Cleaning device

Abstract

The invention discloses a cleaning device. The cleaning device comprises a machine body and a moving wheel set, the moving wheel set is arranged at the bottom of the machine body, the moving wheel set comprises a mounting frame, moving wheels and torsional springs, the mounting frame is rotatably connected to the machine body through a rotating shaft, the moving wheels are rotatably mounted on the mounting frame, the rotating shaft is sleeved with the torsional springs, and the torsional springs are arranged on the rotating shaft. The axis of the torsional spring is consistent with the axis of the rotating shaft, the torsional spring comprises a first cantilever section and a second cantilever section, the first cantilever section abuts against the machine body, the second cantilever section of the torsional spring abuts against the mounting frame, and when the cleaning device is in an initial state and an obstacle crossing state, the torsional spring is always in a screwed state; and an included angle C between the first cantilever section and the second cantilever section meets the relational expression that C is more than or equal to 150 degrees and less than or equal to 180 degrees. The cleaning device can solve the problem that in the prior art, the obstacle crossing level of a sweeper is low.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more specifically, to a cleaning device. Background Technology

[0002] Currently, indoor robotic vacuum cleaners are not very good at overcoming obstacles. When there are thresholds or obstacles in some indoor spaces that are more than 20mm thick, the robot will stop in place and be unable to continue cleaning when it cannot overcome the obstacle, which will affect the cleaning efficiency.

[0003] Existing technical solutions lack a clear understanding of the dynamic mechanisms of obstacle-crossing processes in robotic vacuum cleaners, failing to fully utilize their obstacle-crossing capabilities. As a result, indoor robotic vacuum cleaners have remained at a relatively low or below-average obstacle-crossing level for many years. Summary of the Invention

[0004] The main objective of this invention is to provide a cleaning device that at least solves the problem of low obstacle-crossing capability of existing sweeping machines.

[0005] According to one aspect of the present invention, a cleaning device is provided, comprising: a body;

[0006] A movable wheel assembly is disposed at the bottom of the machine body. The movable wheel assembly includes a mounting frame, movable wheels, and a torsion spring. The mounting frame is rotatably connected to the machine body via a rotating shaft. The movable wheels are rotatably mounted on the mounting frame. The torsion spring is sleeved on the rotating shaft, and the axis of the torsion spring is aligned with the axis of the rotating shaft. The torsion spring includes a first cantilever section and a second cantilever section. The first cantilever section abuts against the machine body, and the second cantilever section abuts against the mounting frame. When the cleaning device is in the initial state and the obstacle-crossing state, the torsion spring is always in a taut state, and the included angle C between the first cantilever section and the second cantilever section satisfies the relationship: 150°≤C≤180°.

[0007] Furthermore, the obstacle-crossing height h of the cleaning device and the forward speed v of the moving wheels satisfy a linear relationship: h = a * v 2 +b, where a and b are coefficients, a ranges from [95, 106], b ranges from [-0.9, 11], and v ≥ 0.3 m / s.

[0008] Furthermore, when the cleaning device is in the initial state, the cleaning device satisfies the following relationship: T≥0.20×w×L, where T is the torque of the torsion spring, T≤w×L, w is the weight of the cleaning device, and L is the distance between the axis of the moving wheel and the axis of the rotating shaft.

[0009] Furthermore, during the obstacle-crossing process of the cleaning device, the rotation angle E of the mounting frame is greater than or equal to 15° and less than or equal to 60°.

[0010] Furthermore, during the obstacle-crossing process of the cleaning device, the torque applied by the torsion spring to the moving wheel assembly gradually decreases as the rotation angle of the moving wheel assembly around the rotating shaft increases, and the pre-tightening force of the torsion spring gradually decreases.

[0011] Furthermore, during the obstacle-crossing process of the cleaning device, the useful work done by the torsion spring on the moving wheel assembly gradually increases as the rotation angle of the moving wheel assembly around the rotating shaft increases.

[0012] Furthermore, the machine body is provided with a first insertion hole, and the end of the first cantilever section is provided with a first bend, the first cantilever section being inserted into the first insertion hole and confined within the first insertion hole by the first bend; and / or,

[0013] The mounting bracket is provided with a second insertion hole, and the end of the second cantilever section is provided with a second bend, which is inserted into the second insertion hole.

[0014] Furthermore, when the torsion spring is in its natural state, the included angle between the first cantilever segment and the second cantilever segment is C1;

[0015] When the cleaning device is in the obstacle-crossing state, the included angle between the first cantilever section and the second cantilever section is C2.

[0016] When the cleaning device is in its initial state, the included angle between the first cantilever section and the second cantilever section is C3.

[0017] When the cleaning device is in obstacle-crossing mode, the maximum rotation angle of the mounting frame is Emax;

[0018] Where C3 < C2 < C1, Emax = C2 - C1.

[0019] Furthermore, the cleaning device also includes a drive mechanism mounted on a mounting frame. The drive mechanism includes a motor and a gearbox, both of which are mounted on the mounting frame. The motor is connected to the gearbox, and the gearbox is connected to the moving wheels.

[0020] Furthermore, the cleaning device is equipped with a detection element and a controller. Both the detection element and the motor are electrically connected to the controller. The detection element is at least used to send an obstacle-crossing signal to the controller, and the controller controls the speed of the motor according to the obstacle-crossing signal.

[0021] In this invention, a pre-tightened torsion spring is provided between the body and the mounting frame. This torsion spring can release its stored elastic potential energy when it collides with an obstacle. The release of this elastic potential energy allows the moving wheel assembly to grip the ground or table well and work with the drive mechanism to overcome higher obstacles, thereby improving the obstacle-crossing ability of the cleaning device and reducing the energy consumption of the drive mechanism. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0023] Figure 1 This is a perspective structural diagram of the cleaning device disclosed in the embodiments of this application;

[0024] Figure 2 This is a top view of the cleaning device disclosed in the embodiments of this application after part of the housing has been removed;

[0025] Figure 3 for Figure 2 A magnified view of region M in the image;

[0026] Figure 4 This is a three-dimensional structural diagram of the movable wheel assembly disclosed in the embodiments of this application;

[0027] Figure 5 This is a front view of the cleaning device disclosed in this application, with part of the body removed;

[0028] Figure 6 for Figure 5 A cross-sectional view of AA (when the cleaning device is operating on a horizontal surface);

[0029] Figure 7 for Figure 5 A cross-sectional view of AA (the cleaning device in operation until it hits an obstacle);

[0030] Figure 8 This is a diagram showing the connection relationships between the controller, motor, and detection element disclosed in the embodiments of this application;

[0031] Figure 9 A simulation diagram showing the useful work done by the torsion spring on the moving wheel assembly during the obstacle crossing process of the cleaning device of this application;

[0032] Figure 10 This is a simulation diagram of the torque exerted by the torsion spring on the moving wheel assembly during the obstacle crossing process of the cleaning device of this application.

[0033] The above figures include the following reference numerals:

[0034] 10. Body; 11. First insertion hole; 20. Moving wheel set; 21. Mounting bracket; 211. Rotating shaft; 212. Second insertion hole; 213. Top surface; 22. Moving wheel; 23. Torsion spring; 231. First cantilever section; 2311. First bend; 232. Second cantilever section; 2321. Second bend; 24. Drive mechanism; 241. Motor; 242. Gearbox; 30. Obstacle; 40. Detection element; 50. Controller. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, 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 combinations thereof.

[0037] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] As described in the background section, existing cleaning devices, such as sweeping machines, have relatively low obstacle-crossing capabilities, making it difficult to overcome relatively high obstacles 30 during use. Therefore, this application provides a novel cleaning device with a higher obstacle-crossing capability, which improves the automation control process of the cleaning device. The cleaning device of this application will be described in detail below with reference to the accompanying drawings.

[0039] See Figures 1 to 7As shown, according to an embodiment of this application, a cleaning device is provided. The cleaning device includes a body 10 and a set of movable wheels 20. The movable wheel assembly 20 is located at the bottom of the body 10. The movable wheel assembly 20 includes a mounting frame 21, movable wheels 22, a torsion spring 23, and a drive mechanism 24. The mounting frame 21 is rotatably connected to the body 10. The movable wheels 22 are rotatably mounted on the mounting frame and protrude from the bottom surface of the body 10. The torsion spring 23 is sleeved on the rotating shaft 211, and the axis of the torsion spring 23 is consistent with the axis of the rotating shaft 211. The torsion spring 23 includes a first cantilever section 231 and a second cantilever section 232. The first cantilever section 231 abuts against the body 10, and the second cantilever section 232 abuts against the mounting frame 21. When the cleaning device is in the initial state and the obstacle-crossing state, the torsion spring 23 is always in a taut state, and the included angle C between the first cantilever section 231 and the second cantilever section 232 satisfies the relationship: 150°≤C≤180°.

[0040] It should be noted that when the cleaning device moves on a flat surface, the moving wheel assembly 20 is limited by the weight of the cleaning device, and the body 10 is in a first position relative to the moving wheels 22 (this first position is the initial state described in this application). When the cleaning device is picked up or the moving wheels 22 are suspended in the air without contacting the ground, the moving wheels 22 are subjected to their own weight and rotate downwards around the pivot 211, thus entering a second position. It is understood that the aforementioned second position may change. For example, when the cleaning device is picked up (the moving wheels 22 are not in contact with the ground), the second position that the moving wheels 22 can reach is usually lower than the second position that the moving wheels 22 can reach when the cleaning device is on the ground or climbing a slope. This height difference is based on the distance between the drive wheel and the surface on which the cleaning device is placed.

[0041] When the cleaning device in this embodiment is in operation, the drive mechanism 24 mounted on the mounting frame 21 drives the moving wheels 22 to rotate around their own axis, thereby moving the entire cleaning device within the space to perform cleaning operations. However, since obstacles 30 inevitably exist on the floor or countertop, when the cleaning device collides with a relatively high obstacle 30 during its movement, relying solely on the drive mechanism 24 to drive the moving wheels 22, the cleaning device can only overcome relatively low obstacles 30.

[0042] In this application, a torsion spring 23 is provided on the movable wheel assembly 20. The first cantilever section 231 of the torsion spring 23 abuts against the body 10, and the second cantilever section 232 of the torsion spring 23 abuts against the mounting frame 21. That is, when the cleaning device is in the initial state or obstacle-crossing state, the included angle C between the first cantilever section 231 and the second cantilever section 232 satisfies the relationship: 150°≤C≤180°, meaning that the torsion spring 23 is always in a tightened state. In other words, when the cleaning device is in the initial state, the pre-tightening force of the torsion spring 23 can apply a torque to the mounting frame 21, and the torsion spring 23 stores a certain amount of elastic potential energy. When the cleaning device reaches obstacle 30, the movable wheels 22, protruding from the bottom surface of the body 10, collide with the obstacle 30. At this time, the mounting frame 21 of the movable wheel assembly 20 rotates relative to the body 10 due to the pre-torsion force of the torsion spring 23. The pre-tightened torsion spring 23 can apply greater ground pressure to the mounting frame 21, which in turn can apply greater ground pressure to the movable wheels 22 mounted on the mounting frame 21, allowing the movable wheels 22 to grip the ground or table surface better. At the same time, the elastic potential energy of the pre-tightened torsion spring 23 can be released to do useful work on the cleaning device, that is, this elastic potential energy can be converted into obstacle-crossing energy for the cleaning device, causing the entire cleaning device to tend to take off, and can work together with the driving power of the drive mechanism 24 to propel the entire cleaning device over higher obstacles 30. Furthermore, since the axis of the torsion spring 23 in this embodiment is aligned with the axis of the rotating shaft 211, and the torsion spring 23 is always tightened, the elastic potential energy stored in the torsion spring 23 can be converted into the potential energy of the body 10 to assist the cleaning device in overcoming obstacles.

[0043] Combination Figures 3 to 6 As shown, during the operation of the cleaning device, when the cleaning device is on a horizontal surface, the torsion spring 23 is in a state of extreme tension under the weight of the body 10. At this time, the angle C between the first cantilever segment 231 and the second cantilever segment 232 of the torsion spring 23 is the smallest, and the elastic potential energy stored in the torsion spring 23 is the largest. At the same time, the torsion spring 23 can apply torque to the moving wheel assembly 20, causing the moving wheel assembly 20 to have a tendency to rotate towards the ground. When the torsion spring 23 is in its natural state, the angle between the first cantilever segment 231 and the second cantilever segment 232 of the torsion spring 23 is the largest, which is greater than the state when the torsion spring 23 is assembled on the cleaning device. At this time, the elastic potential energy stored in the torsion spring 23 is 0.

[0044] When the moving wheel assembly 20 of the cleaning device collides with the obstacle 30, the first cantilever segment 231 and the second cantilever segment 232 of the torsion spring 23 twist, and the included angle C between the first cantilever segment 231 and the second cantilever segment 232 increases, but remains smaller than the included angle of the torsion spring 23 in its natural state. That is, the torsion spring 23 is always in a taut state during horizontal movement and obstacle crossing. During this process, the torsion spring 23 can apply 100% of its released elastic potential energy to the moving wheel assembly 20, causing the moving wheel assembly 20 to rotate towards the ground and do useful work. This useful work is achieved through the torque of the torsion spring 23 on the rotating shaft 211 and the resulting rotation angle. During obstacle crossing, as the moving wheel assembly 20 rotates towards the ground, the center of gravity of the cleaning device increases, and the overall potential energy of the device increases, exhibiting a tendency to take off to overcome the higher obstacle 30.

[0045] After the cleaning device overcomes the obstacle, its gravity performs work on the torsion spring 23, causing it to return to its maximum tension state in preparation for the next obstacle crossing. See also Figure 9 As shown, Figure 9 This is a simulation diagram of the useful work done by the torsion spring 23 on the moving wheel assembly during the obstacle-crossing process of the cleaning device. According to... Figure 9 It can be seen that when the cleaning device is in its initial state and moving within the water surface, the rotation angle of the mounting frame 21 relative to the body 10 is 0°. At this time, the angle between the line connecting the central axis of the rotating shaft 211 and the moving wheel 22 and the bottom plane of the body 10 is D. When the cleaning device collides with the obstacle 30, the mounting frame 21 can rotate relative to the body 10 under the action of the torsion spring 23. During the rotation, the torsion spring 23 can do useful work on the moving wheel assembly 20, and as the rotation angle of the mounting frame 21 increases, the useful work done by the torsion spring 23 on the moving wheel assembly 20 increases. In this process, the useful work done by the torsion spring 23 can be converted into obstacle-crossing energy for the cleaning device, thereby coordinating with the drive mechanism 24 to drive the entire cleaning device over the obstacle 30.

[0046] Specifically, when the torsion spring 23 is in its natural state, the angle between the first cantilever segment 231 and the second cantilever segment 232 is C1; when the cleaning device is in the obstacle-crossing state, the angle between the first cantilever segment 231 and the second cantilever segment 232 is C2; when the cleaning device is in its initial state, the angle between the first cantilever segment 231 and the second cantilever segment 232 is C3; when the cleaning device is in the obstacle-crossing state, the maximum rotation angle of the mounting bracket 21 is Emax; where C3 < C2 < C1, and Emax = C2 - C1. In actual design, the larger C3 is, the more elastic potential energy the torsion spring 23 can store while C1 remains constant.

[0047] See Figure 10 As shown, Figure 10 This is a simulation diagram of the torque exerted by the torsion spring 23 on the moving wheel assembly 20 during the obstacle-crossing process of the cleaning device. According to... Figure 10 It can be seen that when the cleaning device is in its initial state and moving in the horizontal plane, the rotation angle of the mounting frame 21 relative to the body 10 is 0°. At this time, the torsion spring 23, due to its pre-torque, exerts the maximum torque on the moving wheel assembly 20. During the obstacle-crossing process, as the moving wheel assembly 20 rotates around the axis 211, the rotation angle E of the mounting frame 21 relative to the body 10 (i.e., the rotation angle E of the moving wheel assembly 20 relative to the body 10) increases, the torque exerted by the torsion spring 23 on the moving wheel assembly 20 gradually decreases, and the pre-tightening force of the torsion spring 23 gradually decreases. The product of this torque and the rotation angle of the mounting frame 21 is the useful work done by the torsion spring 23 on the moving wheel assembly 20. For example, when the initial torque of the torsion spring 23 is designed to be 855 Nmm (0-degree rotation angle), the torsion spring 23 can convert more elastic potential energy into the energy required for the whole machine to cross obstacles; when the torsion spring 23 is twisted to the limit angle (30 degrees in the figure), the torsion spring can provide greater ground pressure when the initial torque is designed.

[0048] In other words, this embodiment provides a pre-tightened torsion spring 23 between the body 10 and the mounting bracket 21. In this way, the torsion spring 23 can release its stored elastic potential energy when it collides with the obstacle 30. The release of this elastic potential energy allows the moving wheel assembly 20 to grip the ground or table well and work with the drive mechanism 24 to cross higher obstacles 30, thereby improving the obstacle crossing level of the cleaning device and reducing the energy consumption of the drive mechanism 24.

[0049] For ease of installation, the mounting bracket 21 in this embodiment is provided with a rotating shaft 211 at its end. The mounting bracket 21 is rotatably mounted to the machine body 10 via the rotating shaft 211. It is understood that, in actual processing, the rotating shaft 211 can be integrally machined with the mounting bracket 21, meaning the mounting bracket 21 and the rotating shaft 211 are fixed together. After installation, the mounting bracket 21 can rotate synchronously with the rotating shaft 211. Of course, in other embodiments of this application, the rotating shaft 211 can also be fixedly mounted on the machine body 10, allowing the mounting bracket 21 to rotate relative to the rotating shaft 211 when the cleaning device is operating. During installation, a torsion spring 23 is fitted onto the rotating shaft 211, ensuring a stable and reliable structure.

[0050] To facilitate connection, the body 10 in this embodiment is provided with a first insertion hole 11, and the end of the first cantilever segment 231 is provided with a first bending portion 2311. The first cantilever segment 231 is inserted into the first insertion hole 11 and is limited by the first bending portion 2311. That is to say, when the first cantilever segment 231 is inserted into the first insertion hole 11, the first bending portion 2311 can limit the first cantilever segment 231, preventing the first cantilever segment 231 from falling out of the first insertion hole 11, thus ensuring a stable and reliable structure.

[0051] Optionally, in this embodiment, the mounting bracket 21 is provided with a second insertion hole 212, and the end of the second cantilever section 232 is provided with a second bending portion 2321. The second bending portion 2321 is inserted into the second insertion hole 212. In this embodiment, the torsion spring 23 is connected to the mounting bracket 21 by inserting the second bending portion 2321 into the second insertion hole 212, which facilitates the integration and miniaturization of the movable wheel set 20 along the axial direction of the rotating shaft 211.

[0052] Optionally, during the obstacle-crossing process of the cleaning device, the rotation angle E of the mounting frame 21 is greater than or equal to 15° and less than or equal to 60°. Examples include 15°, 20°, 25°, 30°, 35°, 45°, 50°, 55°, and 60°. It should be noted that the maximum rotation angle of the mounting frame 21 in this embodiment refers to the maximum angle of rotation relative to the bottom of the machine body 10 during the process of placing the mounting frame 21 on a horizontal surface and enabling it to cross a 20mm obstacle 30. The rotation angle of the mounting frame 21 relative to the machine body 10 is defined as 0° when the cleaning device is on a horizontal surface. If the maximum rotation angle of the mounting frame 21 is less than 15°, the height at which the mounting frame 21 lifts the machine body 10 is relatively low, resulting in a relatively low obstacle-crossing height for the cleaning device. When the maximum rotation angle of the mounting frame 21 is greater than 60°, the initial requirement for the pre-torque of the torsion spring 23 is relatively high, leading to higher design costs. In other words, by setting the maximum rotation angle of the mounting bracket 21 to between 15° and 60° in this embodiment, both the obstacle-crossing height of the cleaning device and the manufacturing difficulty can be taken into account.

[0053] Furthermore, in this embodiment, the mounting bracket 21 is a frame structure with an opening at the bottom, and the movable wheel 22 is rotatably mounted on the box-like structure. Specifically, the movable wheel 22 is rotatably mounted on the box-like structure via a shaft or similar structure. After installation, the edge of the movable wheel 22 protrudes from the bottom opening of the box-like structure and extends beyond the bottom of the mounting bracket 21 to facilitate contact with the bottom surface for movement. Simultaneously, the drive mechanism 24 is also installed inside the frame structure, thus effectively preventing interference and damage to the drive mechanism 24 from other external structures.

[0054] For example, the drive mechanism 24 in this embodiment includes a motor 241 and a reduction gearbox 242. Both the motor 241 and the reduction gearbox 242 are mounted on a mounting bracket 21, specifically inside a box-shaped mounting bracket 21. The motor 241 is connected to the reduction gearbox 242, and the reduction gearbox 242 is connected to the moving wheel 22. That is, the output shaft of the motor 241 is connected to the output shaft of the reduction gearbox 242, and the output shaft of the reduction gearbox 242 is connected to the shaft on the moving wheel 22. Thus, when the motor 241 is working, it can drive the moving wheel 22 to rotate, thereby driving the machine body 10 to move.

[0055] Of course, in other embodiments of this application, the drive mechanism 24 may not be equipped with a reduction gearbox 242. Any other modifications under the concept of this application are within the protection scope of this application.

[0056] The cleaning device also includes a motor 241 and a gearbox 242. Both the motor 241 and the gearbox 242 are mounted on the mounting bracket 21. The motor 241 is connected to the gearbox 242, and the gearbox 242 is connected to the moving wheels 22.

[0057] Combination Figures 1 to 10 As shown, for ease of control, the cleaning device in this embodiment is also equipped with a detection element 40 and a controller 50, wherein the detection element 40 and the motor 241 are both electrically connected to the controller 50.

[0058] For example, the detection element 40 can be an image sensor, a current detection element, or a combination of both. When the detection element 40 is set as an image sensor, if the image sensor detects an obstacle 30 in the direction of travel of the cleaning device, the controller 50 can control the motor 241 according to the signal, causing the motor 241 to accelerate to pass over the obstacle 30. When the moving wheel 22 collides with the obstacle 30, the moving wheel 22 will stall. At this time, the operating current of the motor 241 used to drive the moving wheel 22 will change. When the detection element 40 is set as a current detection element, if the change in the current value of the current detection element exceeds a predetermined value, the controller 50 controls the motor 241 to accelerate to pass over the obstacle 30.

[0059] It is understood that the current change value in this embodiment can be determined by using the obstacle 30 in combination with the cleaning device through simulation or other methods, and no specific limitation is made in this application.

[0060] In this embodiment, to enable the cleaning device to overcome the 20mm obstacle 30, when the cleaning device is in the initial state, it satisfies the following relationship: T ≥ 0.20 × w × L, where T is the torque of the torsion spring 23, T ≤ w × L, w is the weight of the cleaning device, and L is the distance between the axis of the moving wheel 22 and the axis of the rotating shaft 211. In actual design, the larger the value of T, the greater the pressure of the moving wheel assembly 20 on the ground, and the more useful work the torsion spring 23 does during obstacle crossing. In this embodiment, by ensuring T ≤ w × L, the entire cleaning device can fit well with the ground for effective cleaning, avoiding unstable movement caused by excessive torque.

[0061] When the cleaning device is in the initial state, under the premise that the cleaning device satisfies the relationship: T≥0.20×w×L, T≤w×L, the obstacle-crossing height of the cleaning device and the forward speed v of the moving wheel 22 satisfy the relationship: h=a*v 2 +b, where h is the obstacle-crossing height of the cleaning device, a ranges from [95, 106], and b ranges from [-0.9, 11]. It should be noted that in this embodiment, the obstacle-crossing height h of the cleaning device is calculated numerically without units, with v converted to m / s. The final calculated obstacle-crossing height h is in mm. This setting ensures that the obstacle-crossing level of the cleaning device in this embodiment remains above 20mm, significantly improving its obstacle-crossing height. Optionally, v ≥ 0.3m / s in this embodiment, for example, 0.4m / s, 0.5m / s, 0.6m / s, 0.7m / s, or 0.8m / s. When crossing obstacles, a higher forward speed v of the moving wheel 22 is better, but excessive speed will increase the energy consumption of the motor 241, and the cleaning device may easily take off. In specific design, this can be verified based on the height of the obstacle 3030 in the usage scenario.

[0062] Specifically, in actual design, the values ​​of a and b are related to the static friction coefficient between the moving wheel 22 and the obstacle 30. For example, in some working conditions, the values ​​of a and b can be set as shown in the table below. Under different working conditions, by making a and b satisfy the relationship in the table below, the cleaning device can overcome obstacles 30 that are higher than 20mm.

[0063] The coefficient of static friction c between the moving wheel and the obstacle coefficient a coefficient b 0.3 105.2 -0.89 0.4 116.0 -0.03 0.45 116.5 1.88 0.5 107.9 4.96 0.6 98.7 10.51

[0064] When c is between 0.3 and 0.4, 0.4 and 0.45, 0.45 and 0.5 and 0.6 respectively, interpolation is used to determine a and b respectively.

[0065] Furthermore, in this embodiment, the movable wheel sets 20 include multiple sets, which are spaced apart on the bottom surface of the machine body 10 and arranged along the same straight line, with the axes of the movable wheels 22 on each set 20 aligned. This arrangement facilitates stable support for the machine body 10 and improves the smoothness of the cleaning device during movement.

[0066] For example, the movable wheel set 20 can be set to two, three or three. The accompanying drawings of this embodiment show the case when there are two movable wheel sets 20. The two movable wheel sets 20 are spaced apart on the bottom surface of the machine body 10, and the movable wheels 22 on the two movable wheel sets 20 are coaxially arranged to facilitate the movement of the machine body 10.

[0067] Furthermore, in this embodiment, the top surface 213 of the mounting bracket 21 and the surface of the body 10 facing the top surface 213 of the mounting bracket 21 are both planes. That is to say, when the body 10 of the cleaning device rests on the mounting bracket 21, the mounting bracket 21 and the body 10 are in surface-to-surface contact. Compared with point-to-surface or point-to-point contact, the surface-to-surface contact between the body 10 and the mounting bracket 21 in this embodiment is less prone to wear during the movement of the cleaning device, thereby improving the service life and operational stability of the cleaning device in this embodiment. Of course, the mounting bracket 21 and the body 10 in this application can also be in point-to-surface or point-to-point contact. This application does not exclude the possibility that the mounting bracket 21 and the body 10 are in point-to-surface or point-to-point contact.

[0068] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0069] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0070] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that, include: Fuselage (10); A movable wheel assembly (20) is disposed at the bottom of the body (10). The movable wheel assembly (20) includes a mounting frame (21), movable wheels (22), and a torsion spring (23). The mounting frame (21) is rotatably connected to the body (10) via a rotating shaft (211). The movable wheels (22) are rotatably mounted on the mounting frame (21). The torsion spring (23) is sleeved on the rotating shaft (211), and the axis of the torsion spring (23) is aligned with the axis of the rotating shaft (211). The torsion spring (23) includes a first cantilever section (231) and a second cantilever section (232). The first cantilever section (231) abuts against the body (10), and the second cantilever section (232) of the torsion spring (23) abuts against the mounting bracket (21). When the cleaning device is in the initial state and the obstacle crossing state, the torsion spring (23) is always in a tightened state, and the included angle C between the first cantilever section (231) and the second cantilever section (232) satisfies the relationship: 150°≤C≤180°.

2. The cleaning device according to claim 1, characterized in that, The obstacle-crossing height h of the cleaning device and the forward speed v of the moving wheel (22) satisfy a linear relationship: h = a * v 2 +b, where a and b are coefficients, a ranges from [95, 106], b ranges from [-0.9, 11], and v ≥ 0.3 m / s.

3. The cleaning device according to claim 1, characterized in that, When the cleaning device is in the initial state, the cleaning device satisfies the following relationship: T≥0.20×w×L, where T is the torque of the torsion spring (23), T≤w×L, w is the weight of the cleaning device, and L is the distance between the axis of the moving wheel (22) and the axis of the rotating shaft (211).

4. The cleaning device according to claim 1, characterized in that, During the obstacle crossing process of the cleaning device, the rotation angle E of the mounting frame (21) is greater than or equal to 15° and less than or equal to 60°.

5. The cleaning device according to claim 1, characterized in that, During the obstacle crossing process of the cleaning device, the torque applied by the torsion spring (23) to the moving wheel set (20) gradually decreases as the rotation angle of the moving wheel set (20) around the rotating shaft (211) increases, and the pre-tightening force of the torsion spring (23) gradually decreases.

6. The cleaning device according to claim 1, characterized in that, During the obstacle crossing process of the cleaning device, the useful work done by the torsion spring (23) on the moving wheel assembly (20) gradually increases as the rotation angle of the moving wheel assembly (20) around the rotating shaft (211) increases.

7. The cleaning device according to claim 1, characterized in that, The fuselage (10) is provided with a first insertion hole (11), and the end of the first cantilever section (231) is provided with a first bending portion (2311). The first cantilever section (231) is inserted into the first insertion hole (11) and is limited to the first insertion hole (11) by the first bending portion (2311); and / or, The mounting bracket (21) is provided with a second insertion hole (212), and the end of the second cantilever section (232) is provided with a second bend (2321), which is inserted into the second insertion hole (212).

8. The cleaning device according to claim 1, characterized in that, When the torsion spring (23) is in its natural state, the included angle between the first cantilever segment (231) and the second cantilever segment (232) is C1; When the cleaning device is in the obstacle-crossing state, the included angle between the first cantilever section (231) and the second cantilever section (232) is C2; When the cleaning device is in its initial state, the included angle between the first cantilever section (231) and the second cantilever section (232) is C3; When the cleaning device is in an obstacle-crossing state, the maximum rotation angle of the mounting bracket (21) is Emax; Where C3 < C2 < C1, Emax = C2 - C1.

9. The cleaning apparatus according to any one of claims 1 to 7, characterized in that, The cleaning device also includes a drive mechanism (24) mounted on a mounting frame (21). The drive mechanism (24) includes a motor (241) and a gearbox (242). Both the motor (241) and the gearbox (242) are mounted on the mounting frame (21). The motor (241) is connected to the gearbox (242), and the gearbox (242) is connected to the moving wheel (22).

10. The cleaning device according to claim 9, characterized in that, The cleaning device is equipped with a detection element (40) and a controller (50). The detection element (40) and the motor (241) are both electrically connected to the controller (50). The detection element (40) is used to send an obstacle crossing signal to the controller (50). The controller (50) controls the rotation speed of the motor (241) according to the obstacle crossing signal.

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