Driving wheel lifting mechanism and cleaning equipment
By designing the driving wheel lifting mechanism in the cleaning equipment, and using power components and flexible connectors to achieve the lifting of the driving wheel assembly, the problem of cleaning equipment being limited by the ground height during obstacle crossing is solved, and the barrier crossing height and the adaptability of the equipment are improved.
Patent Information
- Application Number
- CN202421264766.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-04
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-06-04
AI Technical Summary
The existing cleaning equipment is limited by the ground height during obstacle crossing, resulting in limited working range and operational reliability. The existing solutions mainly rely on software strategies and have limited results.
An active wheel lifting mechanism is designed, including an active wheel assembly, a power assembly and a flexible connector. The flexible connector is driven by the power assembly to drive the transmission device to rotate relative to the equipment body, so that the active wheel assembly is lifted and lowered relative to the equipment body, ensuring that the active wheel assembly always comes into contact with the ground.
Through the use of the driving wheel lifting mechanism, the ground-off height of the cleaning equipment can be increased, so that the components under the equipment are higher than the obstacle, thereby achieving improved obstacle-over-blocking height, escape ability and adaptability to different road surfaces.
Smart Images
Figure CN222533212U_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of cleaning equipment, and specifically relates to a driving 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 an active wheel lifting mechanism and a cleaning device.
[0005] In a first aspect of the present application, there is provided a driving wheel lifting mechanism, which is installed on a device body and includes:
[0006] A driving wheel assembly, comprising a driving device, a transmission device and a driven driving wheel; the transmission device is rotatably connected to the equipment body, the transmission device comprises a main wheel part and a free part, the main wheel part is closer to the driving wheel relative to the free part;
[0007] A power assembly is installed on the device body;
[0008] and a flexible connector, wherein the flexible connector is connected between the free part of the transmission device and the power assembly, and is used to drive the transmission device to rotate relative to the equipment body under the drive of the power assembly, so that the driving wheel assembly can be lifted or lowered relative to the equipment body, and the driving wheel assembly is always in contact with the ground during driving and lifting relative to the equipment body.
[0009] In some embodiments, the free portion of the transmission device is rotationally connected to the device body.
[0010] In some embodiments, a mounting shaft seat is provided at a free portion of the transmission device, the mounting shaft seat is rotatably connected to the base, and the transmission device rotates around the rotating shaft of the mounting shaft seat.
[0011] In some embodiments, the rotating shaft of the mounting shaft seat is different from the axis of the driving device.
[0012] In some embodiments, the mounting shaft seat is disposed on the lower side of the free portion.
[0013] In some embodiments, the main wheel portion and the free portion are divided by the ground-contacting normal axis of the driving wheel, and the free portion is closer to the forward direction of the device body than the main wheel portion.
[0014] In some embodiments, the free portion of the transmission device is provided with a hanging point portion, and the flexible connector is connected to the hanging point portion; the hanging point portion is provided on the upper side of the free portion.
[0015] In some embodiments, the power assembly includes a rotating power element; one end of the flexible connector is fixed to the free part of the transmission device, and the other end is connected to the output shaft of the rotating power element, and the flexible connector is tightened or loosened when the rotating power element rotates.
[0016] In some embodiments, the rotation angle of the rotating power element during the lifting or lowering of the driving wheel assembly does not exceed 360 degrees.
[0017] In some embodiments, the rotation angle of the rotating power element during the lifting or lowering of the driving wheel assembly is 0 to 300 degrees.
[0018] In some embodiments, the power assembly further comprises a rotating disk coaxially arranged with the output shaft of the rotating power element; and the connection between the flexible connector and the rotating disk is eccentrically arranged relative to the output shaft of the rotating power element.
[0019] In some embodiments, the rotation angle of the rotating disk during the lifting or lowering of the driving wheel assembly is 0 to 90 degrees.
[0020] 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.
[0021] In some embodiments, a torsion spring is provided at the connection between the flexible connection member and the rotating disk.
[0022] In some embodiments, the rotating power element is a steering gear or a motor with an integrated encoder; the driving wheel lifting mechanism also includes a controller, and the rotating power element is electrically connected to the controller.
[0023] In some embodiments, the driving wheel lifting mechanism also includes a sensor for detecting the rotation angle of the driving wheel assembly, and the sensor is 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 driving wheel assembly and the rotation angle of the rotating power element.
[0024] In some embodiments, the sensor includes a rotation sensor disposed on a rotating shaft of the driving wheel assembly, and / or an optical sensor disposed on the transmission device.
[0025] In some embodiments, the device body includes a base; and the transmission device is rotatably connected to the base.
[0026] In some embodiments, an upper limit portion and a lower limit portion are provided on the base, which are used to limit the upper limit position and the lower limit position of the driving wheel assembly respectively.
[0027] In some embodiments, the driving wheel lifting mechanism further includes a spring, one end of which is fixed to the free part of the transmission device, and the other end of which is fixed to the base.
[0028] In some embodiments, the free portion and the base are both provided with hooks, and two ends of the spring are respectively hooked on the two hooks, and the hooking directions of the two hooks are opposite.
[0029] In a second aspect of the present application, a cleaning device is provided, comprising a device body and the driving wheel lifting mechanism of the first aspect.
[0030] According to one or more embodiments of the present application, the driving wheel lifting mechanism provided includes a driving wheel assembly, a power assembly and a flexible connector. The driving wheel assembly includes a driving device, a transmission device and a driving wheel. The transmission device is rotatably connected to the device body, and the power assembly is used to provide a driving force when the driving wheel assembly is lifted relative to the device body. The flexible connector is used to transmit the power of the power assembly and act on the driving wheel assembly. The flexible connector is connected between the free part of the transmission device and the power assembly. Under the drive of the power assembly, the transmission device is driven to rotate relative to the device body, so that the driving wheel assembly is lifted relative to the device body.
[0031] Since the driving wheel assembly is always in contact with the ground during driving, the corresponding driving wheel assembly also remains grounded during the process of lifting and lowering relative to the equipment body. Therefore, the lifting and lowering of the driving wheel assembly relative to the equipment body is manifested in the equipment as a change in the ground clearance height of the equipment body. When the ground clearance height of the equipment body 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 driving 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 the driving wheel lifting mechanism in one or more embodiments of the present application when the driving wheel assembly is lifted is shown.
[0034] Figure 2 A schematic structural diagram of the driving wheel lifting mechanism in one or more embodiments of the present application when the transmission device is in a descending state is shown.
[0035] Figure 3 Shows Figure 1 and Figure 2 Schematic diagram of the structure of the transmission device in the driving wheel lifting mechanism.
[0036] Figure 4 Shows Figure 1 and Figure 2 Assembly structure diagram of the transmission device and spring in the driving wheel lifting mechanism.
[0037] Figure 5 Shows Figure 1 and Figure 2 Exploded diagram of the power assembly and flexible connector in the driving wheel lifting mechanism.
[0038] Figure 6 A schematic diagram of the obstacle surmounting process of a 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-driving wheel lifting mechanism; 10-driving wheel assembly, 11-transmission device, 12-driving wheel, 13-driving device, 14-wheel cover; 20-power assembly, 21-rotating power element, 211-output shaft, 22-rotating 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 capability of the cleaning equipment in a physical sense, one or more embodiments of the present application provide an active 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, an embodiment provides a driving wheel lifting mechanism 100. The driving 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 driving 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 driving 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 driving wheel lifting mechanism 100. The driving wheel lifting mechanism 100 includes a driving wheel assembly 10, a power assembly 20 and a flexible connector 30. The driving wheel assembly 10 is used to provide power for the equipment to travel. The power assembly 20 is also installed on the equipment body 200, and is used to provide a driving force when the driving wheel assembly 10 is lifted relative to the equipment body 200. The flexible connector 30 is used to transmit the power of the power assembly 20 and act on the driving wheel assembly 10, so that the driving wheel assembly 10 rotates relative to the equipment body 200 to achieve the lifting function relative to the equipment body 200. When the equipment travels, two driving wheel assemblies 10 are usually required. The power assembly 20 and the flexible connector 30 can only drive the corresponding driving wheel assembly 10 to swing and lift, or can simultaneously drive the two driving wheel assemblies 10 to swing and lift, which is not limited in this application. Since the relative rotation of the driving wheel assembly 10 and the driving of the driving wheel assembly 10 itself are driven by different drivers, the driving action and relative rotation action of the driving wheel assembly 10 do not interfere with each other and can be performed simultaneously.
[0047] Since the driving wheel assembly 10 is always in contact with the ground d during driving, the corresponding driving wheel assembly 10 is also always in contact with the ground d during the process of rising and falling relative to the equipment body 200. Therefore, the rising and falling of the driving 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 driving wheel lifting mechanism 100 can be improved.
[0048] See also Figure 3, shows a schematic diagram of the structure of the transmission device 11 in some embodiments. The driving wheel assembly 10 includes a driving device 13, a transmission device 11 and a driven driving wheel 12, and the driving device 13 drives the driving wheel 12 to rotate through the transmission device 11, thereby driving the entire cleaning equipment to move. The transmission device 11 includes a main wheel part a and a free part b, and the main wheel part a is closer to the driving wheel 12 than the free part b. The main wheel part a of the transmission device 11 has an overlapping area with the driving wheel 12, which is used to directly transmit the walking drive torque to the driving wheel 12. The free part b and the driving wheel 12 have a non-overlapping area to achieve the connection and fixation of the transmission device 11 with the surrounding structure.
[0049] The flexible connector 30 is connected between the power assembly 20 and the free portion b of the transmission device 11. The two ends of the flexible connector 30 may be connected to the power assembly 20 and the free portion b of the transmission device 11, respectively, or the flexible connector 30 may be connected to the power assembly 20 and wound around the free portion b of the transmission device 11 to change the spatial position of the free portion b of the transmission device 11. The flexible connector 30 drives the transmission device 11 to rotate relative to the device body 200 under the drive of the power assembly 20, so that the driving wheel assembly 10 is lifted and lowered relative to the device body 200.
[0050] In some embodiments, the main wheel portion a and the free portion b are divided by the ground-contacting normal axis of the driving wheel 12. In other embodiments, the dividing line between the main wheel portion a and the free portion b can also be determined as the outer contour line of the driving 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 increasing the ground clearance of the device can be that the device body 200 is lifted as a whole and the ground clearance is increased, such as Figure 6 As shown; the front end of the device body 200 may also be tilted and the ground clearance increased, such as Figure 7 shown.
[0051] Since the free portion b of the transmission device 11 is away from the driving wheel 12, see Figure 1 , Figure 2 and Figure 3 In some embodiments, the connection between the driving wheel assembly 10 and the peripheral components is set at the free part b. That is, the free part b of the transmission device 11 is rotatably connected to the device body 200, and the flexible connection member 30 is also connected to the free part b of the transmission device 11. 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 mounting the driving wheel assembly 10 and the power assembly 20, and the cleaning components, driven wheels and other components of the cleaning device can also be mounted on the base 210. The transmission device 11 of the driving wheel assembly 10 is rotatably connected to the base 210, and the driving device 13 and the driving wheel 12 of the driving wheel assembly 10 are both connected to the transmission device 11.
[0052] See also Figure 3 In some embodiments, the driving wheel assembly 10 further includes a wheel cover 14, which is connected to the side of the housing of the transmission device 11. The wheel cover 14 is sleeved on the driving wheel 12 at intervals, and can provide a mounting base for the bearing of the driving wheel 12. In some embodiments, the wheel cover 14 can be integrally formed with the housing of the transmission device 11.
[0053] In order to facilitate the connection between the driving wheel assembly 10 and the surrounding components, in some embodiments, the free part b of the transmission device 11 is provided with a mounting shaft seat 60, and the mounting shaft seat 60 is rotatably connected to the base 210, and the transmission device 11 rotates around the rotating shaft 61 of the mounting shaft seat 60. Since the mounting shaft seat 60 is located in the free part b of the transmission device 11, the distance between the rotating shaft 61 of the mounting shaft seat 60 and the grounding point of the driving wheel 12 is large, and the ground clearance of the equipment can be significantly increased by rotating the transmission device 11 at a small angle.
[0054] See also Figure 4 In some embodiments, the shaft 61 of the mounting shaft seat 60 is at a different axis from the axis of the driving device 13, so that the mounting shaft seat 60 and the driving device 13 are located at different positions, thereby avoiding the driving wheel assembly 10 being too large in the axial direction of its shaft 61 due to the coaxial arrangement of the shaft 61 of the mounting shaft seat 60 and the driving device 13, thereby facilitating the arrangement of the mounting shaft seat 60 and the driving device 13.
[0055] See also Figure 4 In some embodiments, the mounting shaft seat 60 is disposed on the lower side of the free portion b, and the axis of the driving device 13 is located above the rotating shaft 61 of the mounting shaft seat 60, so that the driving device 13 is disposed at a relatively upper position in the equipment body 200 compared to the rotating shaft 61 of the driving wheel assembly 10, thereby preventing the driving device 13 from being exposed to the outside when the equipment body 200 is lifted to overcome obstacles.
[0056] The flexible connector 30 is connected to the free part b of the transmission device 11. Similarly, the distance between the hanging point position of the flexible connector 30 on the free part b and the grounding point of the driving wheel 12 is large, so that the power arm is large, thereby reducing the requirements for the output power of the power assembly 20. The flexible connector 30 can be directly connected to the free part b of the transmission device 11. In some embodiments, a hanging point portion 80 can also be provided on the free part b of the transmission device 11, and the flexible connector 30 is connected to the hanging point portion 80. In some embodiments, the hanging point portion 80 is provided on the upper side of the free part b, so that the flexible connector 30 is located in a relatively upper area inside the device body 200, preventing the flexible connector 30 from falling to expose the device body 200 and contacting the ground when it is in a loose state.
[0057] See also Figure 4 In some embodiments, the driving wheel lifting mechanism 100 further includes a spring 70, one end of which is fixed to the free part b of the transmission device 11, and the other end is fixed to the base 210 of the device body 200. The damping effect of the spring 70 enables the driving wheel 12 to reduce shock when passing through an uneven road surface. Similarly, to facilitate the installation of the spring 70, in some embodiments, the free part b of the transmission device 11 and the base 210 of 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. In some embodiments, the hook 90 of the free part b of the transmission device 11 is arranged in the opposite direction to the hook 90 of the base 210, that is, the hanging point of the spring 70 is in the opposite direction, so that the fixing of the spring 70 is more stable.
[0058] 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 range of the allowable installation error, 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 driving direction, so that the hook 90 of the base 210 and the power assembly 20 are both located behind the free portion b of the transmission device 11. Even if the obstacle-crossing posture of the device body 200 is that the front end is tilted, the hook 90 of the base 210 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 of the base 210 and the power assembly 20 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.
[0059] In some embodiments, the spring 70 is always in a stretched state, that is, the spring 70 always generates a pulling force on the transmission device 11. When the extension direction of the flexible connector 30 is approximately the same as the extension direction of the spring 70, the spring 70 can assist the flexible connector 30 in pulling the transmission device 11 together, so that the driving wheel assembly 10 rotates relative to the base 210 and rises and falls.
[0060] 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.
[0061] The power assembly 20 is an actuator for realizing the obstacle crossing function. The power assembly 20 can output rotational power or mobile power, that is, the power assembly 20 can include rotational power elements such as motors and steering gears, and can also include telescopic power elements such as cylinders and electric telescopic rods. This application does not make any restrictions.
[0062] 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. 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.). One end of the flexible connector 30 is fixed to the free portion b of the transmission device 11, and the other end is connected to the output shaft 211 of the rotating power element 21. Figure 5 As shown, the flexible connection member 30 is used to transmit the rotational power of the rotational power element 21 .
[0063] The rotating power element 21 tightens or loosens the flexible connector 30 when rotating, that is, the length of the flexible connector 30 exposed between the walking wheel assembly 10 and the rotating disk 22 changes, and the flexible connector 30 can transmit force when it is tightened. In some embodiments, the rotating power element 21 can also change the action position of the flexible connector 30 when rotating, and during this process, the flexible connector 30 is always tightened.
[0064] In some embodiments, the flexible connector 30 is tightened or loosened when the rotating power element 21 rotates. When the flexible connector 30 is tightened, it can pull the transmission device 11, so that the driving wheel assembly 10 rotates relative to the base 210 and rises and falls. The extension line of the direction of the pulling force applied by the flexible connector 30 to the transmission device 11 does not pass through the rotating shaft 61 of the mounting shaft seat 60 of the driving wheel assembly 10, so that the pulling force can generate a downward / outward torque on the driving wheel assembly 10, so that the transmission device 11 is forced to swing outward with the axial direction of the rotating shaft 61 as the center.
[0065] In some embodiments, the rotation angle of the rotating power element 21 during the lifting or lowering process of the driving wheel assembly 10 does not exceed 360 degrees. That is, the output shaft 211 of the rotating power element 21 does not rotate in one direction during the lifting or lowering process of the driving wheel assembly 10, thereby reducing the total length of the flexible connector 30 when it is relaxed, avoiding the flexible connector 30 from being too long and interfering with the surrounding components, or hooking on the surrounding components, resulting in failure to tighten normally or being broken. In some embodiments, the rotation angle of the output shaft 211 of the rotating power element 21 during the lifting or lowering process of the driving wheel assembly 10 is 0 to 300 degrees, for example, 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, etc.
[0066] See also Figure 5 In some embodiments, the power assembly 20 further includes a rotating disk 22 coaxially arranged with the output shaft 211 of the rotating power element 21, and the rotating power element 21 tightens or loosens the flexible connector 30 by driving the rotating disk 22 to rotate. The rotating disk 22 is fixedly connected to the output shaft 211 of the rotating power element 21, and the rotating disk 22 may 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. The rotation angle of the rotating power element 21 during the lifting or lowering of the driving wheel assembly 10 does not exceed 360 degrees, and the corresponding rotation angle of the rotating disk 22 during the lifting or lowering of the driving wheel assembly 10 will not exceed 360 degrees, so as to avoid the flexible connector 30 from detaching from the rotating disk 22 after loosening, or interfering with surrounding components due to being too long, or hooking on surrounding components, resulting in failure to tighten normally or being pulled apart.
[0067] In order to reduce the situation where the flexible connector 30 is hooked by foreign objects or falls out of the rotating disk 22 and is difficult to be retracted 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 fall out of the rotating disk 22. In some embodiments, a spring can also be used to tighten the flexible connector 30 in real time.
[0068] 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 active 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.
[0069] See also Figure 1 and Figure 2 , shows the working principle of the flexible connector 30 of the driving 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 driving 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 rotation 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.
[0070] 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 connector 30 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. Combined with the fact that the flexible connector 30 extends in a straight line as a whole, 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 driving wheel assembly 10 will also change accordingly, so that the transmission device 11 is forced to swing outward with the axial direction of the rotating shaft 61 as the center.
[0071] 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 driving 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 driving 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 releasing the flexible connector 30 in a full circle or multiple circles, the time for switching between the lifting and lowering states of the driving wheel assembly 10 can be shortened, thereby improving the obstacle crossing efficiency.
[0072] 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 5 The 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.
[0073] In order to prevent the rotating power element 21 from losing control and causing an accident, in some embodiments, the base 210 is provided with an upper limit portion and a lower limit portion, which are respectively used to limit the upper limit position and the lower limit position of the driving wheel assembly 10. The driving wheel assembly 10 swings between the upper limit position and the lower limit position. In the normal traveling state, the driving wheel assembly 10 is close to the upper limit position and does not exceed the upper limit position; in the obstacle crossing state, the driving wheel assembly 10 swings downward, close to the lower limit position and does not exceed the lower limit position.
[0074] 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 base 210 to prevent the driving wheel assembly 10 from swinging downward. A bolt extending downward and having an adjustable length is fixed on the hook portion 90 of the base 210, which serves as an upper mechanical limit of the driving wheel assembly 10 to prevent the driving wheel assembly 10 from swinging upward. In other embodiments, the upper limit portion and the lower limit portion are both electronic devices, such as a micro switch, a travel switch, a photoelectric sensor, etc. When the driving wheel assembly 10 swings to the 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.
[0075] In some embodiments, in order to facilitate closed-loop control of the swing position of the driving wheel assembly 10, the rotating power element 21 is a steering gear or motor with an integrated encoder, and the output shaft 211 of the steering gear or motor is connected to the rotating disk 22. The encoder can detect the actual rotation angle of the steering gear or motor. Correspondingly, the driving wheel lifting mechanism 100 also includes a controller, and the rotating power element 21 and its encoder are electrically connected to the controller, and the speed and / or angle of the rotating power element 21 are closed-loop controlled by the controller.
[0076] 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 driving wheel assembly 10.
[0077] In some embodiments, the driving wheel lifting mechanism 100 further includes a sensor for detecting the rotation angle of the driving 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 driving wheel assembly 10. The sensor is electrically connected to the controller, and the sensor feeds back the detected rotation angle of the driving 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 driving wheel assembly 10 and the rotation angle of the rotating power element 21.
[0078] Under normal circumstances, there is a definite mapping relationship between the rotation angle of the driving wheel assembly 10 and the rotation angle of the rotating power element 21. If either the measured rotation angle of the driving 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 driving 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.
[0079] In some embodiments, the sensor includes a rotation sensor 40 disposed on the rotating shaft 61 of the driving wheel assembly 10, and / or an optical sensor 50 disposed on the transmission device 11. In other words, the driving 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.
[0080] See also Figure 1 and Figure 2 A light sensor 509 is installed on the outer side of the housing of the main wheel part a of the transmission device 11 to determine whether the driving wheel 12 is successfully retracted into the slot of the base 210 of the device body 200 when it returns to the normal traveling state from the raised state. The light sensor 50 triggers the arrival signal after detecting the light change in the slot. Figure 3 A rotation sensor 40 is installed on the rotating shaft 61 of the driving wheel assembly 10 to detect and record the actual rotation angle of the driving wheel assembly 10.
[0081] When the sensor only includes the rotation sensor 40 disposed on the rotating shaft 61 of the driving wheel assembly 10, the rotation sensor 40 can detect the actual rotation angle of the driving 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 driving wheel 12 is actually rotated to the normal walking position or fully extended to achieve the obstacle crossing position through the feedback signal of the rotation sensor 40.
[0082] When the sensor only includes the optical sensor 50 disposed on the transmission device 11, the optical sensor 50 can detect whether the driving 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 driving wheel 12 is completely retracted and restored to the normal walking position through the feedback signal of the optical sensor 50.
[0083] 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 driving wheel 12 successfully retracts the slot and the actual rotation angle of the driving wheel assembly 10, and it can be determined whether the driving wheel 12 is truly restored to the normal walking position. In addition, by comparing the optical sensor 50 and the rotation sensor 40 with the rotation angle information of the rotating power element 21 fed back by the encoder, it can also be determined 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 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 driving wheel lifting mechanism 100.
[0084] The working principle of the driving wheel lifting mechanism 100 is described below by taking the driving wheel lifting mechanism 100 of a certain embodiment as an example. In this embodiment, the driving wheel lifting mechanism 100 is applied to a sweeping robot, and two driving wheel lifting mechanisms 100 are provided in the sweeping robot. The power assembly 20 and the flexible connector 30 in each driving wheel lifting mechanism 100 drive the corresponding driving wheel assembly 10 to swing and rise and fall. The driving wheel assembly 10 includes a driving device 13, a transmission device 11 and a driving wheel 12. The transmission device 11 is a speed reduction mechanism, the flexible connector 30 is a cable, the power assembly 20 includes a steering gear and a rotating disk 22, and a rotation sensor 40 and a light sensor 50 are provided on the driving wheel assembly 10 at the same time.
[0085] When the sweeping robot is moving normally, the position state of the driving wheel assembly 10 is as follows: Figure 1 As shown. One end of the cable is fixed to the cable hanging point on the transmission device 11, 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 portion 90 on the transmission device 11, and the other end is fixed to the hook portion 90 of the base 210. The transmission disk 221, the inner fixed disk 222 and the outer fixed disk 223 are fixedly connected to the steering gear using screws.
[0086] 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 driving wheel assembly 10 rotates downward with the rotating shaft 61 as the center. Figure 2 shown.
[0087] The driving 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 driving 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.
[0088] A light sensor 50 is installed outside the main wheel part a of the housing of the transmission device 11, which is used to determine whether the driving 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 driving wheel assembly 10. The servo is built with an encoder, which can detect the actual rotation angle of the servo. When the servo position feedback fails, such as the servo fails or the cable breaks, it can be determined whether the driving wheel 12 is truly restored to the normal walking position based on whether the driving 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 determined whether the servo or the cable is faulty by comparing with the servo rotation angle information fed back by the servo.
[0089] 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 driving wheel lifting mechanism 100 of any embodiment of the first aspect. The driving wheel lifting mechanism 100 is integrally installed in the device body 200, and the driving wheel 12 of the driving 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.
[0090] When the cleaning device 1000 is driving normally (including moving forward, backward and turning), the driving wheel assembly 10 provides driving force. 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 driving wheel assembly 10 through the flexible connector 30, so that the driving wheel assembly 10 rotates relative to the device body 200 to realize the lifting function relative to the device body 200.
[0091] Since the driving wheel assembly 10 is always in contact with the ground d during driving, the lifting and lowering of the driving wheel assembly 10 relative to the equipment body 200 is manifested in the equipment as a change in the ground clearance height of the equipment body 200. When the ground clearance height of the equipment body 200 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 driving wheel lifting mechanism 100 can be improved.
[0092] See also Figure 6 In some embodiments, when the controller determines that an obstacle c is encountered, the power assembly 20 drives the driving wheel assembly 10 to rotate relative to the device body 200 and extend, so that the device body 200 is raised as a whole and is higher than the height of the obstacle c. The driving wheel assembly 10 drives the cleaning device 1000 to continue to travel and pass the obstacle c.
[0093] See also Figure 7 In some embodiments, when the controller determines that an obstacle c is encountered, the power assembly 20 drives the driving 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 driving wheel assembly 10 drives the cleaning device 1000 to accelerate and pass the obstacle c.
[0094] 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.
[0095] 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.
[0096] 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.
[0097] 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.
[0098] 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.
[0099] 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.
[0100] 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.
[0101] 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 driving wheel lifting mechanism (100), installed on a device body (200), characterized in that: include: A driving wheel assembly (10) comprises a driving device (13), a transmission device (11) and a driven driving wheel (12); the transmission device (11) is rotatably connected to the equipment body (200), the transmission device (11) comprises a main wheel part (a) and a free part (b), the main wheel part (a) is closer to the driving wheel (12) relative to the free part (b); A power assembly (20), mounted on the device body (200); and a flexible connecting member (30), wherein the flexible connecting member (30) is connected between the free portion (b) of the transmission device (11) and the power assembly (20), and is used to drive the transmission device (11) to rotate relative to the device body (200) under the drive of the power assembly (20), so that the driving wheel assembly (10) is lifted or lowered relative to the device body (200), and the driving wheel assembly (10) is always in contact with the ground during the driving process and the process of being lifted or lowered relative to the device body (200).
2. The driving wheel lifting mechanism (100) according to claim 1, characterized in that: The free part (b) of the transmission device (11) is rotationally connected to the device body (200).
3. The driving wheel lifting mechanism (100) according to claim 2, characterized in that: The free part (b) of the transmission device (11) is provided with a mounting shaft seat (60), and the mounting shaft seat (60) is rotatably connected to the equipment body (200), and the transmission device (11) rotates with the rotating shaft (61) of the mounting shaft seat (60) as the center of the circle.
4. The driving wheel lifting mechanism (100) according to claim 3, characterized in that: The rotating shaft (61) of the mounting shaft seat (60) is located at a different axis from that of the driving device (13).
5. The driving wheel lifting mechanism (100) according to claim 3, characterized in that: The mounting shaft seat (60) is arranged on the lower side of the free portion (b).
6. The driving wheel lifting mechanism (100) according to any one of claims 1 to 5, characterized in that: The main wheel part (a) and the free part (b) are separated by the ground-connected normal axis of the driving wheel (12), and the free part (b) is closer to the forward direction of the equipment body (200) than the main wheel part (a).
7. The driving wheel lifting mechanism (100) according to any one of claims 1 to 5, characterized in that: The free part (b) of the transmission device (11) is provided with a hanging point part (80), and the flexible connecting member (30) is connected to the hanging point part (80); the hanging point part (80) is arranged on the upper side of the free part (b).
8. The driving wheel lifting mechanism (100) according to any one of claims 1 to 5, characterized in that: The power assembly (20) comprises a rotating power element (21); one end of the flexible connection piece (30) is fixed to the free part (b) of the transmission device (11), and the other end is connected to the output shaft (211) of the rotating power element (21); when the rotating power element (21) rotates, the flexible connection piece (30) is tightened or loosened.
9. The driving wheel lifting mechanism (100) according to claim 8, characterized in that: The rotation angle of the rotating power element (21) during the lifting or lowering process of the driving wheel assembly (10) does not exceed 360 degrees.
10. The driving wheel lifting mechanism (100) according to claim 9, characterized in that: The rotation angle of the rotating power element (21) during the lifting or lowering process of the driving wheel assembly (10) is 0 to 300 degrees.
11. The driving wheel lifting mechanism (100) according to claim 8, characterized in that: The power assembly (20) further comprises a rotating disk (22) coaxially arranged with the output shaft (211) of the rotating power element (21); and a connection point between the flexible connecting member (30) and the rotating disk (22) is eccentrically arranged relative to the output shaft (211) of the rotating power element (21).
12. The driving wheel lifting mechanism (100) according to claim 11, characterized in that: The rotation angle of the rotating disk (22) during the lifting or lowering process of the driving wheel assembly (10) is 0 to 90 degrees.
13. The driving wheel lifting mechanism (100) according to claim 11, 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).
14. The driving wheel lifting mechanism (100) according to claim 11, characterized in that: A torsion spring is provided at the connection between the flexible connecting member (30) and the rotating disk (22).
15. The driving wheel lifting mechanism (100) according to claim 8, characterized in that: The rotating power element (21) is a steering gear or a motor with an integrated encoder; the driving wheel lifting mechanism (100) further comprises a controller, and the rotating power element (21) is electrically connected to the controller.
16. The driving wheel lifting mechanism (100) according to claim 15, characterized in that: The driving wheel lifting mechanism (100) further comprises a sensor for detecting the rotation angle of the driving wheel assembly (10), wherein the sensor is 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 driving wheel assembly (10) and the rotation angle of the rotating power element (21).
17. The driving wheel lifting mechanism (100) according to claim 16, characterized in that: The sensor comprises a rotation sensor (40) arranged on the rotating shaft (61) of the driving wheel assembly (10), and / or a light sensor (50) arranged on the transmission device (11).
18. The driving wheel lifting mechanism (100) according to any one of claims 1 to 5, characterized in that: The equipment body (200) comprises a base (210); the transmission device (11) is rotatably connected to the base (210).
19. The driving wheel lifting mechanism (100) according to claim 18, characterized in that: The base (210) 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 driving wheel assembly (10) respectively.
20. The driving wheel lifting mechanism (100) according to claim 18, characterized in that: The driving wheel lifting mechanism (100) further comprises a spring (70), one end of which is fixed to the free part (b) of the transmission device (11), and the other end of which is fixed to the base (210).
21. The driving wheel lifting mechanism (100) according to claim 20, characterized in that: The free portion (b) and the base (210) are both provided with hooks (90), and 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.
22. A cleaning device (1000), characterized in that: It comprises a device body (200) and a driving wheel lifting mechanism (100) as claimed in any one of claims 1 to 21.