Walking wheel lifting mechanism and cleaning equipment

Abstract

The utility model discloses a walking wheel lifting mechanism (100) and cleaning equipment (1000). The walking wheel lifting mechanism (100) comprises a walking wheel assembly (10), a power assembly (20) and a flexible connecting piece (30). The power assembly (20) comprises a rotating power element (21) and a rotating disc (22), and the rotating power element (21) is used for driving the rotating disc (22) to rotate in two opposite directions; the flexible connecting piece (30) is arranged between the walking wheel assembly (10) and the rotating disc (22) and used for enabling the walking wheel assembly (10) to rotate relative to the equipment body (200) by changing the length exposed between the walking wheel assembly (10) and the rotating disc (22) in the rotating process of the rotating disc (22), and the walking wheel assembly (10) makes contact with the ground all the time in the rotating process. The rotating angle of the rotating disc (22) in the rotating process of the walking wheel assembly (10) does not exceed 360 degrees.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and specifically relates to a walking wheel lifting mechanism and a cleaning equipment. Background Art

[0002] Cleaning equipment is a common intelligent cleaning appliance, such as sweeping robots, automatic sweepers, etc. The ability of cleaning equipment to cross obstacles during automatic driving is crucial for cleaning equipment, and the obstacle height limits the working range and operating reliability of the cleaning equipment.

[0003] Currently, the solution to the obstacle crossing problem mostly relies on software strategies. The obstacle crossing function is achieved by adjusting the angle and speed at which the cleaning equipment approaches the obstacle. This solution is limited in effect due to physical limitations such as the height of the cleaning equipment from the ground. Utility Model Content

[0004] In order to improve the obstacle-crossing capability of a cleaning device, the present application provides a walking wheel lifting mechanism and a cleaning device.

[0005] In a first aspect of the present application, a walking wheel lifting mechanism is provided, which is installed on a device body and includes:

[0006] A walking wheel assembly is rotatably arranged on the equipment body;

[0007] A power assembly is installed on the device body, the power assembly includes a rotating power element and a rotating disk, the rotating power element is used to drive the rotating disk to rotate in two opposite directions;

[0008] And a flexible connector, which is arranged between the walking wheel assembly and the rotating disk, and is used to change the length exposed between the walking wheel assembly and the rotating disk during the rotation of the rotating disk, so that the walking wheel assembly can rotate relative to the equipment body, and the walking wheel assembly is always in contact with the ground during the rotation; the rotation angle of the rotating disk during the rotation of the walking wheel assembly does not exceed 360 degrees.

[0009] In some embodiments, the rotation angle of the rotating disk during the lifting or lowering of the walking wheel assembly is 0 to 300 degrees.

[0010] In some embodiments, the connection between the flexible connector and the rotating disk is eccentrically arranged relative to the rotating axis of the rotating disk.

[0011] In some embodiments, the rotation angle of the rotating disk during the lifting or lowering of the walking wheel assembly is 0 to 90 degrees.

[0012] In some embodiments, the rotating disk includes a transmission disk, an inner fixed disk, and an outer fixed disk connected in sequence, and the connection between the flexible connector and the rotating disk is located between the inner fixed disk and the outer fixed disk.

[0013] In some embodiments, a torsion spring is provided at the connection between the flexible connector and the rotating disk, so that the flexible connector is always tightened when the rotating disk rotates.

[0014] In some embodiments, the rotating power element is a servo or motor with an integrated encoder, and the output shaft of the servo or motor is connected to the rotating disk.

[0015] In some embodiments, the walking wheel lifting mechanism also includes a controller and a sensor for detecting the rotation angle of the walking wheel assembly, and the sensor and the rotating power element are electrically connected to the controller; the controller is configured to determine whether the rotating power element or the flexible connecting member is faulty based on the rotation angle of the walking wheel assembly and the rotation angle of the rotating power element.

[0016] In some embodiments, the sensor includes a rotation sensor disposed on a rotating shaft of the traveling wheel assembly, and / or an optical sensor disposed on the traveling wheel assembly.

[0017] In some embodiments, an upper limit portion and a lower limit portion are provided on the device body, which are used to limit the upper limit position and the lower limit position of the walking wheel assembly respectively.

[0018] In some embodiments, the travel wheel assembly includes a travel power device and a travel wheel driven by the travel power device; the travel power device includes a main wheel part and a free part, the main wheel part is closer to the travel wheel relative to the free part; the main wheel part and the free part are separated by the grounding normal axis of the travel wheel, and the free part is closer to the forward direction of the device body than the main wheel part;

[0019] The free part of the walking power device is rotatably connected to the equipment body; the flexible connecting piece is connected to the free part of the walking power device.

[0020] In some embodiments, a mounting shaft seat is provided at the free part of the travel power device, the mounting shaft seat is rotatably connected to the device body, and the travel power device rotates with the rotating shaft of the mounting shaft seat as the center of the circle;

[0021] The free part of the walking power device is provided with a hanging point, and the flexible connecting member is connected to the hanging point.

[0022] In some embodiments, the mounting shaft seat is disposed at the lower portion of the free portion; and the hanging point portion is disposed at the upper portion of the free portion.

[0023] In some embodiments, the walking power device includes a reduction box and a driving motor mounted on the reduction box, and the rotating shaft of the mounting shaft seat is different from the axis of the driving motor.

[0024] In some embodiments, the walking wheel lifting mechanism further includes a spring, one end of which is fixed to the free part of the walking power device, and the other end of which is fixed to the equipment body.

[0025] In some embodiments, the free portion and the device body are both provided with hooks, and the two ends of the spring are respectively hooked on the two hooks, and the hooking directions of the two hooks are opposite.

[0026] In some embodiments, when the rotating disk rotates in a first direction, the flexible connector is exposed to a reduced length between the walking wheel assembly and the rotating disk and is tightened, and the flexible connector pulls the walking wheel assembly to rotate relative to the device body;

[0027] When the rotating disk rotates in a second direction opposite to the first direction, the length of the flexible connection member exposed between the walking wheel assembly and the rotating disk increases, and the walking wheel assembly rotates in the opposite direction relative to the equipment body.

[0028] In a second aspect of the present application, a cleaning device is provided, comprising a device body and the travel wheel lifting mechanism of the first aspect.

[0029] According to one or more embodiments of the present application, a walking wheel lifting mechanism is provided, which includes a walking wheel assembly, a power assembly, and a flexible connector. The walking wheel assembly is rotatably disposed on the equipment body, and the power assembly is also installed on the equipment body, and is used to provide a driving force when the walking wheel assembly is lifted relative to the equipment body. The power assembly includes a rotating power element and a rotating disk, and the rotating power element is used to drive the rotating disk to rotate in two opposite directions. The flexible connector is disposed between the walking wheel assembly and the rotating disk. During the rotation of the rotating disk, the length of the flexible connector exposed between the walking wheel assembly and the rotating disk changes, so that the walking wheel assembly rotates relative to the equipment body to achieve a lifting function relative to the equipment body.

[0030] The rotation angle of the rotating disk during the rotation of the walking wheel assembly does not exceed 360 degrees, thereby reducing the length of the flexible connector exposed between the walking wheel assembly and the rotating disk, avoiding the increase in the exposed length of the flexible connector, causing it to become loose, detach from the rotating disk, or interfere with surrounding components due to excessive exposure, resulting in a malfunction of the walking wheel lifting mechanism. This reduces the failure rate of the walking wheel lifting mechanism and improves the working reliability of the walking wheel lifting mechanism.

[0031] The travel wheel assembly rotates relative to the equipment body, thereby increasing the relative distance between the travel wheel assembly and the equipment body. Since the travel wheel assembly is always in contact with the ground during the process of rotating relative to the equipment body, the rotation of the travel wheel assembly relative to the equipment body is manifested in the equipment as a change in the height of the equipment body above the ground. When the height of the equipment body above the ground increases, the components below the equipment body can be made higher than the obstacles, so that there is no part of the equipment that interferes with the obstacles during the obstacle surmounting process, thereby achieving the effect of increasing the obstacle surmounting height. The obstacle surmounting height, escape ability, and adaptability to different road surfaces of the equipment equipped with the travel wheel lifting mechanism can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. 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 creative work.

[0033] Figure 1 A schematic structural diagram of a walking wheel lifting mechanism in one or more embodiments of the present application when the walking wheel assembly is raised is shown.

[0034] Figure 2 A schematic diagram of the structure of the walking wheel lifting mechanism in one or more embodiments of the present application when the walking power device is in a descending state is shown.

[0035] Figure 3 Shows Figure 1 and Figure 2 Schematic diagram of the structure of the walking power device in the walking wheel lifting mechanism.

[0036] Figure 4 Shows Figure 1 and Figure 2 Assembly structure diagram of the travel power device and spring in the travel wheel lifting mechanism.

[0037] Figure 5 Shows Figure 1 and Figure 2 Exploded diagram of the power assembly and flexible connector in the walking wheel lifting mechanism.

[0038] Figure 6 A schematic diagram of the obstacle surmounting process of the cleaning device in one or more embodiments of the present application is shown.

[0039] Figure 7 A schematic diagram of the obstacle surmounting process of a cleaning device in other embodiments of the present application is shown.

[0040] Explanation of reference numerals: 100-travel wheel lifting mechanism; 10-travel wheel assembly, 11-travel power device, 111-reduction box, 112-drive motor, 113-wheel cover, 12-travel wheel; 20-power assembly, 21-rotation power element, 211-output shaft, 22-rotation disk, 221-transmission disk, 222-inner fixed disk, 223-outer fixed disk; 30-flexible connector; 40-rotation sensor; 50-light sensor; 60-mounting shaft seat, 61-rotating shaft; 70-spring; 80-hanging point; 90-hook. 200-equipment body, 210-base; 1000-cleaning equipment. a-main wheel part; b-free part, c-obstacle, d-ground. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0042] In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides various specific examples of processes and materials, but those of ordinary skill in the art may recognize the application of other processes and / or the use of other materials.

[0043] When the cleaning equipment encounters an obstacle during automatic driving, it needs to avoid the obstacle or cross the obstacle. The obstacle crossing height limits the working range and operating reliability of the cleaning equipment. The solution to the obstacle crossing problem in related technologies mostly relies on software strategies to achieve the obstacle crossing function by adjusting the angle and speed of the cleaning equipment approaching the obstacle. This solution is limited by physical limitations such as the height of the cleaning equipment from the ground and has limited effect.

[0044] In order to improve the obstacle-crossing ability of the cleaning equipment in a physical sense, one or more embodiments of the present application provide a walking wheel lifting mechanism and a cleaning equipment, which increases the ground clearance by actively raising the equipment body, so that the components below the equipment are higher than the obstacles, so that there is no part of the equipment that interferes with the obstacles during the obstacle-crossing process, thereby achieving the effect of increasing the obstacle-crossing height. The present application is described in detail below in conjunction with specific embodiments and drawings.

[0045] In the first aspect of the present application, a walking wheel lifting mechanism 100 is provided. The walking wheel lifting mechanism 100 is installed on the equipment body 200 of the automated equipment with the obstacle crossing function requirement, and can realize the function of lifting and lowering the walking wheel 12 relative to the equipment body 200, thereby increasing the ground clearance of the equipment body 200 and achieving an increased obstacle crossing height. The walking wheel lifting mechanism 100 can be applied to cleaning equipment such as sweeping robots and automatic sweeping machines, and can also be applied to other automatic driving equipment with the obstacle crossing function requirement, such as automatic food delivery robots, express delivery sorting robots, etc.

[0046] See also Figure 1 and Figure 2 , shows the overall structure diagram of the walking wheel lifting mechanism 100. The walking wheel lifting mechanism 100 includes a walking wheel assembly 10, a power assembly 20 and a flexible connector 30. The walking wheel assembly 10 is rotatably arranged on the equipment body 200, and the walking wheel assembly 10 is always in contact with the ground d during the driving process. The walking wheel assembly 10 can be a driving wheel assembly that provides the driving power for the equipment to travel, or it can be a driven wheel assembly that follows the driving wheel to travel, and this application does not make any restrictions. The power assembly 20 is also installed on the equipment body 200, and is used to provide a driving force when the walking wheel assembly 10 rotates relative to the equipment body 200. Since the relative rotation of the walking wheel assembly 10 and the travel of the walking wheel assembly 10 are driven by different drivers, the travel action and the relative rotation action of the walking wheel assembly 10 do not interfere with each other and can be performed simultaneously. The flexible connector 30 is used to transmit the power of the power assembly 20 and act on the walking wheel assembly 10, so that the walking wheel assembly 10 rotates relative to the equipment body 200 to realize the lifting function relative to the equipment body 200. The power assembly 20 and the flexible connector 30 can only drive the corresponding running wheel assembly 10 to swing and rise and fall, or can simultaneously drive two running wheel assemblies 10 to swing and rise and fall, and this application does not impose any limitation.

[0047] The travel wheel assembly 10 rotates relative to the equipment body 200, so that the relative distance between the travel wheel assembly 10 and the equipment body 200 increases. Since the travel wheel assembly 10 is always in contact with the ground d during the rotation relative to the equipment body 200, the lifting and lowering of the travel wheel assembly 10 relative to the equipment body 200 is manifested in the equipment as a change in the height of the equipment body 200 above the ground. When the height of the equipment body 200 above the ground increases, the components below the equipment body 200 can be higher than the obstacle c, so that there is no part of the equipment that interferes with the obstacle c during the obstacle surmounting process, thereby achieving the effect of increasing the obstacle surmounting height. The obstacle surmounting height, escape ability, and adaptability to different road surfaces of the equipment equipped with the travel wheel lifting mechanism 100 can be improved.

[0048] In some embodiments, the power assembly 20 outputs rotational power. Figure 1 and Figure 2 The power assembly 20 includes a rotating power element 21 and a rotating disk 22. The rotating power element 21 can be a steering gear or a motor (not limited to a brushed motor, a brushless motor, a stepping motor, etc.), and the rotating power element 21 is used to drive the rotating disk 22 to rotate in two opposite directions, for example, in a clockwise direction and a counterclockwise direction. The rotating disk 22 is fixedly connected to the output shaft 211 of the rotating power element 21, and the rotating disk 22 can also be a part of the protrusion on the output shaft 211 of the rotating power element 21. The specific structure is not limited in this application.

[0049] The flexible connector 30 is disposed between the travel wheel assembly 10 and the rotating disk 22. One end of the flexible connector 30 may be fixed to the travel wheel assembly 10 and the other end may be fixed to the rotating disk 22, so as to transmit the rotational power of the rotating power element 21. Alternatively, the flexible connector 30 may be connected to one of the travel wheel assembly 10 and the rotating disk 22, and wound around the other of the travel wheel assembly 10 and the rotating disk 22 to change the spatial position of the free portion b of the travel wheel assembly 10. During the rotation of the rotating disk 22, the length of the flexible connector 30 exposed between the travel wheel assembly 10 and the rotating disk 22 changes, so that the travel wheel assembly 10 rotates relative to the device body 200 to achieve the lifting function relative to the device body 200.

[0050] In some embodiments, the rotating power element 21 tightens or loosens the flexible connector 30 by driving the rotating disk 22 to rotate, that is, the effective length of the flexible connector 30 changes. When the rotating disk 22 rotates in a first direction (e.g., clockwise), the length of the flexible connector 30 exposed between the running wheel assembly 10 and the rotating disk 22 is reduced, so that the flexible connector 30 is tightened, and the flexible connector 30 can transmit force when it is tightened. When the flexible connector 30 is tightened, it can pull the running wheel assembly 10, so that the running wheel assembly 10 rotates relative to the device body 200 and rises and falls. When the rotating disk 22 rotates in a second direction opposite to the first direction (e.g., counterclockwise), the length of the flexible connector 30 exposed between the running wheel assembly 10 and the rotating disk 22 increases, the flexible connector 30 is loosened, and the running wheel assembly 10 can rotate in the opposite direction relative to the device body 200 under the action of its own weight and / or a return spring. Of course, in other embodiments, the rotating power element 21 can also change the action position of the flexible connection member 30 by driving the rotating disk 22 to rotate. During this process, the flexible connection member 30 is always tightened.

[0051] See also Figure 1 and Figure 2 In some embodiments, the extension line of the direction of the pulling force applied by the flexible connector 30 to the travel power device 11 does not pass through the rotating shaft 61 of the travel wheel assembly 10 rotating relative to the equipment body 200, so that the pulling force can generate a downward / outward torque on the travel wheel assembly 10, so that the travel power device 11 is forced to swing outward with the axial direction of the rotating shaft 61 as the center.

[0052] In some embodiments, the rotation angle of the rotating disk 22 during the rotation of the walking wheel assembly 10 does not exceed 360 degrees. That is, the unidirectional rotation of the rotating disk 22 during the lifting or lowering of the walking wheel assembly 10 does not exceed one circle, thereby reducing the total length of the flexible connector 30 when it is relaxed, avoiding the flexible connector 30 from detaching from the rotating disk 22 after relaxation, or interfering with surrounding components due to excessive length, or hooking on surrounding components, resulting in failure to tighten normally or being broken. In some embodiments, the rotation angle of the rotating disk 22 during the lifting or lowering of the walking wheel assembly 10 is 0 to 300 degrees, for example, 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, etc.

[0053] In some embodiments, the rotating power element 21 tightens or loosens the flexible connector 30 by driving the rotating disk 22 to rotate. In order to reduce the situation where the flexible connector 30 is hooked by foreign objects or slips out of the rotating disk 22 and is difficult to retract when in a loose state, in some embodiments, a torsion spring is provided at the connection between the flexible connector 30 and the rotating disk 22, and the torsion spring can tighten the flexible connector 30 in real time, so that the flexible connector 30 will not be in danger of slipping out of the rotating disk 22. In some embodiments, a spring can also be used to tighten the flexible connector 30 in real time.

[0054] It should be understood that the flexible connector 30 referred to in this application is not limited to being made of flexible materials as a whole. The flexible connector 30 can be a flexible cable such as a wire rope, a nylon rope, or a combination structure of a flexible cable and a rigid connector, such as a combination structure of a flexible cable and a pull rod. In other words, the flexible connector 30 is at least partially a flexible structure. Using a flexible structure as a power transmission medium can solve the spatial arrangement problem of the walking wheel lifting mechanism 100 to a certain extent. Through some fixed pulley structures, the power component 20 (such as a motor, a cylinder, etc.) can be arranged at any position of the equipment body 200, thereby achieving optimal space utilization.

[0055] See also Figure 1 and Figure 2 , shows the working principle of the flexible connector 30 of the walking wheel lifting mechanism 100 in some embodiments. The flexible connector 30 adopts a cable, one end of which is fixed to the cable hanging point on the walking wheel assembly 10, and the other end is fixed to the rotating disk 22. The cable extends in a straight line as a whole and is not wound on any reversing structure in the middle. The rotation angle of the rotating disk 22 during the rotation process does not exceed 360 degrees, which means that the cable will not be fully wound around the rotating disk 22. Compared with the solution of winding the retractable line, this non-winding method can reduce the problems of cable knotting and cable being hooked by foreign objects during the relaxation process.

[0056] In some embodiments, the rotating disk 22 is coaxially arranged with the output shaft 211 of the rotating power element 21, and the connection between the flexible connecting member 30 and the rotating disk 22 is eccentrically arranged relative to the rotating axis of the rotating disk 22, such as Figure 5As shown; or, the connection between the flexible connector 30 and the rotating disk 22 is coaxially arranged relative to the rotating axis of the rotating disk 22, and the rotating disk 22 is eccentrically arranged relative to the output shaft 211 of the rotating power element 21. That is to say, during the rotation of the rotating disk 22, the spatial position of the connection between the flexible connector 30 and the rotating disk 22 will change with the rotation of the rotating disk 22, and combined with the overall linear extension of the flexible connector 30, the spatial posture of the flexible connector 30 changes during the rotation of the rotating disk 22. The flexible connector 30 is always tightened during the rotation of the rotating disk 22. Since the spatial position of one end of the flexible connector 30 connected to the rotating disk 22 changes, when the length of the flexible connector 30 remains unchanged, the spatial position of one end of the flexible connector 30 connected to the walking wheel assembly 10 will also change accordingly, so that the walking power device 11 is forced to swing outward with the axial direction of the rotating shaft 61 as the center.

[0057] Since the flexible connector 30 is always tightened during the rotation of the rotating disk 22, the effective length of the flexible connector 30 remains unchanged. Correspondingly, the rotation angle of the rotating disk 22 during the lifting or lowering of the walking wheel assembly 10 is 0 to 90 degrees, such as 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, 85°, etc. When the rotation angle of the rotating disk 22 exceeds 90 degrees, such as 150 degrees, the spatial posture of the flexible connector 30 is basically the same as the spatial posture of the flexible connector 30 when the rotation angle of the rotating disk 22 is 30 degrees. Therefore, by setting the rotation angle of the rotating disk 22 during the lifting or lowering of the walking wheel assembly 10 to 0 to 90 degrees, on the one hand, the flexible connector 30 can form different spatial postures; on the other hand, the maximum rotation angle of the rotating disk 22 is only 90 degrees. Compared with the solution of winding and retracting the flexible connector 30 in a full circle or multiple circles, the time for switching between the lifting and lowering states of the walking wheel assembly 10 can be shortened, thereby improving the obstacle crossing efficiency.

[0058] In order to facilitate the connection between the flexible connector 30 and the rotating disk 22, the rotating disk 22 is configured as a split structure, including at least two detachable parts, in which the connection between the flexible connector 30 and the rotating disk 22 is fixed. Figure 5 , shows an exploded view of the power assembly 20 in some embodiments, the rotating disk 22 includes a transmission disk 221, an inner fixed disk 222 and an outer fixed disk 223 connected in sequence, the transmission disk 221 is fixedly connected to the output shaft 211 of the rotating power element 21, the transmission disk 221, the inner fixed disk 222 and the outer fixed disk 223 are stacked in sequence and connected as a whole through threaded fasteners. The connection between the flexible connector 30 and the rotating disk 22 is located between the inner fixed disk 222 and the outer fixed disk 223. For example, one end of the flexible connector 30 is fixed to a pin shaft, and the pin shaft is fixed through the pin holes opened at the edges of the inner fixed disk 222 and the outer fixed disk 223, such as Figure 5The gap between the inner fixed disk 222 and the outer fixed disk 223 allows the flexible connector 30 to move. During the rotation of the rotating disk 22, the flexible connector 30 will not be wound around the pin, but will change its spatial posture as the position of the pin changes.

[0059] See also Figure 3 , a schematic diagram of the structure of the travel wheel assembly 10 in certain embodiments is shown. The travel wheel assembly 10 is a driving wheel assembly that provides the equipment with travel power, and the travel wheel assembly 10 includes a travel power device 11 and a travel wheel 12 driven by the travel wheel. The travel power device 11 may include only a power device, or may include a power device and a reduction mechanism. The travel power device 11 includes a main wheel part a and a free part b, and the main wheel part a is closer to the travel wheel 12 relative to the free part b. The main wheel part a of the travel power device 11 has an overlapping area with the travel wheel 12, which is used to directly transmit the torque to the travel wheel 12. The free part b and the travel wheel 12 have a non-overlapping area, which realizes the connection and fixation of the travel power device 11 with the surrounding structure.

[0060] In some embodiments, the main wheel portion a and the free portion b are divided by the ground-contacting normal axis of the running wheel 12. In other embodiments, the dividing line between the main wheel portion a and the free portion b may also be determined as the outer contour line of the running wheel 12. In some embodiments, the free portion b is closer to the forward direction of the device body 200 than the main wheel portion a, so that the specific manifestation of the increase in the ground clearance of the device may be that the device body 200 is lifted as a whole and the ground clearance is increased, or the front end of the device body 200 is tilted and the ground clearance is increased.

[0061] Since the free part b of the travel power device 11 is away from the travel wheel 12, see Figure 1 , Figure 2 and Figure 3 In some embodiments, the connection between the walking wheel assembly 10 and the peripheral components is arranged at the free part b. That is, the free part b of the walking power device 11 is rotatably connected to the equipment body 200, and the flexible connector 30 is also connected to the free part b of the walking power device 11.

[0062] The device body 200 can be an integrated structure or a split structure. Figure 4In some embodiments, the device body 200 is provided with a base 210 for installing the walking wheel assembly 10 and the power assembly 20. The cleaning components, guide wheels and other components of the cleaning equipment can also be installed on the base 210. The walking power device 11 of the walking wheel assembly 10 is rotatably connected to the base 210. In order to facilitate the connection between the walking wheel assembly 10 and the surrounding components, in some embodiments, the free part b of the walking power device 11 is provided with a mounting shaft seat 60, and the mounting shaft seat 60 is rotatably connected to the device body 200 (when there is a base 210, it is rotatably connected to the base 210), and the walking power device 11 rotates with the rotating shaft 61 of the mounting shaft seat 60 as the center of the circle. In some embodiments, the free part b of the walking power device 11 is provided with a hanging point portion 80, and the flexible connector 30 is connected to the hanging point portion 80.

[0063] See also Figure 4 In some embodiments, the walking wheel lifting mechanism 100 further includes a spring 70, one end of which is fixed to the free part b of the walking power device 11, and the other end is fixed to the equipment body 200. The damping effect of the spring 70 enables the walking wheel 12 to reduce shock when passing over an uneven road surface. Similarly, to facilitate the installation of the spring 70, in some embodiments, the free part b of the walking power device 11 and the equipment body 200 are both provided with hooks 90, and the two ends of the spring 70 are respectively hooked on the two hooks 90. In some embodiments, the hook 90 of the free part b of the walking power device 11 is set in the opposite direction to the hook 90 of the equipment body 200, that is, the hanging point of the spring 70 is in the opposite direction, so that the fixation of the spring 70 is more stable.

[0064] See also Figure 1 In some embodiments, the extension direction of the flexible connector 30 is substantially the same as the extension direction of the spring 70, which can be understood as being parallel within the allowable installation error range, for example, the angle between the extension direction of the flexible connector 30 and the extension direction of the spring 70 does not exceed 10 degrees. In addition, the flexible connector 30 and the spring 70 both extend in the opposite direction of the travel direction, so that the hook 90 of the device body 200 and the power assembly 20 are both located behind the free portion b of the walking power device 11. Even if the obstacle-crossing posture of the device body 200 is the front end tilted, the hook 90 of the device body 200 and the power assembly 20 are located at the rear, and their spatial positions will not change too much. In addition, the rearward position of the hook 90 and the power assembly 20 of the device body 200 is more conducive to the tilting of the front end of the device body 200, which is more conducive to obstacle crossing and preventing slipping.

[0065] In some embodiments, the spring 70 is always in a stretched state, that is, the spring 70 always generates a pulling force on the walking power device 11. When the extension direction of the flexible connection 30 is approximately the same as the extension direction of the spring 70, the spring 70 can assist the flexible connection 30 in pulling the walking power device 11 together, so that the walking wheel assembly 10 rotates relative to the equipment body 200 and rises and falls.

[0066] See also Figure 4 In some embodiments, the mounting shaft seat 60 is disposed at the lower part of the free part b, and the hanging point portion 80 and the hook portion 90 are both disposed at the upper part of the free part b. The action points of the flexible connector 30 and the spring 70 on the free part b are located at an upper position, so that the flexible connector 30 and the spring 70 can be disposed at a relatively upper position in the device body 200, preventing the flexible connector 30 and the spring 70 from being exposed to the outside when the device body 200 is lifted to overcome obstacles.

[0067] See also Figure 3 In some embodiments, the travel power device 11 includes a reduction box 111 and a drive motor 112 mounted on the reduction box 111, and the axis of the rotating shaft 61 of the mounting shaft seat 60 is different from that of the drive motor 112. Specifically, the axis of the drive motor 112 is located above the rotating shaft 61 of the mounting shaft seat 60, so that the drive motor 112 is arranged at a relatively upper position in the equipment body 200 compared to the rotating shaft 61 of the travel wheel assembly 10, so as to prevent the drive motor 112 from being exposed to the outside when the equipment body 200 is lifted to overcome obstacles. Please refer to Figure 3 In some embodiments, the travel power device 11 further includes a wheel cover 113, which is connected to the side of the housing of the reduction box 111. The wheel cover 113 is sleeved on the travel wheel 12 at intervals, and can provide a mounting base for the bearing of the travel wheel 12. In some embodiments, the wheel cover 113 can be integrally formed with the housing of the reduction box 111.

[0068] In order to prevent the rotating power element 21 from losing control and causing an accident, in some embodiments, an upper limit portion and a lower limit portion are provided on the device body 200, which are respectively used to limit the upper limit position and the lower limit position of the running wheel assembly 10. The running wheel assembly 10 swings between the upper limit position and the lower limit position. In the normal traveling state, the running wheel assembly 10 is close to the upper limit position and will not exceed the upper limit position; in the obstacle crossing state, the running wheel assembly 10 swings downward, close to the lower limit position and will not exceed the lower limit position.

[0069] The upper limit portion and the lower limit portion can be mechanical limit structures or electronic limit devices. In some embodiments, a lower limit portion of a mechanical structure is provided on the outer shell of the device body 200 to prevent the running wheel assembly 10 from swinging downward. A bolt extending downward and adjustable in length is fixed on the hook portion 90 of the device body 200, which serves as an upper mechanical limit of the running wheel assembly 10 to prevent the running wheel assembly 10 from swinging upward. In other embodiments, the upper limit portion and the lower limit portion are both electronic devices, such as micro switches, travel switches, photoelectric sensors, etc. The running wheel lifting mechanism 100 also includes a controller. When the running wheel assembly 10 swings to a position that triggers the electronic device, the electronic device feeds back a position signal to the controller, and the controller controls the rotating power element 21 to stop rotating.

[0070] In some embodiments, in order to facilitate closed-loop control of the swing position of the running wheel assembly 10, the rotating power element 21 is a servo or motor with an integrated encoder, and the output shaft 211 of the servo or motor is connected to the rotating disk 22. The encoder can detect the actual rotation angle of the servo or motor. Correspondingly, the running wheel lifting mechanism 100 also includes a controller, and the rotating power element 21 and its encoder are both electrically connected to the controller, and the speed and / or angle of the rotating power element 21 are closed-loop controlled by the controller.

[0071] See also Figure 1 and Figure 2 In some embodiments, the rotating power element 21 is a steering gear. The advantage of the steering gear is that it integrates a reducer, a motor and a position encoder, and the overall space occupied is small. The position encoder is used to provide feedback information for the motor position closed loop. However, considering that active lifting usually only requires two positions, namely the retracted position and the extended position, in some embodiments, the steering gear can also be changed to an ordinary brushed or brushless motor, and the position closed loop control of the ordinary motor can be realized by setting a position detection element at the upper and lower extreme positions of the walking wheel assembly 10.

[0072] In some embodiments, the walking wheel lifting mechanism 100 further includes a sensor for detecting the rotation angle of the walking wheel assembly 10. The number and type of sensors are not limited in this application, and it is sufficient that the sensor can detect the rotation angle of the walking wheel assembly 10. The sensor is electrically connected to the controller, and the sensor feeds back the detected rotation angle of the walking wheel assembly 10 to the controller. The controller can determine whether the rotating power element 21 and the flexible connector 30 are faulty based on the rotation angle of the walking wheel assembly 10 and the rotation angle of the rotating power element 21.

[0073] Under normal circumstances, there is a certain mapping relationship between the rotation angle of the walking wheel assembly 10 and the rotation angle of the rotating power element 21. If either the measured rotation angle of the walking wheel assembly 10 or the measured rotation angle of the rotating power element 21 does not satisfy the mapping relationship, it indicates whether the rotating power element 21 and / or the flexible connector 30 has a fault. At this time, the controller can control the device equipped with the walking wheel lifting mechanism 100 to issue a prompt message, such as flashing a fault light, popping up a prompt box through a mobile phone APP, etc.

[0074] In some embodiments, the sensor includes a rotation sensor 40 disposed on the rotating shaft 61 of the walking wheel assembly 10, and / or an optical sensor 50 disposed on the walking power device 11. In other words, the walking wheel lifting mechanism 100 can be provided with only the rotation sensor 40 or the optical sensor 50, or can be provided with both the rotation sensor 40 and the optical sensor 50.

[0075] See also Figure 1 and Figure 2 A light sensor 509 is installed on the outer side of the main wheel part a of the reduction gearbox 111 to determine whether the running wheel 12 is successfully retracted into the slot of the equipment body 200 when it returns to the normal running state from the raised state. The light sensor 50 detects the change in light sensitivity when it is retracted into the slot and triggers the arrival signal. Figure 3 A rotation sensor 40 is installed on the rotating shaft 61 of the walking wheel assembly 10 to detect and record the actual rotation angle of the walking wheel assembly 10.

[0076] When the sensor only includes the rotation sensor 40 disposed on the rotating shaft 61 of the running wheel assembly 10, the rotation sensor 40 can detect the actual rotation angle of the running wheel assembly 10. When the position feedback of the steering gear or the motor fails, such as when the steering gear fails or the flexible connector 30 breaks, the controller can determine whether the running wheel 12 is actually rotated to the normal running position or fully extended to achieve the obstacle crossing position through the feedback signal of the rotation sensor 40.

[0077] When the sensor only includes the optical sensor 50 disposed on the travel power device 11, the optical sensor 50 can detect whether the travel wheel 12 is successfully retracted into the slot. When the position feedback of the steering gear or the motor fails, such as when the steering gear fails or the flexible connector 30 breaks, the controller can determine whether the travel wheel 12 is completely retracted and restored to the normal travel position through the feedback signal of the optical sensor 50.

[0078] When the sensor includes both the rotation sensor 40 and the optical sensor 50, when the position feedback of the steering gear or the motor fails, such as when the steering gear fails or the flexible connector 30 breaks, the optical sensor 50 and the rotation sensor 40 detect whether the walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the walking wheel assembly 10, and it can be judged whether the walking wheel 12 is truly restored to the normal walking position. In addition, by comparing the optical sensor 50 and the rotation sensor 40 to detect whether the walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the walking wheel assembly 10, and the rotation angle information of the rotating power element 21 fed back by the encoder, it can also be judged whether the rotating power element 21 or the flexible connector 30 is faulty. In addition, setting the rotation sensor 40 and the optical sensor 50 at the same time is equivalent to performing a redundant setting, which improves the detection accuracy on the one hand; on the other hand, when any one of the rotation sensor 40 and the optical sensor 50 fails, it does not affect the normal use of the walking wheel lifting mechanism 100.

[0079] The following describes the working principle of the walking wheel lifting mechanism 100 by taking a walking wheel lifting mechanism 100 of a certain embodiment as an example. In this embodiment, the walking wheel lifting mechanism 100 is applied to a sweeping robot, and two walking wheel lifting mechanisms 100 are provided in the sweeping robot. The power assembly 20 and the flexible connector 30 in each walking wheel lifting mechanism 100 drive the corresponding walking wheel assembly 10 to swing and rise and fall. The walking wheel assembly 10 includes a driving motor 112, a reducer and a walking wheel 12. The flexible connector 30 is a cable. The power assembly 20 includes a steering gear and a rotating disk 22. A rotation sensor 40 and a light sensor 50 are also provided on the walking wheel assembly 10.

[0080] When the sweeping robot is moving normally, the position state of the walking wheel assembly 10 is as follows: Figure 1 As shown. One end of the cable is fixed to the cable hanging point on the reduction box 111, and the other end is fixed between the inner fixed disk 222 and the outer fixed disk 223 of the rotating disk 22, and the cable is in an extended state. One end of the spring 70 is fixed to the hook 90 on the reduction box 111, and the other end is fixed to the hook 90 of the equipment body 200. The transmission disk 221, the inner fixed disk 222 and the outer fixed disk 223 are fixedly connected to the steering gear using screws.

[0081] When the sweeping robot detects that an obstacle needs to be overcome during its movement, the steering gear rotates about 120 degrees, and the rotating disk 22 on the steering gear drives the cable to rotate about 120 degrees. The cable is in a shortened state and is wound in the gap between the inner fixed disk 222 and the outer fixed disk 223. The other end of the cable is connected to the cable hanging point, so that the walking wheel assembly 10 rotates downward with the rotating shaft 61 as the center. Figure 2 shown.

[0082] The walking wheel assemblies 10 on both sides of the sweeping robot are simultaneously rotated downward to the lower limit position, and the device body 200 of the sweeping robot is lifted to a height of 4 cm from the ground. Figure 6 The walking acceleration provided by the walking wheel assembly 10 causes the front of the sweeping robot to tilt up and move forward to cross the obstacle c, as shown in FIG. Figure 7 As shown in the figure, the purpose of obstacle crossing is achieved. The obstacle crossing height of the sweeping robot is increased from 20mm to 32mm or above.

[0083] A light sensor 50 is installed on the outside of the main wheel part a of the housing of the reduction box 111, which is used to determine whether the running wheel 12 is successfully retracted into the slot of the bottom shell when it returns to the normal traveling state from the raised state. The light sensor 50 triggers the recovery signal after detecting the light change of the retracted slot. A rotation sensor 40 is installed at the rotating shaft 61, which is used to detect and record the actual rotation angle of the running wheel assembly 10. An encoder is built into the steering gear, which can detect the actual rotation angle of the steering gear. When the steering gear position feedback fails, such as the steering gear fails or the cable breaks, it can be judged whether the running wheel 12 is truly restored to the normal walking position based on whether the running wheel 12 is successfully retracted into the slot and the actual rotation angle of the rotating shaft 61 detected by the light sensor 50 and the rotation sensor 40, and it can also be judged whether the steering gear or the cable is faulty by comparing with the steering gear rotation angle information fed back by the steering gear.

[0084] The second embodiment of the present application provides a cleaning device 1000, which may be a sweeping robot or an automatic sweeping machine. Figure 6 and Figure 7 The cleaning device 1000 includes a device body 200 and a walking wheel lifting mechanism 100 of any embodiment of the first aspect. The walking wheel lifting mechanism 100 is integrally installed in the device body 200, and the walking wheel 12 of the walking wheel lifting mechanism 100 partially extends out of the device body 200, contacts the ground d, and drives the entire cleaning device 1000 to travel.

[0085] When the cleaning device 1000 is driving normally (including moving forward, backward and turning), the driving force is provided by the running wheel assembly 10. When the cleaning device 1000 detects an obstacle c that cannot be crossed in front (the position and size of the obstacle can be identified by an ultrasonic sensor, a mechanical vision system, etc. arranged in front of the device body 200), or when the cleaning device 1000 is blocked during driving and cannot drive normally, it is judged that an obstacle is encountered. At this time, the controller controls the power assembly 20 to act on the running wheel assembly 10 through the flexible connector 30, so that the running wheel assembly 10 rotates relative to the device body 200 to realize the lifting function relative to the device body 200.

[0086] Since the walking wheel assembly 10 is always in contact with the ground d during driving, the lifting and lowering of the walking wheel assembly 10 relative to the equipment body 200 is manifested in the equipment as a change in the height of the equipment body 200 above the ground. When the height of the equipment body 200 above the ground increases, the components below the equipment body 200 can be made higher than the obstacle c, so that there is no part of the equipment that interferes with the obstacle c during the obstacle surmounting process, thereby achieving the effect of increasing the obstacle surmounting height. The obstacle surmounting height, escape ability, and adaptability to different road surfaces of the equipment equipped with the walking wheel lifting mechanism 100 can be improved.

[0087] See also Figure 6 In some embodiments, when the controller determines that an obstacle c is encountered, the power assembly 20 drives the travel wheel assembly 10 to rotate relative to the device body 200 and extend, so that the device body 200 is raised as a whole to a height higher than the obstacle c. The travel wheel assembly 10 drives the cleaning device 1000 to continue to travel and pass the obstacle c.

[0088] See also Figure 7 In some embodiments, when the controller determines that an obstacle c is encountered, the power assembly 20 drives the travel wheel assembly 10 to rotate relative to the device body 200 and extend, so that the front end of the device body 200 is tilted and raised to a height higher than the obstacle c. The travel wheel assembly 10 drives the cleaning device 1000 to accelerate and pass the obstacle c.

[0089] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0090] 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" and "counterclockwise" 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.

[0091] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0092] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0093] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, 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. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0095] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0096] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A walking wheel lifting mechanism (100), installed on a device body (200), characterized in that: include: A walking wheel assembly (10) rotatably disposed on the equipment body (200); A power assembly (20) is installed on the device body (200), the power assembly (20) comprising a rotating power element (21) and a rotating disk (22), the rotating power element (21) being used to drive the rotating disk (22) to rotate in two opposite directions; and a flexible connector (30), wherein the flexible connector (30) is arranged between the walking wheel assembly (10) and the rotating disk (22), and is used for changing the length exposed between the walking wheel assembly (10) and the rotating disk (22) during the rotation of the rotating disk (22), so that the walking wheel assembly (10) rotates relative to the equipment body (200), and the walking wheel assembly (10) is always in contact with the ground during the rotation; the rotation angle of the rotating disk (22) during the rotation of the walking wheel assembly (10) does not exceed 360 degrees.

2. The walking wheel lifting mechanism (100) according to claim 1, characterized in that: The rotation angle of the rotating disk (22) during the lifting or lowering process of the walking wheel assembly (10) is 0 to 300 degrees.

3. The walking wheel lifting mechanism (100) according to claim 2, characterized in that: The connection point between the flexible connecting member (30) and the rotating disk (22) is eccentrically arranged relative to the rotating axis of the rotating disk (22).

4. The walking wheel lifting mechanism (100) according to claim 3, characterized in that: The rotation angle of the rotating disk (22) during the lifting or lowering process of the walking wheel assembly (10) is 0 to 90 degrees.

5. The walking wheel lifting mechanism (100) according to any one of claims 1 to 4, characterized in that: The rotating disk (22) comprises a transmission disk (221), an inner fixed disk (222) and an outer fixed disk (223) which are connected in sequence, and the connection point between the flexible connecting member (30) and the rotating disk (22) is located between the inner fixed disk (222) and the outer fixed disk (223).

6. The walking wheel lifting mechanism (100) according to any one of claims 1 to 4, characterized in that: A torsion spring is provided at the connection between the flexible connecting member (30) and the rotating disk (22), so that the flexible connecting member (30) is always tightened when the rotating disk (22) rotates.

7. The walking wheel lifting mechanism (100) according to any one of claims 1 to 4, characterized in that: The rotating power element (21) is a steering gear or a motor with an integrated encoder, and the output shaft (211) of the steering gear or the motor is connected to the rotating disk (22).

8. The walking wheel lifting mechanism (100) according to claim 7, characterized in that: The walking wheel lifting mechanism (100) further comprises a controller and a sensor for detecting the rotation angle of the walking wheel assembly (10), wherein the sensor and the rotating power element (21) are both electrically connected to the controller; the controller is configured to determine whether the rotating power element (21) or the flexible connecting member (30) is faulty based on the rotation angle of the walking wheel assembly (10) and the rotation angle of the rotating power element (21).

9. The walking wheel lifting mechanism (100) according to claim 8, characterized in that: The sensor comprises a rotation sensor (40) arranged on a rotating shaft (61) of the running wheel assembly (10), and / or a light sensor (50) arranged on the running wheel assembly (10).

10. The walking wheel lifting mechanism (100) according to any one of claims 1 to 4, characterized in that: The equipment body (200) is provided with an upper limit portion and a lower limit portion, which are used to limit the upper limit position and the lower limit position of the running wheel assembly (10) respectively.

11. The walking wheel lifting mechanism (100) according to any one of claims 1 to 4, characterized in that: The walking wheel assembly (10) comprises a walking power device (11) and a walking wheel (12) driven by the walking power device (11); the walking power device (11) comprises a main wheel portion (a) and a free portion (b), the main wheel portion (a) being closer to the walking wheel (12) relative to the free portion (b); the main wheel portion (a) and the free portion (b) are separated by a grounding normal axis of the walking wheel (12), and the free portion (b) is closer to the forward direction of the equipment body (200) than the main wheel portion (a); The free part (b) of the walking power device (11) is rotatably connected to the equipment body (200); and the flexible connecting member (30) is connected to the free part (b) of the walking power device (11).

12. The walking wheel lifting mechanism (100) according to claim 11, characterized in that: The free part (b) of the walking power device (11) is provided with a mounting shaft seat (60), the mounting shaft seat (60) is rotatably connected to the equipment body (200), and the walking power device (11) rotates with the rotating shaft (61) of the mounting shaft seat (60) as the center of the circle; The free part (b) of the walking power device (11) is provided with a hanging point portion (80), and the flexible connecting member (30) is connected to the hanging point portion (80).

13. The walking wheel lifting mechanism (100) according to claim 12, characterized in that: The mounting shaft seat (60) is arranged at the lower part of the free part (b); and the hanging point part (80) is arranged at the upper part of the free part (b).

14. The walking wheel lifting mechanism (100) according to claim 12, characterized in that: The walking power device (11) comprises a reduction box (111) and a driving motor (112) mounted on the reduction box (111), and the rotating shaft (61) of the mounting shaft seat (60) and the axis of the driving motor (112) are different.

15. The walking wheel lifting mechanism (100) according to claim 11, characterized in that: The walking wheel lifting mechanism (100) further comprises a spring (70), one end of which is fixed to the free part (b) of the walking power device (11), and the other end of which is fixed to the equipment body (200).

16. The walking wheel lifting mechanism (100) according to claim 15, characterized in that: The free portion (b) and the device body (200) are both provided with hooks (90), and the two ends of the spring (70) are respectively hooked on the two hooks (90), and the hooking directions of the two hooks (90) are opposite.

17. The walking wheel lifting mechanism (100) according to any one of claims 1 to 4, characterized in that: When the rotating disk (22) rotates in a first direction, the length of the flexible connection member (30) exposed between the walking wheel assembly (10) and the rotating disk (22) is reduced and the flexible connection member (30) is tightened, and the flexible connection member (30) pulls the walking wheel assembly (10) to rotate relative to the equipment body (200); When the rotating disk (22) rotates in a second direction opposite to the first direction, the length of the flexible connection member (30) exposed between the walking wheel assembly (10) and the rotating disk (22) increases, and the walking wheel assembly (10) rotates in the opposite direction relative to the equipment body (200).

18. A cleaning device (1000), characterized in that: It comprises an equipment body (200) and a walking wheel lifting mechanism (100) according to any one of claims 1 to 17.

Images