Obstacle crossing device, automatic cleaning equipment and cleaning robot system

Abstract

The utility model discloses an obstacle crossing device, automatic cleaning equipment and a cleaning robot system, the obstacle crossing device is applied to the automatic cleaning equipment, the automatic cleaning equipment comprises a machine body, walking wheels and a driving assembly, the obstacle crossing device comprises auxiliary wheels, and the driving assembly is used for driving the auxiliary wheels and the walking wheels to rotate in the same direction. At least part of the auxiliary wheels protrude out of the walking wheels in the advancing direction of the walking wheels in the rotating state, so that the auxiliary wheels abut against an obstacle and support the machine body. The auxiliary wheels are arranged for assisting obstacle crossing, the auxiliary wheels abut against an obstacle firstly in the advancing process of the automatic cleaning equipment, the machine body is supported in the rotating process of the auxiliary wheels, the height difference between the obstacle and the bottoms of the walking wheels is reduced, the obstacle crossing height is increased, the obstacle crossing passing rate is increased, the obstacle crossing consumed time is shortened, and the obstacle crossing efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of obstacle crossing of automatic cleaning equipment, and particularly relates to an obstacle crossing device, an automatic cleaning equipment and a cleaning robot system. Background Art

[0002] Current automatic cleaning equipment generally has an automatic walking function. However, when the current automatic cleaning equipment encounters obstacles such as thresholds and steps during walking, it only crosses the obstacles by driving the walking wheels or by increasing the driving force of the walking wheels. If the obstacle crossing fails, it retreats and tries again. The current automatic cleaning equipment has great limitations on the height of obstacle crossing only by the walking wheels, and it is difficult to control the passing rate and the time consumed for obstacle crossing, and the efficiency of obstacle crossing is low. The utility model proposes a new solution for the above problems. Summary of the Utility Model

[0003] In order to overcome at least one of the above disadvantages, the utility model provides an obstacle crossing device, an automatic cleaning equipment and a cleaning robot system. The purpose of the utility model can be achieved by adopting the following technical solutions:

[0004] An obstacle crossing device is applied to an automatic cleaning equipment. The automatic cleaning equipment includes a machine body, walking wheels and a driving assembly. The obstacle crossing device includes auxiliary wheels. The driving assembly is used to drive the auxiliary wheels to rotate in the same direction as the walking wheels. In the rotating state, at least part of the auxiliary wheels protrude above the walking wheels in the forward direction of the walking wheels, so that the auxiliary wheels abut against the obstacles and support the machine body.

[0005] In an implementable manner, in the rotating state, the protruding part of the auxiliary wheels above the walking wheels is located above the transverse center line of the walking wheels; and / or, in the rotating state, the protruding part of the auxiliary wheels above the walking wheels is located below the transverse center line of the walking wheels.

[0006] In an implementable manner, the lowest point of the auxiliary wheels in the rotating state is not lower than the lowest point of the walking wheels.

[0007] In an implementable manner, at least one convex part is provided on the auxiliary wheels. The convex part can rotate to the forward direction side of the walking wheels and is used to abut against the obstacles during the movement of the auxiliary wheels over the obstacles.

[0008] In an implementable manner, at least one groove is provided on the auxiliary wheels. The groove can rotate to the forward direction side of the walking wheels and is used to abut against the obstacles during the movement of the auxiliary wheels over the obstacles.

[0009] In an implementable manner, the height difference between the lowest point of the auxiliary wheel and the lowest point of the traveling wheel is at least 5 mm.

[0010] In an implementable manner, the height difference between the lowest point of the auxiliary wheel and the lowest point of the traveling wheel is 5 - 20 mm.

[0011] In an implementable manner, the end of the convex portion includes an arc surface and / or a flat surface.

[0012] In an implementable manner, the number of the convex portions is at least two, and the at least two convex portions are arranged on the outer peripheral side of the auxiliary wheel, and there is an arc transition and / or a flat transition between two adjacent convex portions.

[0013] In an implementable manner, an anti-slip layer is provided on the auxiliary wheel, and the auxiliary wheel abuts against the obstacle through the anti-slip layer.

[0014] In an implementable manner, the drive assembly includes a traveling drive portion, a first transmission mechanism, and a second transmission mechanism. The traveling drive portion drives the traveling wheel to rotate through the first transmission mechanism. The first transmission mechanism cooperates with the second transmission mechanism. The traveling drive portion is connected to the auxiliary wheel through the first transmission mechanism and the second transmission mechanism to drive the auxiliary wheel to rotate in the same direction as the traveling wheel.

[0015] In an implementable manner, the first transmission mechanism includes one or more combinations of a belt, a synchronous belt, and a gear.

[0016] In an implementable manner, the first transmission mechanism includes a first gear set, the second transmission mechanism includes a second gear set, and the first gear set meshes with the second gear set.

[0017] In an implementable manner, the drive assembly includes a traveling drive portion, an auxiliary drive portion, a first transmission mechanism, and a second transmission mechanism. The traveling drive portion drives the traveling wheel to rotate along the traveling direction through the first transmission mechanism. The auxiliary drive portion drives the auxiliary wheel to rotate along the traveling direction through the second transmission mechanism.

[0018] In an implementable manner, the first transmission mechanism includes a first gear set, the second transmission mechanism includes a second gear set, and the first gear set is separated from the second gear set.

[0019] In an implementable manner, the second gear set includes a connecting shaft, and the connecting shaft is connected to the auxiliary wheel to drive the auxiliary wheel to rotate.

[0020] In one possible implementation, a limiting member is provided at one end of the connecting shaft, and an installation groove corresponding to the limiting member is provided on the auxiliary wheel. The limiting member is inserted into the installation groove to drive the auxiliary wheel to rotate synchronously with the connecting shaft.

[0021] In one possible implementation, the drive assembly further includes a gearbox, and the first gear set and the second gear set are disposed inside the gearbox.

[0022] In one possible implementation, the auxiliary wheel is disposed on one side of the traveling wheel away from the longitudinal center line of the machine body; or, the auxiliary wheel is disposed on one side of the traveling wheel close to the longitudinal center line of the machine body.

[0023] In one possible implementation, when the drive assembly includes a gearbox,

[0024] the gearbox is disposed between the traveling wheel and the auxiliary wheel; or,

[0025] the gearbox is disposed on one side of the auxiliary wheel away from the traveling wheel.

[0026] In one possible implementation, the traveling wheel includes a first traveling half-wheel and a second traveling half-wheel, and an annular cavity is formed between the first traveling half-wheel and the second traveling half-wheel. The auxiliary wheel is disposed in the cavity between the first traveling half-wheel and the second traveling half-wheel.

[0027] An automatic cleaning device includes the obstacle-crossing device according to any one of the above.

[0028] A cleaning robot system includes the obstacle-crossing device according to any one of the above;

[0029] or, includes a base station and the above automatic cleaning device, and the automatic cleaning device is adapted to dock on the base station.

[0030] The beneficial technical effects of the present utility model: According to the present disclosure, the obstacle-crossing device, the automatic cleaning device, and the cleaning robot system assist in crossing obstacles by providing an auxiliary wheel. During the progress of the automatic cleaning device, the auxiliary wheel first abuts against the obstacle, and the machine body is lifted during the rotation of the auxiliary wheel, reducing the height difference between the obstacle and the bottom of the traveling wheel, improving the height and passing rate of crossing the obstacle, shortening the time consumed for crossing the obstacle, and improving the efficiency of crossing the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In the drawings, the following content is given by way of example and not limitation:

[0032] Figure 1 The overall structural schematic diagram of the obstacle-crossing device is shown;

[0033] Figure 2 Shows the front view of the overall structure of the obstacle-crossing device;

[0034] Figure 3 Shows the force diagram of the convex part of the obstacle-crossing device abutting against the obstacle;

[0035] Figure 4 Shows the force diagram of the groove of the obstacle-crossing device abutting against the obstacle;

[0036] Figure 5 Shows the structural schematic diagram of the limiting member;

[0037] Figure 6 Shows the three-dimensional structure diagram of the first transmission mechanism and the second transmission mechanism;

[0038] Figure 7 Shows the front view of the structure of the first transmission mechanism and the second transmission mechanism;

[0039] Figure 8 Shows the three-dimensional structure diagram of the auxiliary wheel (with anti-slip layer);

[0040] Figure 9 Shows the front view of the structure of the first type of auxiliary wheel;

[0041] Figure 10 Shows the front view of the structure of the second type of auxiliary wheel;

[0042] Figure 11 Shows the front view of the structure of the third type of auxiliary wheel;

[0043] Figure 12 Shows the front view of the structure of the fourth type of auxiliary wheel;

[0044] Figure 13 Shows the front view of the structure of the fifth type of auxiliary wheel;

[0045] Figure 14 Shows the front view of the position structure of the first type of auxiliary wheel and the walking wheel;

[0046] Figure 15 Shows the front view of the position structure of the second type of auxiliary wheel and the walking wheel;

[0047] Figure 16 Shows the front view of the position structure of the third type of auxiliary wheel and the walking wheel;

[0048] Figure 17 Shows the front view of the position structure of the fourth type of auxiliary wheel and the walking wheel;

[0049] Figure 18 Shows the schematic diagram of the position structure of the first type of auxiliary wheel, the walking wheel and the gearbox;

[0050] Figure 19 Shows a schematic diagram of the positional structure of the second auxiliary wheel, traveling wheel, and gearbox;

[0051] Figure 20 Shows a schematic diagram of the positional structure of the third auxiliary wheel, traveling wheel, and gearbox;

[0052] Figure 21 Shows a schematic diagram of the positional structure of the fourth auxiliary wheel, traveling wheel, and gearbox;

[0053] Figure 22 Shows the main structural view of the automatic cleaning device;

[0054] Figure 23 Shows the main structural view of the automatic cleaning device during the obstacle-crossing process.

[0055] In the figure:

[0056] 100, obstacle-crossing device; 200, automatic cleaning device;

[0057] 1, traveling wheel; 2, auxiliary wheel; 3, drive assembly;

[0058] 11, first half traveling wheel; 12, second half traveling wheel;

[0059] 21, convex part; 22, groove; 23, limiting part; 24, mounting groove; 25, anti-slip layer;

[0060] 31, gearbox; 32, first transmission mechanism; 33, second transmission mechanism. Detailed implementation manners

[0061] In the following detailed disclosure, reference is made to the accompanying drawings, and these embodiments are fully described. To make the technical solutions of the present invention clearer and more definite for those skilled in the art, the described implementation manners are not limited thereto. The present invention will be further described in detail below with reference to the embodiments and the accompanying drawings.

[0062] In the present invention, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. Terms such as "installation", "connection", "attachment", and "fixation" should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "attachment" can be a direct attachment or an indirect attachment through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0064] In the first aspect provided by the present utility model, as Figures 1 to 21 shown, a barrier-crossing device is provided, which is applied to an automatic cleaning device. The automatic cleaning device includes a machine body, a traveling wheel 1 and a driving component 3. The barrier-crossing device includes an auxiliary wheel 2. The driving component 3 is used to drive the auxiliary wheel 2 to rotate in the same direction as the traveling wheel 1. In the rotating state, at least part of the auxiliary wheel 2 protrudes from the traveling wheel 1 in the forward direction of the traveling wheel 1, so that the auxiliary wheel 2 abuts against an obstacle and supports the machine body.

[0065] This barrier-crossing device assists in crossing obstacles by setting the auxiliary wheel 2. During the traveling process of the automatic cleaning device 200, the auxiliary wheel 2 first abuts against the obstacle, and the machine body is supported during the rotation of the auxiliary wheel 2, reducing the height difference between the obstacle and the bottom of the traveling wheel 1, increasing the height and passing rate of crossing the obstacle, shortening the time consumed for crossing the obstacle, and improving the efficiency of crossing the obstacle.

[0066] During the traveling process of the automatic cleaning device 200, the driving component 3 drives the auxiliary wheel 2 to rotate in the same direction as the traveling wheel 1. As Figure 3 and Figure 4 shown, the auxiliary wheel 2 first abuts against the upper end of the obstacle. After the auxiliary wheel 2 abuts against the upper end of the obstacle, it continues to rotate to provide an obliquely upward thrust for the machine body, support the machine body, and then support the traveling wheel 1, reducing the height difference between the bottom end of the traveling wheel 1 and the upper end of the obstacle, reducing the height that the traveling wheel 1 needs to cross, improving the obstacle-crossing ability of the traveling wheel 2, and further increasing the obstacle-crossing height and passing rate of the automatic cleaning device 200.

[0067] It can be understood that during the obstacle-crossing process of the auxiliary wheel 2, when the auxiliary wheel 2 rotates to the state of just abutting against the obstacle, there are two possibilities for the position between the side wall of the obstacle and the traveling wheel 1: As Figure 3 shown, one is that the side wall of the obstacle abuts against the traveling wheel 1, and the traveling wheel 1 is assisted to cross the obstacle through the thrust of the obstacle on the auxiliary wheel 2 and the friction between the rotation of the traveling wheel 1 and the obstacle; As Figure 4 shown, the other is that the side wall of the obstacle is separated from the traveling wheel 1. During the rotation of the auxiliary wheel 2 to cross the obstacle, if the traveling wheel 1 and the side wall of the obstacle always remain separated, then the traveling wheel 1 is assisted to cross the obstacle only through the thrust of the obstacle on the auxiliary wheel 2.

[0068] It can be understood that the obstacle can be a step, a threshold, a sliding door track, or other obstacles. The obstacle has a certain height and is located on the traveling path of the self-cleaning device 200. The forward direction of the traveling wheel 1 is the traveling direction of the automatic cleaning device 200 when it moves forward, rather than the backward direction of the automatic cleaning device 200.

[0069] In an implementable manner, in the rotating state, the part of the auxiliary wheel 2 protruding from the traveling wheel 1 is placed above the transverse center line of the traveling wheel 1; and / or, in the rotating state, the part of the auxiliary wheel 2 protruding from the traveling wheel 1 is placed below the transverse center line of the traveling wheel 1.

[0070] In the first embodiment of this embodiment, as Figure 14 shown, in the rotating state, the part of the auxiliary wheel 2 protruding from the traveling wheel 1 is placed below the transverse center line of the traveling wheel 1. By rotating the auxiliary wheel 2 to support the machine body, under the action of the auxiliary wheel 2, the height required for the traveling wheel 1 to cross the obstacle can be reduced to the height difference between the lowest point of the part of the auxiliary wheel 2 protruding from the traveling wheel 1 and the lowest point of the traveling wheel 1, meeting the need to improve the obstacle-crossing height and the obstacle-crossing smoothness. Considering the situation that the existing traveling wheels are usually arranged at the bottom of the machine body, it is more applicable to the installation positions of the auxiliary wheel 2 and the traveling wheel 1 provided in this embodiment.

[0071] In the second embodiment of this embodiment, as Figure 15 shown, in the rotating state, the part of the auxiliary wheel 2 protruding from the traveling wheel 1 is placed above the transverse center line of the traveling wheel 1. By rotating the auxiliary wheel 2 to support the machine body, under the action of the auxiliary wheel 2, the height required for the traveling wheel 1 to cross the obstacle can be reduced to the height difference between the lowest point of the part of the auxiliary wheel 2 protruding from the traveling wheel 1 and the lowest point of the traveling wheel 1, that is, the height for the traveling wheel 1 to cross the obstacle can be minimized to the radius height of the traveling wheel 1. When the height of the obstacle itself is lower than the radius height of the traveling wheel 1, the auxiliary wheel 2 has no contact with the obstacle, which is applicable to the traveling wheel 1 having the ability to cross at least its own radius height and meets the need to further improve the obstacle-crossing height.

[0072] In the third embodiment of this embodiment, as Figure 16 shown, in the rotating state, the part of the auxiliary wheel 2 protruding from the traveling wheel 1 is placed above and below the transverse center line of the traveling wheel 1. By rotating the auxiliary wheel 2 to support the machine body, under the action of the auxiliary wheel 2, the height required for the traveling wheel 1 to cross the obstacle can be reduced to the height difference between the lowest point of the part of the auxiliary wheel 2 protruding from the traveling wheel 1 and the lowest point of the traveling wheel 1. Compared with the first embodiment, this embodiment reduces the height required for crossing the obstacle during the obstacle-crossing process, improves the obstacle-crossing ability, and can improve the obstacle-crossing smoothness; compared with the second embodiment, this embodiment can improve the obstacle-crossing height to meet the need for crossing obstacles of different heights.

[0073] In the second and third embodiments of this implementation manner, the auxiliary wheel 2 is generally applicable to the case where the walking wheels 1 are arranged on both sides of the machine body to provide sufficient installation space for the auxiliary wheel 2; in the case where the walking wheels 1 are placed at the bottom of the machine body, the auxiliary wheel 2 in the third embodiment of this implementation manner requires an installation space for the rotation of the auxiliary wheel 2 inside the machine body.

[0074] In an implementable manner, the lowest point of the auxiliary wheel 2 in the rotating state is not lower than the lowest point of the walking wheel 1.

[0075] In the first embodiment of this implementation manner, as Figure 14 、 Figure 15 and Figure 16 shown, the lowest point of the auxiliary wheel 2 in the rotating state is higher than the lowest point of the walking wheel 1. Under the action of the auxiliary wheel 2, the height required for the walking wheel 1 to cross an obstacle can be reduced to the height difference between the lowest point of the part where the auxiliary wheel 2 protrudes beyond the walking wheel 1 and the lowest point of the walking wheel 1, reducing the height difference between the walking wheel 1 and the obstacle when crossing the obstacle. When the walking wheel 1 travels on the platform, the auxiliary wheel 2 is not in contact with the platform, and the auxiliary wheel 2 is in an idling state to avoid problems such as scratches and resistance caused by contact with the platform.

[0076] In the second embodiment of this implementation manner, as Figure 17 shown, the lowest point of the auxiliary wheel 2 in the rotating state is on the same horizontal plane as the lowest point of the walking wheel 1. Under the action of the auxiliary wheel 2, the lowest point of the walking wheel 1 is basically flush with the upper end face of the obstacle, further improving the obstacle-crossing ability of the walking wheel 1. When the walking wheel 1 travels on the platform, the auxiliary wheel 2 comes into contact with the platform. To avoid problems such as scratches and resistance caused by contact between the auxiliary wheel 2 and the platform. Preferably, a protective layer with a softer material is provided on the outer wall of the auxiliary wheel 2 to avoid scratches caused by contact between the auxiliary wheel 2 and the platform, and generally a rubber layer is selected; at the same time, when the auxiliary wheel 2 rotates synchronously with the walking wheel 1, preferably the rotation lengths of the auxiliary wheel 2 and the walking wheel 1 are as close as possible. During the movement of the machine body, the rotation lengths of the walking wheel 2 and the auxiliary wheel 1 in contact with the platform during rotation are the same, reducing the influence between the auxiliary wheel 2 and the walking wheel 1.

[0077] In an implementable manner, at least one convex portion 21 is provided on the auxiliary wheel 2, and the convex portion 21 can rotate to the advancing direction side of the walking wheel 1 for abutting against the obstacle during the movement of the auxiliary wheel 2 over the obstacle.

[0078] It can be understood that the convex portion 21 of the auxiliary wheel 2 is also the portion that protrudes radially outward in the auxiliary wheel 2. During the obstacle-crossing process, the driving assembly 3 drives the auxiliary wheel 2 to rotate. The outer wall of the convex portion 21 first abuts against the obstacle, and then the convex portion 21 rotates until the end of the convex portion 21 abuts against the obstacle. The obstacle exerts an obliquely upward acting force on the convex portion 21, and the auxiliary wheel 2 continues to rotate to support the main body of the machine. The height difference between the upper end of the obstacle and the main body of the machine decreases, that is, the height difference between the upper end of the obstacle and the lower end of the traveling wheel 1 decreases, achieving the effect of assisting the traveling wheel 1 to cross the obstacle.

[0079] It can be understood that, as Figures 8 - 13 shown, the number of the convex portions 21 can be one, two, three, four, five, six, and other integer numbers.

[0080] In specific implementation, the number and specific structure of the convex portions 21 are set according to the size and installation position of the auxiliary wheel 2 to meet different obstacle-crossing requirements.

[0081] In some possible implementation embodiments provided by the present disclosure, as Figure 9 , Figure 10 and Figure 11 shown, the number of the convex portions 21 of one auxiliary wheel 2 is four, and among them Figure 9 and Figure 10 shown, the included angle between two adjacent convex portions 21 is the same, Figure 11 shown, the included angle between two adjacent convex portions 21 is different; the larger the included angle between two adjacent convex portions 21, the larger the space between the corresponding two adjacent convex portions 21. Furthermore, the distance range between the abutting portion of the convex portion 21 and the obstacle and the axis of the auxiliary wheel 2 can be increased, and the probability of slippage between the obstacle and the convex portion 21 and the obstacle is reduced, further improving the passing rate of obstacle crossing. The number of the convex portions 21 and the included angle between two adjacent convex portions 21 can be specifically designed according to actual needs.

[0082] In some possible implementation embodiments provided by the present disclosure, as Figure 11 shown, the number of the convex portions 21 of one auxiliary wheel 2 is two, as Figure 9 , Figure 10 and Figure 11 shown, the number of the convex portions 21 of one auxiliary wheel 2 is four, as Figure 13 shown, the number of the convex portions 21 of one auxiliary wheel 2 is six.

[0083] It can be understood that the fewer the number of convex portions 21, the larger the angle between two adjacent convex portions 21, and thus the larger the distance range between the contact portion of the convex portion 21 and the obstacle and the axis of the auxiliary wheel 2. The higher the stability of the auxiliary wheel 2 after contacting the obstacle, and the higher the passing rate over the obstacle. Conversely, the more the number of convex portions 21, the smaller the angle between two adjacent convex portions 21, and thus the smaller the distance range between the contact portion of the convex portion 21 and the obstacle and the axis of the auxiliary wheel 2, and the relative probability of slippage between the auxiliary wheel 2 and the obstacle increases.

[0084] It can be understood that the fewer the number of convex portions 21, the longer the time it takes for the convex portion 21 to rotate until it contacts the obstacle, and thus the longer the time it takes to cross the obstacle. Conversely, the more the number of convex portions 21, the shorter the time it takes for the convex portion 21 to rotate until it contacts the obstacle, and thus the shorter the time it takes to cross the obstacle.

[0085] In an implementable embodiment, at least one groove 22 is provided on the auxiliary wheel 2. The groove 22 can rotate to the advancing direction side of the traveling wheel 1 and is used to contact the obstacle during the movement of the auxiliary wheel 2 over the obstacle.

[0086] It can be understood that the groove 22 of the auxiliary wheel 2 is also the portion that is recessed radially inward in the auxiliary wheel 2, that is, the recessed portion between two adjacent convex portions 21 when the auxiliary wheel 2 includes at least two convex portions 21. During the obstacle crossing process, the driving assembly 3 drives the auxiliary wheel 2 to rotate. The inner wall of the groove 22 first contacts the obstacle, and then the groove 22 rotates until the end of the groove 22 contacts the obstacle. The obstacle exerts an obliquely upward force on the end of the groove 22, and the auxiliary wheel 2 continues to rotate to support the machine body, and the height difference between the upper end of the obstacle and the machine body decreases, that is, the height difference between the upper end of the obstacle and the lower end of the traveling wheel 1 decreases, achieving the effect of assisting the traveling wheel 1 to cross the obstacle.

[0087] It can be understood that as Figure 4 and Figures 8 to 13 shown, the number of convex portions 21 can be one, two, three, four, five, six, and other integer numbers.

[0088] In some possible implementation embodiments provided by the present disclosure, as Figure 9 , Figure 10 and Figure 11 shown, the number of grooves 22 of one auxiliary wheel 2 is four, where Figure 9 and Figure 10 shown, the angles between adjacent grooves 22 are the same, Figure 11The adjacent grooves 22 shown have different angles; the greater the degree of inward depression of the groove 22, the larger the angle of the groove 22, and the larger the distance range between the contact portion of the convex portion 21 and the obstacle and the axis of the auxiliary wheel 2. Furthermore, the probability of slippage between the groove 22 and the obstacle can be reduced. The angle of the groove 22 and the size of the degree of inward depression are specifically designed according to actual needs.

[0089] It can be understood that the fewer the number of grooves 22, the larger the included angle between two adjacent grooves 22, the larger the distance range between the contact portion of the convex portion 21 and the obstacle and the axis of the auxiliary wheel 2, the lower the probability of slippage between the auxiliary wheel 2 and the obstacle, and the higher the passing rate of obstacle crossing. On the contrary, the more the number of grooves 22, the smaller the included angle between two adjacent grooves 22, the smaller the distance range between the contact portion of the convex portion 21 and the obstacle and the axis of the auxiliary wheel 2, the higher the probability of slippage between the auxiliary wheel 2 and the obstacle, the lower the stability between the auxiliary wheel 2 and the obstacle, and the lower the passing rate of obstacle crossing.

[0090] It can be understood that the fewer the number of grooves 22, the longer the time it takes for the groove 22 to rotate to contact the obstacle, and thus the longer the time it takes to cross the obstacle. On the contrary, the more the number of grooves 22, the shorter the time it takes for the groove 22 to rotate to contact the obstacle, and thus the shorter the time it takes to cross the obstacle.

[0091] In an implementable manner, the height difference between the lowest point of the auxiliary wheel 2 and the lowest point of the traveling wheel 1 is at least 5 mm. Further, the height difference between the lowest point of the auxiliary wheel 2 and the lowest point of the traveling wheel 1 is preferably in the range of 5 - 20 mm.

[0092] As Figure 14 and Figure 16 shown, in the embodiment where the lowest point of the auxiliary wheel 2 and the traveling wheel 1 are at different horizontal planes, with the assistance of the auxiliary wheel 2, the machine body can be propped up, and thus the height difference between the traveling wheel 1 and the upper end surface of the obstacle is reduced to the height difference between the lowest point of the part where the auxiliary wheel 2 protrudes from the traveling wheel 1 and the lowest point of the traveling wheel 1.

[0093] Among them, the height difference between the lowest point of the auxiliary wheel 2 and the lowest point of the traveling wheel 1 is at least 5 mm, which greatly reduces the actual obstacle-crossing height of the traveling wheel 1, enables the traveling wheel 1 to cross the obstacle with its own driving force, improves the passing rate of obstacle crossing, shortens the time consumed for obstacle crossing, and improves the efficiency of obstacle crossing.

[0094] Further, the height difference between the lowest point of the auxiliary wheel 2 and the lowest point of the traveling wheel 1 is in the range of 5 - 20 mm to meet different obstacle-crossing needs during the daily use of the automatic cleaning device 200.

[0095] In an implementable manner, as Figures 9 - 13 shown, the end portion of the convex portion 21 includes an arc surface and / or a plane.

[0096] In the first embodiment of this implementation manner, as Figure 9 shown, the end of the convex portion 21 includes an arc surface. During the obstacle-crossing process of the auxiliary wheel 2, the side wall of the convex portion 21 first abuts against the obstacle, and then the auxiliary wheel 2 continues to rotate so that the end of the convex portion 21 abuts against the obstacle. In this embodiment, first, the end of the convex portion 21 is an arc surface with the same radian, and the obstacle-crossing movement process is smoother after the end of the convex portion 21 abuts against the obstacle, reducing the vibration received by the machine body; second, the middle area of the end of the convex portion 21 is an arc surface with a larger radian, and the transition area between the middle area and the side wall of the convex portion 21 is an arc surface with a smaller radian. On the premise of improving the smoothness of the obstacle-crossing movement process after the end of the convex portion 21 abuts against the obstacle, the contact area between the end of the convex portion 21 and the obstacle is further increased, the probability of slippage between the auxiliary wheel 2 and the obstacle is reduced, and the friction between the auxiliary wheel 2 and the obstacle and the stability of the obstacle-crossing process are improved.

[0097] In the second embodiment of this implementation manner, as Figures 10 - 13 shown, the end of the convex portion 21 includes an arc surface and a plane. The end of the convex portion 21 is an arc surface and a plane, that is, the middle area of the end is a plane, and the transition area between this plane and the side wall of the convex portion 21 is an arc surface. It can both have the stability of the obstacle-crossing movement process of the obstacle-crossing wheel 2 in the first embodiment of this implementation manner, reduce the vibration received by the machine body, and at the same time increase the contact area between the end of the convex portion 21 and the obstacle, reduce the probability of slippage between the auxiliary wheel 2 and the obstacle, and improve the friction between the auxiliary wheel 2 and the obstacle and the stability of the obstacle-crossing process.

[0098] In the third embodiment of this implementation manner, the end of the convex portion 21 includes a plane. Compared with the first and second embodiments in this implementation manner, the resistance that needs to be overcome when the convex portion 21 rotates after abutting against the obstacle is greater, and slippage is likely to occur between the convex portion 21 and the obstacle, and the stability is poor.

[0099] In an implementable manner, the number of the convex portions 21 is at least two. At least two convex portions 21 are arranged on the outer peripheral side of the auxiliary wheel 2, and there is an arc transition and / or a plane transition between adjacent two convex portions 21, that is, the groove 22 is a concave arc surface and / or a concave plane.

[0100] In the first embodiment of this implementation manner, as Figure 11 shown, there is an arc transition between adjacent two convex portions 21, that is, the groove 22 is a concave arc surface.

[0101] In the second embodiment of this implementation manner, as Figure 10 shown, there is a plane transition between adjacent two convex portions 21, that is, the groove 22 is a concave plane, and at least two planes meet at one place.

[0102] In the third embodiment of the present embodiment, as Figure 9 , Figure 12 and Figure 13 shown, there is an arc transition and a plane transition between two adjacent convex portions 21, that is, the middle region of the groove 22 is a concave arc surface, and the portion where the concave arc surface is connected to the end of the convex portion 21 is a concave plane.

[0103] In an implementable manner, an anti-slip layer 25 is provided on the auxiliary wheel 2, and the auxiliary wheel 2 abuts against the obstacle through the anti-slip layer 25.

[0104] During specific implementation, as Figure 8 shown, an anti-slip layer 25 can be laid on the outer wall of the auxiliary wheel 2. The anti-slip layer 25 can be selected as sheet-shaped, dot-shaped, strip-shaped, and other shapes or a combination of multiple shapes, and is preferably made of a material with a certain elasticity, such as rubber material. When the auxiliary wheel 2 abuts against the obstacle through the anti-slip layer 25, the anti-slip layer 25 deforms, increasing the contact area with the obstacle and improving the anti-slip effect.

[0105] When the anti-slip layer 25 is a sheet-shaped anti-slip layer, during the process of the auxiliary wheel 2 abutting against the obstacle and continuously rotating over the obstacle, the auxiliary wheel 2 always abuts against the obstacle through the sheet-shaped anti-slip layer.

[0106] When the anti-slip layer 25 is a strip-shaped, dot-shaped or other shaped anti-slip layer, in the case where there is a certain gap between the anti-slip layers, it is preferably that the gap is arranged along the normal direction of the auxiliary wheel 2 itself. During the process of the auxiliary wheel 2 abutting against the obstacle and continuously rotating over the obstacle, if the width of the obstacle is small, for example, the obstacle is a thin threshold, a sliding door track, etc., the contact area between the auxiliary wheel 2 and the obstacle is small, resulting in insufficient friction and it is difficult to support the machine body with the abutting position as a fulcrum, and the two are prone to sliding and displacement; by setting the anti-slip layer 25 with gaps, when the auxiliary wheel 2 abuts against the obstacle, the top of the obstacle is inserted into the gaps between the anti-slip layers. At this time, the anti-slip layer has a limiting effect, reducing the relative sliding between the auxiliary wheel 2 and the obstacle, so that the auxiliary wheel 2 can support the machine body with the abutting position with the obstacle as a fulcrum.

[0107] It can be understood that the anti-slip layer 25 can completely cover the outer peripheral side of the auxiliary wheel 2; as Figure 8 shown, it can also partially cover the outer peripheral side of the auxiliary wheel 2. The position of the auxiliary wheel 2 for abutting against the obstacle is covered with the anti-slip layer 25, increasing the friction between the auxiliary wheel 2 and the obstacle and reducing the relative sliding between the auxiliary wheel 2 and the obstacle.

[0108] In an implementable manner, as Figure 6 and Figure 7As shown in the figure, the driving assembly 3 includes a traveling driving part, a first transmission mechanism 32 and a second transmission mechanism 33. The traveling driving part drives the traveling wheel 1 to rotate through the first transmission mechanism 32. The first transmission mechanism 32 cooperates with the second transmission mechanism 33. The traveling driving part is connected to the auxiliary wheel 2 through the first transmission mechanism 32 and the second transmission mechanism 33 to drive the auxiliary wheel 2 to rotate in the same direction as the traveling wheel 1.

[0109] The traveling driving part is used to output power. The traveling driving part can be a motor. The traveling driving part is connected to the first transmission mechanism 32. The first transmission mechanism 32 is connected to the traveling wheel 1. The first transmission mechanism 32 cooperates with the second transmission mechanism 33. The second transmission mechanism 33 is connected to the auxiliary wheel 2, thereby driving the auxiliary wheel 2 to rotate in the same direction as the traveling wheel 1.

[0110] In an implementable embodiment, the first transmission mechanism 32 includes one or more combinations of a belt, a synchronous belt, and a gear.

[0111] It can be understood that the traveling driving part can drive the auxiliary wheel 2 to rotate through a belt, or can drive the auxiliary wheel 2 to rotate through a synchronous belt, or can also drive the auxiliary wheel 2 to rotate through the combination of a belt / synchronous belt and a gear, as long as it can satisfy driving the auxiliary wheel 2 to rotate in the same direction as the traveling wheel 1.

[0112] In an implementable embodiment, the first transmission mechanism 32 includes a first gear set, and the second transmission mechanism 33 includes a second gear set. The first gear set meshes with the second gear set.

[0113] Among them, the first gear set includes a first gear and a second gear. The first gear is coaxially arranged with the output end of the traveling driving part and finally meshes with the second gear. The second gear is coaxially arranged with the traveling wheel 1. The second gear set includes a third gear and a fourth gear. The fourth gear is coaxially arranged with the auxiliary wheel 2 and finally meshes with the third gear. The third gear finally meshes with the second gear or the first gear, thereby driving the traveling driving part to drive the first gear, the second gear, the third gear and the fourth gear to rotate, and then driving the traveling wheel 1 and the auxiliary wheel 2 to rotate in the same direction.

[0114] In an implementable embodiment, as Figure 6 and Figure 7 shown, the driving assembly 3 includes a traveling driving part, an auxiliary driving part, a first transmission mechanism 32 and a second transmission mechanism 33. The traveling driving part drives the traveling wheel 1 to rotate along the traveling direction through the first transmission mechanism 32. The auxiliary driving part drives the auxiliary wheel 2 to rotate along the traveling direction through the second transmission mechanism 33.

[0115] The traveling driving part is used to output power. The traveling driving part can be a motor. The traveling driving part is connected to the first transmission mechanism 32. The first transmission mechanism 32 is connected to the traveling wheel 1, thereby driving the traveling wheel 1 to rotate.

[0116] The auxiliary drive unit is used to output power. The auxiliary drive unit can be a motor. The auxiliary drive unit is connected to the second transmission mechanism 33, and the second transmission mechanism 33 is connected to the auxiliary wheel 2, thereby driving the auxiliary wheel 2 to rotate.

[0117] Among them, the auxiliary drive unit can drive the auxiliary wheel 2 to rotate continuously. When there is an obstacle on the traveling path of the automatic cleaning device 200, the auxiliary wheel 2 rotates to abut against the obstacle and push up the machine body to assist in overcoming the obstacle.

[0118] Among them, by setting up a sensor system, when it is detected that there is an obstacle on the traveling path of the automatic cleaning device 200, the auxiliary drive unit is started to drive the auxiliary wheel 2 to rotate. The auxiliary wheel 2 rotates to abut against the obstacle and push up the machine body to assist in overcoming the obstacle.

[0119] Furthermore, when the driving component 3 drives the traveling wheel 1 to rotate to propel the automatic cleaning device 200 to travel on the ground during the cleaning process of the machine body, one or more events in the traveling path of the automatic cleaning device 200 can be detected through a sensor system, such as an infrared sensor. The automatic cleaning device 200 can control the driving component 3 to make the automatic cleaning device 200 respond to the obstacle, such as moving away from the obstacle or overcoming the obstacle, based on the events detected by the sensor system, such as an obstacle or a wall.

[0120] In an implementable embodiment, the first transmission mechanism 32 includes a first gear set, the second transmission mechanism 33 includes a second gear set, and the first gear set and the second gear set are separated from each other.

[0121] Among them, the first gear set includes a first gear and a second gear. The first gear is coaxially arranged with the output end of the traveling drive unit and finally meshes with the second gear. The second gear is coaxially arranged with the traveling wheel 1, thereby enabling the traveling drive unit to drive the first gear and the second gear to rotate, and then driving the traveling wheel to rotate.

[0122] Among them, the second gear set includes a third gear and a fourth gear. The third gear is coaxially arranged with the output end of the auxiliary drive unit and finally meshes with the third gear. The fourth gear is coaxially arranged with the auxiliary wheel 2, thereby enabling the auxiliary drive unit to drive the third gear and the fourth gear to rotate, and then driving the auxiliary wheel 2 to rotate.

[0123] In an implementable embodiment, as Figure 6 shown, the second gear set includes a connecting shaft, and the connecting shaft is connected to the auxiliary wheel 2 to drive the auxiliary wheel 2 to rotate.

[0124] It can be understood that the auxiliary wheel 2 is connected to one end of the connecting shaft. A fourth gear is sleeved on the connecting shaft. The rotation of the fourth gear drives the auxiliary wheel 2 to rotate synchronously. Preferably, the connecting shaft and the auxiliary wheel 2 are detachably connected, which is convenient for disassembly and replacement of auxiliary wheels 2 of different sizes to meet different obstacle-crossing needs.

[0125] In an implementable embodiment, as Figure 5 , Figure 6 and Figure 8 shown, a limiting member 23 is provided at one end of the connecting shaft, and a mounting groove 24 corresponding to the limiting member 23 is provided on the auxiliary wheel 2. The limiting member 23 is inserted into the mounting groove 24 to drive the auxiliary wheel 2 to rotate synchronously with the connecting shaft.

[0126] By providing the matching limiting member 23 and mounting groove 24, the clamping between the connecting shaft and the auxiliary wheel 2 is realized. The cross-section of the limiting member 23 is non-circular. The limiting member 23 is inserted into the mounting groove 24 and abuts against the side wall of the mounting groove 24. The rotation of the connecting shaft drives the auxiliary wheel 2 to rotate synchronously.

[0127] In an implementable embodiment, as Figure 6 and Figure 7 shown, the driving assembly 3 further includes a gearbox 31, and the first gear set and the second gear set are arranged inside the gearbox 31.

[0128] Among them, the first transmission mechanism 32 and the second transmission mechanism 33 are both located inside the gearbox. The driving assembly 3 is located outside the gearbox 31. The output shaft of the driving assembly penetrates the gearbox and is power-connected to the first transmission mechanism 32. The connecting shaft penetrates the gearbox 31 and is connected to the auxiliary wheel 2.

[0129] Among them, the first gear, the second gear, the third gear and the fourth gear are all located inside the gearbox 31. Thus, the gearbox 31 plays a good protection role, which is beneficial to extending the service life and reliability. At the same time, it is beneficial to ensure good transmission accuracy.

[0130] Specifically, the gearbox 31 may include a first housing and a second housing that are detachably connected. Thus, it is convenient to disassemble and assemble the gearbox 31, and it is also convenient to disassemble and assemble the first gear, the second gear, the third gear and the fourth gear, so as to facilitate the disassembly and assembly of the first transmission mechanism 32 and the second transmission mechanism 33. Specifically, the first housing and the second housing can be detachably connected by at least one of screws, snap-fit structures, mortise and tenon structures, and magnetic attraction structures.

[0131] In an implementable embodiment, the auxiliary wheel 2 is arranged on one side of the walking wheel 1 away from the longitudinal center line of the machine body; or, the auxiliary wheel 2 is arranged on one side of the walking wheel 1 close to the longitudinal center line of the machine body.

[0132] It is understandable that the number of the traveling wheels 1 is at least two, and at least two traveling wheels 1 are mirror-symmetrically arranged on both sides of the longitudinal center line of the machine body. The number of the auxiliary wheels 2 of the automatic cleaning device 200 is at least two, and preferably arranged corresponding to the traveling wheels 1.

[0133] In the first embodiment of the present embodiment, as Figure 18 and Figure 20 shown, the auxiliary wheel 2 is arranged on the side of the traveling wheel 1 away from the longitudinal center line of the machine body, that is, the auxiliary wheel 2 is arranged outside the traveling wheel 1.

[0134] In the second embodiment of the present embodiment, as Figure 19 shown, the auxiliary wheel 2 is arranged on the side of the traveling wheel 1 away from the longitudinal center line of the machine body, that is, the auxiliary wheel 2 is arranged inside the traveling wheel 1.

[0135] In an implementable manner, when the driving assembly 3 includes a gearbox 31, the gearbox 31 is placed between the traveling wheel 1 and the auxiliary wheel 2; or, the gearbox 31 is placed on the side of the auxiliary wheel 2 away from the traveling wheel 1.

[0136] In the first embodiment of the present embodiment, as Figure 18 and Figure 19 shown, the gearbox 31 is placed between the traveling wheel 1 and the auxiliary wheel 2, the first transmission mechanism 32 is connected to the traveling wheel 1 through one side of the gearbox 31, and the second transmission mechanism 33 is connected to the auxiliary wheel 2 through the other side of the gearbox 31.

[0137] In the second embodiment of the present embodiment, as Figure 20 shown, the gearbox 31 is placed on the side of the auxiliary wheel 2 away from the traveling wheel 1, the first transmission mechanism 32 is connected to the traveling wheel 1 through one side of the gearbox 31, and the second transmission mechanism 33 is connected to the auxiliary wheel 2 through the same side of the gearbox 31.

[0138] In an implementable manner, the traveling wheel 1 includes a first traveling half-wheel 11 and a second traveling half-wheel 12, an annular cavity is formed between the first traveling half-wheel 11 and the second traveling half-wheel 12, and the auxiliary wheel 2 is arranged in the cavity between the first traveling half-wheel 11 and the second traveling half-wheel 12.

[0139] In the embodiment of the present embodiment, as Figure 21 shown, the gearbox 31 and the auxiliary wheel 2 are placed in the cavity between the first traveling half-wheel 11 and the second traveling half-wheel 12, the first transmission mechanism 32 is connected to the first traveling half-wheel 11 through one side of the gearbox 31, the first transmission mechanism 32 is connected to the second traveling half-wheel 12 through the other side of the gearbox 31, and the second transmission mechanism 33 is connected to the auxiliary wheel 2 through a certain side of the gearbox 31.

[0140] In the second aspect provided by the present utility model, asFigures 1 to 23 As shown, an automatic cleaning device 200 is provided, which includes the obstacle-crossing device 100 of any one of the above.

[0141] Furthermore, the automatic cleaning device includes a machine body, traveling wheels 1, a driving assembly 3, a sensing system, a control module, a cleaning system, an energy system, and a human-machine interaction system. It can be understood that the automatic cleaning device 200 can be a self-moving cleaning device or other automatic cleaning devices 200 that meet the requirements. The automatic cleaning device 200 is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of a user.

[0142] In the third aspect provided by the present utility model, as Figures 1 to 23 shown, a cleaning robot system is provided, which includes the obstacle-crossing device of any one of the above; or, includes a base station and the above automatic cleaning device, and the automatic cleaning device is adapted to dock on the base station.

[0143] Among them, when the automatic cleaning device 200 starts to work, the automatic cleaning device 200 departs from the base station to perform a cleaning task. When the automatic cleaning device 200 completes the cleaning task or in other cases where the cleaning task needs to be aborted, the self-moving automatic cleaning device 200 can return to the base station for operations such as charging, and / or replenishing water, and / or cleaning, and / or dust collection.

[0144] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0145] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

[0146] In view of the foregoing detailed description, these and other changes may be made to these embodiments. This written description includes embodiments of the best mode to disclose the present utility model. The scope of the patent obtained for the present utility model is defined by the claims, and the claims are not limited by the present disclosure. The protection scope of the present utility model is not limited thereto. Any person skilled in the art within the scope disclosed by the present utility model, according to the technical solution and its concept of the present utility model, makes equivalent substitutions or changes, and all fall within the protection scope of the present utility model.

Claims

1. An obstacle crossing device, characterized in that: The invention is applied to an automatic cleaning device, the automatic cleaning device comprising a machine body, a running wheel (1) and a driving assembly (3); the obstacle crossing device comprising an auxiliary wheel (2); the driving assembly (3) being used to drive the auxiliary wheel (2) to rotate in the same direction as the running wheel (1); the auxiliary wheel (2) being provided with at least one convex portion (21); the convex portion (21) being capable of rotating to the forward direction side of the running wheel (1) and being used to abut against the obstacle when the auxiliary wheel (2) is moving over the obstacle; the auxiliary wheel (2) abuts against the obstacle and supports the machine body; the auxiliary wheel (2) being provided with an anti-skid layer (25); the auxiliary wheel (2) abuts against the obstacle through the anti-skid layer (25).

2. The obstacle surmounting device according to claim 1, characterized in that: In the rotating state, the portion of the auxiliary wheel (2) protruding from the running wheel (1) is placed above the transverse center line of the running wheel (1); and / or, In the rotating state, the portion of the auxiliary wheel (2) protruding from the running wheel (1) is placed below the transverse center line of the running wheel (1).

3. The obstacle surmounting device according to claim 1, characterized in that: In the rotating state, the lowest point of the auxiliary wheel (2) is not lower than the lowest point of the running wheel (1).

4. The obstacle surmounting device according to any one of claims 1 to 3, characterized in that: The auxiliary wheel (2) is provided with at least one groove (22), and the groove (22) can be rotated to the forward direction side of the running wheel (1) to abut against the obstacle during the movement of the auxiliary wheel (2) over the obstacle.

5. The obstacle surmounting device according to claim 1, characterized in that: The height difference between the lowest point of the auxiliary wheel (2) and the lowest point of the running wheel (1) is at least 5 mm.

6. The obstacle surmounting device according to claim 5, characterized in that: The height difference between the lowest point of the auxiliary wheel (2) and the lowest point of the running wheel (1) is 5 to 20 mm.

7. The obstacle surmounting device according to claim 1, characterized in that: The end of the convex portion (21) comprises a curved surface and / or a flat surface.

8. The obstacle surmounting device according to claim 1 or 7, characterized in that: The number of the convex parts (21) is at least two, and at least two of the convex parts (21) are arranged on the outer peripheral side of the auxiliary wheel (2), and there is an arc surface transition and / or a plane transition between two adjacent convex parts (21).

9. The obstacle surmounting device according to claim 1, characterized in that: The driving assembly (3) comprises: A walking drive unit, a first transmission mechanism (32) and a second transmission mechanism (33), wherein the walking drive unit drives the walking wheel (1) to rotate via the first transmission mechanism (32), the first transmission mechanism (32) cooperates with the second transmission mechanism (33), and the walking drive unit is connected to the auxiliary wheel (2) via the first transmission mechanism (32) and the second transmission mechanism (33) to drive the auxiliary wheel (2) to rotate in the same direction as the walking wheel (1).

10. The obstacle surmounting device according to claim 9, characterized in that: The first transmission mechanism (32) comprises one or a combination of a belt, a synchronous belt, and a gear.

11. The obstacle surmounting device according to claim 10, characterized in that: The first transmission mechanism (32) comprises a first gear set, and the second transmission mechanism (33) comprises a second gear set, and the first gear set is meshed with the second gear set.

12. The obstacle surmounting device according to claim 1, characterized in that: The driving assembly (3) comprises: A walking drive unit, an auxiliary drive unit, a first transmission mechanism (32) and a second transmission mechanism (33), wherein the walking drive unit drives the walking wheel (1) to rotate along the traveling direction through the first transmission mechanism (32), and the auxiliary drive unit drives the auxiliary wheel (2) to rotate along the traveling direction through the second transmission mechanism (33).

13. The obstacle surmounting device according to claim 12, characterized in that: The first transmission mechanism (32) comprises a first gear set, and the second transmission mechanism (33) comprises a second gear set, and the first gear set is separated from the second gear set.

14. The obstacle surmounting device according to claim 11 or 13, characterized in that: The second gear set comprises: A connecting shaft is connected to the auxiliary wheel (2) to drive the auxiliary wheel (2) to rotate.

15. The obstacle surmounting device according to claim 14, characterized in that: A limiting member (23) is provided at one end of the connecting shaft, and a mounting groove (24) corresponding to the limiting member (23) is provided on the auxiliary wheel (2), and the limiting member (23) is inserted into the mounting groove (24) to drive the auxiliary wheel (2) to rotate synchronously with the connecting shaft.

16. The obstacle surmounting device according to claim 11 or 13, characterized in that: The driving assembly (3) further comprises: A gear box (31), wherein the first gear set and the second gear set are arranged inside the gear box (31).

17. The obstacle surmounting device according to claim 1, characterized in that: The auxiliary wheel (2) is arranged on a side of the running wheel (1) away from the longitudinal center line of the machine body; or, The auxiliary wheel (2) is arranged on a side of the running wheel (1) close to the longitudinal center line of the machine body.

18. The obstacle surmounting device according to claim 15, characterized in that: When the driving assembly (3) includes a gear box (31), The gear box (31) is placed between the running wheel (1) and the auxiliary wheel (2); or, The gear box (31) is placed on a side of the auxiliary wheel (2) away from the running wheel (1).

19. The obstacle surmounting device according to claim 1, characterized in that: The travel wheel (1) comprises a first travel half wheel (11) and a second travel half wheel (12), wherein an annular cavity is formed between the first travel half wheel (11) and the second travel half wheel (12). The auxiliary wheel (2) is arranged in a cavity between the first traveling half wheel (11) and the second traveling half wheel (12).

20. An automatic cleaning device, characterized in that: Comprising the obstacle surmounting device as claimed in any one of claims 1 to 19.

21. A cleaning robot system, characterized in that: comprising the obstacle surmounting device as claimed in any one of claims 1 to 19; Or, comprising a base station and the automatic cleaning device as claimed in claim 20, wherein the automatic cleaning device is suitable for docking on the base station.

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