Obstacle crossing mechanism, driving wheel module and cleaning equipment

Abstract

The invention provides an obstacle crossing mechanism, a driving wheel module and cleaning equipment. The obstacle crossing mechanism comprises a mounting arm, a driving part, a lower supporting part and a rotating part. The driving part is rotationally arranged on the mounting arm. The rotating piece is rotationally connected with the mounting arm to form a first rotating axis. The lower supporting piece is rotationally connected with the driving piece to form a second rotating axis, and the second rotating axis and the first rotating axis are arranged in a spaced mode. The rotating piece is rotationally connected with the mounting arm, and the lower supporting piece is further movably connected with the rotating piece in the axial direction of the lower supporting piece. The driving piece rotates during obstacle crossing, so that the lower supporting piece swings backwards and abuts against the walking face downwards. When the walking wheels make contact with an obstacle, the obstacle crossing mechanism obliquely presses the walking face downwards, the walking face generates obliquely-upward counter-acting force, the counter-acting force lifts the walking wheels on one hand and drives the walking wheels to move forwards on the other hand, and the driving force in the advancing direction is increased; due to the fact that the height of the walking wheels is increased and the driving force in the advancing direction is increased, the obstacle crossing performance of the driving wheel module is improved.

Description

Technical Field

[0001] This disclosure relates to the technical field of cleaning equipment, and in particular to an obstacle-crossing mechanism, a drive wheel module, and a cleaning device. Background Technology

[0002] With the rapid development of smart home technology, cleaning equipment has been widely used in various residential and office settings. The drive wheel module of cleaning equipment determines the equipment's mobility, cleaning coverage, and user experience, and its performance optimization has always been a key focus of industry technology research and development.

[0003] In real-world applications, indoor environments often present various height-related obstacles, such as door thresholds, transition steps between rooms, height differences between balconies and interior spaces, and protruding supports at the bottom of furniture. These obstacles become key bottlenecks limiting the cleaning coverage of cleaning equipment.

[0004] In drive wheel module technologies, increasing the output torque of the drive wheels improves obstacle-crossing capability. However, this solution can only handle very low-height, small obstacles, such as the slight height difference between a balcony and indoor space. For higher obstacles like thresholds, simply increasing torque is insufficient, easily leading to wheel slippage and jamming, severely limiting the cleaning range. Therefore, the obstacle-crossing performance of drive wheel modules still needs further improvement.

[0005] It should be noted that the information disclosed in the background section above is intended to enhance the understanding of the background of this disclosure, and therefore may contain information that does not constitute prior art. Summary of the Invention

[0006] The purpose of this disclosure is to overcome at least one of the above-mentioned technical defects and to provide an obstacle-crossing mechanism, a drive wheel module, and a cleaning device. When crossing an obstacle, the lower support swings backward and presses down on the walking surface, so that the walking surface generates an upward auxiliary force. This both raises the walking wheel and increases the driving force of the walking wheel, thereby improving the obstacle-crossing performance of the drive wheel module and ensuring that the drive wheel module can cross high obstacles such as thresholds.

[0007] The purpose of this disclosure is achieved through the following technical solution:

[0008] Firstly, this disclosure provides an obstacle-crossing mechanism, comprising:

[0009] Mounting arm;

[0010] The active component is rotatably mounted on the mounting arm to form a first axis of rotation;

[0011] The lower support member is rotatably connected to the driving member to form a second rotation axis, the second rotation axis being spaced apart from the first rotation axis; and

[0012] A rotating component is rotatably connected to the mounting arm;

[0013] The lower support member is also movably connected to the rotating member along its axial direction. When the active member rotates to overcome an obstacle, the lower support member swings backward and presses downward against the walking surface.

[0014] In some implementations, the obstacle-crossing mechanism further includes a pressing member connected to one end of the lower support member, the lower support member pressing downward against the traveling surface via the pressing member.

[0015] In some implementations, the pressing member has an arc-shaped abutment surface for contacting the traveling surface.

[0016] In some implementations, the obstacle-crossing mechanism further includes a drive shaft rotatably connected to the mounting arm, and the driving member is drivenly connected to the drive shaft, so that the driving member is rotatably mounted on the mounting arm via the drive shaft.

[0017] In some implementations, the obstacle-crossing mechanism further includes a deceleration assembly and a clutch. The deceleration assembly includes a traveling gear, a transition gear, and an obstacle-crossing gear. The traveling gear and the transition gear are synchronously rotatably connected to the mounting arm. The traveling gear drives the traveling wheel. The obstacle-crossing gear is rotatably connected to the drive shaft and meshes with the transition gear.

[0018] The clutch is fixedly connected to the drive shaft in the circumferential direction and movably connected to the drive shaft in the axial direction, so that the clutch can engage or disengage from the obstacle-crossing gear.

[0019] In some implementations, the lower support is slidably inserted through the rotating member.

[0020] In some implementations, the actuator is rod-shaped, or the actuator is a cam.

[0021] In some implementations, the rotating element is positioned behind the rotating shaft of the traveling wheel.

[0022] Secondly, this disclosure provides a drive wheel module, including a walking wheel and an obstacle-crossing mechanism as described in any of the above implementations, wherein the walking wheel is rotatably mounted on the mounting arm.

[0023] Thirdly, this disclosure provides a cleaning device, including a body and the aforementioned drive wheel module, wherein the mounting arm is oscillatingly connected to the body.

[0024] Compared with the prior art, this disclosure has at least the following advantages:

[0025] When the traveling wheel contacts an obstacle, the driving component rotates continuously in a single direction, driving the lower support component to swing backward and press down on the traveling surface. This generates an upward reaction force on the traveling surface, which lifts the traveling wheel on one hand and drives it forward on the other, increasing the driving force in the direction of travel. Furthermore, when the traveling wheel needs to cross multiple obstacles consecutively, or when a single backward swing and downward press is insufficient to cross an obstacle, the lower support component, driven by the driving component, cycles backward and presses down on the traveling surface until the obstacle is crossed, ensuring that the obstacle-crossing mechanism functions effectively throughout the entire obstacle-crossing process. Due to the increased height of the traveling wheel and the increased driving force in the forward direction, the traveling wheel can cross higher obstacles, improving the obstacle-crossing performance of the drive wheel module and ensuring that the drive wheel module can cross higher obstacles such as thresholds. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the drive wheel module according to an embodiment of the present disclosure;

[0028] Figure 2 for Figure 1 The diagram shows the movement of the drive wheel module when crossing obstacles.

[0029] Figure 3 for Figure 1 A partial structural diagram of the drive wheel module is shown;

[0030] Figure 4 for Figure 1 Another partial structural schematic diagram of the drive wheel module shown;

[0031] Figure 5 for Figure 1 Another partial structural schematic diagram of the drive wheel module shown;

[0032] Figure 6 for Figure 1 Another partial structural schematic diagram of the drive wheel module shown;

[0033] Figure 7 for Figure 1 The diagram shows the operation of the clutch of the drive wheel module during reset.

[0034] Reference numerals: 10, drive wheel module; 100, obstacle crossing mechanism; 110, mounting arm; 120, driving component; 130, lower support component; 140, rotating component; 150, pressing component; 151, arc-shaped contact surface; 160, drive shaft; 170, reduction assembly; 171, traveling gear; 172, transition gear; 173, obstacle crossing gear; 1731, engagement groove; 180, clutch; 181, clutch component; 1811, positioning pin; 1801, mating inclined surface; 1802, engagement protrusion; 190, positioning component; 191, positioning hole; 200, traveling wheel; 300, drive mechanism. Detailed Implementation

[0035] To facilitate understanding of this disclosure, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this disclosure are shown in the drawings. However, this disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to provide the reader with a more thorough and complete understanding.

[0036] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] In the application scenarios of cleaning equipment, there are often various height differences and obstacles, such as the threshold of a home, the transition steps between rooms, the height difference between the balcony and the room, and the protrusions of the bottom support of furniture. These obstacles become key bottlenecks that limit the cleaning coverage of cleaning equipment.

[0039] In related technologies, increasing the output torque of the drive wheels can improve obstacle-crossing ability. However, this solution can only handle very low-height, small obstacles, such as the slight height difference between a balcony and indoor space. For higher obstacles such as thresholds, simply increasing torque is insufficient for obstacle crossing, easily leading to wheel slippage and machine jamming, which severely limits the cleaning range. Therefore, the obstacle-crossing performance of the drive wheel module still needs further improvement.

[0040] To overcome at least one of the above-mentioned technical defects, this disclosure provides an obstacle-crossing mechanism, including a mounting arm, an active member, a lower support member, and a rotating member. The active member is rotatably mounted on the mounting arm to form a first rotation axis. The lower support member is rotatably connected to the active member to form a second rotation axis, which is spaced apart from the first rotation axis. The rotating member is rotatably connected to the mounting arm. The lower support member is also movably connected to the rotating member along its axial direction. When the active member crosses an obstacle, it rotates, causing the lower support member to swing backward and press downward against the travel surface.

[0041] This disclosure also provides a drive wheel module, including a walking wheel and an obstacle-crossing mechanism, wherein the walking wheel is rotatably mounted on a mounting arm.

[0042] This disclosure also provides a cleaning device, including a body and a drive wheel module, with a mounting arm oscillatingly connected to the body.

[0043] The aforementioned obstacle-crossing mechanism, drive wheel module, and cleaning equipment, when the walking wheel contacts an obstacle, the active component continuously rotates in a single direction, driving the lower support component to swing backward and press down on the walking surface, causing the walking surface to generate an upward-sloping reaction force. This reaction force lifts the walking wheel on one hand and drives it forward on the other, increasing the driving force in the direction of travel. Furthermore, when the walking wheel needs to cross multiple obstacles consecutively, or when a single backward swing and downward press cannot complete the obstacle crossing, the lower support component, driven by the active component, cyclically swings backward and presses down on the walking surface until the obstacle crossing is completed, ensuring that the obstacle-crossing mechanism functions effectively throughout the entire obstacle-crossing process. Due to the increased height of the walking wheel and the increased driving force in the direction of travel, the walking wheel can cross higher obstacles, improving the obstacle-crossing performance of the drive wheel module and ensuring that the drive wheel module can cross higher obstacles such as thresholds.

[0044] To better understand the technical solutions and beneficial effects of this disclosure, the following detailed description is provided in conjunction with specific embodiments:

[0045] This disclosure provides a cleaning device, including a body and a drive wheel module, the drive wheel module being mounted on the bottom of the body. The cleaning device can be a sweeping robot, a mopping robot, a floor scrubbing robot, a combined sweeping and mopping robot, or other existing cleaning devices.

[0046] like Figure 1 As shown, in some embodiments, the drive wheel module 10 includes a walking wheel 200 and an obstacle-crossing mechanism 100. The walking wheel 200 is used to drive the body to move, and the obstacle-crossing mechanism 100 helps the walking wheel 200 overcome obstacles. Obstacles can be thresholds, carpet edges, floor strips, steps, etc.

[0047] like Figure 1As shown, in some embodiments, the obstacle-crossing mechanism 100 includes a mounting arm 110, an active member 120, a lower support member 130, and a rotating member 140. One end of the mounting arm 110 is connected to the machine body, and the other end of the mounting arm 110 is used to mount the traveling wheel 200. The active member 120 is rotatably disposed on the mounting arm 110 to form a first axis of rotation. The lower support member 130 is rotatably connected to the active member 120 to form a second axis of rotation. The second axis of rotation is spaced apart from the first axis of rotation, that is, the active member 120 has a first axis of rotation and a second axis of rotation that are spaced apart. The rotating member 140 is rotatably connected to the mounting arm 110, and the lower support member 130 is also movably connected to the rotating member 140 along its axial direction. When the active member 120 rotates during obstacle crossing, it causes the lower support member 130 to swing backward and press down against the traveling surface, thus causing the lower support member 130 to swing away from the forward direction and press down against the traveling surface.

[0048] like Figure 2 As shown, in this embodiment, in the initial state, the drive wheel module 10 rolls on a flat walking surface, the obstacle crossing mechanism 100 remains stationary, the lowest point of the obstacle crossing mechanism 100 is spaced apart from the walking surface, and the lowest point of the obstacle crossing mechanism 100 preferably does not protrude from the side of the walking wheel 200. When the traveling wheel 200 contacts or approaches an obstacle, the driving member 120 rotates continuously counterclockwise, driving the lower support member 130 to swing backward and press downward against the traveling surface. This generates an upward reaction force on the traveling surface, which both lifts the traveling wheel 200 and propels it forward, allowing the traveling wheel 200 to cross the obstacle. When the lower support member 130 descends to its lowest point, as the driving member 120 continues to rotate counterclockwise, the lower support member 130 swings forward and rises, i.e., swings towards the direction of travel of the traveling wheel 200, i.e., resets. When the lower support member 130 rises to its highest point, as the driving member 120 continues to rotate counterclockwise, the lower support member 130 swings backward and presses down again. After the traveling wheel 200 has completely crossed the obstacle, the driving member 120 stops rotating and resets, the lower support member 130 stops and resets, and the obstacle-crossing mechanism 100 terminates its obstacle-crossing assistance action. It's understandable that resetting means restoring to the initial state.

[0049] Similarly, it is understandable that when the walking wheel 200 needs to cross multiple obstacles in succession, or when a single backward swing and downward pressing action cannot complete the obstacle crossing, the lower support member 130, driven by the active member 120, will swing backward and press down on the walking surface in a cyclical manner until the obstacle crossing is completed and then stop.

[0050] In the aforementioned cleaning equipment, drive wheel module 10, and obstacle-crossing mechanism 100, when the walking wheel 200 contacts an obstacle, the active component 120 continuously rotates in a single direction, driving the lower support component 130 to swing backward and press down on the walking surface. This generates an upward reaction force on the walking surface, which on the one hand lifts the walking wheel 200, and on the other hand drives the walking wheel 200 forward, increasing the driving force in the direction of travel. Furthermore, when the walking wheel 200 needs to cross multiple obstacles consecutively, or when a single backward swing and downward press cannot complete the obstacle crossing, the lower support component 130, driven by the active component 120, cyclically swings backward and presses down on the walking surface until the obstacle crossing is completed, ensuring that the obstacle-crossing mechanism 100 functions effectively throughout the obstacle-crossing process. Due to the increased height of the walking wheel 200 and the increased driving force in the forward direction, the walking wheel 200 can cross higher obstacles, improving the obstacle-crossing performance of the drive wheel module 10 and ensuring that the drive wheel module 10 can cross higher obstacles such as thresholds.

[0051] like Figure 3 As shown, in some embodiments, the obstacle-crossing mechanism 100 further includes a pressing member 150, which is connected to one end of the lower support member 130. The lower support member 130 presses downward against the walking surface through the pressing member 150. By increasing the contact size of the pressing member 150, the contact area between the obstacle-crossing mechanism 100 and the walking surface can be directly expanded, thereby reducing the pressure of the obstacle-crossing mechanism 100 on the walking surface and reducing damage to the walking surface; at the same time, there is no need to enlarge the structure of the lower support member 130, making the overall structure of the obstacle-crossing mechanism 100 more compact.

[0052] like Figure 3 As shown, in some embodiments, the pressing member 150 is provided with an arc-shaped abutting surface 151, which is used to abut against the walking surface, thereby reducing the impact of the pressing member 150 on the walking surface and thus preventing the pressing member 150 from damaging the walking surface.

[0053] like Figure 3 As shown, in some embodiments, the obstacle-crossing mechanism 100 further includes a drive shaft 160, which is rotatably connected to the mounting arm 110. The driving member 120 is drively connected to the drive shaft 160, allowing the driving member 120 to be rotatably mounted on the mounting arm 110 via the drive shaft 160. In this embodiment, during obstacle crossing, the drive shaft 160 receives power, driving the driving member 120 to rotate, thereby enabling the obstacle-crossing mechanism 100 to assist in obstacle crossing.

[0054] like Figure 4 and Figure 5As shown, in some embodiments, the obstacle-crossing mechanism 100 further includes a reduction gear assembly 170 and a clutch 180. The reduction gear assembly 170 includes a traveling gear 171, a transition gear 172, and an obstacle-crossing gear 173. The traveling gear 171 and the transition gear 172 are coaxially arranged and synchronously rotatably connected to the mounting arm 110. The traveling gear 171 drives the traveling wheel 200. The obstacle-crossing gear 173 is rotatably connected to the drive shaft 160 and meshes with the transition gear 172. The clutch 180 is fixedly connected to the drive shaft 160 in the circumferential direction, allowing the clutch 180 to rotate synchronously with the drive shaft 160. The clutch 180 is movably connected to the drive shaft 160 in the axial direction, allowing the clutch 180 to move axially along the drive shaft 160. Through the axial movement of the clutch 180, the clutch 180 can engage or disengage with the obstacle-crossing gear 173.

[0055] In this embodiment, in the initial state, the walking wheel 200 rolls on a flat walking surface, the obstacle-crossing gear 173 spins freely, the driving member 120 and the lower support member 130 both stop, and the lowest point of the obstacle-crossing mechanism 100 is spaced apart from the walking surface. Preferably, the lowest point of the obstacle-crossing mechanism 100 does not protrude from the side of the walking wheel 200. When the walking wheel 200 contacts or is adjacent to an obstacle, the clutch 180 engages with the obstacle-crossing gear 173, so that the obstacle-crossing gear 173, the clutch 180, the drive shaft 160 and the driving member 120 are sequentially connected, causing the lower support member 130 to swing backward and press down on the walking surface, thereby assisting the walking wheel 200 in crossing obstacles. Since the traveling wheel 200 drives the traveling wheel 200, and the traveling gear 171 also drives the clutch 180 through the transition gear 172 and the obstacle-crossing gear 173, the traveling wheel 200 and the lower support member 130 share the power, which reduces the cost. Furthermore, the number of gears in the transmission chain of the obstacle-crossing mechanism 100 is one less than the number of gears in the transmission chain of the traveling wheel 200, so that the direction of the driving member 120 is opposite to the direction of the traveling wheel 200, thereby allowing the lower support member 130 to swing backward, thus realizing the obstacle-crossing function of the obstacle-crossing mechanism 100.

[0056] like Figure 4 As shown, in some embodiments, the drive wheel module 10 includes a drive mechanism 300 and a trigger mechanism (not shown). The drive mechanism 300 is drively connected to the reduction gear 170, causing the travel gear 171 to rotate. The trigger mechanism is used to drive the clutch 180 to approach the obstacle-crossing gear 173 along the axial direction of the drive shaft 160, so that the clutch 180 engages with the obstacle-crossing gear 173, thereby causing the obstacle-crossing gear 173 to drive the clutch 180 to rotate.

[0057] like Figure 6As shown, in some embodiments, one end of the clutch 180 is provided with a mating ramp 1801. When the triggering mechanism is activated, it pushes the mating ramp 1801, causing the clutch 180 to move along the drive shaft 160, thereby engaging the clutch 180 with the obstacle-crossing gear 173.

[0058] like Figure 5 As shown, in some embodiments, the other end of the clutch 180 is provided with an engagement protrusion 1802, and one side of the obstacle-crossing gear 173 is provided with an engagement groove 1731. When the clutch 180 engages with the obstacle-crossing gear 173, the engagement protrusion 1802 is embedded in the engagement groove 1731 so that the clutch 180 and the obstacle-crossing gear 173 are connected in a transmission manner.

[0059] like Figure 5 As shown, in some embodiments, the size of the engagement groove 1731 is larger than the size of the engagement protrusion. In this embodiment, when the triggering mechanism drives the clutch 180 to approach the obstacle-crossing gear 173, since the size of the engagement groove 1731 is larger than the size of the engagement protrusion 1802, the engagement protrusion 1802 can more easily enter the engagement groove 1731, thus improving the triggering efficiency.

[0060] like Figure 5 As shown, in some embodiments, the clutch 180 includes a clutch element 181 and a resilient reset element (not shown). The clutch element 181 is sleeved on the drive shaft 160 and is fixedly connected to the drive shaft 160 in the circumferential direction, allowing the clutch element 181 to rotate synchronously with the drive shaft 160. The clutch element 181 is movably connected to the drive shaft 160 in the axial direction. The resilient reset element is sleeved on the drive shaft 160 and abuts against the clutch element 181. The resilient reset element is used to disengage the clutch element 181 from the obstacle-crossing gear 173. A triggering mechanism is used to engage the clutch element 181 with the obstacle-crossing gear 173. It is understood that the resilient reset element can be a spring, a silicone component, or other existing elastic components.

[0061] In this embodiment, when the traveling wheel 200 contacts an obstacle, the triggering mechanism drives the clutch 181 to move axially towards the obstacle-crossing gear 173, causing the obstacle-crossing gear 173 to compress or stretch the elastic reset member. The clutch 181 engages with the obstacle-crossing gear 173, thereby sequentially connecting the obstacle-crossing gear 173, clutch 181, transmission shaft 160, driving member 120, and lower support member 130, thus enabling the obstacle-crossing mechanism 100 to assist in obstacle crossing. After the traveling wheel 200 completes obstacle crossing, the triggering mechanism disengages from the clutch 181. At this time, the elastic reset member elastically resets and drives the clutch 181 to separate axially from the obstacle-crossing gear 173, cutting off the power to the clutch 181 and the obstacle-crossing mechanism 100, thereby stopping the obstacle-crossing mechanism 100 from crossing the obstacle. Furthermore, a ramp is provided on the clutch 181.

[0062] like Figure 5 As shown, in some embodiments, the elastic reset member (not shown) abuts against the obstacle-crossing gear 173 and the clutch member 181, respectively. In this embodiment, when the traveling wheel 200 contacts the obstacle, the triggering mechanism drives the clutch member 181 to move axially closer to the obstacle-crossing gear 173, causing the obstacle-crossing gear 173 to compress the elastic reset member. After the traveling wheel 200 completes obstacle crossing, the triggering mechanism separates from the clutch member 181. At this time, the elastic reset member elastically resets and pushes the clutch member 181 to separate axially from the obstacle-crossing gear 173.

[0063] like Figure 6 As shown, in some embodiments, the clutch 181 and the drive shaft 160 are fixedly connected in the circumferential direction by a flat fit. Specifically, the clutch 181 is sleeved on the drive shaft 160. The inner side of the clutch 181 is provided with a first mating surface, and the outer side of the drive shaft 160 is provided with a second mating surface. The first mating surface and the second mating surface are connected, so that the clutch 181 is fixedly connected to the drive shaft 160 in the circumferential direction.

[0064] like Figure 7 As shown, in some embodiments, the obstacle-crossing mechanism 100 further includes a positioning member 190, which is fixedly connected to the mounting arm 110. The positioning member 190 has a positioning hole 191 located on the outside of the drive shaft 160. One end of the clutch member 181 is provided with a positioning post 1811, which is used to be fitted into the positioning hole 191. In this embodiment, after obstacle crossing is completed, the triggering mechanism separates from the clutch 181. If the positioning pin 1811 is misaligned with the positioning hole 191, the side of the positioning member 190 will prevent the clutch 181 from resetting, making it impossible for the clutch 181 to separate from the obstacle crossing gear 1736. At this time, the clutch 181 and the drive shaft 160 continue to rotate until the positioning pin 1811 is aligned with the positioning hole 191. When the positioning pin 1811 is aligned with the positioning hole 191, the side of the positioning member 190 will not prevent the clutch 181 from separating from the obstacle crossing gear 1736. At this time, under the action of the elastic resetting force of the elastic resetting member, the positioning pin 1811 enters the positioning hole 191, and the clutch 181 separates from the obstacle crossing gear 1736, thereby cutting off the power of the clutch 181 and the drive shaft 160, and thus stopping the obstacle crossing action.

[0065] It is understandable that when the triggering mechanism separates from the clutch 181, if the positioning pin 1811 is aligned with the positioning hole 191, the clutch 181 and the transmission shaft 160 will stop rotating. Under the elastic reset force of the elastic reset member, the positioning pin 1811 will enter the positioning hole 191, causing the clutch 181 to separate from the obstacle-crossing gear 1736, thereby stopping the obstacle-crossing action.

[0066] In this embodiment, the clutch 181 can only separate from the obstacle-crossing gear 173 when the positioning pin 1811 is aligned with the positioning hole 191, thereby cutting off the obstacle-crossing power and ensuring that the lowest point of the obstacle-crossing mechanism 100 stops at the preset height. This avoids the obstacle-crossing mechanism 100 from contacting the walking surface when it is not crossing obstacles, and thus prevents the obstacle-crossing mechanism 100 from obstructing the normal movement of the walking wheel 200.

[0067] like Figure 7 As shown, in some embodiments, a guide surface 192 is provided at the opening of the positioning hole 191. The guide surface 192 is used to guide the positioning post 1811 into the positioning hole 191. In this embodiment, when the positioning post 1811 is aligned with the guide surface 192, under the action of the elastic reset member, the positioning post 1811 slides along the guide surface 192, then aligns with the positioning hole 191, and finally enters the positioning hole 191. The guidance of the guide surface 192 makes it easier for the positioning post 1811 to enter the positioning hole 191, improving the timeliness of the cutting power.

[0068] In some embodiments, the triggering mechanism (not shown) includes a trigger motor (not shown) and a trigger rod (not shown). The trigger motor is mounted on the mounting arm 110, and one end of the trigger rod is fixedly connected to the output end of the trigger motor. In this embodiment, when the traveling wheel 200 contacts or approaches an obstacle, the trigger motor drives the trigger rod to rotate. The trigger rod pushes the mating inclined surface 1801, causing the clutch 181 to approach the obstacle-crossing gear 173 axially, thereby engaging the obstacle-crossing gear 173 with the clutch 181. After the traveling wheel 200 completes obstacle crossing, the trigger motor drives the trigger rod to separate from the mating inclined surface 1801, and the elastic reset member drives the clutch 181 to separate from the obstacle-crossing gear 173.

[0069] In some embodiments, the drive wheel module 10 also includes an obstacle-crossing motor (not shown), the output of which is connected to the drive shaft 160. In this embodiment, when the walking wheel 200 contacts or approaches an obstacle, the obstacle-crossing motor drives the drive shaft 160 to rotate, and the drive shaft 160 drives the driving member 120 to rotate, thereby enabling the obstacle-crossing mechanism 100 to cross the obstacle. After crossing the obstacle, the obstacle-crossing motor stops.

[0070] like Figure 3 As shown, in some embodiments, the lower support 130 is rod-shaped, and one end of the lower support 130 is rotatably connected to the active member 120. In this embodiment, the lower support 130 is rod-shaped, which reduces the space occupied by the lower support 130 and thus improves the structural compactness of the obstacle-crossing mechanism 100.

[0071] like Figure 3As shown, in some embodiments, the lower support 130 is slidably disposed within the active member 120. Specifically, the active member 120 is provided with a mating hole, and the lower support 130 is disposed within the mating hole, so that the lower support 130 is slidably connected to the inner wall of the mating hole.

[0072] like Figure 3 As shown, in some embodiments, the active member 120 is rod-shaped, which reduces the space occupied by the active member 120 and thus improves the structural compactness of the obstacle crossing mechanism 100.

[0073] In another embodiment, the active member 120 is a cam (not shown), which makes the active member 120 structurally stronger and thus enables the active member 120 to withstand greater impact forces.

[0074] like Figure 3 As shown, in some embodiments, the rotating component 140 is positioned on the rear side of the rotation axis of the walking wheel 200, that is, on the side of the rotation axis of the walking wheel 200 opposite to the traveling direction of the drive wheel module 10. This allows the obstacle-crossing mechanism 100 to complete the pressing action against the walking surface from the rear side of the walking wheel 200. When the drive wheel module 10 encounters irregular obstacles on the walking surface, the obstacle-crossing auxiliary component can directly press down against the walking surface. With the help of the upward reaction force fed back from the walking surface, the walking wheel 200 is simultaneously lifted and moved forward, thereby enabling the obstacle-crossing mechanism 100 to adapt to diverse and complex scenarios. On the other hand, in the front-side arrangement, where the rotating component 140 is positioned in front of the walking wheel 200, the obstacle relies on the obstacle as a fulcrum for pushing. When facing irregular obstacles, it is prone to failure of leverage, resulting in interruption of the obstacle-crossing action.

[0075] like Figure 3 As shown, in some embodiments, the walking wheel 200 is rotatably mounted on the mounting arm 110 to achieve the installation of the walking wheel 200.

[0076] like Figure 3 As shown, in some embodiments, the end of the mounting arm 110 opposite to the walking wheel is oscillatingly connected to the machine body to realize the installation of the drive wheel module 10.

[0077] Compared with the prior art, this disclosure has at least the following advantages:

[0078] When the walking wheel 200 contacts an obstacle, the driving member 120 rotates continuously in a single direction, driving the lower support member 130 to swing backward and press down on the walking surface. This generates an upward reaction force on the walking surface, which lifts the walking wheel 200 and drives it forward, increasing the driving force in the direction of travel. Furthermore, when the walking wheel 200 needs to cross multiple obstacles consecutively, or when a single backward swing and downward press is insufficient to overcome an obstacle, the lower support member 130, driven by the driving member 120, cyclically swings backward and presses down on the walking surface until the obstacle is overcome, ensuring that the obstacle-crossing mechanism 100 functions effectively throughout the obstacle-crossing process. Due to the increased height of the walking wheel 200 and the increased driving force in the forward direction, the walking wheel 200 can cross higher obstacles, improving the obstacle-crossing performance of the drive wheel module 10 and ensuring that the drive wheel module 10 can cross higher obstacles such as thresholds.

[0079] It should be noted that, without causing logical conflicts or technical contradictions, the various embodiments of this disclosure can be combined with each other to form new embodiments; and, each embodiment, including new embodiments and original embodiments, can be further combined with some technical features of other embodiments.

[0080] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these are all implicitly contained within this disclosure.

Claims

1. An obstacle-crossing mechanism, characterized in that, include: Mounting arm (110); The active component (120) is rotatably mounted on the mounting arm (110) to form a first axis of rotation; The lower support (130) is rotatably connected to the active member (120) to form a second rotation axis, which is spaced apart from the first rotation axis. as well as The rotating component (140) is rotatably connected to the mounting arm (110); The lower support (130) is also movably connected to the rotating member (140) along its axial direction. The active member (120) rotates when crossing obstacles, causing the lower support (130) to swing backward and press down against the walking surface.

2. The obstacle-crossing mechanism according to claim 1, characterized in that, The obstacle-crossing mechanism also includes a pressing member (150), which is connected to one end of the lower support member (130). The lower support member (130) presses down on the walking surface through the pressing member (150).

3. The obstacle-crossing mechanism according to claim 2, characterized in that, The pressing member (150) is provided with an arc-shaped abutting surface (151), which is used to abut against the walking surface.

4. The obstacle-crossing mechanism according to claim 1, characterized in that, The obstacle-crossing mechanism also includes a drive shaft (160), which is rotatably connected to the mounting arm (110). The driving member (120) is drivenly connected to the drive shaft (160), so that the driving member (120) is rotatably mounted on the mounting arm (110) via the drive shaft (160).

5. The obstacle-crossing mechanism according to claim 4, characterized in that, The obstacle-crossing mechanism further includes a deceleration assembly (170) and a clutch (180). The deceleration assembly (170) includes a traveling gear (171), a transition gear (172), and an obstacle-crossing gear (173). The traveling gear (171) and the transition gear (172) are synchronously rotatably connected to the mounting arm (110). The traveling gear (171) is used to drive the traveling wheel (200). The obstacle-crossing gear (173) is rotatably connected to the transmission shaft (160) and meshes with the transition gear. The clutch (180) is fixedly connected to the drive shaft (160) in the circumferential direction and movably connected to the drive shaft (160) in the axial direction, so that the clutch (180) can engage or disengage from the obstacle-crossing gear (173).

6. The obstacle-crossing mechanism according to claim 1, characterized in that, The lower support (130) is slidably inserted through the rotating member (140).

7. The obstacle-crossing mechanism according to claim 1, characterized in that, The active element (120) is rod-shaped, or the active element (120) is a cam.

8. The obstacle-crossing mechanism according to claim 1, characterized in that, The rotating component (140) is used to be installed on the rear side of the rotating shaft of the traveling wheel (200).

9. A drive wheel module, characterized in that, It includes a walking wheel (200) and an obstacle-crossing mechanism as described in any one of claims 1 to 8, wherein the walking wheel (200) is rotatably mounted on the mounting arm (110).

10. A cleaning device, characterized in that, It includes a body and the drive wheel module as described in claim 9, wherein the mounting arm (110) is oscillatingly connected to the body.

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