Cleaning robot

Abstract

The utility model provides a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, and the supporting unit can rotate around the driving wheel so that the advancing assembly can be switched between an advancing state and an obstacle crossing state; when the advancing assembly is in an advancing state, the driving wheels abut against the ground to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, and the obstacle crossing wheels drive the machine body to advance. By means of the structure, the obstacle crossing wheels can be driven by the supporting units to make contact with the ground to support the machine body when a preset distance exists between the obstacle crossing device and an obstacle, so that the front end of the machine body is far away from the ground, the rear end of the machine body is close to the ground, and the whole machine body is in an inclined state; the distance between the front end of the robot body and the ground is far larger than the ground clearance of the robot body, and therefore the obstacle crossing capacity of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot. Background Art

[0002] With the development of economy and the continuous progress of society, smart home products have gradually entered people's lives, providing many conveniences for people's lives. Among them, cleaning robots provide a lot of help for home cleaning work, greatly reducing the labor intensity of people's cleaning.

[0003] In the solution of the related art, the cleaning robot is provided with a position sensor, a walking mechanism and a cleaning mechanism. The position sensor can obtain indoor environmental information, and the cleaning robot can set a walking route according to the obtained environmental information and walk through the walking mechanism. While the cleaning robot is walking, the cleaning mechanism can clean the ground along the way. Since the indoor ground environment is relatively complex, there may be steps between the grounds of adjacent areas, and the driving wheels of the cleaning robot have poor obstacle crossing ability, and often fail to cross the steps, resulting in missed sweeping. Utility Model Content

[0004] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a cleaning robot, which is conducive to improving the obstacle-crossing capability of the cleaning robot.

[0005] The present application provides a cleaning robot, comprising a body and a traveling assembly, wherein the traveling assembly comprises a driving wheel, a supporting unit and an obstacle-crossing wheel, wherein the obstacle-crossing wheel is arranged on the supporting unit, and the supporting unit can rotate around the driving wheel to switch the traveling assembly between a traveling state and an obstacle-crossing state.

[0006] Wherein, when the traveling assembly is in the traveling state, the driving wheel abuts against the ground to drive the fuselage to travel;

[0007] When the traveling assembly is in the obstacle-overcoming state, the support unit drives the obstacle-overcoming wheels to contact the ground and causes the driving wheels to leave the ground, so that the obstacle-overcoming wheels drive the fuselage to travel.

[0008] The present application can drive the obstacle-crossing wheels to contact the ground through the support unit to prop up the body when the robot is at a preset distance from an obstacle, so that the front end of the body is away from the ground, the rear end of the body is close to the ground, and the body as a whole is in an inclined state. The obstacle-crossing wheels are used to contact the ground to drive the body to move forward. At this time, the distance between the front end of the body and the ground is much greater than the ground clearance of the body, thereby improving the obstacle-crossing ability of the cleaning robot.

[0009] In a possible implementation, when the traveling component is in the traveling state, the obstacle-crossing wheels are off the ground and the driving wheels are in contact with the ground, so that the driving wheels drive the fuselage to travel.

[0010] In a possible implementation, it further includes a sensor and a controller, wherein the sensor and the travel component are both communicatively connected to the controller;

[0011] The sensor is used to detect obstacles in the direction of travel of the cleaning robot, and sends an obstacle signal to the controller after detecting the obstacle; the controller sends a control instruction to the traveling component after receiving the obstacle signal; the traveling component switches from the traveling state to the obstacle crossing state after receiving the control instruction; the cleaning robot moves toward the obstacle and crosses the obstacle in the obstacle crossing state.

[0012] In a possible implementation, when the traveling component switches from the traveling state to the obstacle crossing state, the driving wheel is in a stopped state.

[0013] In a possible implementation, when the support unit rotates along the first direction around the axis of the driving wheel, the traveling assembly switches from the traveling state to the obstacle-crossing state;

[0014] When the support unit rotates along the second direction around the axis of the driving wheel, the traveling component switches from the obstacle-crossing state to the traveling state, wherein the first direction and the second direction are opposite.

[0015] In a possible implementation, the support unit includes at least one support member, and the driving wheel and the obstacle-crossing wheel are respectively arranged at opposite ends of the support member. The above structure can make the obstacle-crossing wheel be arranged away from the driving wheel to increase the height of the support unit to support the body, thereby facilitating the cleaning robot to cross higher obstacles.

[0016] In a possible implementation, the support unit includes a first support member, the first support member includes a rotating part and a support arm, the rotating part and the driving wheel are coaxially arranged, the first end of the support arm is connected to the rotating part, the second end of the support arm extends radially outward from the rotating part, and the obstacle crossing wheel is rotatably arranged at the second end of the support arm. The above structure can enable the supporting arm to travel a longer distance when the rotating part rotates, so as to prop up the body to a higher height, thereby facilitating the cleaning robot to cross higher obstacles.

[0017] In a possible implementation, the support unit includes a second support member and a third support member, the second support member can rotate around the axis of the driving wheel, the first end of the third support member and the second support member can be rotatably connected, and the obstacle-crossing wheel is rotatably arranged at the second end of the third support member, wherein when the traveling component switches from the traveling state to the obstacle-crossing state, the second support member rotates to drive the third support member to move, so that the obstacle-crossing wheel contacts the ground. The above structure can enable the second support member to drive the third support member to travel a longer distance when rotating, so as to prop up the fuselage to a higher height, thereby facilitating the cleaning robot to cross obstacles with higher heights. The third support member and the second support member adopt a rotatably connected structure, so that the third support member can not only rotate with the second support member, but also enable the third support member to rotate relative to the second support member, thereby facilitating changing the overall length of the second support member and the third support member, so that it is not easy to prop up the fuselage again when the traveling component returns to the traveling state after completing the obstacle crossing, which is conducive to improving the user experience.

[0018] In a possible implementation, the rotation axis of the second support member does not coincide with the rotation axis of the third support member, so that the third support member can rotate eccentrically around the second support member.

[0019] In a possible implementation, the second support member is further provided with a fixed shaft, the fixed shaft is arranged away from the rotation axis of the second support member, the third support member is provided with a shaft sleeve, and the third support member is sleeved on the fixed shaft through the shaft sleeve.

[0020] In a possible implementation, an elastic member is further provided between the second support member and the third support member, and the elastic member is used to apply an elastic force to the third support member in the traveling state so as to keep the obstacle-crossing wheel out of contact with the ground.

[0021] In a possible implementation, the elastic member includes a torsion spring, a first end of the torsion spring is connected to the second support member, and a second end of the torsion spring is connected to the third support member.

[0022] In a possible implementation, after the traveling component crosses an obstacle, when the obstacle-crossing state is switched back to the traveling state, the third support member rotates relative to the second support member so that the height of the obstacle-crossing wheel is higher than or equal to the height of the driving wheel. The above solution ensures that the traveling component will not prop up the body again when it returns to the traveling state from the obstacle-crossing state, thereby improving the user experience.

[0023] In one possible implementation, along the radial direction of the driving wheel, the maximum size of the second support member is smaller than the radius of the driving wheel, thereby providing sufficient space for the storage of the third support member, ensuring that the fuselage will not be propped up again when the traveling component recovers from the obstacle crossing state to the traveling state, thereby helping to improve the user experience.

[0024] In a possible implementation, the second support member has a receiving notch, the first end of the third support member is rotatably connected to one side of the receiving notch, and when the traveling assembly switches from the obstacle-crossing state to the traveling state, the third support member and the obstacle-crossing wheel are stored in the receiving notch. The above structure can store the third support member and the obstacle-crossing wheel in the receiving notch when the traveling assembly returns from the obstacle-crossing state to the traveling state, so as to avoid propping up the fuselage.

[0025] In a possible implementation, a first transmission mechanism is further included, wherein the first transmission mechanism is disposed in the support unit, and the obstacle overcoming wheel is connected to the driving wheel via the first transmission mechanism, so that the obstacle overcoming wheel is driven to rotate when the driving wheel rotates.

[0026] In a possible implementation, a cavity is formed in the support unit, and the first transmission mechanism is disposed in the cavity. Disposing the first transmission mechanism in the cavity of the support unit is beneficial to protecting the first transmission mechanism from damage and extending the service life of the first transmission mechanism.

[0027] In a possible implementation, the first transmission mechanism includes a driving gear, a driven gear and a plurality of intermediate transmission gears, and the driving gear and the driven gear are meshed and connected through the plurality of intermediate transmission gears;

[0028] The driving wheel is provided with a driving wheel axle, and the driving wheel axle passes through the driving wheel and the driving gear; the obstacle-crossing wheel is provided with a driven wheel axle, and the driven wheel axle passes through the obstacle-crossing wheel and the driven gear.

[0029] In a possible implementation, the plurality of intermediate transmission gears include at least two first intermediate transmission gears, at least two second intermediate transmission gears and a third intermediate transmission gear, the third intermediate transmission gear includes a first gear portion and a second gear portion coaxially arranged, the driving gear, the first intermediate transmission gear and the first gear portion are meshed with each other; the driven gear, the second intermediate transmission gear and the second gear portion are meshed with each other. The above structure can utilize the first gear portion and the second gear portion coaxially arranged on the third intermediate transmission gear to achieve smooth transmission of power between the second support member and the third support member.

[0030] In a possible implementation, a first driving device is further included, and an output end of the first driving device is connected to the obstacle-crossing wheel. The obstacle-crossing wheel can be independently rotated by providing the first driving device.

[0031] In a possible implementation manner, the first driving device is disposed in the obstacle-crossing wheel; or, the first driving device is disposed in the supporting unit.

[0032] In a possible implementation, a second driving device is further included, and the second driving device is connected to the supporting unit to drive the supporting unit to rotate around the axis of the driving wheel.

[0033] In a possible implementation, the second drive device is connected to the support unit through a second transmission mechanism; the second transmission mechanism includes a worm and a ring gear, the worm is meshed with the ring gear, the worm is connected to the output end of the second drive device, the ring gear is fixedly connected to the support unit, and the axis of the ring gear coincides with the axis of the drive wheel.

[0034] In a possible implementation, the device further includes a bracket, the bracket being used to connect the fuselage, the driving wheel being arranged on a first side of the bracket, and the supporting unit and the obstacle-crossing wheel being arranged on a second side of the bracket.

[0035] In a possible implementation, a connecting hole is provided on the bracket, and the connecting shaft passes through the connecting hole and is connected to the fuselage, thereby realizing a movable connection between the traveling assembly and the fuselage.

[0036] In a possible implementation, the obstacle-crossing wheel is located on a side of the support member facing the driving wheel, thereby reducing the overall size of the traveling assembly and improving space utilization.

[0037] In a possible implementation, an edge sensor is further included, and the edge sensor is located in front of or behind the axis of the driving wheel in the direction of travel of the cleaning robot. Placing the edge sensor in the above position can make way for the obstacle-crossing wheel and the support unit, thereby providing sufficient space.

[0038] In a possible implementation, two traveling components are provided on the fuselage, and the two traveling components are respectively arranged close to the left side and the right side of the fuselage to ensure the balance of the fuselage. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A simplified structural diagram of a cleaning robot in a moving state provided by an embodiment of the present application;

[0041] Figure 2 A simplified structural diagram of a cleaning robot in an obstacle-crossing state provided by an embodiment of the present application;

[0042] Figure 3 A simplified structural diagram of a traveling assembly provided in one embodiment of the present application;

[0043] Figure 4 for Figure 3 A simplified diagram after some structures are hidden;

[0044] Figure 5 A simplified structural diagram of a traveling assembly provided in another embodiment of the present application;

[0045] Figure 6 for Figure 5 A simplified diagram after some structures are hidden;

[0046] Figure 7 for Figure 5 AA section view;

[0047] Figure 8(a)-Figure 8(e) for Figure 5 A schematic diagram showing the transition of the traveling component from an obstacle-crossing state to a traveling state.

[0048] Reference numerals:

[0049] 10- Cleaning robot;

[0050] 20- ground;

[0051] 30-Obstacles;

[0052] 100-body; 101-front end; 102-rear end; 110-edge sensor;

[0053] 200-travel assembly;

[0054] 210-driving wheel; 211-driving wheel shaft;

[0055] 221-first support member; 2211-rotating portion; 2212-support arm; 222-second support member; 2221-fixed shaft; 2222-accommodating notch; 223-third support member; 2231-shaft sleeve; 224-elastic member; 225-circlip;

[0056] 230-obstacle-crossing wheel; 231-driven wheel shaft;

[0057] 240-first transmission mechanism; 241-driving gear; 242-driven gear; 243-intermediate transmission gear; 2431-first intermediate transmission gear; 2432-second intermediate transmission gear; 2433-third intermediate transmission gear; 24331-first gear portion; 24332-second gear portion;

[0058] 250 - second driving device;

[0059] 260 - second transmission mechanism; 261 - worm; 262 - ring gear; 263 - transmission gear;

[0060] 270- bracket; 271- connection hole;

[0061] 300-Cleaning mechanism. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0063] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0064] As described in the background technology, the cleaning robot has a problem of poor obstacle crossing ability. Specifically, some related technologies disclose that the cleaning robot includes an obstacle crossing mechanism for crossing obstacles, and the obstacle crossing mechanism includes a support member (such as a support rod, etc.) that can rotate around a driving wheel. When the driving wheel approaches an obstacle such as a step, the fuselage is propped up by rotating the support member, and then the driving wheel rotates to make the fuselage cross the step. Since the driving wheel is generally arranged in the middle of the forward direction of the fuselage, when the driving wheel approaches the step, part of the fuselage has already crossed the step, that is, in the solution of the related technology, the cleaning robot can only cross the steps whose height is less than the ground clearance of the fuselage; when encountering a step whose height is greater than the ground clearance of the fuselage, the fuselage may collide with the step and cause the cleaning robot to be damaged or shut down.

[0065] In view of this, the embodiment of the present application aims to provide a cleaning robot, by providing a support unit that can rotate around a driving wheel, and providing an obstacle-crossing wheel on the support unit, in the obstacle-crossing state, the support unit drives the obstacle-crossing wheel to contact the ground, and makes the driving wheel leave the ground, and uses the obstacle-crossing wheel to drive the body to move forward. The present application can prop up the body when it is at a preset distance from the obstacle, so that the front end of the body is lifted away from the ground, the rear end of the body is close to the ground, and the body is tilted as a whole, and the obstacle-crossing wheel is used to contact the ground to drive the body to move forward. At this time, the distance between the front end of the body and the ground is much greater than the ground clearance of the body, thereby improving the obstacle-crossing ability of the cleaning robot.

[0066] The contents of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application in more detail.

[0067] Figure 1 A simplified structural diagram of a cleaning robot in a moving state provided by an embodiment of the present application; Figure 2 This is a simplified structural diagram of a cleaning robot in an obstacle-crossing state provided in one embodiment of the present application.

[0068] Please refer to Figure 1-Figure 2 The present embodiment provides a cleaning robot 10, which can also be called a self-cleaning robot, a sweeping robot, an intelligent cleaner, etc., and has functions such as movement, cleaning, and vacuuming. The cleaning robot 10 can be, for example, a wet and dry cleaning robot, such as a sweeping robot, or a sweeping and mopping robot.

[0069] The cleaning robot 10 includes a body 100, a traveling assembly 200 and a cleaning mechanism 300. The traveling assembly 200 and the cleaning mechanism 300 are both arranged on the side of the body 100 facing the ground when the cleaning robot 10 is in use. Among them, the body 100 can be in various shapes. In order to take into account stability and be applicable to various scenes, such as cleaning under the bed and other areas, the body 100 is usually cylindrical, D-shaped, quadrangular, etc. The corresponding body 100 profile is a circular profile, a D-shaped profile or a rectangular profile, etc., and the range of the body 100 profile can be determined according to the projection of the body 100 on the horizontal plane. The traveling assembly 200 can drive the body 100 to move and cross obstacles. The cleaning mechanism 300 can be movably connected to the body 100. When the body 100 moves, the cleaning mechanism 300 rotates around the body 100 to achieve cleaning of the ground. Optionally, the body 100 may also be provided with an auxiliary steering wheel (not shown in the figure), which may be a universal wheel fixed on the body 100. The cleaning robot 10 can be steered by rotating and stopping the driving wheel in cooperation with the auxiliary steering wheel.

[0070] According to the state of the cleaning robot 10 when it moves, the body 100 may include a front end 101, a rear end 102, a left side and a right side, wherein the front end 101 refers to the end of the body 100 facing the travel direction when the cleaning robot 10 moves, the rear end 102 refers to the end of the body 100 away from the travel direction when the cleaning robot 10 moves, and the left side and the right side refer to the other two sides whose connecting line is perpendicular to the connecting line between the front end 101 and the rear end 102. The auxiliary steering wheel can be set at a position close to the front end 101 of the body 100, and the traveling assembly 200 can be roughly set in the middle of the front end 101 and the rear end 102 of the body 100, and one is set at a position close to the left and right sides of the body 100 to ensure the balance of the body 100.

[0071] Figure 3 A simplified structural diagram of a traveling assembly provided in one embodiment of the present application; Figure 4 for Figure 3 A simplified diagram after some structures are hidden; Figure 5 A simplified structural diagram of a traveling assembly provided in another embodiment of the present application; Figure 6 for Figure 5 A simplified diagram after some structures are hidden; Figure 7 for Figure 5 AA section view.

[0072] Please continue to refer to Figure 1-Figure 7 The traveling assembly 200 of this embodiment includes a driving wheel 210, a support unit and an obstacle-crossing wheel 230. The driving wheel 210 is entirely or partially disposed outside the fuselage 100 so as to contact the ground and drive the fuselage 100 to travel. For example, the driving wheel 210 can be driven by a driving motor disposed inside the fuselage 100, or a hub motor can be disposed inside the driving wheel 210, and the driving wheel 210 can be self-driven by the built-in hub motor. The support unit can rotate around the driving wheel 210 to switch the traveling assembly 200 between the traveling state and the obstacle-crossing state; the obstacle-crossing wheel 230 is disposed on the support unit, and the obstacle-crossing wheel 230 can rotate with the driving wheel 210, or the obstacle-crossing wheel 230 can rotate independently, and the specific configuration can be made as required.

[0073] In the traveling state of the traveling assembly 200 of this embodiment, the fuselage 100 is substantially parallel to the ground, and the driving wheel 210 is in contact with the ground (that is, the driving wheel 210 is against the ground) to drive the fuselage 100 to travel. At this time, the obstacle-crossing wheel 230 can be in contact with the ground, so that the fuselage 100 can be driven to travel with the assistance of the obstacle-crossing wheel 230. Alternatively, the obstacle-crossing wheel 230 can be detached from the ground, and only the driving wheel 210 can be used to drive the fuselage 100 to travel.

[0074] For example, when the traveling assembly 200 of this embodiment is in the traveling state, the obstacle-crossing wheel 230 is off the ground, and the driving wheel 210 is in contact with the ground, so that the driving wheel 210 drives the body 100 to travel. Figure 1 As shown, the obstacle-crossing wheels 230 are stored in the fuselage 100 .

[0075] When the traveling assembly 200 of this embodiment is in the obstacle overcoming state, the support unit drives the obstacle overcoming wheel 230 to contact the ground 20 and causes the driving wheel 210 to leave the ground 20 , so that the obstacle overcoming wheel 230 drives the fuselage 100 to move forward, thereby overcoming the obstacle 30 on the ground 20 .

[0076] Figure 2 The state of the cleaning robot 10 of this embodiment when it contacts the obstacle 30 is specifically shown. Figure 2 As can be understood from the above description, the cleaning robot 10 of this embodiment can drive the obstacle-crossing wheel 230 to contact the ground 20 through the support unit when it is at a preset distance from the obstacle 30, wherein the preset distance must be greater than the distance between the front end 101 of the fuselage 100 and the obstacle 30 at this position, and the specific value of the preset distance can be selected as needed. When the obstacle-crossing wheel 230 contacts the ground 20, the fuselage 100 is gradually propped up by the support unit, so that the driving wheel 210 is separated from the ground 20, the front end 101 of the fuselage 100 is away from the ground 20, the rear end 102 of the fuselage 100 is close to the ground 20, and the fuselage 100 is tilted toward the ground 20 as a whole, and the fuselage 100 is generally in a state of Figure 2 The cleaning robot 10 is in the state shown. It can be understood that in this state, the distance between the front end 101 of the body 100 and the ground 20 is much greater than the ground clearance of the body 100 when in the moving state. Therefore, it is easier for the cleaning robot 10 to cross the obstacle 30, or compared with the solutions of the related technology, this embodiment can enable the cleaning robot 10 to cross obstacles 30 with higher heights, thereby improving the obstacle crossing ability of the cleaning robot 10. Then, the cleaning robot 10 of this embodiment can maintain the above state and use the obstacle crossing wheels 230 to rotate to drive the body 100 to move forward. When the obstacle crossing wheel 230 abuts against the obstacle 30, the support unit drives the obstacle crossing wheel 230 along Figure 2 The driving wheel 210 is swung in the direction indicated by the middle arrow, so that it contacts the upper surface of the obstacle 30 (the surface on the side away from the ground 20), and the friction between the driving wheel 210 and the upper surface of the obstacle 30 is used to drive the body 100 to move forward, and the body 100 is gradually restored from the inclined state to the state parallel to the ground 20, and the cleaning robot 10 completes the crossing of the obstacle 30.

[0077] In some embodiments, in order to achieve the above functions, it can be understood that this embodiment also includes a sensor and a controller (not shown in the figure), wherein the sensor and the travel component are both communicatively connected with the controller.

[0078] The sensor is used to detect the obstacle 30 in the direction of travel of the cleaning robot, and after detecting the obstacle 30, sends an obstacle signal to the controller, which may include the distance between the cleaning robot and the obstacle 30, the height of the obstacle 30, etc. After receiving the obstacle signal, the controller sends a control instruction to the traveling component 200 to change the state of the traveling component 200. After receiving the control instruction, the traveling component 200 switches from the self-propelled state to the obstacle-crossing state, so that the obstacle-crossing wheel 230 contacts the ground 20, the driving wheel 210 is separated from the ground 20, and the body 100 is tilted toward the ground 20 as a whole. The cleaning robot remains in the obstacle-crossing state and moves toward the obstacle 30 and crosses the obstacle 30. It can be understood that, in this embodiment, since rotatable obstacle crossing wheels 230 are provided on the support unit, the obstacle crossing wheels 230 can be used to drive the body 100 to move when the body 100 is tilted on the ground 20 (that is, the traveling component 200 is in the traveling state). The body 100 can be kept in an inclined state to move, which can greatly enhance the obstacle crossing capability, thereby enabling the cleaning robot 10 of this embodiment to cross obstacles 30 of higher height.

[0079] Furthermore, when the traveling assembly 200 of this embodiment switches from the self-propelled state to the obstacle-crossing state, the driving wheel 210 is in a stopped state to prevent the driving wheel 210 from driving the fuselage 100 to move and causing the fuselage to be unstable during the switching.

[0080] Of course, in other embodiments, when the traveling component 200 of this embodiment switches from the self-propelled state to the obstacle crossing state, the driving wheel 210 is in a working state, that is, the driving wheel 210 continues to drive the body forward to improve the operation efficiency of the robot.

[0081] Since the robot's driving wheels themselves have a certain obstacle crossing capability, in some embodiments of the present application, the robot can collect the height of the obstacle through sensors installed on the body, and determine whether to switch to the obstacle crossing state based on whether the height of the obstacle exceeds a preset height threshold, so as to reduce the number of switching between the moving state and the obstacle crossing state, improve operating efficiency and equipment life.

[0082] Specifically, the above-mentioned sensor can be any sensor on the fuselage that has the ability to collect the height of obstacles, such as one or more of a line laser sensor, a lidar, a structured light sensor, and an AI camera. The present application is not limited to the above-mentioned sensors, and any sensor that has the ability to collect the height of obstacles can achieve the above-mentioned functions.

[0083] In some embodiments, the height threshold may be 2CM, 3CM or 4CM, etc. The height threshold may be predetermined based on the obstacle-crossing capability of the driving wheel itself, or may be specified based on instructions set by the user, and this application does not limit this.

[0084] In order to facilitate obstacle crossing, after detecting an obstacle, the controller can send instructions to the traveling component 200 to control the robot to move toward the obstacle and adjust the direction of the body to adjust the robot's direction toward the obstacle, that is, the robot's forward direction is perpendicular or approximately perpendicular to the tangent of the obstacle. By adjusting the robot to face the obstacle, the robot's driving wheels and obstacle crossing wheels can be moved in the direction facing the obstacle, thereby improving the robot's obstacle crossing ability. Of course, the actual direction can be set according to actual needs, and the embodiments of the present application are not limited to facing the obstacle.

[0085] When the traveling component 200 is switched to the obstacle crossing state, the robot can continue to move toward the obstacle, and when the obstacle crossing wheel and / or the driving wheel of the robot contacts the obstacle, the robot stops. Figure 2 Specifically, when the robot reaches the above position, the obstacle-crossing wheels can be controlled to stop moving forward, and the driving wheels can be controlled to continue moving forward, so as to improve the driving performance of the driving wheels and improve the climbing ability. Of course, the obstacle-crossing wheels and the driving wheels can also be controlled to keep moving forward, so that the obstacle-crossing wheels can provide the function of assisting climbing.

[0086] Please continue to refer to Figure 2 In this embodiment, when the support unit rotates in a first direction (clockwise in the figure) around the axis of the driving wheel 210, the traveling assembly 200 switches from the traveling state to the obstacle-crossing state. Correspondingly, when the support unit rotates in a second direction (counterclockwise in the figure) around the axis of the driving wheel 210, the traveling assembly 200 switches from the obstacle-crossing state to the traveling state.

[0087] The body 100 of this embodiment is also provided with an edge sensor 110, which is located in front of or behind the axis of the driving wheel 210 in the direction of travel of the cleaning robot. In this embodiment, the edge sensor 110 is arranged at the above position to make way for the obstacle-crossing wheel 230 and the support unit 220, thereby providing sufficient space.

[0088] In this embodiment, the support unit includes at least one support member, and the driving wheel 210 and the obstacle crossing wheel 230 are respectively arranged at opposite ends of the support member. The above structure can enable the obstacle crossing wheel 230 to be arranged away from the driving wheel 210, so as to increase the height of the support unit to support the fuselage 100, thereby facilitating the cleaning robot 10 to cross higher obstacles 30.

[0089] Please refer to Figure 3 and Figure 4In a possible implementation, the support unit of this embodiment includes a first support member 221, the first support member 221 includes a rotating portion 2211 and a support arm 2212, the rotating portion 2211 and the driving wheel 210 are coaxially arranged, the first end of the support arm 2212 is connected to the rotating portion 2211, the second end of the support arm 2212 extends radially outwardly of the rotating portion 2211, and the obstacle-crossing wheel 230 is rotatably arranged at the second end of the support arm 2212. In this embodiment, the rotating portion 2211 is generally cylindrical, and the rotation axis of the rotating portion 2211 is coaxial with the driving wheel 210; illustratively, the rotating portion 2211 and the driving wheel 210 can be connected to the same shaft, thereby ensuring the coaxiality of the two, so that the rotating portion 2211 can rotate around the axis of the driving wheel 210. The support arm 2212 is generally rod-shaped, and the support arm 2212 can be connected to the rotating part 2211, such as by welding; or, the rotating part 2211 and the support arm 2212 can be integrally formed; illustratively, in this embodiment, the rotating part 2211 and the support arm 2212 can be integrally formed. The support arm 2212 is preferably arranged away from the rotation axis of the rotating part 2211, so that when the rotating part 2211 rotates, it can drive the support arm 2212 to travel a longer distance, so as to prop up the fuselage 100 to a higher height, thereby facilitating the cleaning robot 10 to cross a higher obstacle 30.

[0090] Combination Figure 1-Figure 4 It can be understood that when the traveling assembly 200 of this embodiment is in the traveling state, the first support member 221 remains stationary at a certain height, and at this time, the support arm 2212 is separated from the ground 20, thereby causing the obstacle-crossing wheel 230 installed on the support arm 2212 to be separated from the ground 20, and the traveling assembly 200 is generally Figure 3 Status shown.

[0091] When the traveling assembly 200 switches from the self-propelled state to the obstacle-crossing state, the rotating part 2211 rotates in the first direction around the axis of the driving wheel 210, and the support arm 2212 swings along the circumferential direction with the rotating part 2211, thereby driving the obstacle-crossing wheel 230 installed on the support arm 2212 to approach the ground 20. After the obstacle-crossing wheel 230 approaches the ground 20, the first support member 221 can support the fuselage 100 by relying on the reaction force applied by the ground 20, so that the driving wheel 210 is separated from the ground 20 and the fuselage 100 gradually tilts with the ground 20.

[0092] When the traveling assembly 200 is in the obstacle crossing state, the front end 101 of the fuselage 100 is away from the ground 20, the rear end 102 of the fuselage 100 is close to the ground 20, and the fuselage 100 is tilted toward the ground 20 as a whole, and the fuselage 100 is driven to travel by the rotation of the obstacle crossing wheels 230. Since the fuselage 100 is tilted, the cleaning robot 10 can cross higher obstacles 30, thereby improving the obstacle crossing capability of the cleaning robot 10.

[0093] After the obstacle is overcome, the rotating part 2211 in the traveling assembly 200 rotates along the second direction around the axis of the driving wheel 210, thereby driving the obstacle-overcoming wheel 230 installed on the support arm 2212 to gradually move away from the ground 20 and finally return to the position of the ground. Figure 3 The status shown is to prepare for the next obstacle crossing.

[0094] In some embodiments, the present embodiment further includes a first transmission mechanism 240, which is disposed on the first support member 221. The obstacle overcoming wheel 230 is connected to the driving wheel 210 through the first transmission mechanism 240, so that when the driving wheel 210 rotates, the obstacle overcoming wheel 230 is driven to rotate. In other words, the obstacle overcoming wheel 230 of the present embodiment can rotate with the driving wheel 210, and when the fuselage 100 moves, the obstacle overcoming wheel 230 always keeps rotating. The first transmission mechanism 240 can be disposed inside the first support member 221, or outside the first support member 221 (such as the side of the first support member 221 facing the driving wheel 210); the specific structure of the first transmission mechanism 240 can be selected according to needs.

[0095] For example, Figure 3 and Figure 4 As shown, the first support member 221 of this embodiment may include a body and a cover plate, a cavity is formed in the body to provide installation space for other parts, and the cover plate is connected to the body by fasteners such as screws. The first transmission mechanism 240 is preferably arranged in the cavity of the first support member 221, so that the first support member 221 provides protection for the first transmission mechanism 240, which is conducive to extending the service life of the first transmission mechanism 240.

[0096] The first transmission mechanism 240 includes a driving gear 241, a driven gear 242 and a plurality of intermediate transmission gears 243, and the driving gear 241 and the driven gear 242 are meshed and connected through the plurality of intermediate transmission gears 243. The number of the intermediate transmission gears 243, and the specific parameters of the driving gear 241, the driven gear 242 and the plurality of intermediate transmission gears 243 can be set according to the needs of the transmission ratio between the driving wheel 210 and the obstacle crossing wheel 230.

[0097] The driving wheel 210 is provided with a driving wheel shaft 211, and the driving wheel shaft 211 is inserted through the driving wheel 210 and the driving gear 241, so that the driving gear 241 is driven to rotate by the power output by the driving wheel 210. In this embodiment, a retaining spring can be provided on the driving wheel shaft 211 to fix the driving gear 241 on the driving wheel shaft 211 to prevent the driving gear 241 from falling off. The obstacle crossing wheel 230 is provided with a driven wheel shaft 231, and the driven wheel shaft 231 is inserted through the obstacle crossing wheel 230 and the driven gear 242. When the driven gear 242 rotates, the power can be transmitted to the obstacle crossing wheel 230 through the driven wheel shaft 231, so as to drive the obstacle crossing wheel 230 to rotate.

[0098] In some other embodiments, the present embodiment further includes a first driving device (not shown in the figure), the output end of which is connected to the obstacle crossing wheel 230, and the obstacle crossing wheel 230 can be driven by the first driving device to rotate so that the obstacle crossing wheel 230 can rotate independently, and when the obstacle crossing wheel 230 leaves the ground, the obstacle crossing wheel 230 can be controlled to stop rotating, thereby saving energy.

[0099] Optionally, the first driving device may include a driving motor, for example, and the first driving device may be disposed in the obstacle overcoming wheel 230. In this case, the driving motor may be a hub motor, and the obstacle overcoming wheel 230 may also be self-driven like the driving wheel 210. Alternatively, the first driving device may be disposed in the first supporting member 221, and the output end of the first driving device is connected to the obstacle overcoming wheel 230 to drive the obstacle overcoming wheel 230 to rotate.

[0100] In some embodiments, the present embodiment further includes a second driving device 250, which is connected to the first support member 221 to drive the first support member 221 to rotate around the axis of the driving wheel 210, thereby switching the traveling component 200 between the traveling state and the obstacle crossing state.

[0101] Specifically, the second driving device 250 is connected to the first supporting member 221 through the second transmission mechanism 260. The second transmission mechanism 260 includes a worm 261 and a gear ring 262. The worm 261 meshes with the gear ring 262. The worm 261 is connected to the output end of the second driving device 250. The gear ring 262 is arranged on the outer peripheral side of the rotating part 2211, and the axis of the gear ring 262 coincides with the axis of the driving wheel 210. When the second transmission mechanism 260 drives the worm 261 to rotate, the worm 261 will drive the gear ring 262 to rotate synchronously. The rotation of the gear ring 262 will drive the rotating part 2211 to rotate around the axis of the driving wheel 210, and then drive the support arm 2212 and the obstacle-crossing wheel 230 thereon to rotate, so that the traveling component 200 switches between the traveling state and the obstacle-crossing state.

[0102] This embodiment also includes a bracket 270, which is used to connect to the fuselage 100. For example, a connecting hole 271 is provided on the bracket 270, and a connecting shaft passes through the connecting hole 271 and is connected to the fuselage 100. The traveling component 200 can rotate around the connecting shaft, thereby realizing a rotational connection with the fuselage 100.

[0103] The bracket 270 is also used to install the driving wheel 210 and provide an installation space for the second driving device 250. Exemplarily, the driving wheel 210 is arranged on the first side of the bracket 270, the first support member 221 and the obstacle-crossing wheel 230 are arranged on the second side of the bracket 270, and the driving wheel 210 can be fixedly connected to the bracket 270 through bearings, sleeves and other parts that are penetrated on the driving wheel shaft 211. The bracket 270 also includes a mounting groove, and the second driving device 250 can be arranged in the mounting groove.

[0104] Optionally, the obstacle overcoming wheel 230 of the present embodiment may be located on the side of the first support member 221 facing the driving wheel 210 to reduce the overall size of the traveling assembly 200 and improve space utilization.

[0105] Please refer to Figure 5-Figure 7 In another possible implementation, the support unit of this embodiment includes a second support member 222 and a third support member 223, the second support member 222 can rotate around the axis of the driving wheel 210, the first end of the third support member 223 is rotatably connected to the second support member 222, and the obstacle-crossing wheel 230 is rotatably arranged at the second end of the third support member 223. When the traveling assembly 200 switches from the traveling state to the obstacle-crossing state, the second support member 222 rotates to drive the third support member 223 to move, so that the obstacle-crossing wheel 230 contacts the ground 20. At this time, the role of the second support member 222 is equivalent to the rotating part 2211 in the above embodiment, and the role of the third support member 223 is equivalent to the support arm 2212 in the above embodiment. In this embodiment, the second support member 222 and the driving wheel 210 can be connected to the same shaft, thereby ensuring the coaxiality of the two, so that the second support member 222 can rotate around the axis of the driving wheel 210. The third support member 223 is generally rod-shaped, and the third support member 223 is preferably arranged away from the rotation axis of the second support member 222, so that when the second support member 222 rotates, the third support member 223 can be driven to travel a longer distance to prop up the fuselage 100 to a higher height, thereby facilitating the cleaning robot 10 to cross a higher obstacle 30. The third support member 223 and the second support member 222 are connected in a rotating manner, so that the third support member 223 can not only rotate with the second support member 222, but also can be rotated relative to the second support member 222, thereby facilitating the change of the overall length of the second support member 222 and the third support member 223, so that it is not easy to prop up the fuselage 100 again when the traveling assembly 200 returns to the traveling state after completing the obstacle crossing, which is conducive to improving the user experience.

[0106] Optionally, in this embodiment, the rotation axis of the second support member 222 does not coincide with the rotation axis of the third support member 223 , so that the third support member 223 can rotate eccentrically around the second support member 222 .

[0107] For example, Figure 5 As shown, the second support member 222 of the present embodiment is provided with a fixed shaft 2221, and the fixed shaft 2221 is arranged away from the rotation axis of the second support member 222. The third support member 223 is provided with a shaft sleeve 2231, and the third support member 223 is sleeved on the fixed shaft 2221 through the shaft sleeve 2231, so that the third support member 223 can rotate eccentrically relative to the second support member 222. By arranging the third support member 223 to rotate eccentrically relative to the second support member 222, when switching from the obstacle overcoming state to the traveling state, the third support member 223 can rotate around a rotation axis different from that of the second support member 222, so that the obstacle overcoming wheel 230 will not be supported on the ground due to the squeezing force of the second support member 222 during the process of the second support member 222 being recovered from the obstacle overcoming state to the traveling state, resulting in the problem that the obstacle overcoming wheel 230 will lift the fuselage 100 and the driving wheel 210 upward during the recovery process.

[0108] Combination Figure 1 , Figure 2 , Figure 5-Figure 7 It can be understood that when the traveling assembly 200 of this embodiment is in the traveling state, the second support member 222 and the third support member 223 do not rotate. At this time, the third support member 223 is separated from the ground 20, so that the obstacle-crossing wheel 230 installed on the third support member 223 is separated from the ground 20. The traveling assembly 200 is generally Figure 5 Status shown.

[0109] Since the second support member 222 and the third support member 223 are movably connected, in order to keep the third support member 223 Figure 5 In the state shown, an elastic member 224 is further provided between the second support member 222 and the third support member 223 of this embodiment. The elastic member 224 is used to apply an elastic force to the third support member 223 in the moving state so that the obstacle-crossing wheel 230 remains out of contact with the ground 20.

[0110] Optionally, the elastic member 224 includes a torsion spring, a first end of the torsion spring is connected to the second support member 222 , and a second end of the torsion spring is connected to the third support member 223 .

[0111] When the traveling assembly 200 switches from the self-propelled state to the obstacle-crossing state, the second support member 222 rotates in the first direction around the axis of the driving wheel 210, and the third support member 223 swings along the circumferential direction with the second support member 222, thereby driving the obstacle-crossing wheel 230 installed on the third support member 223 to approach the ground 20. After the obstacle-crossing wheel 230 approaches the ground 20, the second support member 222 and the third support member 223 can support the fuselage 100 by relying on the reaction force applied by the ground 20, so that the driving wheel 210 is separated from the ground 20 and the fuselage 100 gradually tilts with the ground 20.

[0112] When the traveling assembly 200 is in the obstacle crossing state, the front end 101 of the fuselage 100 is away from the ground 20, the rear end 102 of the fuselage 100 is close to the ground 20, and the fuselage 100 is tilted toward the ground 20 as a whole, and the fuselage 100 is driven to travel by the rotation of the obstacle crossing wheels 230. Since the fuselage 100 is tilted, the cleaning robot 10 can cross higher obstacles 30, thereby improving the obstacle crossing capability of the cleaning robot 10.

[0113] After the obstacle is overcome, the second support member 222 in the traveling assembly 200 rotates around the axis of the driving wheel 210 in the second direction, thereby driving the obstacle-overcoming wheel 230 installed on the third support member 223 to gradually move away from the ground 20 and finally return to the position of the ground. Figure 5 In this process, since the third support member 223 can rotate relative to the second support member 222, the overall length of the second support member 222 and the third support member 223 can be changed, so that the second support member 222 and the third support member 223 will not prop up the fuselage 100 again, which is conducive to improving the user experience.

[0114] That is to say, after the traveling component 200 of the present embodiment crosses the obstacle 30 and switches back to the traveling state from the obstacle crossing state, the third support member 223 rotates relative to the second support member 222 so that the height of the obstacle crossing wheel 230 is higher than or equal to the height of the driving wheel 210. Since the driving wheel 210 is always in contact with the ground 20, the fuselage 100 is not propped up again, which is beneficial to improving the user experience.

[0115] Figure 8(a)-Figure 8(e) for Figure 5 A schematic diagram showing the transition of the traveling component from an obstacle-crossing state to a traveling state.

[0116] FIG8(a) shows a schematic diagram of the traveling assembly 200 just after the obstacle is overcome. At this time, the second support member 222 drives the third support member 223 to rotate to the rear of the driving wheel 210 in the traveling direction. Figure 5 As shown in the state, the second support member 222 needs to rotate along the second direction (counterclockwise direction as shown by arrow a1 in the figure) to drive the third support member 223 and the obstacle-crossing wheel 230 to gradually approach the ground 20.

[0117] Figure 8(b) shows a schematic diagram when the obstacle crossing wheel 230 abuts against the ground 20. When the second support member 222 continues to rotate in the second direction (counterclockwise direction as shown by arrow a1 in the figure) to make the obstacle crossing wheel 230 abut against the ground 20, since the second support member 222 and the third support member 223 are rotationally connected, under the action of the reaction force applied by the ground 20 to the obstacle crossing wheel 230, the third support member 223 rotates around the hinge point of the second support member 222 and the third support member 223 in the first direction (clockwise direction as shown by arrow a2 in the figure), so that the driving wheel 210 always maintains contact with the ground 20.

[0118] The second support member 222 continues to rotate in the second direction (counterclockwise as indicated by arrow a1 in the figure), so that the third support member 223 continues to rotate in the first direction (clockwise as indicated by arrow a2 in the figure) around the hinge point between the second support member 222 and the third support member 223, and finally the third support member 223 and the obstacle-crossing wheel 230 are stored between the second support member 222 and the ground 20. As shown in FIG8(c), in order to ensure that the third support member 223 and the obstacle-crossing wheel 230 do not prop up the fuselage 100 in this state, the maximum size of the second support member 222 along the radial direction of the driving wheel 210 needs to be smaller than the radius of the driving wheel 210, so as to structurally provide sufficient space for the storage of the third support member 223 during the switching process from the obstacle-crossing state to the traveling state.

[0119] Specifically, the second support member 222 of the present embodiment also has a accommodating gap 2222, and the first end of the third support member 223 is rotatably connected to one side of the accommodating gap 2222, and when the traveling component 200 switches from the obstacle overcoming state to the traveling state, the third support member 223 is received in the accommodating gap 2222, and the spatial dimension of the accommodating gap 2222 is larger than the overall spatial dimension of the third support member 223 and the obstacle overcoming wheel 230, thereby ensuring that the third support member 223 and the obstacle overcoming wheel 230 can be completely received in the accommodating gap 2222.

[0120] As shown in Figure 8(d), the second support member 222 continues to rotate in the second direction (counterclockwise direction as shown by arrow a1 in the figure) in the state shown in Figure 8(c), so that the third support member 223 and the obstacle crossing wheel 230 gradually rotate to the front of the travel direction of the driving wheel 210. At this time, the obstacle crossing wheel 230 gradually leaves the ground 20.

[0121] After the obstacle crossing wheel 230 leaves the ground 20, since the ground 20 no longer applies a force to the obstacle crossing wheel 230, the third support member 223 is propped up under the elastic force applied by the elastic member 224 to move the obstacle crossing wheel 230 away from the ground 20 and eventually return to the state shown in FIG. 8(e) to prepare for the next obstacle crossing.

[0122] In some embodiments, the present embodiment further includes a first transmission mechanism 240, which is disposed on the second support member 222 and the third support member 223. The obstacle overcoming wheel 230 is connected to the driving wheel 210 through the first transmission mechanism 240, so that when the driving wheel 210 rotates, the obstacle overcoming wheel 230 is driven to rotate. That is to say, the obstacle overcoming wheel 230 of the present embodiment can rotate with the driving wheel 210, and when the fuselage 100 moves, the obstacle overcoming wheel 230 always keeps a rotating state. The first transmission mechanism 240 can be disposed inside the second support member 222 and the third support member 223, or outside the second support member 222 and the third support member 223 (such as the side of the second support member 222 and the third support member 223 facing the driving wheel 210); the specific structure of the first transmission mechanism 240 can be selected according to needs.

[0123] For example, Figure 5-Figure 7 As shown, the second support member 222 and the third support member 223 of this embodiment may both include a body and a cover plate, and a cavity is formed in the body of the second support member 222 and the body of the third support member 223 to provide installation space for other parts, and the cover plate of the second support member 222 and the cover plate of the third support member 223 are connected to their respective bodies by fasteners such as screws. The first transmission mechanism 240 of this embodiment may be disposed in the cavity of the second support member 222 and the third support member 223, so that the second support member 222 and the third support member 223 provide protection for the first transmission mechanism 240, which is conducive to extending the service life of the first transmission mechanism 240.

[0124] The first transmission mechanism 240 may include a driving gear 241, a driven gear 242, and a plurality of intermediate transmission gears 243, wherein the driving gear 241 and the driven gear 242 are meshed and connected via the plurality of intermediate transmission gears 243. The number of the intermediate transmission gears 243, and the specific parameters of the driving gear 241, the driven gear 242, and the plurality of intermediate transmission gears 243 may be set according to the requirements of the transmission ratio between the driving wheel 210 and the obstacle crossing wheel 230.

[0125] The driving wheel 210 is provided with a driving wheel shaft 211, and the driving wheel shaft 211 is inserted through the driving wheel 210 and the driving gear 241, so that the driving gear 241 is driven to rotate by the power output by the driving wheel 210. In this embodiment, a retaining spring 225 can be provided on the driving wheel shaft 211 to fix the driving gear 241 on the driving wheel shaft 211 to prevent the driving gear 241 from falling off. The obstacle crossing wheel 230 is provided with a driven wheel shaft 231, and the driven wheel shaft 231 is inserted through the obstacle crossing wheel 230 and the driven gear 242. When the driven gear 242 rotates, the power can be transmitted to the obstacle crossing wheel 230 through the driven wheel shaft 231 to drive the obstacle crossing wheel 230 to rotate.

[0126] Since the second support member 222 and the third support member 223 of this embodiment are two independent parts that are movably connected, the plurality of intermediate transmission gears 243 include at least two first intermediate transmission gears 2431, at least two second intermediate transmission gears 2432 and a third intermediate transmission gear 2433. Figure 7 As shown, the third intermediate transmission gear 2433 includes a first gear portion 24331 and a second gear portion 24332 which are coaxially arranged. The driving gear 241, the first intermediate transmission gear 2431 and the first gear portion 24331 are meshed with each other and are located in the second support member 222. The driven gear 242, the second intermediate transmission gear 2432 and the second gear portion 24332 are meshed with each other and are located in the third support member 223. That is to say, in this embodiment, the first gear portion 24331 and the second gear portion 24332 which are coaxially arranged on the third intermediate transmission gear 2433 are used to realize the smooth transmission of power between the second support member 222 and the third support member 223. A bare rod section can also be arranged between the first gear portion 24331 and the second gear portion 24332 of the third intermediate transmission gear 2433, and a torsion spring can be wound around the bare rod section. In this embodiment, the fixed shaft 2221 connecting the second support member 222 and the third support member 223 can be passed through the third intermediate transmission gear 2433.

[0127] In some other embodiments, the present embodiment further includes a first driving device (not shown in the figure), the output end of which is connected to the obstacle crossing wheel 230, and the obstacle crossing wheel 230 can be driven by the first driving device to rotate so that the obstacle crossing wheel 230 can rotate independently, and when the obstacle crossing wheel 230 leaves the ground, the obstacle crossing wheel 230 can be controlled to stop rotating, thereby saving energy.

[0128] Optionally, the first driving device may include a driving motor, for example, and the first driving device may be disposed in the obstacle overcoming wheel 230. In this case, the driving motor may be a hub motor, and the obstacle overcoming wheel 230 may also be self-driven like the driving wheel 210. Alternatively, the first driving device may be disposed in the third supporting member 223, and the output end of the first driving device is connected to the obstacle overcoming wheel 230 to drive the obstacle overcoming wheel 230 to rotate.

[0129] In some embodiments, the present embodiment further includes a second driving device 250, which is connected to the second support member 222 to drive the second support member 222 to rotate around the axis of the driving wheel 210, thereby switching the traveling component 200 between the traveling state and the obstacle crossing state.

[0130] Specifically, the second driving device 250 is connected to the second supporting member 222 through the second transmission mechanism 260. The second transmission mechanism 260 includes a worm 261 and a gear ring 262. The worm 261 meshes with the gear ring 262. The worm 261 is connected to the output end of the second driving device 250. The gear ring 262 is arranged on the outer peripheral side of the second supporting member 222, and the axis of the gear ring 262 coincides with the axis of the driving wheel 210. When the second transmission mechanism 260 drives the worm 261 to rotate, the worm 261 will drive the gear ring 262 to rotate synchronously. The rotation of the gear ring 262 will drive the second supporting member 222 to rotate around the axis of the driving wheel 210, and then drive the third supporting member 223 and the obstacle-crossing wheel 230 thereon to rotate, so that the traveling assembly 200 switches between the traveling state and the obstacle-crossing state.

[0131] Optionally, the second drive device 250 of this embodiment may further include a plurality of transmission gears 263, and the worm 261 and the ring gear 262 are meshed through the plurality of transmission gears 263. In this embodiment, the plurality of transmission gears 263 are arranged outside the second drive device 250, so that the second drive device 250 can omit structures such as a gear box, thereby helping to reduce the overall volume of the second drive device 250 and the second transmission mechanism 260.

[0132] This embodiment also includes a bracket 270, which is used to connect to the fuselage 100. For example, a connecting hole 271 is provided on the bracket 270, and a connecting shaft passes through the connecting hole 271 and is connected to the fuselage 100. The traveling component 200 can rotate around the connecting shaft, thereby realizing a rotational connection with the fuselage 100.

[0133] The bracket 270 is also used to install the driving wheel 210 and provide an installation space for the second driving device 250. Exemplarily, the driving wheel 210 is arranged on the first side of the bracket 270, the second support member 222, the third support member 223 and the obstacle-crossing wheel 230 are arranged on the second side of the bracket 270, and the driving wheel 210 can be fixedly connected to the bracket 270 through the bearing, sleeve and other parts that are penetrated on the driving wheel shaft 211. The bracket 270 also includes a mounting groove, and the second driving device 250 can be arranged in the mounting groove.

[0134] Optionally, the obstacle overcoming wheel 230 of the present embodiment may be located on the side of the first support member 221 facing the driving wheel 210 to reduce the overall size of the traveling assembly 200 and improve space utilization.

[0135] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0136] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0137] It should be noted that in the description of this application, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0138] The various embodiments or implementation methods in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0139] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that: The vehicle comprises a body and a traveling assembly, wherein the traveling assembly comprises a driving wheel, a supporting unit and an obstacle-crossing wheel, wherein the obstacle-crossing wheel is arranged on the supporting unit, and the supporting unit can rotate around the driving wheel so that the traveling assembly can switch between a traveling state and an obstacle-crossing state. Wherein, when the traveling assembly is in the traveling state, the driving wheel abuts against the ground to drive the fuselage to travel; When the traveling assembly is in the obstacle-overcoming state, the support unit drives the obstacle-overcoming wheels to contact the ground and causes the driving wheels to leave the ground, so that the obstacle-overcoming wheels drive the fuselage to travel.

2. The cleaning robot according to claim 1, characterized in that: When the traveling assembly is in the traveling state, the obstacle-crossing wheels are detached from the ground, and the driving wheels are in contact with the ground, so that the driving wheels drive the fuselage to travel.

3. The cleaning robot according to claim 2, characterized in that: It also includes a sensor and a controller, wherein the sensor and the travel component are both in communication connection with the controller; The sensor is used to detect obstacles in the direction of travel of the cleaning robot, and send an obstacle signal to the controller after detecting the obstacle; After receiving the obstacle signal, the controller sends a control instruction to the traveling component; After receiving the control instruction, the traveling component switches from the traveling state to the obstacle crossing state; The cleaning robot moves toward the obstacle and crosses the obstacle in the obstacle crossing state.

4. The cleaning robot according to claim 3, characterized in that: When the traveling component switches from the traveling state to the obstacle-crossing state, the driving wheel is in a stopped state.

5. The cleaning robot according to claim 1, characterized in that: When the support unit rotates in a first direction around the axis of the driving wheel, the traveling assembly switches from the traveling state to the obstacle-crossing state; When the support unit rotates along the second direction around the axis of the driving wheel, the traveling component switches from the obstacle-crossing state to the traveling state, wherein the first direction and the second direction are opposite.

6. The cleaning robot according to claim 5, characterized in that: The supporting unit comprises at least one supporting member, and the driving wheel and the obstacle-crossing wheel are respectively arranged at two opposite ends of the supporting member.

7. The cleaning robot according to claim 6, characterized in that: The support unit includes a first support member, which includes a rotating part and a support arm. The rotating part and the driving wheel are coaxially arranged. The first end of the support arm is connected to the rotating part, and the second end of the support arm extends radially outward along the rotating part. The obstacle crossing wheel is rotatably arranged at the second end of the support arm.

8. The cleaning robot according to claim 6, characterized in that: The support unit includes a second support member and a third support member, the second support member can rotate around the axis of the driving wheel, the first end of the third support member and the second support member are rotatably connected, and the obstacle overcoming wheel is rotatably arranged on the second end of the third support member, wherein when the traveling component switches from the traveling state to the obstacle overcoming state, the second support member rotates to drive the third support member to move, so that the obstacle overcoming wheel contacts the ground.

9. The cleaning robot according to claim 8, characterized in that: The rotation axis of the second support member does not coincide with the rotation axis of the third support member.

10. The cleaning robot according to claim 9, characterized in that: The second support member is also provided with a fixed shaft, and the fixed shaft is arranged away from the rotation axis of the second support member. The third support member is provided with a shaft sleeve, and the third support member is sleeved on the fixed shaft through the shaft sleeve.

11. The cleaning robot according to claim 10, characterized in that: An elastic member is further provided between the second support member and the third support member, and the elastic member is used to apply an elastic force to the third support member in the traveling state so as to keep the obstacle-crossing wheel out of contact with the ground.

12. The cleaning robot according to claim 8, characterized in that: After the traveling component crosses the obstacle and switches from the obstacle-crossing state to the traveling state, the third support member rotates relative to the second support member so that the height of the obstacle-crossing wheel is higher than or equal to the height of the driving wheel.

13. The cleaning robot according to claim 12, characterized in that: Along the radial direction of the driving wheel, the maximum dimension of the second support member is smaller than the radius of the driving wheel.

14. The cleaning robot according to claim 13, characterized in that: The second support member has a receiving gap, the first end of the third support member is rotatably connected to one side of the receiving gap, and when the traveling component switches from the obstacle-crossing state to the traveling state, the third support member and the obstacle-crossing wheel are received in the receiving gap.

15. The cleaning robot according to claim 7 or 8, characterized in that: It also includes a first transmission mechanism, which is arranged in the supporting unit. The obstacle-crossing wheel is connected to the driving wheel through the first transmission mechanism, so that the obstacle-crossing wheel is driven to rotate when the driving wheel rotates.

16. The cleaning robot according to claim 15, characterized in that: A cavity is formed in the support unit, and the first transmission mechanism is arranged in the cavity.

17. The cleaning robot according to claim 16, characterized in that: The first transmission mechanism comprises a driving gear, a driven gear and a plurality of intermediate transmission gears, wherein the driving gear and the driven gear are meshed and connected via the plurality of intermediate transmission gears; The driving wheel is provided with a driving wheel axle, and the driving wheel axle passes through the driving wheel and the driving gear; the obstacle-crossing wheel is provided with a driven wheel axle, and the driven wheel axle passes through the obstacle-crossing wheel and the driven gear.

18. The cleaning robot according to claim 17, characterized in that: The multiple intermediate transmission gears include at least two first intermediate transmission gears, at least two second intermediate transmission gears and a third intermediate transmission gear, the third intermediate transmission gear includes a first gear portion and a second gear portion arranged coaxially, the driving gear, the first intermediate transmission gear and the first gear portion are meshed with each other; the driven gear, the second intermediate transmission gear and the second gear portion are meshed with each other.

19. The cleaning robot according to claim 7 or 8, characterized in that: It also includes a first driving device, the output end of which is connected to the obstacle-crossing wheel.

20. The cleaning robot according to claim 19, characterized in that: The first driving device is arranged in the obstacle-crossing wheel; or, the first driving device is arranged in the supporting unit.

21. The cleaning robot according to claim 7 or 8, characterized in that: It also includes a second driving device, which is connected to the supporting unit to drive the supporting unit to rotate around the axis of the driving wheel.

22. The cleaning robot according to claim 21, characterized in that: The second driving device is connected to the supporting unit through a second transmission mechanism; the second transmission mechanism includes a worm and a ring gear, the worm is meshed with the ring gear, the worm is connected to the output end of the second driving device, the ring gear is fixedly connected to the supporting unit, and the axis of the ring gear coincides with the axis of the driving wheel.

23. The cleaning robot according to claim 1, characterized in that: It also includes a bracket, which is used to connect the fuselage, the driving wheel is arranged on a first side of the bracket, and the supporting unit and the obstacle-crossing wheel are arranged on a second side of the bracket.

24. The cleaning robot according to claim 23, characterized in that: The bracket is provided with a connecting hole, and the connecting shaft is connected to the fuselage after passing through the connecting hole.

25. The cleaning robot according to claim 23, characterized in that: The obstacle-crossing wheel is located on a side of the supporting unit facing the driving wheel.

26. The cleaning robot according to claim 1, characterized in that: It also includes an edge sensor, which is located in front of or behind the axis of the driving wheel facing the moving direction of the cleaning robot.

27. The cleaning robot according to claim 1, characterized in that: Two traveling components are arranged on the fuselage, and the two traveling components are arranged close to the left side and the right side of the fuselage respectively.

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