Cleaning robot

Abstract

The utility model belongs to the technical field of cleaning tools, and particularly relates to a cleaning robot which comprises a robot body, driving wheels and a universal wheel assembly are arranged at the bottom of the robot body, and the universal wheel assembly is arranged close to the front end of the robot body in the advancing direction of the robot body; the obstacle crossing mechanism is assembled to enable the universal wheel assembly to be separated from the cleaning surface; each universal wheel assembly comprises a mounting seat and a universal wheel arranged on the mounting seat; a chassis of the machine body is provided with a limiting cavity, the height of the limiting cavity is fixed in the height direction of the machine body, and the limiting cavity is provided with a top wall and a bottom wall; the mounting seat is embedded into the limiting cavity; one end of the elastic piece is arranged on the top wall, and the other end of the elastic piece is arranged on the mounting seat; when the universal wheel assembly is in a non-falling state, the mounting base is kept abutting against the bottom wall under the action of the compression amount of the elastic piece; a floating gap is formed between the mounting seat and the top wall, and when the universal wheel assembly is in a falling state, the mounting seat compresses the elastic piece to float towards the top wall under the action of impact force of the cleaning surface during falling.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning tools, and particularly relates to a cleaning robot. Background Art

[0002] In existing cleaning robots, a universal wheel structure is adopted. The universal wheel can rotate freely on a horizontal plane, allowing the cleaning robot to turn easily in a narrow space. This flexible turning ability enables the cleaning robot to more easily bypass furniture, obstacles, and corners, providing a more comprehensive cleaning.

[0003] However, when the cleaning robot crosses some relatively high obstacles or steps, since it is necessary to control the front end of the fuselage to lift at a relatively large angle, when the front end of the fuselage falls towards the cleaning surface under the action of gravitational potential energy in the second half of the obstacle crossing, the impact between the universal wheel and the cleaning surface will generate a large impact force and noise, resulting in a very poor user experience; at the same time, the large impact may cause certain damage to floor tiles, floors, etc.; in addition, the machine vibration generated by the impact will also have an adverse effect on the accuracy of the machine's internal sensors. Summary of the Utility Model

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a cleaning robot that can buffer the impact on the universal wheel, reduce the impact noise, and improve the service life of the cleaning robot.

[0005] To achieve the above object and other related objects, the present utility model provides a cleaning robot, including: a fuselage, a driving wheel and a universal wheel assembly are provided at the bottom of the fuselage, and along the advancing direction of the fuselage, the universal wheel assembly is disposed near the front end of the fuselage; an obstacle-crossing mechanism, which is movably connected to the fuselage, and the obstacle-crossing mechanism is assembled to be able to drive the front end of the fuselage to lift, so as to at least separate the universal wheel assembly from the cleaning surface; the universal wheel assembly includes a mounting seat and a universal wheel provided on the mounting seat; the chassis of the fuselage has a limiting cavity, and in the height direction of the fuselage, the height of the limiting cavity is fixed and has a top wall and a bottom wall; the mounting seat is embedded in the limiting cavity; at least one elastic member, one end of the elastic member is provided on the top wall and the other end is provided on the mounting seat; when the universal wheel assembly is in a non-falling state, under the action of the compression amount of the elastic member, the mounting seat remains in contact with the bottom wall, and the elastic force generated by the compression amount is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly; there is a floating gap between the mounting seat and the top wall, when the universal wheel assembly is in a falling state, under the action of the impact force of the cleaning surface during the fall, the mounting seat compresses the elastic member and floats towards the top wall.

[0006] The beneficial effects of such a setting are as follows: When the mounting base abuts against the bottom wall of the limiting cavity, the elastic force of the initial deformation of the elastic member is greater than the gravity of the fuselage acting on the universal wheel, so as to ensure that when the cleaning robot moves on a plane, the front end of the fuselage will not tilt downward or lift due to the setting of the elastic member; The elastic force of the initial deformation of the elastic member is greater than the gravity of the fuselage acting on the universal wheel, which can also alleviate the possible reduction of the elastic force of the elastic member with the increase of the service time, thereby reducing the probability of the front end of the fuselage tilting downward; If the elastic force of the elastic member may increase with the increase of the service time, the front end of the fuselage will not lift either; Due to the limited space inside the fuselage, the elastic deformation space of the elastic member is small. By setting the initial deformation of the elastic member to be larger than the gravity of the fuselage acting on the universal wheel, the maximum impact force that the elastic member can withstand from the cleaning surface can be further increased; When the front end of the fuselage drops and the universal wheel is subjected to the impact force of the cleaning surface, the mounting base can move upward, driving the elastic member to be further compressed, so as to utilize the elastic force of the elastic member to buffer the impact force received by the universal wheel; Limited by the limiting cavity fixed on the chassis, after the front end of the fuselage drops, the universal wheel floats up and down relative to the chassis within the space defined by the limiting cavity, so that the up and down floating range of the front end of the fuselage is also limited within the height range of the limiting cavity, so that the overall shaking of the fuselage is small when the obstacle crossing ends, that is, the obstacle crossing stability of the cleaning robot is high and the use experience is good; Since the downward movement trend of the mounting base is limited, the downward movement trend of the universal wheel when the front end of the fuselage is lifted is limited, which can effectively reduce the influence of the universal wheel on the obstacle crossing of the cleaning robot and improve the obstacle crossing effect.

[0007] In an alternative embodiment of the present invention, it further includes a limiting frame provided on the chassis, and a limiting cavity is formed between the limiting frame and the chassis. The beneficial effects of such a setting are as follows: The limiting frame and the chassis are connected in a detachable manner, which is convenient for installing and disassembling the mounting base, and thus convenient for maintaining the universal wheel assembly.

[0008] In an alternative embodiment of the present invention, the limiting frame is provided on the upper surface of the chassis and is located in the inner cavity of the fuselage; the top wall of the limiting cavity is provided on the limiting frame, and the bottom wall is provided on the chassis. The beneficial effects of such a setting are as follows: The distance between the chassis and the cleaning surface is very small, and the universal wheel also needs to occupy a part of the lateral space. If the limiting cavity is under the chassis, first, the space needs to be expanded laterally, and second, the floating gap of the elastic member for withstanding the impact force is also restricted. Therefore, in this embodiment, the limiting frame is provided on the upper surface of the chassis, which can further ensure the deformation of the elastic member, so that the elastic member has a large enough elastic force to support the impact force from the cleaning surface.

[0009] In an alternative embodiment of the present utility model, the limiting frame is provided on the lower surface of the chassis and is located outside the fuselage; the bottom wall of the limiting cavity is provided on the limiting frame, and the top wall is provided on the chassis. The beneficial effect of this setting is: to provide a feasible alternative embodiment and improve the degree of freedom of the scheme design.

[0010] In an alternative embodiment of the present utility model, the mounting seat includes a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame; the universal wheel assembly further includes a rotating shaft, the bottom of the rotating shaft is connected to the universal wheel, and the top of the rotating shaft is provided in the first groove; in the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward; there is a floating gap between the top of the first groove and the top wall; alternatively, an avoidance hole is provided on the top wall, and when the mounting seat floats upward, the first groove can pass through the avoidance hole. An outer edge protruding horizontally outward is provided on the outer wall of the mounting frame; the outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the elastic member is located in the floating cavity, one end is connected to the top wall, and the other end is connected to the outer edge; when the universal wheel assembly is in a non-falling state, the outer edge remains in contact with the bottom wall. In an alternative embodiment of the present utility model, in the height direction of the fuselage, the top of the mounting frame is higher than the outer edge. The beneficial effect of this setting is: the mounting frame and the elastic member reuse the height space, further improving the space utilization rate and making the structure more compact; and ensuring that the elastic member has sufficient elastic force in the limited height space to support the impact force from the cleaning surface received by the universal wheel.

[0011] In an alternative embodiment of the present utility model, a second groove recessed upward is provided at the bottom of the limiting frame; in this embodiment, by setting the limiting frame into a groove structure recessed upward and sleeving it outside the mounting frame, it can further protect the mounting frame and the elastic member, and avoid interference between the mounting frame and the elastic member and other components in the inner cavity of the fuselage during the operation of the fuselage and when the front end of the fuselage falls. The limiting frame is sleeved outside the mounting frame through the second groove, and a floating cavity is formed between the bottom of the second groove and the outer edge.

[0012] In an alternative embodiment of the present utility model, there are at least two elastic members and at least two outer edges. The at least two outer edges are evenly distributed around the outer wall of the mounting frame, and the elastic force of the elastic members borne by each outer edge is the same; alternatively, there are at least two elastic members, and the outer edges are annularly arranged around the outer wall of the mounting frame, and the elastic force of the elastic members is evenly distributed on the outer edges. Further effectively utilize the relatively small height space, increase the overall elastic force of the elastic members to support the impact force from the cleaning surface received by the universal wheel, and make the elastic force of the elastic members act evenly on the mounting frame.

[0013] In an alternative embodiment of the present utility model, a first guiding post is provided on the outer edge, a second guiding post is provided on the top wall, two ends of the elastic member are respectively sleeved on the first guiding post and the second guiding post, and there is a floating gap between the first guiding post and the second guiding post. The beneficial effects of such a setting are as follows: The first guiding post and the second guiding post can limit the compression spring, prevent the compression spring from skewing, and improve the impact resistance of the compression spring. Moreover, there is a floating gap between the first guiding post 422 and the second guiding post 432, which can ensure that when the elastic member is compressed, the first guiding post 422 and the second guiding post 432 do not interfere with each other and affect the compression amount of the elastic member.

[0014] In an alternative embodiment of the present utility model, the universal wheel assembly further includes a bushing, the bushing is fixed on the chassis, the bushing is sleeved outside the rotating shaft, a limiting member is provided at the top of the rotating shaft, the limiting member abuts against the top of the bushing in a non-falling state, and the limiting member is separated from abutting against the top of the bushing in a falling state; in the height direction of the fuselage, the length of the bushing is less than the length of the rotating shaft, so that there is a floating gap when the rotating shaft moves up and down relative to the bushing, ensuring that the elastic member has sufficient compression amount. The beneficial effects of such a setting are as follows: When the rotating shaft moves, it will cause wear to the fuselage. In this embodiment, a bushing is provided at the part where the fuselage is matched with the rotating shaft. The bushing can be made of wear-resistant material alone, which can improve the service life and reduce the overall cost of the machine; the limiting member can prevent the universal wheel from coming out of the bushing.

[0015] To achieve the above and other related objectives, the present utility model further provides a cleaning robot, including: a body, at the bottom of the body are provided driving wheels and a universal wheel assembly, along the forward direction of the body, the universal wheel assembly is disposed near the front end of the body; an obstacle crossing mechanism, movably connected to the body, the obstacle crossing mechanism is assembled to be able to drive the front end of the body to lift, so as to at least separate the universal wheel assembly from the cleaning surface; the universal wheel assembly includes a mounting seat and universal wheels provided on the mounting seat; the chassis of the body has a limiting cavity, in the height direction of the body, the height of the limiting cavity is fixed, and it has a top wall and a bottom wall, on the bottom wall is provided a convex portion protruding upward, the mounting seat is embedded in the limiting cavity; at least one elastic member, one end of the elastic member is provided on the bottom wall and the other end is provided on the mounting seat; when the universal wheel assembly is in a non-falling state, under the action of the stretching amount of the elastic member, the mounting seat remains in contact with the convex portion, in the height direction of the body, the surface of the mounting seat for contacting the convex portion is located above the convex portion, and the elastic force generated by the stretching amount is greater than or equal to the gravity of the body acting on the universal wheel assembly; there is a floating gap between the mounting seat and the top wall, when the universal wheel assembly is in a falling state, under the action of the impact force of the cleaning surface during the fall, the mounting seat stretches the elastic member and floats towards the top wall.

[0016] The beneficial effects of such a setting are as follows: The elastic force corresponding to the initial deformation amount of the elastic member is greater than the gravity of the body acting on the universal wheel, so as to ensure that when the cleaning robot moves on a plane, the front end of the body will not tilt downward or lift due to the setting of the elastic member. When the front end of the body falls and the universal wheel is subjected to the impact force of the cleaning surface, the mounting seat can move upward, driving the elastic member to stretch further, so as to use the elastic force of the elastic member to buffer the impact force received by the universal wheel. Limited by the limiting cavity fixed on the chassis, after the front end of the body falls, the universal wheel floats up and down relative to the chassis within the space defined by the upper surface of the convex portion of the limiting cavity and the top wall, so that the up and down floating range of the front end of the body is also limited within the height range of the upper surface of the convex portion and the top wall, thereby making the overall shaking of the body smaller when the obstacle crossing ends, that is, the obstacle crossing stability of the cleaning robot is higher and the use experience is better. Description of the Drawings

[0017] Figure 1 is a schematic diagram of the bottom structure of the cleaning robot provided by the embodiment of the present utility model;

[0018] Figure 2 is Figure 1 the A-A cross-sectional view of

[0019] Figure 3 is Figure 2 the cross-sectional view of the said area in another state;

[0020] Figure 4 is a side view of the cleaning robot provided by an embodiment of the present utility model;

[0021] Figure 5 is a side view of the cleaning robot provided by an embodiment of the present utility model in another state;

[0022] Figure 6 is the cleaning robot provided by an embodiment of the present utility model at Figure 5 the cross-sectional view in the shown state;

[0023] Figure 7 is an exploded view of the cleaning robot provided by an embodiment of the present utility model;

[0024] Figure 8 is an exploded view of the universal wheel assembly and the elastic member provided by an embodiment of the present utility model;

[0025] Figure 9 is an exploded view of the universal wheel assembly provided by an embodiment of the present utility model;

[0026] Figure 10 is a three-dimensional view of the mounting bracket provided by an embodiment of the present utility model;

[0027] Figure 11 is a three-dimensional view of the mounting bracket from another perspective provided by an embodiment of the present utility model;

[0028] Figure 12 is a three-dimensional view of the limit bracket provided by an embodiment of the present utility model;

[0029] Figure 13 is a three-dimensional view of the bushing provided by an embodiment of the present utility model;

[0030] Figure 14 is a schematic diagram of the assembly structure of the universal wheel assembly provided by one of the alternative embodiments of the present utility model;

[0031] Figure 15 is a schematic diagram of the assembly structure of the universal wheel assembly provided by another alternative embodiment of the present utility model. Detailed implementation manners

[0032] The following uses specific specific examples to illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0033] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present utility model. Therefore, only the components related to the present utility model are shown in the illustrations, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0034] A cleaning robot is an automated cleaning device mainly used for cleaning a cleaning surface. Through built-in sensors and intelligent algorithms, it can automatically navigate in a room, avoid obstacles, and clean dust, debris, hair, etc. on the cleaning surface. Some cleaning robots also have the functions of scheduled cleaning and automatic charging, and can automatically start working according to the set schedule and return to the charging dock to charge itself when the battery power is insufficient.

[0035] It should be understood that the present utility model mainly makes improvements to the structure related to the walking function in the cleaning robot. Therefore, only the structure and principle related to walking in the cleaning robot are shown in the accompanying drawings and subsequent embodiments. In fact, the cleaning robot should also include various cleaning components, as well as modules such as navigation, power supply, and control. Among them, the cleaning components can include, for example, a main brush, side brushes, a vacuuming system, a dust bin, a mop, etc. The main brush (also called a roller brush) rolls up the garbage, dust, and debris on the cleaning surface through rotational motion, facilitating subsequent suction by the vacuuming system. It can cover a large area and effectively improve the cleaning efficiency; the bristles or brush strips of the roller brush can penetrate into the carpet fibers or gaps to brush out the deeply hidden dust and hair. For hard cleaning surfaces, it can also help remove small garbage in the floor gaps; the roller brush concentrates the garbage on the cleaning surface to the central position, making it easier for the vacuuming system to collect the garbage. This centralized cleaning method improves the thoroughness of cleaning; different types of roller brushes (such as brush bristles and rubber brushes) are suitable for different types of cleaning surfaces. For example, brush bristles are suitable for cleaning carpets, while rubber brushes are suitable for hard cleaning surfaces. The side brushes are located on both sides or one side of the cleaning robot and can extend to hard-to-reach places such as the corners of walls and the edges of furniture. They sweep the garbage, dust, and debris in these areas towards the main brush area of the cleaning robot, ensuring that the edges of the cleaning surface are also cleaned; with the assistance of the side brushes, the cleaning robot can clean the entire cleaning surface more comprehensively, including the edges and corners of the floor, reducing the missed areas and improving the overall cleaning effect. The vacuuming system sucks the dust, debris, hair, etc. on the cleaning surface into the dust bin of the cleaning robot through suction; the suction can effectively adsorb the fine particles and dust on the cleaning surface, enhancing the thoroughness of cleaning the cleaning surface. Especially on hard cleaning surfaces and carpets, strong suction helps remove the garbage hidden in the gaps and fibers; the vacuuming system filters out the fine particles (such as allergens and dust) in the inhaled air through a filter, preventing these particles from being discharged back into the air and reducing the impact on air quality. The dust bin is responsible for collecting the dust, garbage, debris, hair, etc. inhaled by the cleaning robot during the cleaning process. It is a storage container for the garbage during the cleaning process of the cleaning robot; the dust bin is convenient for users to take out and clean. Users only need to regularly take out the dust bin from the cleaning robot, pour out the garbage inside, and then put it back. This design makes the garbage disposal process simple and convenient. The mop is used in conjunction with a water tank or a cleaning agent container to clean the cleaning surface by wet mopping. This wet mopping function can remove the dirt and stubborn stains that cannot be cleaned by the main brush or side brushes of the cleaning robot, providing a more thorough cleaning effect.

[0036] The traveling mechanism of the cleaning robot includes multiple wheels, such as drive wheels and omnidirectional wheels. The drive wheels are driven by motors, and through the torque and speed output by the motors, the cleaning robot moves on the cleaning surface. They are the main power source for the cleaning robot to travel. By controlling the rotation speed and direction of different drive wheels, the forward, backward, and turning of the cleaning robot can be achieved. For example, the left and right wheels rotating at different speeds can enable the cleaning robot to turn flexibly in a narrow space. The drive wheels need to bear the overall weight of the cleaning robot and ensure its smooth travel on different cleaning surfaces. They can be equipped with wear-resistant tires or rubber pads to adapt to various cleaning surface conditions. The omnidirectional wheels are unpowered follower wheels that can rotate freely on the horizontal plane, allowing the cleaning robot to turn easily in a narrow space. This flexible turning ability enables the cleaning robot to more easily bypass furniture, obstacles, and corners, providing a more comprehensive cleaning. However, when the cleaning robot crosses some relatively high obstacles or steps, since it is necessary to control the front end of the fuselage to lift a large angle, when the front end of the fuselage falls towards the cleaning surface under the action of gravitational potential energy in the second half of the obstacle crossing, the impact between the omnidirectional wheels and the cleaning surface will generate a large impact force and noise, resulting in a very poor user experience. At the same time, the large impact may cause certain damage to floor tiles, floors, etc. In addition, the machine vibration generated by the impact will also have an adverse effect on the accuracy of the internal sensors of the machine.

[0037] Along the forward direction of the fuselage, the omnidirectional wheel assembly is arranged at the front end of the fuselage. Along the height direction of the fuselage, the omnidirectional wheel assembly is arranged at the bottom of the fuselage. For example, the omnidirectional wheel assembly is usually fixed on the chassis at the front end of the fuselage. When there is no dedicated obstacle-crossing mechanism for lifting the front end of the fuselage, the height of the obstacle that the fuselage can cross is affected by the height of the chassis, that is, the fuselage can usually only cross obstacles lower than the height of the chassis.

[0038] If the distance between the chassis of the fuselage and the cleaning surface is too large, when the cleaning part installed on the chassis contacts the cleaning surface, the connecting shaft between the cleaning part and the chassis will be relatively long. The relatively long connecting shaft will have problems such as entangling wire harness-like obstacles, and the relatively long connecting shaft will also affect the stability of the cleaning part relative to the chassis, thereby affecting the cleaning effect. Therefore, the distance between the chassis of the cleaning robot and the cleaning surface is usually small.

[0039] For two cleaning surfaces with a height difference, when the cleaning robot moves from the higher cleaning surface to the lower one, there may be a situation where the omnidirectional wheels collide with the lower cleaning surface. However, to prevent the cleaning robot from being unable to cross from the lower cleaning surface to the higher one during return, which would affect the cleaning path planning, in the case where no auxiliary obstacle-crossing mechanism is provided, the height difference of the cleaning surfaces that the cleaning robot can pass through is usually also affected by the chassis height, resulting in a relatively small height difference when the cleaning robot moves from the higher cleaning surface to the lower one. In addition, when the cleaning robot moves from the higher cleaning surface to the lower one, it reaches the drop area during normal movement, making the height difference between the front end of the cleaning robot and the lower cleaning surface relatively low, and there will be no very large impact force between the omnidirectional wheels and the cleaning surface when the front end of the body drops. For threshold-like obstacles, considering that the threshold height that the cleaning robot can pass through is also affected by the chassis height, in the case where no auxiliary obstacle-crossing mechanism is provided, the threshold height that the cleaning robot can usually pass through is relatively low, so that when the robot passes through the threshold-like obstacles, there will be no very large impact force between the omnidirectional wheels and the cleaning surface when the front end of the body drops. Therefore, most current cleaning robots do not configure a buffer mechanism for buffering the impact of the cleaning surface on the omnidirectional wheels. Although there are also some devices or existing technologies that configure a buffer mechanism to buffer the impact force of the cleaning surface on the omnidirectional wheel assembly when the front end of the body drops, considering that the omnidirectional wheels of the cleaning robot usually receive a relatively small impact force from the cleaning surface, the elastic force corresponding to the deformation of the elastic member does not need to be too large to achieve buffering of the omnidirectional wheels. Therefore, it is only necessary to set an elastic member between the mounting bracket of the omnidirectional wheel and the chassis of the body, such as the structure shown in CN111374611A Figure 2 as shown

[0040] such as Figure 5 , 6As shown in the figure, in the embodiments of this specification, by setting an auxiliary obstacle-crossing mechanism to lift the front end of the fuselage, at least making the height of the omnidirectional wheels higher than that of the obstacle. After the omnidirectional wheels cross the obstacle, continue to control the cleaning robot to move forward until the driving wheels arranged in the middle of the fuselage can touch the upper edge of the obstacle, and drive through the driving force to a higher cleaning surface or cross the threshold-like obstacle, so as to achieve obstacle crossing for relatively high obstacles. For example, through the above obstacle-crossing method, the cleaning robot can cross obstacles with a height of up to 40 mm, or even higher obstacles, such as a height of more than 50 mm. During the obstacle-crossing process, the height of the omnidirectional wheels lifted with the front end of the fuselage is usually higher than the height of the obstacle, so that the driving wheels can touch the upper edge of the obstacle. In the second half of the obstacle-crossing process, under the action of the gravitational potential energy of the fuselage, the front end of the fuselage will fall towards the cleaning surface, causing the omnidirectional wheels to receive the impact force of the cleaning surface. Due to the large height of the front end of the fuselage lifted during the obstacle-crossing process, when the front end of the fuselage falls, the omnidirectional wheels receive a large impact force from the cleaning surface. Especially when crossing the threshold-like obstacle, the height difference between the front end of the fuselage and the cleaning surface at the rear of the threshold is greater, so that when the front end of the fuselage falls, the omnidirectional wheels also receive a greater impact force from the cleaning surface. Therefore, a relatively large elastic force is required between the omnidirectional wheels and the chassis to buffer the impact force of the cleaning surface.

[0041] In actual operation, when crossing a threshold-like obstacle with a height of 40 mm, the impact force of the omnidirectional wheels from the cleaning surface is usually about 3 to 5 times the gravity of the fuselage acting on the omnidirectional wheels, so that the deformation amount of the elastic member buffering the impact force from the cleaning surface is also about 3 to 5 times the deformation amount offsetting the gravity of the fuselage acting on the omnidirectional wheels. However, due to the sensing accuracy requirements of the cleaning robot, the front end of the cleaning robot is usually also equipped with sensors such as lDS laser modules, AI vision modules, and line laser modules, making the front-end space of the cleaning robot limited. Some structural components of the above sensors are arranged above the omnidirectional wheels. In view of this, if an elastic member for buffering is set on the omnidirectional wheel assembly, the deformation space of the elastic member is limited. In order to greatly increase the elastic force of the elastic member within the limited deformation space, it is necessary to greatly increase the elastic coefficient of the elastic member.

[0042] However, after the elastic coefficient increases significantly, a small fluctuation in the elastic deformation will cause a large fluctuation in the elastic force. Correspondingly, when the elastic member is arranged between the mounting bracket of the universal wheel and the chassis to buffer the impact force of the cleaning surface, even a slight deviation in the deformation of the elastic member will result in a large deviation between the elastic force received at the front end of the fuselage and the gravity exerted by the fuselage on the universal wheel. As a result, the front end of the fuselage will experience a large upward lift or downward tilt, which will have a great impact on the stability of the fuselage during non-obstacle-crossing movement and the cleaning effect of the cleaning member. Therefore, the requirement for the accuracy of the initial deformation of the elastic member when the machine leaves the factory is very high, increasing the assembly requirements. At the same time, affected by the material, the elastic member may experience a small amount of deformation as the service time increases. Due to the large elastic coefficient, this small amount of deformation will also cause the front end of the cleaning robot to tilt downward or lift after being used for a period of time, which will have a great impact on the stability of the fuselage during non-obstacle-crossing movement and the cleaning effect of the cleaning member.

[0043] In addition, adopting the structure shown in CN111374611A Figure 2 When the elastic force corresponding to the initial deformation of the elastic member (the remaining elastic deformation after bearing the elastic force exerted by the fuselage on the universal wheel assembly) is large, after the universal wheel receives a large impact force from the cleaning surface, the elastic member will further act the received force on the chassis, thereby driving the front end of the fuselage to lift high. As a result, after the front end of the fuselage falls, it will be in a state of repeatedly falling and bouncing, unable to achieve the effect of stabilizing the fuselage, affecting the robot's obstacle crossing, and at the same time, bringing a bad user experience.

[0044] To this end, the utility model sets a limit cavity with a fixed height along the height direction of the fuselage on the chassis of the fuselage, and embeds the mounting seat of the universal wheel into the limit cavity. For example, when the elastic member is a compression spring, one end of the elastic member can be set on the top wall of the limit cavity, and the other end can be set on the mounting seat of the universal wheel. The mounting seat of the universal wheel can float up and down in the limit cavity. Because the limit cavity is fixed on the chassis, the fuselage will not be lifted even when the elastic force of the elastic member is greater than the gravity of the fuselage acting on the universal wheel. Therefore, the elastic force of the initial deformation of the elastic member (when the elastic member is a compression spring, the corresponding elastic force when the mounting seat abuts against the bottom wall of the limit cavity) can be configured to be greater than the gravity of the fuselage acting on the universal wheel. When the elastic member is a compression spring, the length of the limiting cavity in the height direction of the fuselage can be set so that the elastic force of the initial deformation of the elastic member when the mounting seat abuts against the bottom wall of the limiting cavity is greater than the gravity of the fuselage acting on the universal wheel, thereby ensuring that when the cleaning robot moves on the plane, the front end of the fuselage will not tilt downward or rise due to the setting of the elastic member. And the elastic force of the initial deformation of the elastic member is greater than the gravity of the fuselage acting on the universal wheel, which can also avoid the situation that the front end of the fuselage tilts downward when the elastic force of the elastic member decreases with the increase of use time; if the elastic force of the elastic member increases with the increase of use time, the front end of the fuselage will not rise. At the same time, due to the space limitation inside the fuselage, the elastic deformation space of the elastic member is small. By setting the elastic force of the initial deformation of the elastic member to be larger than the gravity of the fuselage acting on the universal wheel, the maximum impact force that the elastic member can withstand from the cleaning surface can be further increased.

[0045] When the front end of the machine body falls and the universal wheel is impacted by the cleaning surface, the mounting seat can move upward, driving the elastic member to further compress, so as to use the elastic force of the elastic member to buffer the impact force on the universal wheel. Restricted by the limit cavity fixed on the chassis, after the front end of the machine body falls, the universal wheel floats up and down relative to the chassis in the space limited by the limit cavity, so that the up and down floating range of the front end of the machine body is also limited to the height range of the limit cavity, so that the overall shaking of the machine body is small when the obstacle is overcome, that is, the obstacle-overcoming stability of the cleaning robot is high, and the user experience is good.

[0046] Meanwhile, since the downward movement trend of the mounting base is limited, the downward movement trend of the universal wheel is also limited when the front end of the fuselage is lifted. Since the universal wheel is arranged at the front end of the fuselage, the bottom of the universal wheel usually needs to be higher than the upper edge of the obstacle so that the driving wheel can contact the upper edge of the obstacle during obstacle crossing. If the downward movement trend of the mounting base is not limited and the front end of the fuselage is lifted, the elastic member between the universal wheel and the chassis returns to the state with zero deformation, increasing the distance between the universal wheel and the chassis. This may lead to the need for a further increase in the lifting height of the front end of the fuselage to avoid collision or rubbing between the bottom of the universal wheel and the obstacle during obstacle crossing, thus affecting the obstacle crossing of the cleaning robot. Based on the structure in the embodiments of this specification, the downward movement trend of the universal wheel is limited, which can effectively reduce the impact of the universal wheel on the obstacle crossing of the cleaning robot and improve the obstacle crossing effect.

[0047] When the elastic member is a tension spring, a convex portion protruding upward can be provided on the bottom wall of the limiting cavity. There is a floating gap between the upper surface of the convex portion and the top wall of the limiting cavity. One end of the elastic member is arranged on the bottom wall of the limiting cavity, and the other end is arranged on the mounting base of the universal wheel. When the elastic member is in the initial deformation state in the limiting cavity, the mounting base abuts against the convex portion. In the height direction of the fuselage, the surface of the mounting base for abutting against the convex portion is located above the convex portion, and there is a floating gap between the mounting base and the top wall of the limiting cavity. The elastic force of the elastic member in the initial deformation state is greater than the gravity of the fuselage acting on the universal wheel to ensure that when the cleaning robot moves on a plane, the front end of the fuselage will not tilt downward or lift due to the arrangement of the elastic member. When the front end of the fuselage drops and the universal wheel is affected by the impact force of the cleaning surface, the mounting base can move upward, driving the elastic member to be further stretched to utilize the elastic force of the elastic member to buffer the impact force received by the universal wheel. Limited by the limiting cavity fixed on the chassis, after the front end of the fuselage drops, the universal wheel floats up and down relative to the chassis within the space defined by the upper surface and the top wall of the convex portion in the limiting cavity, so that the up and down floating range of the front end of the fuselage is also limited within the height range of the upper surface and the top wall of the convex portion, resulting in less overall shaking of the fuselage when the obstacle crossing ends, that is, the obstacle crossing stability of the cleaning robot is higher and the user experience is better.

[0048] When the elastic member is a tension spring, the floating gap for the elastic member to bear the impact force of the cleaning surface is limited between the upper surface of the convex portion and the top wall, that is, a part of the height of the limiting cavity is allocated to support the gravity of the fuselage acting on the universal wheel, and the floating gap in the limiting cavity for bearing the impact force of the cleaning surface is compressed. In summary, under the same height and the same elastic coefficient of the limiting cavity, the compression spring can bear a greater impact force threshold compared to the tension spring.

[0049] Please refer to Figures 1 - 15 as shown below. The technical solutions of the present invention will be described in detail with reference to specific embodiments:

[0050] Please refer to Figures 1 - 6 As shown in FIGS. 14, the cleaning robot provided by the embodiment of the present utility model includes a body 100 and an obstacle-crossing mechanism; a driving wheel 210 and a universal wheel assembly 400 are provided at the bottom of the body 100, and along the advancing direction of the body 100, the universal wheel assembly 400 is arranged close to the front end of the body 100.

[0051] The obstacle-crossing mechanism is movably connected to the body 100, and the obstacle-crossing mechanism is assembled to be capable of driving the front end of the body 100 to lift, so as to at least separate the universal wheel assembly 400 from the cleaning surface.

[0052] For example, when the cleaning robot is traveling normally on the cleaning surface, the obstacle-crossing mechanism can be in a retracted position to avoid interfering with the movement of the robot. When the cleaning robot needs to cross an obstacle higher than the chassis height, the obstacle-crossing mechanism can be controlled to switch from the retracted position to the support position to support the front end of the body to lift, so that the universal wheel assembly is at least separated from the cleaning surface, and further the chassis and the universal wheels in front of the driving wheels that need to cross the obstacle are higher than the obstacle, so as to avoid interference between the chassis and the universal wheels in front of the driving wheels that need to cross the obstacle and the obstacle, so that the driving wheels can be brought into contact with the obstacle, and then the body is driven by the driving wheels to cross the obstacle. In the latter half of the obstacle-crossing process, under the action of gravitational potential energy, the front end of the body drops, and the driving wheels are in contact with the cleaning surface. After the obstacle-crossing is completed, the obstacle-crossing mechanism can be further switched to the retracted position. In this scenario example, during the process that the front end of the body starts to drop under the action of gravitational potential energy until the driving wheels are in contact with the cleaning surface, the state of the driving wheels can be described as a falling state.

[0053] Please refer to Figure 1 、 4 As shown in FIGS. 16-17, in an alternative embodiment of the present utility model, the obstacle-crossing mechanism includes a support unit 220 and an obstacle-crossing wheel 230. The obstacle-crossing wheel 230 is installed on the support unit 220, and the support unit 220 is swingably arranged relative to the body 100. When the front end of the body 100 is lifted, the obstacle-crossing wheel 230 can drive the body 100 to continue moving, so as to ensure that the body 100 smoothly crosses the obstacle.

[0054] The support unit 220 is assembled such that during its swinging process, the fulcrum between the obstacle-crossing wheel 230 and the cleaning surface can move from the front side of the center of gravity of the cleaning robot to the rear side of the center of gravity of the cleaning robot. When the fulcrum between the obstacle-crossing wheel 230 and the cleaning surface is located on the front side of the center of gravity of the cleaning robot or at the center of gravity of the body, the front end of the body 100 is lifted, which facilitates the front end of the body 100 to cross an obstacle. When the fulcrum between the obstacle-crossing wheel 230 and the cleaning surface is located on the rear side of the center of gravity of the cleaning robot, the front end of the body 100 lands, and at the same time, the rear end of the body 100 is lifted to facilitate the overall crossing of the body 100 over the obstacle.

[0055] Please refer to Figure 1 , 4 -7. In an alternative embodiment of the present invention, a tail wheel 500 is further provided at the bottom of the body 100, and the tail wheel 500 is disposed near the rear end of the body 100. The tail wheel 500 can form a rolling fit with the cleaning surface when the front end of the body 100 is lifted, avoiding scratching between the rear end of the body 100 and the cleaning surface. In a preferred embodiment, when the cleaning robot is placed flat on the cleaning surface, the tail wheel 500 may not contact the cleaning surface, avoiding leaving wheel marks on the already cleaned cleaning surface.

[0056] Correspondingly, during the process of the universal wheel assembly falling from a position separated from the cleaning surface to abutting against the cleaning surface, the state of the universal wheel assembly is described as a falling state. In other stages, such as when the state of the universal wheel assembly is a non-falling state, such as when the robot is traveling normally on the cleaning surface and the universal wheel assembly is continuously abutting against the cleaning surface; the front end of the body is lifted, causing the universal wheel assembly to separate from the cleaning surface to perform obstacle crossing.

[0057] The universal wheel assembly 400 includes a mounting seat and universal wheels provided on the mounting seat; please refer to Figure 14As shown, the chassis of the fuselage 100 has a limiting cavity 110, and the height of the limiting cavity 110 is fixed in the height direction of the fuselage 100, and the limiting cavity 110 has a top wall 111 and a bottom wall 112. In a specific embodiment, for example, the limiting cavity 110 can be formed on the chassis by special design of the chassis, or the limiting cavity 110 can be formed by additionally configuring components on the chassis. The mounting seat is embedded in the limiting cavity 110; one end of at least one elastic member 410 is arranged on the top wall 111, and the other end is arranged on the mounting seat. When the universal wheel assembly 400 is in a non-falling state, under the action of the compression amount of the elastic member 410, the mounting seat remains in contact with the bottom wall 112, and the elastic force generated by the compression amount is greater than or equal to the gravity of the fuselage 100 acting on the universal wheel assembly 400. There is a floating gap between the mounting seat and the top wall 111 . When the universal wheel assembly 400 is in a falling state, the mounting seat compresses the elastic member 410 to float toward the top wall 111 due to the impact force of the cleaning surface during the falling state.

[0058] In the above embodiment, the elastic member 410 can be, for example, a compression spring. The utility model sets a limit cavity 110 with a fixed height along the height direction of the fuselage 100 on the chassis of the fuselage 100, and embeds the mounting seat of the universal wheel into the limit cavity 110, and the mounting seat of the universal wheel can float up and down in the limit cavity 110. Because the limit cavity 110 is fixed on the chassis, when the elastic force of the elastic member 410 is greater than the gravity of the fuselage 100 acting on the universal wheel, the fuselage 100 will not be lifted. Therefore, the elastic force of the initial deformation of the elastic member 410 (i.e., the elastic force corresponding to the contact between the mounting seat and the bottom wall 112 of the limit cavity 110) can be configured to be greater than the gravity of the fuselage 100 acting on the universal wheel. Specifically, the length of the limiting cavity 110 in the height direction of the body 100 can be set so that the elastic force of the initial deformation of the elastic member 410 when the mounting seat abuts against the bottom wall 112 of the limiting cavity 110 is greater than the gravity of the body 100 acting on the universal wheel, thereby ensuring that when the cleaning robot moves on a plane, the front end of the body 100 will not tilt downward or rise due to the setting of the elastic member 410. And the elastic force of the initial deformation of the elastic member 410 is greater than the gravity of the body 100 acting on the universal wheel, and the elastic force of the elastic member 410 can be avoided as much as possible, thereby reducing the situation where the front end of the body 100 tilts downward; if the elastic force of the elastic member 410 increases with the use time, the front end of the body 100 will not rise. At the same time, due to the space limitation inside the body 100, the elastic deformation space of the elastic member 410 is relatively small. By setting the elastic force of the initial deformation of the elastic member to be larger than the gravity of the body 100 acting on the universal wheel, the maximum impact force that the elastic member 410 can withstand from the cleaning surface can be further increased.

[0059] When the front end of the body 100 drops and the universal wheel is subjected to the impact force of the cleaning surface, the mounting seat can move upward, driving the elastic member 410 to be further compressed, so as to utilize the elastic force of the elastic member 410 to buffer the impact force received by the universal wheel. Limited by the limiting cavity 110 fixed on the chassis, after the front end of the body 100 drops, the universal wheel floats up and down relative to the chassis within the space defined by the limiting cavity 110, so that the up and down floating range of the front end of the body 100 is also limited within the height range of the limiting cavity 110, thereby making the overall shaking of the body 100 smaller when the obstacle crossing ends, that is, the obstacle crossing stability of the cleaning robot is higher and the use experience is better.

[0060] At the same time, since the downward movement trend of the mounting seat is limited, the downward movement trend of the universal wheel is limited when the front end of the body 100 is lifted. Since the universal wheel 210 is arranged at the front end of the body, the bottom of the universal wheel usually needs to be higher than the upper edge of the obstacle in order to make the driving wheel 210 contact the upper edge of the obstacle during obstacle crossing. If the downward movement trend of the mounting seat is not limited, when the front end of the body 100 is lifted, the elastic member 410 between the universal wheel and the chassis returns to the state with zero deformation, making the distance between the universal wheel and the chassis increase, which may lead to the need to further increase the lifting height of the front end of the body 100 to avoid collision or rubbing between the bottom of the universal wheel and the obstacle during obstacle crossing, thus affecting the obstacle crossing of the cleaning robot. Based on the structure in the embodiments of the present specification, the downward movement trend of the universal wheel is limited, which can effectively reduce the influence of the universal wheel on the obstacle crossing of the cleaning robot and improve the obstacle crossing effect.

[0061] Please refer to Figure 2 、 3 As shown in FIGS. 7, 8, 12, and 14, it further includes a limiting frame 430 provided on the chassis, and the limiting frame 430 and the chassis enclose the limiting cavity 110. The limiting frame 430 is detachably connected to the chassis, which is convenient for installing and disassembling the mounting seat, and thus convenient for maintaining the universal wheel assembly 400.

[0062] Please refer to Figure 2 、 3 As shown in FIG. 17, the limiting frame 430 is provided on the upper surface of the chassis and is located in the inner cavity of the body 100; the top wall 111 of the limiting cavity 110 is provided on the limiting frame 430, and the bottom wall 112 is provided on the chassis. It should be understood that the distance between the chassis and the cleaning surface is very small, and the universal wheel also needs to occupy a part of the lateral space. If the limiting cavity 110 is below the chassis, on the one hand, the space needs to be expanded laterally, and on the other hand, the floating gap of the elastic member 410 for bearing the impact force is also limited. Therefore, in this embodiment, the limiting frame 430 is arranged on the upper surface of the chassis, which can further ensure the deformation amount of the elastic member, so that the elastic member has a sufficient large elastic force to support the impact force from the cleaning surface.

[0063] It should be understood that the installation position of the limit frame 430 is not unique. For example, in some other embodiments, as Figure 14 shown, the limit frame 430 can also be provided on the lower surface of the chassis, outside the fuselage 100; the bottom wall 112 of the limit cavity 110 is provided on the limit frame 430, and the top wall 111 is provided on the chassis.

[0064] Please refer to Figure 10 、 11 shown, the mounting seat includes a mounting frame 420, and a first groove 423 recessed upward is provided at the bottom of the mounting frame 420; the universal wheel assembly 400 further includes a rotating shaft 403, the bottom of the rotating shaft 403 is connected to the universal wheel, and the top of the rotating shaft 403 is arranged in the first groove 423; in the falling state, the top of the rotating shaft 403 abuts against the bottom of the first groove 423 to drive the mounting seat to float upward; there is a floating gap between the top of the first groove and the top wall; or, a relief hole is provided in the top wall, and when the mounting seat floats upward, the first groove can pass through the relief hole. Further, an outer edge 421 protruding horizontally outward is provided on the outer wall of the mounting frame 420; the outer edge 421 is located in the limit cavity 110, and a floating cavity is formed between the outer edge 421 and the top wall 111; the elastic member 410 is located in the floating cavity, one end is connected to the top wall 111, and the other end is connected to the outer edge 421; when the universal wheel assembly 400 is in a non-falling state, the outer edge 421 remains in contact with the bottom wall 112. Please refer to Figure 2 、 3 shown, in the height direction of the fuselage 100, the top wall 111 of the mounting frame 420 is higher than the outer edge 421. Through the above structure, the rotating shaft 403 and the elastic member 410 share the height space, further improving the space utilization rate, making the structure more compact, and ensuring that the elastic member 410 has sufficient elasticity in the limited height space to support the impact force from the cleaning surface received by the universal wheel.

[0065] Please refer to Figure 2 、 3 、12 shown, a second groove 431 recessed upward is provided at the bottom of the limit frame 430; the limit frame 430 is sleeved outside the mounting frame 420 through the second groove 431, and a floating cavity is formed between the bottom of the second groove 431 and the outer edge 421. In this embodiment, by setting the limit frame 430 into an upwardly recessed groove structure and sleeving it outside the mounting frame, it can further protect the mounting frame and the elastic member, and avoid interference between the mounting frame and the elastic member and other components in the inner cavity of the fuselage during the operation of the fuselage and when the front end of the fuselage drops.

[0066] In a specific embodiment, the universal wheel includes a swivel bracket 401 and a roller 402. The roller 402 is rotatably connected to the swivel bracket 401. The swivel bracket 401 is rotatably connected to the fuselage 100 through a rotating shaft 403. The rotating shaft 403 is movably connected to the fuselage 100 along the axis direction of itself. In a specific embodiment, the axis of the roller 402 itself can be perpendicular to the rotating shaft 403, and the rotating shaft 403 can be arranged such that when the fuselage 100 is placed flat on the cleaning surface, the rotating shaft 403 is perpendicular to the cleaning surface, so as to ensure that the axis of the roller 402 is always parallel to the cleaning surface during the turning process of the swivel bracket 401. It should be noted that there are various embodiments to choose from for the circumferential connection relationship between the rotating shaft 403 and the swivel bracket 401 and the fuselage 100. For example, in some embodiments, the rotating shaft 403 can be fixedly connected to the swivel bracket 401, and at the same time, the rotating shaft 403 is rotatably connected to the fuselage 100; or in other embodiments, the rotating shaft 403 can be rotatably connected to the swivel bracket 401, and at the same time, the rotating shaft 403 is circumferentially fixedly connected to the fuselage 100 (the rotating shaft 403 can still move axially relative to the fuselage 100). For another example, the rotating shaft 403 can also be rotatably connected to both the swivel bracket 401 and the fuselage 100 at the same time.

[0067] It should be understood that through the rotational connection between the swivel bracket 401 and the roller 402, the universal wheel assembly 400 can freely rotate in multiple directions, improving the flexibility of the robot; the movable connection of the rotating shaft 403 along the axis direction of itself to the fuselage 100 further enhances the degree of freedom of movement of the universal wheel assembly 400, enabling the robot to more flexibly cope with various complex cleaning surface environments and obstacles; due to the flexible rotation ability and up-and-down floating ability of the universal wheel assembly 400, when the robot encounters an obstacle, it can more easily adjust its posture and height, thereby enhancing the obstacle-crossing ability; this installation method is usually designed to be relatively simple, facilitating disassembly and installation. When maintenance or replacement of the universal wheel assembly 400 is required, the operator can easily complete these tasks, improving the maintainability of the robot.

[0068] Please refer to Figure 2 、 3As shown in FIGS. 7 and 8, in an alternative embodiment of the present invention, in order to further effectively utilize a relatively small height space and increase the overall elastic force of the elastic member to support the impact force from the cleaning surface received by the universal wheel, a plurality of elastic members 410 may be provided. In order to make the elastic force of the elastic members 410 act evenly on the mounting bracket 420, the elastic members 410 can be controlled to be evenly distributed on the outer edge 421. For example, there are at least two elastic members 410, at least two outer edges 421, the at least two outer edges 421 are evenly distributed around the outer wall of the mounting bracket 420, and the elastic force of the elastic members 410 borne by each outer edge 421 is the same. Another example is that there are at least two elastic members 410, the outer edge 421 surrounds the outer wall of the mounting bracket 420 in a ring shape, and the elastic force of the elastic members 410 is evenly distributed on the outer edge 421.

[0069] Please refer to Figure 2 、 3 As shown in FIGS. 7 and 8, a first guide post 422 is provided on the outer edge 421, a second guide post 432 is provided on the top wall 111, and both ends of the elastic member 410 are respectively sleeved on the first guide post 422 and the second guide post 432, and there is a floating gap between the first guide post 422 and the second guide post 432. The first guide post 422 and the second guide post 432 can limit the compression spring to prevent the compression spring from skewing and improve the impact resistance of the compression spring. There is a floating gap between the first guide post 422 and the second guide post 432, which can ensure that when the elastic member is compressed, the first guide post 422 and the second guide post 432 do not interfere and affect the compression amount of the elastic member.

[0070] Please refer to Figure 2 、 3 As shown in FIGS. 8 and 13, the universal wheel assembly 400 further includes a bushing 440. The bushing 440 is fixed on the chassis, the bushing 440 is sleeved outside the rotating shaft 403, a limiting member 404 is provided at the top of the rotating shaft 403, and the limiting member 404 abuts against the top of the bushing 440 in a non-falling state and is disengaged from the top of the bushing 440 in a falling state; in the height direction of the fuselage 100, the length of the bushing 440 is less than the length of the rotating shaft 403, so that there is a floating gap when the rotating shaft 403 moves up and down relative to the bushing 440 to ensure that the elastic member has sufficient compression amount. In a specific embodiment, an annular groove can be provided at a position on the peripheral surface of the rotating shaft 403 near the upper end of the rotating shaft 403, and the limiting member 404 can be, for example, a snap ring installed in the annular groove. This method is convenient for installing and disassembling the universal wheel assembly 400, helps to reduce the maintenance difficulty, and makes the overhaul and maintenance of the universal wheel assembly 400 more convenient. In some other embodiments, the limiting member 404 can also be integrally formed with the rotating shaft 403.

[0071] Please refer to Figure 2 and 3 As shown in Figure 9, in an alternative embodiment of the present utility model, a buffer pad 405 made of an elastic material is provided at the upper end of the rotary bracket 401. When some extreme working conditions cause the caster wheel assembly 400 to reach the maximum displacement upward, the buffer pad 405 can still prevent a rigid collision between the fuselage 100 and the caster wheel assembly 400.

[0072] It should be understood that the specific form of the elastic member 410 is not unique. In some other embodiments, the elastic member 410 can also be a tension spring. For example, in the Figure 15 embodiment shown, the cleaning robot includes a fuselage 100 and an obstacle-crossing mechanism; a driving wheel 210 and a caster wheel assembly 400 are provided at the bottom of the fuselage 100. Along the advancing direction of the fuselage 100, the caster wheel assembly 400 is disposed near the front end of the fuselage 100; the obstacle-crossing mechanism is movably connected to the fuselage 100 and is assembled to be capable of driving the front end of the fuselage 100 to lift, so as to at least separate the caster wheel assembly 400 from the cleaning surface; the caster wheel assembly 400 includes a mounting seat and a caster wheel provided on the mounting seat; the chassis of the fuselage 100 has a limiting cavity 110. In the height direction of the fuselage 100, the height of the limiting cavity 110 is fixed and has a top wall 111 and a bottom wall 112. A convex portion 101 protruding upward is provided on the bottom wall 112, and the mounting seat is embedded in the limiting cavity 110; one end of at least one elastic member 410 is provided on the bottom wall 112, and the other end is provided on the mounting seat; when the caster wheel assembly 400 is in a non-falling state, under the action of the stretching amount of the elastic member 410, the mounting seat remains in contact with the convex portion 101. In the height direction of the fuselage, the surface of the mounting seat for contacting the convex portion is located above the convex portion, and the elastic force generated by the stretching amount is greater than or equal to the gravity of the fuselage 100 acting on the caster wheel assembly 400; there is a floating gap between the mounting seat and the top wall 111. When the caster wheel assembly 400 is in a falling state, under the action of the impact force of the cleaning surface during the fall, the mounting seat stretches the elastic member 410 and floats toward the top wall 111.

[0073] In this embodiment, the specific composition of the limiting cavity 110 can be implemented with reference to the previous embodiment, so it will not be elaborated here. When the elastic member 410 is a tension spring, a convex portion 101 protruding upward can be provided on the bottom wall 112 of the limiting cavity 110. There is a floating gap between the upper surface of the convex portion 101 and the top wall 111 of the limiting cavity 110. One end of the elastic member 410 is arranged on the bottom wall 112 of the limiting cavity 110, and the other end is arranged on the mounting seat of the universal wheel. The initial deformation of the elastic member 410 in the limiting cavity 110 makes the mounting seat abut against the convex portion 101. In the height direction of the fuselage 100, the surface of the mounting seat for abutting against the convex portion 101 is located above the convex portion 101, and there is a floating gap between the mounting seat and the top wall 111 of the limiting cavity 110. The elastic force corresponding to the initial deformation of the elastic member 410 is greater than the gravity of the fuselage 100 acting on the universal wheel, so as to ensure that when the cleaning robot moves on a plane, the front end of the fuselage 100 will not tilt downward or lift due to the arrangement of the elastic member 410. When the front end of the fuselage 100 drops and the universal wheel is subjected to the impact force of the cleaning surface, the mounting seat can move upward, driving the elastic member 410 to be further stretched, so as to utilize the elastic force of the elastic member 410 to buffer the impact force received by the universal wheel. Limited by the limiting cavity 110 fixed on the chassis, after the front end of the fuselage 100 drops, the universal wheel floats up and down relative to the chassis within the space defined by the upper surface of the convex portion 101 and the top wall 111 of the limiting cavity 110, so that the up and down floating range of the front end of the fuselage 100 is also limited within the height range of the upper surface of the convex portion 101 and the top wall 111, so that the overall shaking of the fuselage 100 is small when the obstacle crossing ends, that is, the obstacle crossing stability of the cleaning robot is high and the use experience is good.

[0074] When the elastic member 410 is a tension spring, the floating gap for the elastic member 410 to bear the impact force of the cleaning surface is limited between the upper surface of the convex portion 101 and the top wall 111, that is, a part of the height of the limiting cavity 110 is allocated to support the gravity of the fuselage 100 acting on the universal wheel, and the floating gap in the limiting cavity 110 for bearing the impact force of the cleaning surface is compressed. In summary, when the height of the limiting cavity 110 is the same and the elastic coefficient is the same, the compression spring can bear a greater impact force threshold than the tension spring.

[0075] In an alternative embodiment of the present invention, a limiting frame provided on the chassis is further included, and the limiting frame and the chassis enclose the limiting cavity. The beneficial effect of such a setting is that the limiting frame and the chassis are detachably connected, which is convenient for installing and disassembling the mounting seat, and thus convenient for maintaining the universal wheel assembly.

[0076] In an alternative embodiment of the present utility model, the limiting frame is disposed on the upper surface of the chassis and is located inside the inner cavity of the fuselage; the top wall of the limiting cavity is disposed on the limiting frame, and the bottom wall is disposed on the chassis. The beneficial effect of such a setting is as follows: The distance between the chassis and the cleaning surface is very small, and the universal wheels also need to occupy a certain amount of lateral space. If the limiting cavity is below the chassis, firstly, it is necessary to expand the space horizontally, and secondly, the floating gap for the elastic member to withstand the impact force is also restricted. Therefore, in this embodiment, the limiting frame is disposed on the upper surface of the chassis, which can further ensure the deformation amount of the elastic member, so that the elastic member has a large enough elastic force to support the impact force from the cleaning surface.

[0077] In an alternative embodiment of the present utility model, the limiting frame is disposed on the lower surface of the chassis and is located outside the fuselage; the bottom wall of the limiting cavity is disposed on the limiting frame, and the top wall is disposed on the chassis. The beneficial effect of such a setting is as follows: It provides a feasible alternative embodiment and improves the design freedom of the solution.

[0078] In an alternative embodiment of the present utility model, the mounting seat includes a mounting frame, and a first groove recessed upward is provided at the bottom of the mounting frame; the universal wheel assembly further includes a rotating shaft, the bottom of the rotating shaft is connected to the universal wheel, and the top of the rotating shaft is disposed in the first groove; in the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward; there is a floating gap between the top of the first groove and the top wall; alternatively, an avoidance hole is provided on the top wall, and when the mounting seat floats upward, the first groove can pass through the avoidance hole. An outer edge protruding horizontally outward is provided on the outer wall of the mounting frame; the outer edge is located inside the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the elastic member is located inside the floating cavity, one end is connected to the top wall, and the other end is connected to the outer edge; when the universal wheel assembly is in a non-falling state, the outer edge remains in contact with the protruding portion. In an alternative embodiment of the present utility model, in the height direction of the fuselage, the top of the mounting frame is higher than the outer edge. The beneficial effect of such a setting is as follows: The mounting frame and the elastic member reuse the height space, further improving the space utilization rate and making the structure more compact; and it ensures that the elastic member has a sufficient elastic force in the limited height space to support the impact force received by the universal wheel from the cleaning surface.

[0079] In an alternative embodiment of the present utility model, the bottom of the limiting frame is provided with a second groove recessed upward. In this embodiment, by setting the limiting frame into a groove structure recessed upward and sleeving it outside the mounting frame, it can further protect the mounting frame and the elastic member, and avoid interference between the mounting frame and the elastic member and other components in the inner cavity of the fuselage when the fuselage is running and when the front end of the fuselage drops. The limiting frame is sleeved outside the mounting frame through the second groove, and a floating cavity is formed between the bottom of the second groove and the outer edge.

[0080] In an alternative embodiment of the present utility model, there are at least two elastic members and at least two outer edges. The at least two outer edges are evenly distributed around the outer wall of the mounting frame, and the elastic force of the elastic members borne by each outer edge is the same; or, there are at least two elastic members, and the outer edges are annularly arranged around the outer wall of the mounting frame, and the elastic force of the elastic members is evenly distributed on the outer edges. This further effectively utilizes a relatively small height space, increases the overall elastic force of the elastic members to support the impact force from the cleaning surface received by the universal wheels, and enables the elastic force of the elastic members to act evenly on the mounting frame.

[0081] In an alternative embodiment of the present utility model, a first guiding post is provided on the outer edge, a second guiding post is provided on the top wall, and both ends of the elastic member are respectively sleeved on the first guiding post and the second guiding post, and there is a floating gap between the first guiding post and the second guiding post. The beneficial effects of such a setting are as follows: The first guiding post and the second guiding post can limit the compression spring, prevent the compression spring from skewing, and improve the impact resistance of the compression spring. Moreover, there is a floating gap between the first guiding post 422 and the second guiding post 432, which can ensure that when the elastic member is compressed, the first guiding post 422 and the second guiding post 432 do not interfere and affect the compression amount of the elastic member.

[0082] In an alternative embodiment of the present utility model, the universal wheel assembly further includes a bushing. The bushing is fixed on the chassis, the bushing is sleeved outside the rotating shaft, a limiting member is provided at the top of the rotating shaft, and the limiting member abuts against the top of the bushing in a non-drop state and is disengaged from the top of the bushing in a drop state; in the height direction of the fuselage, the length of the bushing is less than the length of the rotating shaft, so that there is a floating gap when the rotating shaft moves up and down relative to the bushing, ensuring that the elastic member has sufficient compression amount. The beneficial effects of such a setting are as follows: The rotating shaft will cause wear to the fuselage when it moves. In this embodiment, a bushing is provided at the part where the fuselage cooperates with the rotating shaft. The bushing can be made of wear-resistant material separately, which can improve the service life while reducing the overall cost of the machine; the limiting member can prevent the universal wheel from disengaging from the bushing.

[0083] The above embodiments are only illustrative of the principles and effects of the present utility model, and are not intended to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present utility model should still be covered by the claims of the present utility model.

[0084] In the description herein, numerous specific details are provided, such as examples of components and / or methods, to provide a thorough understanding of embodiments of the present utility model. However, those skilled in the art will recognize that embodiments of the present utility model may be practiced without one or more of the specific details or with other devices, systems, components, methods, parts, materials, parts, etc. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present utility model.

Claims

1. A cleaning robot, characterized in that: include: A fuselage, wherein a driving wheel and a universal wheel assembly are provided at the bottom of the fuselage, and the universal wheel assembly is arranged near the front end of the fuselage along the forward direction of the fuselage; An obstacle-crossing mechanism, movably connected to the fuselage, and configured to drive the front end of the fuselage to lift up, so as to at least separate the universal wheel assembly from the cleaning surface; The universal wheel assembly includes a mounting seat and a universal wheel arranged on the mounting seat; The chassis of the fuselage has a limiting cavity, the height of the limiting cavity is fixed in the height direction of the fuselage, and the limiting cavity has a top wall and a bottom wall; the mounting seat is embedded in the limiting cavity; at least one elastic member, one end of the elastic member is arranged on the top wall, and the other end of the elastic member is arranged on the mounting seat; When the universal wheel assembly is in a non-falling state, the mounting seat is kept in contact with the bottom wall under the action of the compression of the elastic member, and the elastic force generated by the compression is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly; There is a floating gap between the mounting seat and the top wall. When the universal wheel assembly is in a falling state, the mounting seat compresses the elastic member to float toward the top wall due to the impact force of the cleaning surface during the falling state.

2. The cleaning robot according to claim 1, characterized in that: It also includes a limiting frame arranged on the chassis, and the limiting cavity is surrounded by the limiting frame and the chassis.

3. The cleaning robot according to claim 2, characterized in that: The limiter is mounted on the upper surface of the chassis and is located in the inner cavity of the body; The top wall of the limiting cavity is arranged on the limiting frame, and the bottom wall is arranged on the chassis.

4. The cleaning robot according to claim 2, characterized in that: The limiter is mounted on the lower surface of the chassis and is located outside the fuselage; The bottom wall of the limiting cavity is arranged on the limiting frame, and the top wall is arranged on the bottom plate.

5. The cleaning robot according to claim 3, characterized in that: The mounting seat comprises a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame; The universal wheel assembly further includes a rotating shaft, the bottom of which is connected to the universal wheel, and the top of which is disposed in the first groove; In the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward; There is a floating gap between the top of the first groove and the top wall; or, the top wall is provided with an avoidance hole, and when the mounting seat floats upward, the first groove can pass through the avoidance hole.

6. The cleaning robot according to claim 5, characterized in that: The outer wall of the mounting frame is provided with an outer edge protruding outward horizontally; the outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the elastic member is located in the floating cavity, with one end connected to the top wall and the other end connected to the outer edge; When the universal wheel assembly is in a non-falling state, the outer edge maintains contact with the bottom wall.

7. The cleaning robot according to claim 6, characterized in that: In the height direction of the fuselage, the top of the mounting frame is higher than the outer edge.

8. The cleaning robot according to claim 6 or 7, characterized in that: The bottom of the limiting frame is provided with a second groove which is recessed upwards; The limiting frame is sleeved outside the mounting frame through the second groove, and the floating cavity is surrounded by the groove bottom and the outer edge of the second groove.

9. The cleaning robot according to claim 6 or 7, characterized in that: There are at least two elastic members and at least two outer edges. The at least two outer edges are evenly distributed around the outer wall of the mounting frame, and the elastic force of the elastic member carried by each outer edge is the same.

10. The cleaning robot according to claim 6 or 7, characterized in that: There are at least two elastic members, and the outer edge is annularly arranged around the outer wall of the mounting frame, and the elastic force of the elastic member is evenly distributed on the outer edge.

11. The cleaning robot according to claim 6 or 7, characterized in that: A first guide post is arranged on the outer edge, a second guide post is arranged on the top wall, two ends of the elastic member are respectively sleeved on the first guide post and the second guide post, and a floating gap is provided between the first guide post and the second guide post.

12. The cleaning robot according to claim 5, characterized in that: The universal wheel assembly further includes a shaft sleeve, which is fixed on the chassis and sleeved outside the rotating shaft. A limiting member is provided on the top of the rotating shaft. The limiting member abuts against the top of the shaft sleeve in a non-falling state, and the limiting member is disengaged from the abutment with the top of the shaft sleeve in a falling state. In the height direction of the fuselage, the length of the shaft sleeve is smaller than the length of the rotating shaft, so that the rotating shaft has a floating gap when moving up and down relative to the shaft sleeve.

13. A cleaning robot, characterized in that: include: A fuselage, wherein a driving wheel and a universal wheel assembly are provided at the bottom of the fuselage, and the universal wheel assembly is arranged near the front end of the fuselage along the forward direction of the fuselage; An obstacle-crossing mechanism, movably connected to the fuselage, and configured to drive the front end of the fuselage to lift up, so as to at least separate the universal wheel assembly from the cleaning surface; The universal wheel assembly includes a mounting seat and a universal wheel arranged on the mounting seat; The chassis of the fuselage has a limiting cavity, the height of the limiting cavity is fixed in the height direction of the fuselage, and the limiting cavity has a top wall and a bottom wall, the bottom wall is provided with a convex portion convex upward, and the mounting seat is embedded in the limiting cavity; at least one elastic member, one end of the elastic member is arranged on the bottom wall, and the other end of the elastic member is arranged on the mounting seat; When the universal wheel assembly is in a non-falling state, the mounting seat is kept in contact with the protrusion under the action of the stretching amount of the elastic member, and along the height direction of the fuselage, the surface of the mounting seat for contacting the protrusion is located above the protrusion, and the elastic force generated by the stretching amount is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly; There is a floating gap between the mounting seat and the top wall. When the universal wheel assembly is in a falling state, the mounting seat stretches the elastic member to float toward the top wall due to the impact force of the cleaning surface during the falling state.

14. The cleaning robot according to claim 13, characterized in that: It also includes a limiting frame arranged on the chassis, and the limiting cavity is surrounded by the limiting frame and the chassis.

15. The cleaning robot according to claim 14, characterized in that: The limiter is mounted on the upper surface of the chassis and is located in the inner cavity of the body; The top wall of the limiting cavity is arranged on the limiting frame, and the bottom wall is arranged on the chassis.

16. The cleaning robot according to claim 15, characterized in that: The mounting seat comprises a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame; The universal wheel assembly further includes a rotating shaft, the bottom of which is connected to the universal wheel, and the top of which is disposed in the first groove; In the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward; There is a floating gap between the top of the first groove and the top wall; or, the top wall is provided with an avoidance hole, and when the mounting seat floats upward, the first groove can pass through the avoidance hole.

17. The cleaning robot according to claim 16, characterized in that: The outer wall of the mounting frame is provided with an outer edge protruding outward horizontally; the outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the elastic member is located in the floating cavity, with one end connected to the top wall and the other end connected to the outer edge; When the universal wheel assembly is in a non-falling state, the outer edge maintains contact with the protruding portion.

18. The cleaning robot according to claim 17, characterized in that: In the height direction of the fuselage, the top of the mounting frame is higher than the outer edge.

19. The cleaning robot according to claim 17, characterized in that: The bottom of the limiting frame is provided with a second groove which is recessed upwards; The limiting frame is sleeved outside the mounting frame through the second groove, and the floating cavity is surrounded by the groove bottom and the outer edge of the second groove.

20. The cleaning robot according to claim 16, characterized in that: The universal wheel assembly further includes a shaft sleeve, which is fixed on the chassis and sleeved outside the rotating shaft. A limiting member is provided on the top of the rotating shaft. The limiting member abuts against the top of the shaft sleeve in a non-falling state, and the limiting member is disengaged from the abutment with the top of the shaft sleeve in a falling state. In the height direction of the fuselage, the length of the shaft sleeve is smaller than the length of the rotating shaft, so that the rotating shaft has a floating gap when moving up and down relative to the shaft sleeve.

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