Obstacle crossing wheel, cleaning robot and obstacle crossing method

Abstract

The invention relates to the technical field of smart home and robots, and discloses an obstacle crossing wheel, a cleaning robot and an obstacle crossing method.The obstacle crossing wheel comprises a first supporting frame, a driving wheel and a first obstacle crossing arm; the first support frame is provided with a first rotating center and a second rotating center; the driving wheel is arranged on one side of the first supporting frame and can rotate around a first rotating center; the first obstacle crossing arm is arranged on the other side of the first supporting frame and rotationally connected with the first supporting frame, and the first obstacle crossing arm can rotate around the second rotating center so as to be switched between an obstacle crossing mode and a traveling mode; the projection of the second rotating center on the central plane of the driving wheel is located in the projection area of the driving wheel on the central plane. The obstacle crossing mechanism has the advantages of simplifying the obstacle crossing structure, reducing the size, reducing the production cost and increasing the obstacle crossing height.

Description

Technical Field

[0001] The present invention relates to the fields of smart home and robot technology, and in particular to an obstacle-crossing wheel, a cleaning robot and an obstacle-crossing method. Background Art

[0002] Home cleaning robots are becoming increasingly popular. Homes often have obstacles like sliding door tracks and sunken bathroom steps. Furthermore, cleaning robots must navigate obstacles in various rooms, sometimes as high as 5cm or even 7cm. Existing cleaning robots' obstacle-crossing capabilities are limited by the diameter of their wheels and their height above the ground, making it difficult to achieve satisfactory results.

[0003] The diameter of the running wheels on the market is usually close to the height of the cleaning robot from the ground. Since the cleaning robot needs to work in low spaces such as under the sofa and under the cabinet, the height of the cleaning robot chassis from the ground is very low, usually only 1 cm. The running wheels are embedded in the body and cannot play the obstacle crossing function of the wheels themselves. When encountering obstacles with a height of more than 1 cm, the cleaning robot cannot cross them. There are currently three known methods of obstacle crossing: First, provide the cleaning robot with a sloped obstacle crossing pad to assist in obstacle crossing; second, lift the cleaning robot body when it needs to cross obstacles to expose the running wheels, and rely on the diameter of the running wheels themselves to achieve a certain obstacle crossing function; third, raise the running wheels by using auxiliary wheels to cross obstacles. The first of the three methods mentioned above is the currently mainstream method, which requires users to match the corresponding climbing pad, which brings a very bad experience to the originally automated cleaning work. Therefore, it is gradually replaced by the latter two methods. However, only a limited number of manufacturers are currently promoting their use. Since the latter two methods have complex manufacturing structures and high costs, they have not been widely promoted and used. In particular, the second method has a height limit for obstacle crossing that is still limited by the diameter of the walking wheels and cannot cover most working conditions. Although the third method can achieve a larger obstacle crossing height, it is large in size, complex in structure, and expensive, and its obstacle crossing height does not achieve the optimal effect.

[0004] This application solves the above series of problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an obstacle-crossing wheel, a cleaning robot and an obstacle-crossing method, which can simplify the obstacle-crossing structure, reduce the volume, lower the production cost and increase the obstacle-crossing height.

[0006] In order to achieve the above-mentioned object, the present invention provides an obstacle crossing wheel, comprising a first support frame, a driving wheel and a first obstacle crossing arm;

[0007] The first support frame has a first rotation center and a second rotation center;

[0008] The driving wheel is provided on one side of the first support frame and is rotatably connected to the first support frame, and the driving wheel can rotate around a first rotation center;

[0009] The first obstacle crossing arm is provided on the other side of the first support frame and is rotatably connected to the first support frame. The first obstacle crossing arm can rotate around the second rotation center, and the projection of the second rotation center on the central plane of the driving wheel is located within the projection area of ​​the driving wheel on the central plane;

[0010] The first obstacle crossing arm rotates around the second center to switch the driving wheel between the traveling mode and the obstacle crossing mode.

[0011] Furthermore, the second rotation center is located below the first rotation center and close to the ground.

[0012] Furthermore, the first support frame has a third rotation center, and the projection of the third rotation center on the central plane is located outside the projection of the driving wheel on the central plane; the third rotation center is used to connect with an external mechanism.

[0013] Furthermore, it further comprises a second support frame, one end of which is away from the third rotation center and is located on the rotation path of the first obstacle crossing arm;

[0014] The second support frame is rotatably connected to the first support frame, and the first obstacle crossing arm can push the second support frame to rotate around the third rotation center; or,

[0015] The second support frame has a fourth rotation center, the fourth rotation center is staggered with the third rotation center, and the first obstacle crossing arm can push the second support frame to rotate around the fourth rotation center, so that the first support frame rotates around the third rotation center; or,

[0016] The second support frame is slidably connected to the first support frame, and the first obstacle crossing arm can push the second support frame and the first support frame to slide relative to each other, so that the first support frame rotates around the third rotation center.

[0017] Furthermore, a roller or a hook or a second obstacle crossing arm is provided at one end of the first obstacle crossing arm away from the second rotation center.

[0018] Furthermore, the length of the first obstacle crossing arm is L, the diameter of the driving wheel is D, and L≤D.

[0019] Furthermore, a first driving mechanism is provided in the driving wheel, and the first driving mechanism is used to drive the driving wheel to rotate; it also includes a transmission mechanism, and the transmission mechanism is connected to the driving mechanism to drive the first obstacle crossing arm to rotate, or to drive the roller / hook at one end of the first obstacle crossing arm away from the first rotation center.

[0020] Furthermore, a second driving mechanism is provided in the first supporting frame for driving the first obstacle crossing arm to rotate around the second rotation center.

[0021] Furthermore, the roller is arranged on a side of the first obstacle crossing arm facing the driving wheel.

[0022] Furthermore, it also includes a locking mechanism provided on the first support frame, and the locking mechanism is used to lock or unlock the second support frame when it rotates around the second rotation center.

[0023] The present invention also provides a cleaning robot, comprising the obstacle-crossing wheel described in any one of the above items, and further comprising a body and support wheels, wherein the body is fixedly connected to the second support frame, and the support wheels are arranged at both ends of the body.

[0024] The present invention also provides an obstacle crossing method, comprising the cleaning robot described above, comprising the following steps:

[0025] S1. The fuselage moves along a travel direction driven by the driving wheel, and an obstacle is provided in the travel direction;

[0026] S2. The first obstacle crossing arm rotates, and the fuselage is raised toward one end of the obstacle, so that the fuselage is in a tilted state and crosses the obstacle;

[0027] or,

[0028] The first obstacle crossing arm rotates to drive the fuselage away from the driving wheel, and the exposed size of the driving wheel at the bottom of the fuselage increases, so that the fuselage is in an inclined state or a horizontal state to cross the obstacle.

[0029] Compared to existing technologies, the obstacle-crossing wheel, cleaning robot, and obstacle-crossing method described in the present invention offer the following advantages: a drive wheel and a first obstacle-crossing arm are disposed on either side of a first support frame, the drive wheel being able to rotate about a first rotation center; and the first obstacle-crossing arm being able to rotate about a second rotation center to switch the drive wheel between obstacle-crossing mode and travel mode. This simplifies the overall structure, reduces the size of the obstacle-crossing wheel, and lowers production costs. The first and second rotation centers are offset, with the projection of the second rotation center onto the center plane of the drive wheel located within the projection of the drive wheel onto that center plane. This allows the first obstacle-crossing arm to have a larger length, enabling it to cross higher obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of an obstacle-crossing wheel according to an embodiment of the present invention;

[0031] Figure 2 This is a front view of an obstacle-crossing wheel according to an embodiment of the present invention;

[0032] Figure 3 This is another structural schematic diagram of the obstacle-crossing wheel according to an embodiment of the present invention;

[0033] Figure 4 yes Figure 3 Main view of the obstacle crossing wheel;

[0034] Figure 5 1 is another structural schematic diagram of the obstacle-crossing wheel according to an embodiment of the present invention;

[0035] Figure 6 yes Figure 5 Main view of the obstacle crossing wheel;

[0036] Figure 7 1 is another structural schematic diagram of the obstacle-crossing wheel according to an embodiment of the present invention;

[0037] Figure 8 yes Figure 7 Main view of the obstacle crossing wheel;

[0038] FIG9(A) is a partial reference diagram of the first obstacle overcoming process of the obstacle overcoming wheel according to an embodiment of the present invention;

[0039] FIG9(B) is another partial reference diagram of the first obstacle overcoming process of the obstacle overcoming wheel according to an embodiment of the present invention;

[0040] Figure 10 This is a reference diagram of the second obstacle overcoming process of the obstacle overcoming wheel according to an embodiment of the present invention;

[0041] Figure 11 This is a reference diagram of the third obstacle overcoming process of the obstacle overcoming wheel according to an embodiment of the present invention;

[0042] FIG12(A) is a partial reference diagram of a fourth obstacle overcoming process of the obstacle overcoming wheel according to an embodiment of the present invention;

[0043] FIG12(B) is another partial reference diagram of the fourth obstacle overcoming process of the obstacle overcoming wheel according to an embodiment of the present invention;

[0044] Figure 13 1 is a schematic structural diagram of a locking mechanism of an obstacle-crossing wheel according to an embodiment of the present invention;

[0045] Figure 14 is a cross-sectional view of a driving wheel of an obstacle-crossing wheel according to an embodiment of the present invention;

[0046] Figure 15is a schematic structural diagram of an obstacle-crossing wheel according to another embodiment of the present invention;

[0047] Figure 16 yes Figure 15 Schematic diagram of the structure of the obstacle crossing wheel from another perspective;

[0048] Figure 17 1 is a structural diagram of yet another embodiment of the present invention;

[0049] Figure 18 Figure 17 A structural diagram of an obstacle-crossing wheel from another perspective.

[0050] In the figure, 1. first support frame; 11. second driving mechanism; 12. locking mechanism; 121. push rod; 122. locking block; 1221. locking part; 13. limiting column; 2. driving wheel; 21. first driving mechanism; 211. hub motor; 22. transmission mechanism; 3. first obstacle crossing arm; 31. roller; 32. connecting column; 4. second support frame; 41. slide groove; 5. fuselage; 6. support wheel; 7. clutch mechanism; O1. first rotation center; O2. second rotation center; O3. third rotation center; O4. fourth rotation center; M, obstacle. DETAILED DESCRIPTION

[0051] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "inside", "outside", etc. used in the present invention to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0053] In describing the present invention, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, "first" information could also be referred to as "second" information, and similarly, "second" information could also be referred to as "first" information without departing from the scope of the present invention.

[0054] like Figures 1 to 18As shown, an obstacle crossing wheel according to a preferred embodiment of the present invention includes a first support frame 1, a driving wheel 2 and a first obstacle crossing arm 3. The first support frame 1 serves as a mounting carrier for the driving wheel 2 and the first obstacle crossing arm 3, and the first support frame 1 has a first rotation center O1 and a second rotation center O2. In order to reduce the overall size of the obstacle crossing wheel, the overall structure of the obstacle crossing wheel is simplified and the production cost is reduced. The driving wheel 2 and the first obstacle crossing arm 3 are respectively arranged on both sides of the first support frame 1. Specifically, the driving wheel 2 is arranged on one side of the first support frame 1 and is rotatably connected to the first support frame 1. The driving wheel 2 can rotate around the first rotation center O1. The outer wall of the driving wheel 2 is in contact with the ground and can travel on the ground. The first obstacle crossing arm 3 is arranged on the other side of the first support frame 1 and is rotatably connected to the first support frame 1. The first obstacle crossing arm 3 can rotate around the second rotation center O2 to switch between obstacle crossing mode and travel mode.

[0055] Specifically, see Figure 1 、 Figure 2 In order to increase the obstacle crossing height of the obstacle crossing wheel, the first obstacle crossing arm 3 has a larger length dimension and can cross a higher obstacle crossing height. The projection of the second rotation center O2 on the center plane of the driving wheel 2 is located within the projection area of ​​the driving wheel 2 on the center plane. Furthermore, in order to facilitate increasing the support height of the first obstacle crossing arm 3, the second rotation center O2 is located below the first rotation center O1 and is close to the ground. Specifically, the center plane of the driving wheel 2 is a vertical plane that is perpendicular to the axial direction of the driving wheel 2 and parallel to the two axial end faces of the driving wheel 2. In this embodiment, the first rotation center O1 and the second rotation center O2 are staggered, and the second rotation center O2 is close to the ground. During the obstacle crossing process, it can provide a larger support height, thereby increasing the obstacle crossing height.

[0056] In practical applications, in order to facilitate the connection between the obstacle-crossing wheel and the external equipment, so as to drive the external equipment to cross the obstacle and further increase the obstacle-crossing height, such as Figure 1 、 Figure 2 As shown, the first support frame has a third rotation center O3, the projection of the third rotation center O3 on the central plane is located outside the projection of the driving wheel 2 on the central plane, and is used to connect with an external mechanism (such as a fuselage or a structure connected to the fuselage).

[0057] Specifically, if Figure 5 、 Figure 6 As shown, the obstacle crossing wheel also includes a second support frame 4, wherein the second support frame 4 is used to be fixedly connected to the fuselage 5 of the external device. In some embodiments, the second support frame 4 can be set as an integral part of the fuselage 5 or the second support frame 4 and the fuselage 5 are designed to be separate, which can be adjusted according to actual production needs. The second support frame 4 is rotatably connected to the first support frame 1 and can rotate around the third rotation center O3. Specifically, see Figure 5 、 Figure 6, one end of the second support frame 4 is away from the third rotation center O3 and is located on the rotation path of the first obstacle crossing arm 3. The first obstacle crossing arm 3 can push the second support frame 4 to rotate around the third rotation center O3, so that the side of the fuselage 5 close to the driving wheel 2 can be lifted, and the distance between the bottom of the fuselage 5 and the ground is increased. Figure 10 、 Figure 11 As shown in Figure 12 , the drive wheels 2 are more exposed at the bottom of the fuselage 5, making it less likely for the fuselage 5 to collide with obstacles M and increasing the obstacle clearance height. Furthermore, as the fuselage 5 is lifted as a whole, the first obstacle clearance arm 3 supports the fuselage 5 as it tilts, increasing the tilt angle of the fuselage 5. This further increases the height of the end of the fuselage 5 closest to the obstacle M, enhancing the obstacle clearance capability of the external device.

[0058] Furthermore, in order to facilitate the rotation of the first obstacle crossing arm 3 to drive the second support frame 4 to rotate, thereby driving the fuselage 1 to rise, in some embodiments, refer to Figure 15 、 16 The second support frame 4 has a fourth rotation center O4, that is, the first support frame 1 and the fuselage 5 are rotationally connected through the third rotation center O3, and the second support frame 4 is rotationally connected to the fuselage 5 through the fourth rotation center O4. At this time, the second support frame 4 and the fuselage 1 are of a split design. When the first obstacle crossing arm 3 rotates to push the second support frame 4 to rotate around the fourth rotation center O4, so that the position of the second support frame 4 and the fuselage 1 is fixed, the first obstacle crossing arm 3 further rotates to make the first support frame 1 and the fuselage 5 rotate relative to each other around the third rotation center O3, thereby lifting the fuselage 1.

[0059] Furthermore, in some other embodiments, see Figure 17 、 Figure 18 The second support frame 4 has a fourth rotation center O4. In this case, the first support frame 1 and the second support frame 4 are connected in a sliding manner. Specifically, the first support frame 1 is provided with a limiting post 13, and the second support frame 4 is provided with a slide groove 41. The first support frame 1 is rotationally connected to the fuselage 5 via the third rotation center O3, while the second support frame 4 is slidingly connected to the fuselage 1. Specifically, the second support frame 4 is provided with a guide post coaxially arranged with the fourth rotation center O4. The fuselage is provided with an arcuate groove corresponding to the guide post, and the guide post is retained in the arcuate groove. When the first obstacle crossing arm 3 rotates, it pushes the second support frame 4 and the first support frame 1 to slide relative to each other, causing the fuselage 5 and the second support frame 4 to slide relative to each other along the extension path of the arcuate groove, thereby lifting the fuselage 5. In other words, the first obstacle crossing arm 1 acts like a push-link mechanism, driving the fuselage 5 to rotate and achieve lift. The connection between the first support frame 1 and the second support frame 4 can be adaptively adjusted to meet actual design requirements.

[0060] It should be noted that in the above definition of the rotation center, the rotation structure between the two parts can be adjusted according to actual design requirements and is not limited to the structure shown in the drawings.

[0061] Furthermore, in order to make the first obstacle crossing arm 3 cross the obstacle M more smoothly, a roller 31 or a hook or a second obstacle crossing arm is provided at one end of the first obstacle crossing arm 3 away from the second rotation center O2.

[0062] The rollers on the other end of the obstacle crossing arm facilitate rolling friction when the second support frame is extended, reducing lifting resistance. This reduces friction between the obstacle crossing arm and the ground when the obstacle crossing wheel is supported and lifted, reducing travel resistance. Furthermore, when the obstacle crossing wheel is streamlined, the rollers on the obstacle crossing arm are not powered, and the rollers are designed to rotate in one direction, facilitating obstacle crossing. When the other end of the obstacle crossing arm is designed as a hook, the obstacle crossing arm can hook onto an obstacle, such as hooking onto a step to overcome an obstacle. When a second obstacle crossing arm is used, it can be stacked and stored with the first obstacle crossing arm, and extended in conjunction with the first obstacle crossing arm, raising the obstacle crossing wheel to a higher height. However, the overall mechanism is more complex.

[0063] Therefore, in this embodiment, the roller 31 is preferably used to simplify the structure of the first obstacle crossing arm 3, and at the same time, avoid excessive friction with the ground during the obstacle crossing process, thereby reducing power consumption.

[0064] Furthermore, in this embodiment, the length of the first obstacle crossing arm 3 is L, and the diameter of the drive wheel 2 is D, where L ≤ D. If the length of the first obstacle crossing arm 3 is greater than D, the first obstacle crossing arm 3 is likely to be exposed on top of the first support frame 1 when the drive wheel 2 is in travel mode, increasing the overall height of the obstacle crossing wheel. This makes it difficult for the obstacle crossing wheel 2 to enter the gap between the bottom of furniture and the ground for cleaning when used in cleaning scenarios.

[0065] Furthermore, in order to facilitate the rotation of the driving wheel 2 so that the obstacle-crossing wheel is in the traveling mode and reduce the overall size of the obstacle-crossing wheel, a first driving mechanism 21 is provided in the driving wheel 2. The first driving mechanism 21 is used to drive the driving wheel 2 to rotate. Figure 14 The first driving mechanism 21 uses a motor 211 compound gear transmission to drive the driving wheel 2. In other embodiments, using a hub motor as a driving wheel can also achieve the corresponding transmission function.

[0066] Furthermore, in order to facilitate the rotation of the first obstacle crossing arm 3 to achieve obstacle crossing and simplify the driving structure, refer to Figure 1 、 Figure 3 、 Figure 4, further comprising a transmission mechanism 22, which is in transmission connection with the first driving mechanism 21 and is used to drive the first obstacle crossing arm 3 to rotate, or to drive the roller 31 / hook at one end of the first obstacle crossing arm 3 away from the first rotation center O1. That is, the first driving mechanism 21 can drive the driving wheel 2 to rotate, and simultaneously drive the first obstacle crossing arm 3 to rotate, or can control the movement of the roller 31 or the hook. Figure 4 The transmission mechanism 22 is a multi-stage gear transmission structure, which can be adjusted accordingly according to actual design requirements, so its structure is not described in detail.

[0067] Furthermore, in order to facilitate the control of the rotation of the driving wheel 2 and the first obstacle crossing arm 3, as shown in FIG. Figure 7 、 Figure 8 As shown, the drive wheel 2 is internally provided with a first drive mechanism 21, while the first support frame 1 is internally provided with a second drive mechanism 11, which is used to drive the first obstacle crossing arm 3 to rotate about the second rotation center O2. The second drive mechanism 11 uses a multi-stage gear transmission, which can be adjusted according to actual design requirements, and its structure is not described in detail here.

[0068] Furthermore, to reduce the axial size of the obstacle-crossing wheel, in this embodiment, a roller 31 is located on the side of the first obstacle-crossing arm 3 facing the drive wheel 2, thereby reducing the axial size. Furthermore, to facilitate the control of the rotation of the roller 31, a locking device is provided within the first obstacle-crossing arm 3 to control the rotation and locking of the roller 31. When the first obstacle-crossing arm 3 is close to the ground, the roller 31 can roll in contact with the ground. When the first obstacle-crossing arm 3, relying on the roller 31 to support the fuselage, is lifted off the ground, the roller 31 is locked in one direction, improving stability during obstacle crossing.

[0069] Furthermore, in order to facilitate the control of the rotation position of the second support frame 4 after the second rotation center O3 is rotated, refer to Figure 5 、 Figure 6 , further comprising a locking mechanism 12 provided on the first support frame 1, the locking mechanism 12 being used to lock or unlock the second support frame 4 when it rotates around the second rotation center O2. Specifically, Figure 5 As shown, the locking mechanism 12 is located in the first support frame 1, and its output end can extend or retract in the opening of the side wall of the first support frame 1. When the rotation position of the second support frame 4 needs to be locked, the output end of the locking mechanism 12 extends from the opening. When the rotation of the second support frame 4 needs to be reset, the output end of the locking mechanism 12 retracts into the first support frame 1.

[0070] Furthermore, in this embodiment, in order to further simplify the structure, in this embodiment, the locking mechanism 12 is driven by the first obstacle crossing arm 3. Specifically, see Figure 13The locking block 122 moves back to the opening and compresses the spring so that the locking portion 1221 withdraws from the opening on the side wall of the first support frame 1, thereby releasing the locking state of the second support frame 4.

[0071] The present invention also provides a cleaning robot, comprising any of the above-mentioned obstacle-crossing wheels, and further comprising a body 5 and support wheels 6, wherein the body 5 is connected to the second support frame 4, and the support wheels 6 are provided at both ends of the body 5. The obstacle-crossing wheels can drive the body 5 to walk on the ground to clean and overcome obstacles.

[0072] The present invention provides a cleaning robot having multiple obstacle crossing modes. For ease of explanation, the present invention provides an obstacle crossing method, including the cleaning robot described above, comprising the following steps:

[0073] S1. The fuselage 5 moves along a travel direction driven by the driving wheel 2. An obstacle M is provided in the travel direction.

[0074] S2: The first obstacle crossing arm 3 rotates, and the fuselage 5 is raised toward one end of the obstacle M, so that the fuselage 5 is in an inclined state and crosses the obstacle M;

[0075] or,

[0076] The first barrier arm rotates, pushing the second support frame 4 to rotate around the second rotation center O2 to a locked position, and the fuselage 5 moves away from the driving wheel 2. The exposed size of the driving wheel 2 at the bottom of the fuselage 5 increases, so that the fuselage 5 is in an inclined or horizontal state to cross the obstacle M.

[0077] Specifically, the above steps correspond to four obstacle overcoming modes. In the first obstacle overcoming mode, refer to Figure 9. The obstacle overcoming wheel is not provided with a second support frame 4. When it encounters an obstacle M, step S2 is specifically as follows: the first obstacle overcoming arm 3 rotates and contacts the ground to form a support, so that the fuselage 5 is raised toward one end of the obstacle M, and the fuselage 5 is in a tilted state. Then the first obstacle overcoming arm 3 is further rotated to make the obstacle overcoming wheel move forward to overcome the obstacle.

[0078] The second obstacle crossing mode, see Figure 10The obstacle crossing wheel is provided with a second support frame 4. The first obstacle crossing arm 3 rotates around the second rotation center O2, pushing the second support frame 4 to rotate around the third rotation center O3. Since the second support frame 4 is fixedly connected to the fuselage 5, the fuselage 5 moves away from the driving wheel 2, and the position of the second support frame 4 is locked by the locking mechanism 12. The distance between the side of the fuselage 5 close to the driving wheel 2 and the ground increases and rises to a certain height, raising the fuselage 5. At this time, the exposed size of the driving wheel 2 at the bottom of the fuselage 5 increases. Figure 10 The support wheels 6 at both ends of the fuselage 5 are fixed to the fuselage 5. At this time, the inclination angle of the fuselage 5 increases, and the height of the fuselage 5 raised toward the obstacle M increases, thereby increasing the obstacle clearance height, which is approximately 1 / 3D to 2 / 5D.

[0079] The third obstacle crossing method is an improvement on the second obstacle crossing method. Figure 11 The support wheels 6 are movably connected to the fuselage 5, and the support wheels 6 can change their installation position in the vertical direction relative to the fuselage 5 through a lifting mechanism (not shown in the figure). When the obstacle-crossing wheels lift the fuselage 5, the lifting mechanism simultaneously lifts the fuselage 5. At this time, the fuselage 5 remains horizontal, and the distance between it and the ground is increased, which can achieve better obstacle-crossing performance and better stability when passing through obstacles M. It should be noted that in the third obstacle-crossing method, when the obstacle-crossing wheels lift the fuselage 5, a corresponding drive structure can be provided to drive the first support frame 1 and the lifting mechanism of the support wheels 6 synchronously, so that the fuselage 5 always remains horizontal and is lifted in the vertical direction. This is not limited to the solution of the present invention in which the first obstacle-crossing arm 3 drives the second support frame 4 to rotate and then lift the fuselage 5.

[0080] The fourth obstacle crossing method, see Figure 12. After the first obstacle crossing arm 3 lifts the fuselage 5 according to the second obstacle crossing method, the second support frame 4 is in a locked state. When the driving wheel 2 touches the obstacle M and still cannot pass, the first obstacle crossing arm 3 further rotates to lift the entire driving wheel 2 off the ground to climb over a higher obstacle M. At this time, the maximum obstacle crossing height of the obstacle crossing wheel is reached, as shown in FIG. Figure 4 As shown, the distance from the second rotation center O2 to the ground is n, and the maximum obstacle clearance height is 2 / 5D+Ln.

[0081] Furthermore, when the first obstacle crossing arm 3 is provided with a roller 31, after the first obstacle crossing arm 3 lifts the fuselage 5 according to the second obstacle crossing mode, the second support frame 4 is in a locked state, and the first obstacle crossing arm 3 rotates a certain angle and stops. At this time, the driving wheel 2 and the roller 31 touch the ground at the same time, forming two fulcrums, lifting the fuselage 5 obliquely upward toward one end of the obstacle M, and the fuselage 5 can cross the higher obstacle M. The fuselage 5 is driven forward by the driving wheel 2. When the roller 31 touches the obstacle M, the first obstacle crossing arm 3 resumes rotation, lifting the driving wheel 2 off the ground to cross the obstacle M.

[0082] In summary, embodiments of the present invention provide an obstacle-crossing wheel, a robot, and an obstacle-crossing method. A drive wheel 2 and a first obstacle-crossing arm 3 are respectively disposed on either side of a first support frame 1. The drive wheel 2 can rotate about a first rotation center O1; the first obstacle-crossing arm 3 can rotate about a second rotation center O2 to switch between an obstacle-crossing mode and a travel mode. The overall structure is simple, reducing the size of the obstacle-crossing wheel and lowering production costs. The first rotation center O1 and the second rotation center O2 are offset from each other. The projection of the second rotation center O2 on the center plane of the drive wheel 2 is located within the projection area of ​​the drive wheel 2 on the center plane. The second rotation center O2 is located below the first rotation center O1 and close to the ground, giving the first obstacle-crossing arm 3 a larger length dimension, enabling it to cross higher obstacle heights.

[0083] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An obstacle-crossing wheel, characterized in that: It comprises a first supporting frame, a driving wheel and a first obstacle crossing arm; The first support frame has a first rotation center and a second rotation center; The driving wheel is provided on one side of the first support frame and is rotatably connected to the first support frame, and the driving wheel can rotate around a first rotation center; The first obstacle crossing arm is provided on the other side of the first support frame and is rotatably connected to the first support frame. The first obstacle crossing arm can rotate around the second rotation center, and the projection of the second rotation center on the central plane of the driving wheel is located within the projection area of ​​the driving wheel on the central plane; The first obstacle crossing arm rotates around the second center to switch the driving wheel between the traveling mode and the obstacle crossing mode.

2. The obstacle-crossing wheel according to claim 1, characterized in that: The second rotation center is located below the first rotation center and is disposed close to the ground.

3. The obstacle-crossing wheel according to claim 1, characterized in that: The first support frame has a third rotation center, and the projection of the third rotation center on the central plane is located outside the projection of the driving wheel on the central plane; the third rotation center is used to connect with an external mechanism.

4. The obstacle-crossing wheel according to claim 3, characterized in that: Also included is a second support frame, one end of which is away from the third rotation center and is located on the rotation path of the first obstacle crossing arm; The second support frame is rotatably connected to the first support frame, and the first obstacle crossing arm can push the second support frame to rotate around the third rotation center; or, The second support frame has a fourth rotation center, the fourth rotation center is staggered with the third rotation center, and the first obstacle crossing arm can push the second support frame to rotate around the fourth rotation center, so that the first support frame rotates around the third rotation center; or, The second support frame is slidably connected to the first support frame, and the first obstacle crossing arm can push the second support frame and the first support frame to slide relative to each other, so that the first support frame rotates around the third rotation center.

5. The obstacle-crossing wheel according to claim 1, characterized in that: One end of the first obstacle crossing arm away from the second rotation center is provided with a roller or a hook claw or a second obstacle crossing arm.

6. The obstacle-crossing wheel according to claim 1, characterized in that: The length of the first obstacle crossing arm is L, the diameter of the driving wheel is D, and L≤D.

7. The obstacle-crossing wheel according to claim 1, characterized in that: A first driving mechanism is provided in the driving wheel, and the first driving mechanism is used to drive the driving wheel to rotate; it also includes a transmission mechanism, and the transmission mechanism is connected to the driving mechanism to drive the first obstacle crossing arm to rotate, or to drive the roller / hook at one end of the first obstacle crossing arm away from the first rotation center to move.

8. The obstacle-crossing wheel according to claim 1, characterized in that: A second driving mechanism is provided in the first supporting frame for driving the first obstacle crossing arm to rotate around the second rotation center.

9. The obstacle-crossing wheel according to claim 1, characterized in that: It also includes a locking mechanism provided on the first support frame, and the locking mechanism is used to lock or unlock the second support frame when it rotates around the second rotation center.

10. A cleaning robot comprising the obstacle-crossing wheel according to any one of claims 1 to 8, characterized in that: The device further comprises a fuselage and supporting wheels, wherein the fuselage is connected to a second supporting frame, and the supporting wheels are arranged at both ends of the fuselage.

11. An obstacle surmounting method, comprising the cleaning robot according to claim 10, characterized in that: The following steps are included S1. The fuselage moves along a travel direction driven by the driving wheel, and an obstacle is provided in the travel direction; S2. The first obstacle crossing arm rotates, and the fuselage is raised toward one end of the obstacle, so that the fuselage is in a tilted state and crosses the obstacle; or, The first obstacle crossing arm rotates to drive the fuselage away from the driving wheel, and the exposed size of the driving wheel at the bottom of the fuselage increases, so that the fuselage is in an inclined state or a horizontal state to cross the obstacle.

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