5 driving members, including the above-mentioned first driving member 210. For example, one driving member is configured as the first driving member 210, disposed on the first sliding rail 220, for driving the first sliding member 231 to move; one driving member is disposed at one end of the second sliding member 232, for driving the second sliding member 232 to slide on the first sliding member 231; one driving member is disposed on the steering mechanism 400, for driving the steering mechanism 400 to flip; one driving member is disposed on the grasping mechanism 300, for driving the grasping mechanism 300 to contact or separate from the surface A to be cleaned; one driving member is disposed on the swinging mechanism 500, for driving the first telescopic assembly 230 to swing. The above driving members can be motors or other devices capable of outputting power, and no specific limitation is made in this embodiment.

[0072] The following reference Figures 8 - 11, taking the case where the telescopic mechanism 200 and the grasping mechanism 300 are arranged on the side as an example, in one embodiment, the telescopic mechanism 200 includes a second driving member 240, a second sliding rail 250, and a second telescopic assembly 260. The second sliding rail 250 is arranged along a second preset direction X. The second driving member 240 is arranged at one end of the second sliding rail 250. One end of the second telescopic assembly 260 is slidably arranged on the second sliding rail 250. Wherein, the second telescopic assembly 260 includes a third sliding member 261 and a fourth sliding member 262. The third sliding member 261 is slidably arranged in the second sliding rail 250 along the second preset direction X. The fourth sliding member 262 is slidably arranged in the third sliding member 261 along a first preset direction Z. The steering mechanism 400 is rotatably arranged on the fourth sliding member 262, and the grasping mechanism 300 is rotatably connected to the steering mechanism 400.

[0073] Wherein, the second driving member 240 is used to drive the third sliding member 261 in the second telescopic assembly 260 to slide on the second sliding rail 250, and the arrangement direction of the third sliding member 261 forms a certain angle with the second sliding rail 250. One end is arranged in the second sliding rail 250, and the other end extends out from the housing 11 and is slidably connected to the fourth sliding member 262, so that the steering mechanism 400 and the grasping mechanism 300 connected to the fourth sliding member 262 can grasp the target position of the surface A to be cleaned. When the grasping mechanism 300 grasps the surface A to be cleaned, due to the fixation of the grasping mechanism 300, the second driving member 240 outputs power to drive the housing 11 to move in the second preset direction X, realizing the translation of the housing 11 in multiple directions.

[0074] Reference Figure 9 and Figure 10 , in one embodiment, the third sliding member 261 includes a slider 2611 and a rotating member 2612. The slider 2611 is arranged on the second sliding rail 250 and can slide along the second preset direction X. The rotating member 2612 is rotatably connected to the slider 2611.

[0075] Wherein, the rotating member 2612 can be a rotating rod provided with a groove or a track, and the fourth sliding member 262 slides in the groove or track of the rotating member 2612.

[0076] Among them, the slider 2611 slides along the second sliding rail 250 in the second preset direction X to drive the rotating member 2612 to move synchronously. The rotating member 2612 can also rotate relative to the slider 2611 and the second sliding rail 250. Since the second sliding rail 250 is fixed to the housing 11, when the rotating member 2612 rotates relative to the slider 2611, it is also equivalent to rotating relative to the housing 11. Since the fourth sliding member 262, the steering mechanism 400, and the grasping mechanism 300 are all provided on the third sliding member 261, when the rotating member 2612 rotates, the fourth sliding member 262, the steering mechanism 400, and the grasping mechanism 300 all rotate relative to the housing 11. Thus, when the grasping mechanism 300 grasps the surface A to be cleaned, the housing 11 rotates relative to the surface A to be cleaned.

[0077] To facilitate understanding of the working principle of this embodiment, the following takes one application scenario as an example: The cleaning device 10 is a window cleaning robot. The obstacle crossing device 100 includes two sets of telescopic mechanisms 200 and a grasping mechanism 300. The window includes a first glass surface, a second glass surface, and an inner angle or outer angle formed between the first glass surface and the second glass wool; taking the first preset direction Z as the vertical direction and the second preset direction X as the horizontal direction.

[0078] Reference Figures 8 - 10 , when the cleaning device 10 finishes cleaning the first glass surface and needs to cross the obstacle of the inner angle to clean the second glass surface, the second driving member 240 drives the third sliding member 261 to move horizontally on the second sliding rail 250. After alignment, the grasping mechanism 300 is made to grasp the first glass surface through the steering mechanism 400. At this time, the grasping mechanism 300 can lift the housing 11 of the cleaning device 10 to separate it from the first glass surface; drive the rotating member 2612 to rotate. Since the grasping mechanism 300 has been fixed to the first glass surface, the rotating member 2612 cannot rotate relative to the first glass surface, and the housing 11 will be subjected to the torque of the rotating member 2612 and rotate relative to the first glass surface; then drive the third sliding member 261 to slide on the second sliding rail 250. Similarly, since the grasping mechanism 300 has been fixed to the first glass surface, the third sliding member 261 cannot slide relative to the first glass surface, causing the housing 11 to be subjected to a driving force and slide relative to the first glass surface, so as to approach the second glass surface. The second set of grasping mechanisms 300 can be aligned with the second glass surface through the rotation and sliding of the second set of second telescopic assemblies 260, so as to grasp the second glass surface. Release the grasping force of the first set of grasping mechanisms 300 on the first glass surface, and control the rotation and sliding of the second set of telescopic assemblies. Since the second set of grasping mechanisms 300 has been fixed to the second glass surface at this time, it will drive the housing 11 to perform sliding and rotating movements, so as to adjust the posture and adhere to the second glass surface to achieve obstacle crossing.

[0079] It can be understood that when the obstacle-crossing device 100 includes the swing mechanism 500, the second set of attachment mechanisms 300 can also rotate the attachment mechanism 300 first before the housing 11 separates from the first glass surface, so that the suction cup 320 of the attachment mechanism 300 faces the second glass surface along the second preset direction X, and then drive the attachment mechanism 300 to cross the obstacle on the inner corner through the swing mechanism 500, and control the telescopic movement of the attachment mechanism 300 to make the attachment mechanism 300 attach to the second glass surface, so as to improve the working stability of the obstacle-crossing device 100 and reduce the risk of the cleaning device 10 falling.

[0080] Reference Figure 11 , when the obstacle-crossing device 100 crosses the outer corner, the first set of attachment mechanisms 300 can be used to attach to the first glass surface first, and by using relative sliding, the housing 11 can partially extend out of the edge of the first glass surface, so that the second set of attachment mechanisms 300 can attach to the second glass surface to achieve obstacle crossing. Since the principle is the same as that of inner corner obstacle crossing, it will not be elaborated here.

[0081] In one embodiment, the obstacle-crossing device 100 may include 6 driving members, including the above-mentioned second driving member 240. For example, one driving member is configured as the second driving member 240 and is arranged on the second slide rail 250 for driving the slider 2611 of the third sliding member 261 to slide; one driving member is arranged on the slider 2611 for driving the rotating member 2612 of the third sliding member 261 to rotate; one driving member is arranged at one end of the fourth sliding member 262 close to the housing 11 for driving the fourth sliding member 262 to slide on the third sliding member 261; one driving member is arranged on the steering mechanism 400 for driving the steering mechanism 400 to turn over; one driving member is arranged on the attachment mechanism 300 for driving the attachment mechanism 300 to contact or separate from the surface A to be cleaned; one driving member is arranged on the swing mechanism 500 for driving the second telescopic assembly 260 to swing. Compared with another embodiment with 5 driving members, this embodiment adds one driving member for driving the rotating member 2612 of the third sliding member 261 to rotate, so that the attachment mechanism 300 can turn on the horizontal plane. Coupled with the steering mechanism 400 for turning the attachment mechanism 300 on the vertical plane, the suction cup 320 of the attachment mechanism 300 can be aligned in any direction. In addition, the above driving members can be motors or other devices capable of outputting power, and this embodiment does not make specific limitations.

[0082] It can be understood that in the above embodiments, in order to enable the cleaning equipment 10 to overcome obstacles on the same plane, at least two sets of obstacle overcoming devices 100 can be arranged on the top surface of the shell 11. In order to enable the cleaning equipment 10 to overcome obstacles on different planes, at least two sets of obstacle overcoming devices 100 can be arranged on the side of the shell 11. The obstacle overcoming devices 100 can also be detachably connected to the shell 11 and installed in a targeted manner according to the different cleaning surfaces. When comprehensive obstacle overcoming is required, that is, obstacles need to be overcome on both the plane and different planes, the above at least four sets of obstacle overcoming devices 100 can also be installed at the same time, two sets are arranged on the top surface of the shell 11, and two sets are arranged on the side of the shell 11, which greatly improves the maneuverability of the cleaning equipment 10.

[0083] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of the various embodiments have their own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required for the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0084] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A cleaning device capable of overcoming obstacles, characterized in that: include: case; Obstacle crossing device, including a telescopic mechanism and a grasping mechanism; The telescopic mechanism is disposed on the housing, and at least a portion of the telescopic mechanism can be extended outside the housing to pass over obstacles; The grasping mechanism is connected to the telescopic mechanism and is telescopically arranged toward the surface to be cleaned; When the grasping mechanism grasps the surface to be cleaned, it can continue to extend to separate the shell from the surface to be cleaned.

2. The obstacle-surmountable cleaning device according to claim 1, characterized in that: The obstacle surmounting device further comprises a steering mechanism, which is respectively connected to the telescopic mechanism and the grasping mechanism and is used to drive the grasping mechanism to turn so that the grasping mechanism is positioned toward the surface to be cleaned.

3. The obstacle-surmountable cleaning device according to claim 2, characterized in that: The grabbing mechanism includes a grabbing rod and a suction cup fixed as one; the grabbing rod is also connected to the steering mechanism, and the steering mechanism is used to drive the grabbing rod to turn so that the suction cup is aligned with the surface to be cleaned; The gripping rod is configured to be extendable or retractable to drive the suction cup to contact or separate from the surface to be cleaned, and to extend when the suction cup is adsorbed on the surface to be cleaned to separate the housing from the surface to be cleaned.

4. The obstacle-surmountable cleaning device according to claim 3, characterized in that: The shell comprises an attachment, which is arranged on a side of the shell facing the surface to be cleaned and is used to attach to the surface to be cleaned and release the adhesion when the suction cup is adsorbed to the surface to be cleaned.

5. The obstacle-surmountable cleaning device according to claim 4, characterized in that: The obstacle surmounting device further comprises a swing mechanism, which is arranged on a side of the telescopic mechanism away from the grasping mechanism, so as to drive the telescopic mechanism to swing when the telescopic mechanism is extended from the shell, so as to surmount an obstacle.

6. The obstacle-surmountable cleaning device according to claim 2, characterized in that: The telescopic mechanism and the grasping mechanism are provided in at least two sets; at least two sets of the telescopic mechanism are provided on the outer peripheral surface of the shell, and at least two sets of the grasping mechanism are respectively connected to the corresponding telescopic mechanism.

7. The obstacle-surmountable cleaning device according to any one of claims 2 to 6, characterized in that: The telescopic mechanism comprises a first driving member, a first slide rail and a first telescopic assembly, wherein the first slide rail is arranged along a first preset direction and has an opening at one end; the first telescopic assembly is arranged in the first slide rail and connected to the first driving member, and can extend out of the opening or retract from the opening along the first slide rail under the drive of the first driving member; The grasping and attaching mechanism is arranged at one end of the first telescopic component close to the opening, and the first telescopic component drives the grasping and attaching mechanism to move along the first preset direction to go over an obstacle.

8. The obstacle-surmountable cleaning device according to claim 7, characterized in that: The first telescopic assembly includes a first sliding member and a second sliding member, the first sliding member is slidably disposed on the first sliding rail, the second sliding member is slidably disposed on the first sliding member, and the steering mechanism is rotatably disposed on the second sliding member.

9. The obstacle-surmountable cleaning device according to any one of claims 2 to 6, characterized in that: The telescopic mechanism comprises a second driving member, a second slide rail and a second telescopic assembly, wherein the second slide rail is arranged along a second preset direction, the second driving member is arranged at one end of the second slide rail, and one end of the second telescopic assembly is slidably arranged on the second slide rail; Wherein, the second telescopic assembly comprises a third sliding member and a fourth sliding member, the third sliding member is slidably disposed in the second slide rail along the second preset direction, and the fourth sliding member is slidably disposed in the third sliding member along the first preset direction; The steering mechanism is rotatably disposed on the fourth sliding member, and the grasping mechanism is rotatably connected to the steering mechanism.

10. The obstacle-surmountable cleaning device according to claim 9, characterized in that: The third sliding member includes a sliding block and a rotating member, the sliding block is arranged on the second sliding rail and can slide along the second preset direction; The rotating member is rotatably connected to the sliding block.

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