Obstacle crossing mechanism, walking module and cleaning device
By combining a drive shaft, obstacle-crossing mechanism, and cam, the design of the clutch component of the obstacle-crossing mechanism of the sweeping robot is simplified, the inclined surface design is eliminated, and it is manufactured using powder metallurgy technology. This solves the problems of complex clutch component structure and high cost in existing technologies, achieving lower cost and higher obstacle-crossing effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HUIZHOU KINGLY MOTOR CO LTD
- Filing Date
- 2026-04-15
- Publication Date
- 2026-06-05
AI Technical Summary
In existing obstacle-crossing mechanisms for robotic vacuum cleaners, the clutch components have complex structures, high costs, and require specially designed inclined surfaces for engagement, which increases manufacturing costs.
It adopts a combination structure of drive shaft, obstacle crossing component, cam and follower. The clutch component is moved axially by the follower through the cam. The structure of the clutch component is simplified, the inclined surface design is eliminated, and it is manufactured by powder metallurgy process.
It reduces the cost of the obstacle-crossing mechanism, improves the obstacle-crossing effect, simplifies the structure, achieves dual reset in both circumferential and axial directions, and reduces manufacturing costs.
Smart Images
Figure CN122140159A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the technical field of walking modules, and in particular to an obstacle-crossing mechanism, a walking module, and a cleaning device. Background Technology
[0002] In cleaning equipment such as robotic vacuum cleaners, the walking module is the core component that enables autonomous movement and obstacle crossing. It typically includes walking wheels with shared power and an obstacle crossing mechanism: the walking wheels are responsible for the automatic movement of the equipment, and the obstacle crossing mechanism assists the walking wheels in completing obstacle crossing actions. The two are linked or disconnected through the obstacle crossing mechanism.
[0003] In the obstacle-crossing mechanism disclosed in CN121059058A, when an obstacle is encountered, the obstacle pushes the control component to rotate, and the control component pushes the clutch component to move axially, so that the clutch component enters the transmission position.
[0004] As a clutch component that transmits torque, it needs to meet high strength requirements, and its structural complexity affects the manufacturing cost of the parts. However, since the control components that are in direct contact with the clutch component have a rotational triggering action, the clutch component must be specially equipped with corresponding beveled surfaces, resulting in a relatively complex structure, but there is still room for cost reduction. Summary of the Invention
[0005] The purpose of this disclosure is to overcome the above-mentioned technical defects and provide an obstacle-crossing mechanism, a walking module, and a cleaning device, which simplifies the structural complexity of the clutch and helps to reduce the cost of the clutch.
[0006] The purpose of this disclosure is achieved through the following technical solution:
[0007] In a first aspect, embodiments of this disclosure provide an obstacle-crossing mechanism, comprising:
[0008] transmission shaft;
[0009] The obstacle-crossing component is fixedly connected to the drive shaft;
[0010] The cam is fixedly sleeved on the drive shaft;
[0011] A follower, sleeved on the drive shaft and abutting against the cam, is fixed circumferentially on the drive shaft; and
[0012] The clutch element is sleeved with the drive shaft and rotates synchronously, and also abuts against the side of the driven element opposite to the cam.
[0013] The drive shaft rotates with the obstacle-crossing component, and the cam pushes the driven component when it rotates with the drive shaft, causing the driven component to push the clutch component along the axial direction of the drive shaft, thereby causing the clutch component to move to the transmission position along the axial direction of the drive shaft.
[0014] In some embodiments, the end face of the cam is provided with a contour curve, and the follower is provided with an abutment portion, which slides against the contour curve.
[0015] In some embodiments, the obstacle-crossing mechanism further includes a resilient reset member for pushing the clutch member back to the disengaged position.
[0016] In some embodiments, the obstacle-crossing mechanism further includes an anti-rotation post spaced apart from the drive shaft, the anti-rotation post being sleeved with the driven member to prevent the driven member from rotating.
[0017] In some embodiments, the clutch is rotatably connected to the driven member, and the clutch and the driven member are fixed relative to each other in the axial direction of the transmission shaft;
[0018] The obstacle-crossing mechanism further includes an elastic reset member, which includes a first elastic portion sleeved on the anti-rotation post. The first elastic portion abuts against the driven member and is used to push the clutch member to reset to the disengaged position.
[0019] In some embodiments, the elastic reset member further includes a second elastic portion sleeved on the drive shaft, the second elastic portion abutting against the clutch member to push the clutch member back to the disengaged position.
[0020] In some embodiments, the clutch is rotatably connected to the driven member, and the clutch and the driven member are fixed relative to each other in the axial direction of the drive shaft.
[0021] In some embodiments, the obstacle-crossing mechanism further includes a limiting member, and the clutch includes:
[0022] The sleeve portion rotates synchronously with the drive shaft, is movable along the axial direction of the drive shaft, and also passes through the driven member; and
[0023] The joint is fixedly connected to one end of the sleeve, and the limiting member is fixedly connected to the other end of the sleeve, so that the driven member is limited between the joint and the limiting member, thereby allowing the clutch and the driven member to be relatively fixed in the axial direction of the transmission shaft.
[0024] Secondly, embodiments of this disclosure provide a walking module, including:
[0025] The obstacle-crossing mechanism described in any of the above embodiments; and
[0026] Mounting housing, the drive shaft is rotatably connected to the mounting housing;
[0027] When the clutch is in the disengaged position, the obstacle-crossing component protrudes from the lower side of the mounting housing, allowing it to contact the obstacle.
[0028] Thirdly, embodiments of this disclosure provide a cleaning device, including a housing and the aforementioned walking module, wherein the mounting shell is mounted on the housing.
[0029] Compared with the prior art, this disclosure has at least the following advantages:
[0030] 1. During normal travel of the walking module, when the clutch is in the disengaged position, it separates from the continuously rotating obstacle-crossing gear. The obstacle-crossing component protrudes from the lower side of the mounting housing, with its lowest point higher than the lowest point of the walking wheel. When an obstacle comes into contact with the obstacle-crossing component, driven by the walking wheel, the obstacle pushes the obstacle-crossing component to rotate away from the direction of travel. The drive shaft rotates with the obstacle-crossing component, and the cam, when rotating with the drive shaft, pushes the driven component, causing the driven component to push the clutch along the axial direction of the drive shaft. This causes the clutch to move to the transmission position along the axial direction of the drive shaft, which in turn causes the obstacle-crossing gear to drive the clutch to rotate continuously. Since the clutch rotates synchronously with the drive shaft, and the obstacle-crossing component is fixedly connected to the drive shaft, the obstacle-crossing component rotates continuously with the clutch. As the obstacle-crossing component continues to rotate, it presses down on the obstacle to raise the walking wheel, reducing the obstacle-crossing height and improving the obstacle-crossing effect of the walking wheel.
[0031] 2. Because the obstacle pushes the obstacle-crossing component to rotate, causing the clutch to switch to the transmission position, the obstacle-crossing component also has a triggering function. Both the triggering and obstacle-crossing functions are integrated into the obstacle-crossing component, avoiding the need for additional triggering components, simplifying the structure of the obstacle-crossing mechanism, and helping to reduce the cost of the obstacle-crossing mechanism.
[0032] 3. During the process of switching the clutch to the transmission position, the driven part pushes the clutch to move along the axial direction of the transmission shaft. That is, the clutch is subjected to the axial thrust of the driven part. The clutch does not need to be specially designed with an inclined surface to cooperate with the driven part, which simplifies the structural complexity of the clutch and helps to reduce the cost of the clutch.
[0033] 4. Because the cam goes through four stages for each rotation: "lift → far rest → return → near rest", the clutch not only resets axially along the drive shaft (i.e., resets to the disengaged position), but also circumferentially along the drive shaft, achieving dual reset in both the circumferential and axial directions. Since the circumferential reset of the clutch can be achieved through the cooperation between the cam and the driven component, there is no need to set a circumferential reset structure on the clutch, further simplifying the clutch structure and reducing its cost.
[0034] 5. The switching between the transmission position and the disengagement position of the clutch does not rely on irregular structures such as inclined surfaces or grooves. Therefore, the clutch does not need to have irregular structures such as inclined surfaces or grooves. Thus, the clutch can be manufactured by powder metallurgy. Compared with metal injection molding and machining processes, the clutch disclosed herein has a lower cost. Attached Figure Description
[0035] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly introduced 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.
[0036] Figure 1 This is a schematic diagram illustrating the operating principle of the walking module according to an embodiment of this disclosure;
[0037] Figure 2 for Figure 1 A partial structural diagram of the walking module is shown;
[0038] Figure 3 for Figure 1 The diagram shows the structure of the obstacle-crossing mechanism of the walking module.
[0039] Figure 4 for Figure 3 A cross-sectional view of the obstacle-crossing mechanism shown;
[0040] Figure 5 for Figure 3 The diagram shown illustrates the operating principle of the obstacle-crossing mechanism.
[0041] Figure 6 for Figure 1 The diagram shows the structure of the walking module.
[0042] Figure 7 for Figure 6 A cross-sectional view along line AA in the walking module shown;
[0043] Figure 8 for Figure 7 The cross-sectional view shown is an enlarged view at point B.
[0044] Reference numerals: 10, obstacle crossing mechanism; 20, mounting housing; 30, traveling wheel; 110, drive shaft; 120, obstacle crossing component; 130, cam; 140, driven component; 141, abutment part; 150, clutch component; 151, sleeve part; 152, joint part; 160, elastic reset component; 161, first elastic part; 162, second elastic part; 170, anti-rotation column; 180, limiting component; 190, obstacle crossing gear; 210, bearing. Detailed Implementation
[0045] 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.
[0046] It should be noted that when the connection relationship between one component and another component is described as "connection", "socketing" or "sleeving", the two components can be directly connected, socketed or sleeved, or they can be connected, socketed or sleeved through an intermediate component.
[0047] 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.
[0048] As described in the background art, in the relevant obstacle-crossing mechanism, when an obstacle is encountered, the obstacle pushes the control component to rotate, and the control component pushes the clutch component to move axially, so that the clutch component enters the transmission position.
[0049] As a clutch component that transmits torque, it needs to meet high strength requirements, and its structural complexity affects the manufacturing cost of the parts. However, since the control components that are in direct contact with the clutch component have a rotational triggering action, the clutch component must be specially equipped with corresponding beveled surfaces, resulting in a relatively complex structure, but there is still room for cost reduction.
[0050] To overcome the above-mentioned technical deficiencies, this disclosure provides an obstacle-crossing mechanism, including a drive shaft, an obstacle-crossing component, a cam, a driven component, and a clutch component. The obstacle-crossing component is fixedly connected to the drive shaft, the cam is fixedly sleeved on the drive shaft, and the driven component is sleeved on the drive shaft and abuts against the cam, with the driven component fixed circumferentially on the drive shaft. The clutch component is sleeved on the drive shaft and rotates synchronously, and also abuts against the side of the driven component opposite to the cam. The drive shaft rotates with the obstacle-crossing component, and when the cam rotates with the drive shaft, it pushes the driven component, causing the driven component to push the clutch component along the axial direction of the drive shaft, thereby moving the clutch component to the transmission position along the axial direction of the drive shaft.
[0051] This disclosure also provides a walking module, including the aforementioned obstacle-crossing mechanism and a mounting housing, with a drive shaft rotatably connected to the mounting housing. When the clutch is in the disengaged position, the obstacle-crossing component protrudes from the lower side of the mounting housing, allowing it to contact an obstacle.
[0052] This disclosure also provides a cleaning device, including a housing and the aforementioned walking module, wherein the mounting shell is mounted on the housing.
[0053] In the aforementioned obstacle-crossing mechanism, walking module, and cleaning equipment, during normal movement of the walking module, when the clutch is in the disengaged position, the clutch separates from the continuously rotating obstacle-crossing gear. The obstacle-crossing component protrudes from the lower side of the mounting housing, with its lowest point higher than the lowest point of the walking wheel. When an obstacle comes into contact with the obstacle-crossing component, driven by the walking wheel, the obstacle pushes the obstacle-crossing component to rotate away from the direction of travel. The transmission shaft rotates with the obstacle-crossing component, and the cam, rotating with the transmission shaft, pushes the driven component, causing the driven component to push the clutch along the axial direction of the transmission shaft. This causes the clutch to move along the axial direction of the transmission shaft to the transmission position, thereby causing the obstacle-crossing gear to drive the clutch to rotate continuously. Since the clutch rotates synchronously with the transmission shaft, and the obstacle-crossing component is fixedly connected to the transmission shaft, the obstacle-crossing component rotates continuously with the clutch. As the obstacle-crossing component continues to rotate, it presses down on the obstacle to raise the walking wheel, reducing the obstacle-crossing height and improving the obstacle-crossing effect of the walking wheel.
[0054] Because the obstacle-crossing component rotates due to the obstacle, causing the clutch to switch to the transmission position, the obstacle-crossing component also has a triggering function. Both the triggering and obstacle-crossing functions are integrated into the obstacle-crossing component, avoiding the need for additional triggering components, simplifying the structure of the obstacle-crossing mechanism, and helping to reduce the cost of the obstacle-crossing mechanism.
[0055] During the process of switching the clutch to the transmission position, the driven component pushes the clutch to move along the axial direction of the transmission shaft. That is, the clutch is subjected to the axial thrust of the driven component. The clutch does not need to be specially designed with an inclined surface to cooperate with the driven component, which simplifies the structural complexity of the clutch and helps to reduce the cost of the clutch.
[0056] Because the cam goes through four stages—"lift → far rest → return → near rest"—with each rotation, the clutch not only resets axially along the drive shaft (i.e., resets to the disengaged position) but also circumferentially along the drive shaft, achieving dual reset in both the axial and circumferential directions. Furthermore, the circumferential reset of the clutch can be achieved through the cooperation between the cam and the driven component, eliminating the need for a separate circumferential reset structure on the clutch itself, further simplifying its structure and reducing its cost.
[0057] The clutch can switch between the transmission position and the disengagement position without relying on irregular structures such as inclined surfaces or grooves. Therefore, the clutch can be manufactured by powder metallurgy, which is cheaper than metal injection molding and machining processes.
[0058] To better understand the technical solutions and beneficial effects of this disclosure, the following detailed description is provided in conjunction with specific embodiments:
[0059] This disclosure provides a cleaning device, including a housing and a walking module, the walking module being installed at the bottom of the housing.
[0060] like Figure 1 and Figure 2 As shown, in some embodiments, the walking module includes a mounting housing 20, a motor, a first gear mechanism, a walking wheel 30, an obstacle-crossing mechanism 10, and a second gear mechanism. The first end of the mounting housing 20 is mounted to the machine body. The motor is mounted on the mounting housing 20. The first gear mechanism is mounted inside the mounting housing 20, and its power input end is connected to the output shaft of the motor. The walking wheel 30 is rotatably connected to the second end of the mounting housing 20 and is also connected to the power output end of the first gear mechanism, allowing the motor to drive the walking wheel 30 to rotate via the first gear mechanism. The obstacle-crossing mechanism 10 is rotatably connected to the mounting housing 20, and its rotation axis is located on the side of the walking wheel 30 adjacent to the forward direction. The second gear mechanism is mounted inside the mounting housing 20, and its power input end is also drively connected to the power output end of the first gear mechanism. Its power output end is drively connected to the obstacle-crossing mechanism 10, allowing the motor to drive the obstacle-crossing mechanism 10 to rotate via the first and second gear mechanisms, thus enabling the walking wheel 30 and the obstacle-crossing mechanism 10 to share the same motor. When the walking module encounters an obstacle, the obstacle-crossing mechanism 10 is triggered by the obstacle and lifts the walking wheel 30 of the walking module to improve the obstacle-crossing effect of the walking wheel 30.
[0061] It should be noted that the motor, the first gear mechanism, and the second gear mechanism are all conventional technologies, and therefore their specific structures will not be disclosed or described in detail.
[0062] like Figure 3 and Figure 4 As shown, in some embodiments, the obstacle-crossing mechanism 10 includes a drive shaft 110, an obstacle-crossing component 120, a cam 130, a follower 140, a clutch 150, and an obstacle-crossing gear 190. The drive shaft 110 is rotatably connected to the mounting housing 20, and the drive shaft 110 is located on the side of the axis of the traveling wheel 30 adjacent to the direction of travel. The obstacle-crossing component 120 is located on the outside of the mounting housing 20, and the obstacle-crossing component 120 is also fixedly connected to the drive shaft 110, so that the obstacle-crossing component 120 rotates with the drive shaft 110.
[0063] Cam 130 is an end face cam 130. Cam 130 is fixedly sleeved on drive shaft 110, so that cam 130 rotates with drive shaft 110, that is, cam 130 and drive shaft 110 rotate synchronously; and cam 130 cannot move along the axial direction of drive shaft 110, so that cam 130 and drive shaft 110 move synchronously.
[0064] Follower 140 is sleeved on drive shaft 110 and abuts against cam 130. Follower 140 is fixed circumferentially around drive shaft 110, meaning follower 140 will not rotate with drive shaft 110 or any other component, i.e., follower 140 will not rotate. Specifically, the periphery of follower 140 is used to connect with mounting housing 20 to prevent follower 140 from rotating. Since follower 140 cannot rotate around drive shaft 110, cam 130 slides against follower 140 when rotating.
[0065] The clutch 150 is sleeved with the drive shaft 110 and rotates synchronously. The clutch 150 also abuts against the side of the driven member 140 opposite to the cam 130. The clutch 150 can also move axially along the drive shaft 110. The obstacle-crossing gear 190 is rotatably sleeved on the drive shaft 110. The obstacle-crossing gear 190 and the drive shaft 110 are relatively fixed relative to each other axially along the drive shaft 110. The obstacle-crossing gear 190 is also located on the side of the clutch 150 opposite to the driven member 140. The obstacle-crossing gear 190 is connected to the power output end of the second gear mechanism, so that the motor drives the obstacle-crossing gear 190 to rotate through the first gear mechanism and the second gear mechanism, thereby causing the obstacle-crossing gear 190 to rotate continuously during the movement of the traveling wheel 30. When the clutch 150 is in the disengaged position, the clutch 150 is separated from the obstacle-crossing gear 190, and the obstacle-crossing member 120 protrudes from the lower side of the mounting housing 20, and the lowest point of the obstacle-crossing member 120 is higher than the lowest point of the traveling wheel 30, so that the obstacle-crossing member 120 is used to abut against the obstacle.
[0066] In the aforementioned obstacle-crossing mechanism 10, walking module, and cleaning equipment, during normal travel of the walking module, when the clutch 150 is in the disengaged position, the clutch 150 separates from the continuously rotating obstacle-crossing gear 190. The obstacle-crossing component 120 protrudes from the lower side of the mounting housing 20, and the lowest point of the obstacle-crossing component 120 is higher than the lowest point of the walking wheel. When an obstacle comes into contact with the obstacle-crossing component 120, driven by the walking wheel 30, the obstacle pushes the obstacle-crossing component 120 to rotate away from the direction of travel. The rotation direction of the obstacle-crossing component 120 is as follows: Figure 1 As shown in direction a, the drive shaft 110 rotates with the obstacle-crossing component 120. When the cam 130 rotates with the drive shaft 110, it pushes the driven component 140, causing the driven component 140 to push the clutch component 150 along the axial direction of the drive shaft 110. This causes the clutch component 150 to move to the transmission position along the axial direction of the drive shaft 110, thereby causing the obstacle-crossing gear 190 to drive the clutch component 150 to rotate continuously. Since the clutch component 150 rotates synchronously with the drive shaft 110, and the obstacle-crossing component 120 is fixedly connected to the drive shaft 110, the obstacle-crossing component 120 rotates continuously with the clutch component 150. When the obstacle-crossing component 120 rotates continuously, it presses down on the obstacle to raise the traveling wheel 30, reducing the obstacle-crossing height and improving the obstacle-crossing effect of the traveling wheel 30.
[0067] Since the obstacle pushes the obstacle-crossing component 120 to rotate so that the clutch component 150 switches to the transmission position, the obstacle-crossing component 120 also has a triggering function. The triggering and obstacle-crossing functions are integrated into the obstacle-crossing component 120, avoiding the need for additional triggering components, simplifying the structure of the obstacle-crossing mechanism 10, and helping to reduce the cost of the obstacle-crossing mechanism 10.
[0068] Since the clutch 150 is switched to the transmission position, the driven member 140 pushes the clutch 150 to move along the axial direction of the transmission shaft 110 during the process, that is, the clutch 150 is subjected to the axial thrust of the driven member 140, the clutch 150 does not need to be specially designed with an inclined surface to cooperate with the driven member 140, which simplifies the structural complexity of the clutch 150 and helps to reduce the cost of the clutch 150.
[0069] Since the cam 130 goes through four stages "lift → far rest → return → near rest" for each rotation, the clutch 150 not only resets axially along the drive shaft 110 (i.e., resets to the disengaged position), but also resets circumferentially along the drive shaft 110, achieving dual reset in both the circumferential and axial directions. Because the cam 130 and the driven member 140 cooperate to achieve circumferential reset of the clutch 150, there is no need to set a circumferential reset structure on the clutch 150, further simplifying the structure of the clutch 150 and further reducing the cost of the clutch 150.
[0070] Furthermore, the clutch 150 does not require a beveled or grooved structure to switch between the transmission and disengagement positions. Therefore, the clutch 150 does not need to have a beveled or grooved structure, and thus the clutch 150 can be manufactured by powder metallurgy. Compared with metal injection molding and machining processes, the clutch 150 disclosed herein has a lower cost.
[0071] like Figure 3 As shown, in some embodiments, the obstacle-crossing member 120 is rod-shaped and includes a trigger end and an obstacle-crossing end, the length of which is shorter than the length of the obstacle-crossing end. When the clutch member 150 is in the disengaged position, it separates from the obstacle-crossing gear 190. The trigger end protrudes from the lower side of the mounting housing 20, and the lowest point of the trigger end is higher than the lowest point of the traveling wheel 30, allowing the trigger end to contact the obstacle. When the clutch member 150 enters the transmission position, the obstacle-crossing member 120 continues to rotate, causing the obstacle-crossing end to press down on the obstacle, thereby raising the height of the traveling wheel.
[0072] like Figure 5As shown, in some embodiments, the cam 130 has a contour curve on its end face adjacent to the follower 140, and the follower 140 has a protruding abutment portion 141, which slides against the contour curve. Since the movement of the cam 130 has four stages: "lift → far rest → return → near rest," the contour curve includes a lift line, a far rest line, a return line, and a near rest line connected sequentially. When the abutment portion 141 slides against the lift line, the cam 130 is in the lift stage; when the abutment portion 141 slides against the far rest line, the cam 130 is in the far rest stage; when the abutment portion 141 slides against the return line, the cam 130 is in the return stage; and when the abutment portion 141 abuts against the near rest line, the cam 130 is in the near rest stage.
[0073] In this embodiment, in the initial state, the abutment portion 141 abuts against the near-rest line, the clutch 150 is in the disengaged position, the clutch 150 is separated from the obstacle-crossing gear 190, and the obstacle-crossing member 120 protrudes from the lower side of the mounting housing 20, with the lowest point of the obstacle-crossing member 120 higher than the lowest point of the traveling wheel 30. When the obstacle pushes the obstacle-crossing member 120, it drives the transmission shaft 110 to rotate, and the cam 130 rotates synchronously with the transmission shaft 110, causing the abutment portion 141 to slide along the lift line towards the far-rest line. The driven member 140 pushes the clutch 150 along the axial direction of the transmission shaft 110, bringing the clutch 150 closer to the transmission position. When the abutment portion 141 abuts against the far-rest line, the clutch 150 switches to the transmission position. Clutch 150 engages with obstacle-crossing gear 190, and the torque of obstacle-crossing gear 190 is sequentially transmitted to clutch 150, drive shaft 110, and obstacle-crossing member 120, causing obstacle-crossing member 120 to rotate. Meanwhile, cam 130 continues to rotate with drive shaft 110, and abutment portion 141 slides along far rest line, keeping clutch 150 in the drive position, causing obstacle-crossing member 120 to continue rotating. Subsequently, abutment portion 141 slides along return line towards near rest line, and both driven member 140 and clutch 150 reset to their initial state, causing clutch 150 to switch from the drive position to the disengaged position. When abutment portion 141 abuts against near rest line, driven member 140, clutch 150, and obstacle-crossing member 120 all reset to their initial state.
[0074] like Figure 5 As shown, in some embodiments, the obstacle-crossing mechanism 10 further includes an elastic reset member 160, which is used to push the clutch member 150 back to the disengaged position. In this embodiment, the cam 130 goes through four stages for each rotation: "lift → far rest → return → near rest". During this stage, the clutch member 150 enters the return stage under the elastic force of the elastic reset member 160.
[0075] like Figure 5As shown, in some embodiments, the obstacle-crossing mechanism 10 further includes an anti-rotation post 170 spaced apart from the drive shaft 110. The anti-rotation post 170 is mounted on the mounting housing 20 and is sleeved with the driven member 140 to prevent the driven member 140 from rotating. Preferably, the driven member 140 is movably sleeved on the anti-rotation post 170. In this embodiment, when the cam 130 pushes the driven member 140, the driven member 140 prevents the driven member 140 from rotating with the cam 130, so that the cam 130 can push the driven member 140 to move axially along the drive shaft 110.
[0076] like Figure 4 As shown, in some embodiments, the clutch 150 and the driven member 140 are rotatably connected, and the clutch 150 and the driven member 140 are axially fixed relative to each other on the drive shaft 110. The obstacle-crossing mechanism 10 also includes an elastic reset member 160, which includes a first elastic portion 161. The first elastic portion 161 is sleeved on the anti-rotation post 170 and abuts against the driven member 140 to push the clutch 150 back to the disengaged position. In this embodiment, when the cam 130 is in the return phase, the elasticity of the first elastic portion 161 is restored and pushes the clutch 150 toward the cam 130, causing the clutch 150 and the driven member 140 to reset toward the cam 130, thereby causing the clutch 150 to reset to the disengaged position.
[0077] It is understood that the first elastic part 161 is a spring, a silicone structure, a rubber structure, or other existing elastic structures.
[0078] It should be emphasized that the clutch 150 and the driven member 140 being relatively fixed in the axial direction of the transmission shaft 110 does not necessarily mean that there is no play between them in the axial direction of the transmission shaft 110. Rather, it means that they can be relatively fixed in the axial direction of the transmission shaft 110 so that the clutch 150 can drive the driven member 140 to move along the axial direction of the transmission shaft 110. In other words, the clutch 150 and the driven member 140 may or may not have play in the axial direction of the transmission shaft 110.
[0079] Furthermore, the elastic reset member 160 also includes a second elastic portion 162, which is sleeved on the transmission shaft 110 and abuts against the clutch member 150. The second elastic portion 162 is spaced apart from the first elastic portion 161, and is used to push the clutch member 150 back to the disengaged position. In this embodiment, when the cam 130 is in the return phase, the first elastic portion 161 elastically recovers and pushes the driven member 140 toward the cam 130, and the second elastic portion 162 elastically recovers and pushes the clutch member 150 toward the cam 130. The first elastic portion 161 and the second elastic portion 162 jointly generate the reset force of the clutch member 150, making the reset force on the clutch member 150 more uniform, reducing the probability of the clutch member 150 jamming, and improving the reset smoothness of the clutch member 150.
[0080] It is understood that the second elastic part 162 can be a spring, a silicone structure, a rubber structure, or other existing elastic structures.
[0081] like Figure 4 As shown, in some embodiments, one end of the second elastic portion 162 abuts against a boss on the drive shaft 110, and the other end abuts against the clutch 150.
[0082] like Figure 4 As shown, in some embodiments, the obstacle-crossing gear 190 has a transmission groove on the side adjacent to the clutch 150, and the clutch 150 has a transmission protrusion on the side adjacent to the obstacle-crossing gear 190. When the clutch 150 is in the transmission position, the transmission protrusion is embedded in the transmission groove, so that the clutch 150 and the obstacle-crossing gear 190 are connected in transmission. When the clutch 150 is in the disengaged position, the transmission protrusion is disengaged from the transmission groove, so that the obstacle-crossing gear 190 cannot drive the clutch 150 to rotate.
[0083] Preferably, there are multiple transmission protrusions, which are evenly distributed along the circumference of the clutch 150. There are also multiple transmission grooves, with each transmission protrusion corresponding to and fitting into one of the multiple transmission grooves. It can be understood that during the process of the clutch 150 entering the transmission position, the clutch 150 only enters the transmission position when the transmission protrusion aligns with the transmission groove, thus fitting the transmission protrusion into the transmission groove.
[0084] like Figure 4 As shown, in some embodiments, the clutch 150 and the driven member 140 are rotatably connected, and the clutch 150 and the driven member 140 are fixed relative to each other in the axial direction of the transmission shaft 110, so that the driven member 140 can drive the clutch 150 in two directions, that is, the driven member 140 can not only drive the clutch 150 into the transmission position, but also drive the clutch 150 into the disengagement position.
[0085] like Figure 4As shown, in some embodiments, the obstacle-crossing mechanism 10 further includes a limiting member 180. The clutch member 150 includes a sleeve portion 151 and an engaging portion 152. The sleeve portion 151 rotates synchronously with the drive shaft 110 and is movable along the axial direction of the drive shaft 110. The sleeve portion 151 also passes through the driven member 140. The engaging portion 152 is fixedly connected to one end of the sleeve portion 151, and the limiting member 180 is fixedly connected to the other end of the sleeve portion 151, limiting the driven member 140 between the engaging portion and the limiting member 180. This allows the clutch member 150 and the driven member 140 to be relatively fixed in the axial direction of the drive shaft 110, and the clutch member 150 can rotate relative to the driven member 140. When the clutch member 150 is in the transmission position, the engaging portion 152 engages with the obstacle-crossing gear 190, causing the obstacle-crossing gear 190 to drive the clutch member 150 to rotate.
[0086] like Figure 4 As shown, in some embodiments, the obstacle-crossing mechanism 10 further includes a bearing 210, which is sleeved between the driven member 140 and the clutch member 150, and serves to support the clutch member 150. Preferably, the bearing 210 is an oil-impregnated bearing 210, which reduces the cost of the bearing 210. Further, a limiting portion is provided on the outer peripheral side of the bearing 210, which is located between the driven member 140 and the limiting member 180, and the limiting portion abuts against the side of the driven member 140 away from the clutch member 150.
[0087] like Figure 4 As shown, in some embodiments, the sleeve portion 151 is provided with a first plane (not shown), and the drive shaft 110 is provided with a second plane (not shown). The first plane and the second plane are connected, that is, the sleeve portion 151 and the drive shaft 110 are connected by a flat joint, so that the sleeve portion 151 and the drive shaft 110 rotate synchronously, and the sleeve portion 151 can move along the axial direction of the drive shaft 110.
[0088] like Figure 4 As shown, in some embodiments, the limiting member 180 is interference-fitted with the sleeve portion 151. In another embodiment, the limiting member 180 is snapped onto the sleeve portion 151. For example, the limiting member 180 is a retaining spring that is snapped onto the sleeve portion 151.
[0089] like Figure 4 As shown, in some embodiments, the follower 140 is a stamped structure. In this embodiment, the follower 140 is manufactured by a stamping process, which improves the manufacturing efficiency of the follower 140 and reduces the manufacturing cost of the follower 140.
[0090] like Figures 6 to 8As shown, in some embodiments, a first elastic portion 161 is sleeved on the anti-rotation post 170. The first elastic portion 161 abuts against the mounting housing 20 and the driven member 140 respectively, and is used to push the clutch member 150 back to the disengaged position. In this embodiment, when the cam 130 is in the return phase, the elasticity of the first elastic portion 161 is restored and pushes the driven member 140 toward the cam 130; since the clutch member 150 and the driven member 140 are fixed relative to each other in the axial direction of the transmission shaft 110, the elastic force of the first elastic portion 161 also pushes the clutch member 150, so that the clutch member 150 and the driven member 140 are reset toward the cam 130, thereby causing the clutch member 150 to reset to the disengaged position.
[0091] Compared with the prior art, this disclosure has at least the following advantages:
[0092] 1. During normal travel of the walking module, when the clutch 150 is in the disengaged position, the clutch 150 separates from the continuously rotating obstacle-crossing gear 190. The obstacle-crossing component 120 protrudes from the lower side of the mounting housing 20, and the lowest point of the obstacle-crossing component 120 is higher than the lowest point of the walking wheel 30. When an obstacle comes into contact with the obstacle-crossing component 120, driven by the walking wheel 30, the obstacle pushes the obstacle-crossing component 120 to rotate away from the direction of travel. The direction of rotation of the obstacle-crossing component 120 is as follows: Figure 2 As shown in direction a, the drive shaft 110 rotates with the obstacle-crossing component 120. When the cam 130 rotates with the drive shaft 110, it pushes the driven component 140, causing the driven component 140 to push the clutch component 150 along the axial direction of the drive shaft 110. This causes the clutch component 150 to move to the transmission position along the axial direction of the drive shaft 110, thereby causing the obstacle-crossing gear 190 to drive the clutch component 150 to rotate continuously. Since the clutch component 150 rotates synchronously with the drive shaft 110, and the obstacle-crossing component 120 is fixedly connected to the drive shaft 110, the obstacle-crossing component 120 rotates continuously with the clutch component 150. When the obstacle-crossing component 120 rotates continuously, it presses down on the obstacle to raise the traveling wheel 30, reducing the obstacle-crossing height and improving the obstacle-crossing effect of the traveling wheel 30.
[0093] 2. Since the obstacle pushes the obstacle-crossing component 120 to rotate so that the clutch component 150 switches to the transmission position, the obstacle-crossing component 120 also has a triggering function. The triggering and obstacle-crossing functions are integrated into the obstacle-crossing component 120, avoiding the need for additional triggering components, simplifying the structure of the obstacle-crossing mechanism 10, and helping to reduce the cost of the obstacle-crossing mechanism 10.
[0094] 3. During the process of switching the clutch 150 to the transmission position, the driven member 140 pushes the clutch 150 to move along the axial direction of the transmission shaft 110. That is, the clutch 150 is subjected to the axial thrust of the driven member 140. The clutch 150 does not need to be specially designed with an inclined surface to cooperate with the driven member 140, which simplifies the structural complexity of the clutch 150 and helps to reduce the cost of the clutch 150.
[0095] 4. Since the cam 130 goes through four stages "lift → far rest → return → near rest" for each rotation, the clutch 150 not only resets axially along the drive shaft 110 (i.e., resets to the disengaged position), but also resets circumferentially along the drive shaft 110, achieving dual reset in both the circumferential and axial directions. Because the cam 130 and the driven member 140 cooperate to achieve circumferential reset of the clutch 150, there is no need to set a circumferential reset structure on the clutch 150, further simplifying the structure of the clutch 150 and further reducing the cost of the clutch 150.
[0096] 5. The clutch 150 does not need to rely on inclined surfaces, grooves or other irregular structures to switch between the transmission position and the disengagement position. Therefore, the clutch 150 does not need to have inclined surfaces, grooves or other irregular structures. Thus, the clutch 150 can be made by powder metallurgy. Compared with metal injection molding and machining processes, the clutch 150 disclosed herein has a lower cost.
[0097] 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.
[0098] 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: Drive shaft (110); The obstacle-crossing component (120) is fixedly connected to the drive shaft (110). The cam (130) is fixedly sleeved on the drive shaft (110). A follower (140) is sleeved on the drive shaft (110) and abuts against the cam (130), the follower (140) being fixed circumferentially on the drive shaft (110); and The clutch (150) is sleeved with the drive shaft (110) and rotates synchronously, and also abuts against the side of the driven member (140) away from the cam (130); The drive shaft (110) rotates with the obstacle-crossing member (120), and the cam (130) pushes the driven member (140) when it rotates with the drive shaft (110), so that the driven member (140) pushes the clutch member (150) along the axial direction of the drive shaft (110), thereby causing the clutch member (150) to move to the transmission position along the axial direction of the drive shaft (110).
2. The obstacle-crossing mechanism according to claim 1, characterized in that, The end face of the cam (130) is provided with a contour curve, and the follower (140) is provided with a contact part (141), which slides against the contour curve.
3. The obstacle-crossing mechanism according to claim 1, characterized in that, The obstacle-crossing mechanism also includes an elastic reset member (160), which is used to push the clutch member (150) back to the open position.
4. The obstacle-crossing mechanism according to claim 1, characterized in that, The obstacle-crossing mechanism also includes an anti-rotation post (170) spaced apart from the drive shaft (110). The anti-rotation post (170) is sleeved with the driven member (140) to prevent the driven member (140) from rotating.
5. The obstacle-crossing mechanism according to claim 4, characterized in that, The clutch (150) is rotatably connected to the driven member (140), and the clutch (150) and the driven member (140) are fixed relative to each other in the axial direction of the transmission shaft (110); The obstacle-crossing mechanism further includes an elastic reset member (160), which includes a first elastic part (161). The first elastic part (161) is sleeved on the anti-rotation post (170). The first elastic part (161) abuts against the driven member (140) and is used to push the clutch member (150) back to the disengaged position.
6. The obstacle-crossing mechanism according to claim 5, characterized in that, The elastic reset member (160) further includes a second elastic part (162) sleeved on the transmission shaft (110), the second elastic part (162) abutting against the clutch member (150) to push the clutch member (150) back to the disconnected position.
7. The obstacle-crossing mechanism according to claim 1, characterized in that, The clutch (150) is rotatably connected to the driven member (140), and the clutch (150) and the driven member (140) are fixed relative to each other in the axial direction of the transmission shaft (110).
8. The obstacle-crossing mechanism according to claim 7, characterized in that, The obstacle-crossing mechanism further includes a limiting member (180), and the clutch member (150) includes: The sleeve (151), which rotates synchronously with the drive shaft (110) and can move axially along the drive shaft (110), also passes through the driven member (140); and The joint (152) is fixedly connected to one end of the sleeve (151), and the limiting member (180) is fixedly connected to the other end of the sleeve (151), so that the driven member (140) is limited between the joint (152) and the limiting member (180), thereby allowing the clutch member (150) and the driven member (140) to be relatively fixed in the axial direction of the transmission shaft (110).
9. A walking module, characterized in that, include: The obstacle-crossing mechanism according to any one of claims 1 to 8; as well as Mounting housing, the drive shaft (110) is rotatably connected to the mounting housing; When the clutch (150) is in the disengaged position, the obstacle-crossing member (120) protrudes from the lower side of the mounting housing, so that the obstacle-crossing member (120) is used to abut against the obstacle.
10. A cleaning device, characterized in that, It includes a housing and the walking module as described in claim 9, wherein the mounting shell is mounted on the housing.