Cleaning device

Abstract

The invention discloses cleaning equipment. The cleaning equipment comprises a main machine, a universal wheel assembly and a driving assembly. Wherein the universal wheel assembly is arranged at the bottom of the main machine, the universal wheel assembly is provided with a first position which extends out of the bottom of the main machine relative to the main machine so as to lift the main machine, and the universal wheel assembly is further provided with a second position which is contracted relative to the main machine so as to lower the main machine; the driving assembly comprises a driving part and a driven part, and the driving part is used for conveying gas to the driven part so that the driven part can move to drive the universal wheel assembly to be switched between the first position and the second position. The problems that a main machine of the cleaning equipment is prone to colliding with an obstacle and is difficult to cross the obstacle can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning devices, and more particularly, to a cleaning equipment. Background Art

[0002] Currently, cleaning equipment, such as a sweeping robot, as a new type of household cleaning appliance, is becoming increasingly popular among people. In order to enable the cleaning equipment to move within a space and perform cleaning operations, universal wheels are usually installed at the bottom of the main body of the cleaning equipment. The universal wheels in related cleaning equipment can only achieve universal rotation. When in use, the distance between the main body of the cleaning equipment and the ground is a fixed distance. When encountering an obstacle in the space, the main body is likely to collide with the obstacle, and it is difficult for the universal wheels to cross the obstacle. Summary of the Invention

[0003] The main object of the present invention is to provide a cleaning equipment to at least solve the problems that the main body of the cleaning equipment is likely to collide with obstacles and it is difficult to cross the obstacles.

[0004] According to one aspect of the present invention, there is provided a cleaning equipment, including:

[0005] A main body;

[0006] A universal wheel assembly, the universal wheel assembly is disposed at the bottom of the main body, and the universal wheel assembly has a first position that extends relative to the main body and protrudes from the bottom of the main body to raise the main body, and the universal wheel assembly further has a second position that contracts relative to the main body to lower the main body;

[0007] A driving assembly, the driving assembly includes a driving part and a driven part, and the driving part is used for conveying gas to the driven part so that the driven part drives the universal wheel assembly to switch between the first position and the second position.

[0008] Further, the driving part includes an air pump, the driven part includes a cylinder or an airbag, a piston is movably disposed in the inner cavity of the cylinder, and the piston divides the inner cavity of the cylinder into a first chamber and a second chamber. The air pump is communicated with the first chamber or the airbag through an air pipe;

[0009] When the driven part includes the cylinder, at least a part of the universal wheel assembly extends into the second chamber and contacts the piston;

[0010] When the driven part includes the airbag, the universal wheel assembly contacts or is connected to the airbag.

[0011] Further, at least one air release joint is provided on the air pipe, and the air release joint is provided with an air release hole.

[0012] Further, the aperture diameter of the air vent hole is smaller than the inner diameter of the air pipe, and the air release joint is configured such that during the process of the universal wheel assembly switching from the second position to the first position, the air vent hole is in an open or closed state; during the process of the universal wheel assembly switching from the first position to the second position, the air vent hole is in an open state to discharge the gas in the first chamber.

[0013] Further, the drive assembly is configured such that:

[0014] when the host identifies an obstacle, the air pump is turned on to deliver gas to the first chamber so that the universal wheel assembly switches to the first position; when the cleaning device crosses the obstacle or does not identify an obstacle, the air pump is turned off, and due to the gravity of the host on the cylinder, the universal wheel assembly switches to the second position.

[0015] Further, the universal wheel assembly includes a universal wheel body, on which a guide rod is provided. The guide rod extends into the second chamber along the height direction of the host, and there is a clearance fit between the guide rod and the inner wall surface of the second chamber.

[0016] Further, the universal wheel body is provided with at least two limit posts. At least two of the limit posts surround the outer periphery of the cylinder and can reciprocate along the axial direction of the cylinder, and there is a gap between the limit posts and the outer periphery of the cylinder.

[0017] Further, a sleeve is fixed on the host, and the axial direction of the sleeve is consistent with the height direction of the host. The universal wheel body is installed in the sleeve and can slide relative to the sleeve, and the outer surface of the universal wheel body contacts the inner wall surface of the sleeve.

[0018] Further, the universal wheel assembly further includes a universal wheel roller and a universal wheel rotating shaft. The universal wheel rotating shaft is rotatably connected to the universal wheel body, and the universal wheel roller is connected to the universal wheel rotating shaft.

[0019] Further, a self-lubricating sleeve and a limit buckle are provided on the universal wheel body. The limit buckle is located inside the self-lubricating sleeve, and the universal wheel rotating shaft rotatably passes through the self-lubricating sleeve and is limited by the limit buckle.

[0020] In the present invention, through the universal wheel assembly and the drive assembly, by setting corresponding detection and control logics on the cleaning device, the universal wheel assembly and the drive assembly can be controlled according to the actual working environment of the cleaning device. This enables the universal wheel assembly to switch between a first position and a second position. When the cleaning device detects an obstacle or collides with an obstacle, the universal wheel assembly switches to the first position to lift the main body, avoiding collision between the main body and the obstacle and protecting the cleaning device from damage. After the main body is lifted, the universal wheel assembly can operate well on surfaces such as the ground or the tabletop to cross the obstacle. In addition, through the cooperation of the driving part and the driven part of the drive assembly, rapid switching of the universal wheel assembly between the first position and the second position can be achieved, enabling the main body to be lowered to the lowest position when needed to closely adhere to the surface to be cleaned for cleaning, and effectively avoiding and crossing obstacles when encountering obstacles, thereby improving the reliability of use of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0022] Figure 1 is a schematic three-dimensional structure diagram of the cleaning device disclosed in the embodiment of the present invention;

[0023] Figure 2 is a schematic bottom structure diagram of the cleaning device disclosed in the embodiment of the present invention;

[0024] Figure 3 is a partial cross-sectional view of the cleaning device disclosed in the embodiment of the present invention;

[0025] Figure 4 is a plan view of another cleaning device disclosed in the embodiment of the present invention;

[0026] Figure 5 is a partial cross-sectional view of another cleaning device disclosed in the embodiment of the present invention;

[0027] Figure 6 is an exploded view of the cleaning device disclosed in the embodiment of the present invention.

[0028] Among them, the above-mentioned drawings include the following reference numerals:

[0029] 10. Main machine; 20. Universal wheel assembly; 21. Universal wheel body; 211. Guide rod; 212. Limit post; 213. Self-lubricating sleeve; 214. Limit buckle; 22. Universal roller; 23. Universal wheel rotating shaft; 24. Limit sleeve; 30. Driving assembly; 31. Driving part; 311. Air pump; 32. Driven part; 321. Cylinder; 3211. First chamber; 3212. Second chamber; 3213. Connecting ear block; 3214. Limit gap; 322. Piston; 323. Airbag; 33. Air pipe; 331. Air release joint. Detailed implementation mode

[0030] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0031] It should be noted that the terms used herein are only for describing the specific implementation mode and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0032] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technologies, methods and devices should be regarded as part of the authorized specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.

[0033] As mentioned in the background art, the universal wheels in the related cleaning equipment can only achieve universal rotation. When in use, the distance between the main machine of the cleaning equipment and the ground is a fixed distance. When encountering obstacles in the space, the main machine is likely to collide with the obstacles, and it is difficult for the universal wheels to cross the obstacles. For this reason, the present application provides a new cleaning equipment. The cleaning equipment of the present application will be described in detail below with reference to the drawings.

[0034] See Figures 1 to 6As shown, according to an embodiment of the present application, a cleaning device is provided, which includes a main body 10, a universal wheel assembly 20, and a driving assembly 30.

[0035] Specifically, in this embodiment, the universal wheel assembly 20 is disposed at the bottom of the main body 10, and the universal wheel assembly 20 has a first position that extends relative to the main body 10 and protrudes from the bottom of the main body 10 to raise the main body 10, and the universal wheel assembly 20 also has a second position that contracts relative to the main body 10 to lower the main body 10. It can be understood that the bottom of the main body 10 here refers to the side of the main body 10 facing the surface to be cleaned when the cleaning device is working, and the surface to be cleaned can be, for example, the ground or a tabletop.

[0036] Furthermore, the driving assembly 30 includes a driving part 31 and a driven part 32. During actual installation, the driving assembly 30 can be installed on the main body 10 or on the universal wheel assembly 20. When working, the driving part 31 is used to convey gas to the driven part 32 so that the driven part 32 drives the universal wheel assembly 20 to switch between the first position and the second position. When it is necessary to switch the universal wheel assembly 20 to the first position to raise the main body 10, the driving part 31 is used to convey gas to the driven part 32 to make the driven part 32 move, and the driven part 32 drives the universal wheel assembly 20 to switch to the first position, finally raising the main body 10 to the highest position; similarly, when it is necessary to switch the universal wheel assembly 20 to the second position to contract the main body 10, the driving part 31 is stopped to make the driven part 32 switch to the second position, finally contracting the main body 10 to the lowest position.

[0037] That is to say, through the universal wheel assembly 20 and the driving assembly 30 of this embodiment, by setting corresponding detection and control logics on the cleaning device, the universal wheel assembly 20 and the driving assembly 30 can be controlled according to the actual working environment of the cleaning device, so that the universal wheel assembly 20 switches between the first position and the second position. When the cleaning device detects an obstacle or collides with an obstacle, the universal wheel assembly 20 is switched to the first position to raise the main body 10, avoiding collision between the main body 10 and the obstacle and protecting the cleaning device from damage. After the main body 10 is lifted, the universal wheel assembly 20 can run well on the surface to be cleaned such as the ground or a tabletop (that is, the universal wheel assembly 20 will not fall off the surface to be cleaned due to the collision between the main body 10 and the obstacle) to cross the obstacle. In addition, through the cooperation of the driving part 31 and the driven part 32 of the driving assembly 30 in this embodiment, the universal wheel assembly 20 can be quickly switched between the first position and the second position, so that the main body 10 can be lowered to the lowest position when needed, closely attached to the surface to be cleaned for cleaning, and can effectively avoid obstacles and cross obstacles when encountering obstacles, improving the use reliability of the cleaning device.

[0038] Further, the driving part 31 of this embodiment includes an air pump 311. The air pump 311 is arranged on the main body 10. The driven part 32 includes a cylinder 321 (see Figure 3 shown) or an airbag 323 (see Figure 5 shown). A piston 322 is movably arranged in the inner cavity of the cylinder 321. The piston 322 divides the inner cavity of the cylinder 321 into a first chamber 3211 and a second chamber 3212. The air pump 311 is communicated with the first chamber 3211 or the airbag 323 through an air pipe 33.

[0039] When the driven part 32 of this embodiment is the cylinder 321, at least part of the universal wheel assembly 20 extends into the second chamber 3212 and contacts the piston 322. During operation, the air pump 311 conveys gas into the first chamber 3211 through the air pipe 33. As the gas gradually increases, the air pressure in the first chamber 3211 gradually increases. Under the action of the internal air pressure, the piston is pushed to drive the universal wheel assembly 20 to move to the first position, so as to lift the main body 10 to the maximum lifting position. When the driven part 32 is the airbag 323, the airbag 323 directly abuts against the universal wheel assembly 20 or is connected to the universal wheel assembly 20 by means of adhesion, welding, etc. The air pump 311 conveys gas into the airbag 323 through the air pipe 33. Due to the gradual increase of the air pressure, the airbag 323 expands to push the universal wheel assembly 20 to move to the first position, so as to lift the main body 10 to the maximum lifting position. In this embodiment, the movement of the piston 322 of the cylinder 321 or the expansion of the airbag 323 is used to push the universal wheel assembly 20, and both can provide a stable lifting force. The uniform distribution of the air pressure helps to ensure the smoothness during the lifting process and reduces the shaking and vibration. During actual operation, the lifting height can also be accurately controlled by controlling the amount of gas conveyed by the air pump 311 into the first chamber 3211 or the airbag 323, making the lifting process more flexible and the lifting position can be adjusted according to needs.

[0040] Further, the universal wheel assembly 20 in this embodiment includes a universal wheel body 21. A guide rod 211 is provided on the universal wheel body 21. The guide rod 211 extends into the second chamber 3212 and extends along the height direction of the main body 10. There is a clearance fit between the guide rod 211 and the inner wall surface of the second chamber 3212. In this embodiment, the arrangement of the guide rod 211 can provide good guiding and limiting effects for the lifting of the universal wheel assembly 20. The guide rod 211 contacts the piston 322 without a direct fixing relationship. When the air pump 311 pumps gas into the first chamber 3211, the piston 322 moves in the cylinder 321, and then abuts against the guide rod 211 to move in a direction away from the main body 10, ultimately achieving the purpose of lifting the main body 10. In addition, there is a clearance fit between the guide rod 211 and the inner wall surface of the second chamber 3212. When the universal wheel assembly 20 crosses an obstacle or is impacted by an external force, the guide rod 211 has a certain displacement amount in the second chamber 3212, which can prevent the guide rod 211 from directly and rigidly impacting the inner wall surface of the second chamber 3212, and thus can play a buffering role to protect the cylinder 321 and improve the service life of the cylinder 321 and the cleaning device.

[0041] In order to further improve the service life and use stability of the cleaning device in this embodiment, connecting ear blocks 3213 are provided on opposite sides of the cylinder 321 in this embodiment. During installation, the cylinder 321 is connected to the main body 10 through the connecting ear blocks 3213. After connection, there is a limiting gap 3214 between the connecting ear blocks 3213 and the main body 10, that is, each of the two connecting ear blocks 3213 forms a limiting gap 3214 with the main body 10, and the universal wheel body 21 is provided with two limiting posts 212. Each limiting post 212 corresponds one-to-one and is movably connected to the limiting gap 3214. In this way, when assembling the cleaning device, inserting the limiting posts 212 into the limiting gap can provide good limiting and anti-misassembly effects for the universal wheel assembly 20. When the universal wheel assembly 20 expands and contracts, the limiting posts 212 can slide in the limiting gap, which can ensure the smoothness of the expansion and contraction of the universal wheel assembly 20.

[0042] Specifically, the air pipe 33 in this embodiment is provided with a pressure relief joint 331. The pressure relief joint 331 is provided with a pressure relief hole, and the aperture of the pressure relief hole is smaller than the aperture of the cylinder 321. Optionally, the pressure relief joint 331 can be provided with one, two or more. When the total air release flow rate of the pressure relief holes of the pressure relief joint 331 is less than the flow rate of the air pipe 33. The pressure relief joint 331 is configured such that during the process of the universal wheel assembly 20 switching from the second position to the first position, the pressure relief hole can be in an open state or a closed state; when the universal wheel assembly 20 switches from the first position to the second position, the pressure relief hole is in an open state, and thus the gas in the cylinder 321 can be discharged.

[0043] When the air pump 311 starts to work, the air pump 311 conveys gas into the first chamber 3211 through the air pipe 33. At this time, the air leakage hole can be in a closed state or an open state. When the air leakage hole is in the closed state, a small part of the gas coming out of the air pump 311 will leak through the air leakage joint 331 on the air leakage joint 331 provided on the air pipe 33, and most of the gas will enter the first chamber 3211. The gas flowing out of the air leakage hole is much smaller than the gas flow rate flowing into the first chamber 3211. Therefore, the air pressure in the first chamber 3211 will increase to drive the piston 322 to drive the universal wheel assembly 20 to move. When the air leakage hole is in the closed state, the gas in the air pump 311 can be quickly conveyed to the first chamber 3211 to drive the universal wheel assembly 20 to move.

[0044] In addition, in this embodiment, by providing an air leakage joint 331 on the air pipe 33, when the universal wheel assembly 20 needs to be switched from the second position to the first position, when the air pressure increase rate of the cylinder 321 or the airbag 323 is relatively fast, a part of the gas can be discharged through the air leakage joint 331, avoiding the air pressure in the cylinder 321 and the airbag 323 from rising too fast and thus damaging the cylinder 321 or the airbag 323, and enabling the main body 10 to be lifted smoothly.

[0045] When the universal wheel assembly 20 needs to be switched from the first position to the second position, the gas in the cylinder 321 or the airbag 323 is discharged through the air leakage joint 331, and a smooth pressure reduction process can be achieved, avoiding the impact and vibration caused by the sudden drop of the main body 10. The setting of the air leakage joint 331 enables the gas to be gradually released, thereby slowing down the lifting and lowering speed of the main body 10 and improving the stability and safety of the cleaning device. At the same time, during the obstacle crossing process, when the universal wheel assembly 20 is affected by an external force, the setting of this air leakage hole can discharge part of the gas in the first chamber 3211 to play a good buffering role, avoiding the universal wheel assembly 20 from quickly retracting and hitting the cylinder 321, and being able to play a good protective role for the cylinder 321.

[0046] During actual control, the flow rate and opening of the air pump 311 and the air leakage joint 331 can also be reasonably controlled through a control program or a detection control logic to effectively control the cleaning device, and no specific limitation is made in this application.

[0047] Further, the drive assembly 30 of this embodiment is configured such that when the host 10 recognizes an obstacle, the air pump 311 is turned on to deliver gas to the first chamber, which can drive the universal wheel assembly 20 to extend out of the host 10 and lift the host 10. It can be understood that the meaning of "recognizing an obstacle" as described in this application can refer to the host 10 hitting an obstacle, or it can refer to the detection device on the host 10 detecting an obstacle through infrared scanning or other means. When the host 10 hits an obstacle, the cleaning device is subjected to an external force, and the air pressure in the first chamber 3211 increases, causing the exhaust flow rate of the air release joint 331 to increase. At this time, the universal wheel assembly 20 can retract to the buffer critical position, which is the maximum moving distance of the universal wheel assembly 20 when the universal wheel drive assembly 30 is subjected to an external force; when the external force acting on the cleaning device disappears, the air pressure in the cylinder 321 returns to normal, and the universal wheel assembly 20 returns to the position before retraction. It can be understood that the external force here refers to the force other than the host 10 (for example, the external force exerted on the host 10 by a person or other object). In some embodiments, when the host 10 is subjected to an external force, it will squeeze the gas in the first chamber 3211 to increase the air pressure in the first chamber 3211. When the air pressure in the first chamber 3211 increases, it acts on the trachea 33 in the reverse direction, so a part of the gas will be discharged through the air release joint 331 provided on the trachea 33. When the host 10 is subjected to an external force, the air pressure in the cylinder 321 will increase, resulting in an increase in the exhaust flow rate of the air release joint 331, enabling the universal wheel assembly 20 to quickly retract to a buffer critical position, thereby absorbing and dispersing the external force and preventing the device from being damaged or toppled due to excessive force, improving the stability and safety of the cleaning device.

[0048] Further, when the cleaning device crosses an obstacle or does not recognize an obstacle, the air pump 311 is turned off, and the cylinder 321 is subjected to the gravity of the host 10, and the universal wheel assembly 20 switches to the second position, facilitating normal cleaning operations.

[0049] Further, the universal wheel assembly 20 of this embodiment further includes universal rollers 22 and a universal wheel rotating shaft 23. The universal wheel rotating shaft 23 is rotatably connected to the universal wheel body 21, and the universal rollers 22 are connected to the universal wheel rotating shaft 23. When the cleaning device is working, the universal wheel rotating shaft 23 can rotate relative to the universal wheel body 21, thereby realizing the adjustment of the running direction of the cleaning device.

[0050] Further, a self-lubricating sleeve 213 and a limit buckle 214 are provided on the universal wheel body 21. The limit buckle 214 is located inside the self-lubricating sleeve. The universal wheel rotating shaft 23 is rotatably disposed through the self-lubricating sleeve 213 and is limited by the limit buckle 214. That is to say, when the universal wheel rotating shaft 23 rotates, the self-lubricating sleeve 213 can lubricate the universal wheel rotating shaft 23 to ensure the smooth movement of the universal wheel rotating shaft 23.

[0051] Further, a limit sleeve 24 is fixed on the host 10. The axial direction of the limit sleeve 24 is consistent with the height direction of the host 10. The universal wheel body 21 is installed in the limit sleeve 24 and can slide relative to the limit sleeve 24, and the outer surface of the universal wheel body 21 contacts the inner wall surface of the limit sleeve 24. With such a setting, when the universal wheel body 21 expands and contracts, a certain frictional resistance can be generated between the universal wheel body 21 and the limit sleeve 24, which can provide stable support and limiting functions for the universal wheel body 21 and improve the expansion and contraction balance of the universal wheel body 21. In actual design, the contact between the universal wheel body 21 and the limit sleeve 24 can be in the form of convex point contact or convex rib contact. With such a setting, friction can be reduced while providing support, and any other deformation methods under the concept of this application are acceptable. Of course, in other embodiments of this application, the cleaning device may not be provided with the limit sleeve 24, and any other deformation methods under the concept of this application are within the protection scope of this application.

[0052] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "above" can be used here to describe the spatial position relationship of one device or feature to other devices or features as shown in the figure. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the figure. For example, if the device in the figure is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations for the spatial relative descriptions used here will be made.

[0053] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above words have no special meanings, so they cannot be understood as limitations on the protection scope of the present invention.

[0054] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cleaning device, characterized in that: include: Host (10); a universal wheel assembly (20), the universal wheel assembly (20) being arranged at the bottom of the main machine (10), and the universal wheel assembly (20) having a first position extending from the bottom of the main machine (10) relative to the main machine (10) to raise the main machine (10), and the universal wheel assembly (20) also having a second position contracted relative to the main machine (10) to lower the main machine (10); A driving assembly (30), the driving assembly (30) comprising a driving part (31) and a driven part (32), the driving part (31) being used to deliver gas to the driven part (32) so that the driven part (32) drives the universal wheel assembly (20) to switch between the first position and the second position.

2. The cleaning device according to claim 1, characterized in that The driving part (31) comprises an air pump (311), and the driven part (32) comprises an air cylinder (321) or an air bag (323); a piston (322) is movably provided in the inner cavity of the air cylinder (321); the piston (322) divides the inner cavity of the air cylinder (321) into a first chamber (3211) and a second chamber (3212); and the air pump (311) is connected to the first chamber (3211) or the air bag (323) via an air pipe (33); When the driven part (32) includes the cylinder (321), the universal wheel assembly (20) at least partially extends into the second chamber (3212) and contacts the piston (322); When the driven part (32) includes the airbag (323), the universal wheel assembly (20) is in contact with or connected to the airbag (323).

3. The cleaning device according to claim 2, characterized in that: The air pipe (34) is provided with at least one air leakage joint (331), and the air leakage joint (331) is provided with an air leakage hole.

4. The cleaning device according to claim 3, characterized in that: The diameter of the air leakage hole is smaller than the inner diameter of the air pipe (33), and the air leakage joint (331) is configured such that: during the process of the universal wheel assembly (20) switching from the second position to the first position, the air leakage hole is in an open or closed state; during the process of the universal wheel assembly (20) switching from the first position to the second position, the air leakage hole is in an open state to discharge the gas in the first chamber (3211).

5. The cleaning device according to claim 3, characterized in that: The drive assembly (30) is configured as follows: When the main machine (10) recognizes an obstacle, the air pump (311) is turned on to deliver gas to the first chamber (3211) so that the universal wheel assembly (20) switches to the first position; when the cleaning device passes over an obstacle or fails to recognize an obstacle, the air pump (311) is turned off, the cylinder (321) is acted upon by the gravity of the main machine (10), and the universal wheel assembly (20) switches to the second position.

6. The cleaning device according to claim 2, characterized in that: The universal wheel assembly (20) comprises a universal wheel body (21), and a guide rod (211) is arranged on the universal wheel body (21), and the guide rod (211) extends into the second chamber (3212) and extends along the height direction of the main machine (10), and there is a clearance fit between the guide rod (211) and the inner wall surface of the second chamber (3212).

7. The cleaning device according to claim 6, characterized in that The universal wheel body (21) is provided with at least two limiting columns (212), and the at least two limiting columns (212) are arranged around the outer peripheral side of the cylinder (321) and can reciprocate along the axial direction of the cylinder, and there is a gap between the limiting columns (212) and the outer peripheral side of the cylinder (321).

8. The cleaning device according to claim 7, characterized in that A limiting sleeve (24) is fixed on the main machine (10), the axial direction of the limiting sleeve (24) is consistent with the height direction of the main machine (10), the universal wheel body (21) is installed in the limiting sleeve (24) and can slide relative to the limiting sleeve (24), and the outer surface of the universal wheel body (21) is in contact with the inner wall surface of the limiting sleeve (24).

9. The cleaning device according to any one of claims 6 to 8, characterized in that The universal wheel assembly (20) further comprises a universal roller (22) and a universal wheel rotating shaft (23), wherein the universal wheel rotating shaft (23) is rotatably connected to the universal wheel body (21), and the universal roller (22) is connected to the universal wheel rotating shaft (23).

10. The cleaning device according to claim 9, characterized in that The universal wheel body (21) is provided with a self-lubricating sleeve (213) and a limiting buckle (214); the limiting buckle (214) is located in the self-lubricating sleeve (213); the universal wheel shaft (23) is rotatably passed through the self-lubricating sleeve (213) and is limited in position by the limiting buckle (214).

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