Sweeping robot

Abstract

The sweeping robot comprises a robot body and an obstacle crossing mechanism, the robot body comprises a shell located at the bottom of the robot body, the shell comprises an auxiliary obstacle crossing plate, the auxiliary obstacle crossing plate is located at the front end of the robot body, and the output end of the obstacle crossing mechanism is connected with the auxiliary obstacle crossing plate. The obstacle crossing mechanism can rotate the auxiliary obstacle crossing plate to the rear end of the auxiliary obstacle crossing plate to abut against the front side face of a part protruding out of the bottom of the machine body. The obstacle crossing device can well avoid obstacles, so that the sweeping robot has a better obstacle crossing effect.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a floor sweeping robot. Background Art

[0002] During the cleaning process of the existing floor sweeping robots, when encountering obstacles, they cannot continue the cleaning task. Generally, the user needs to remove the obstacles on the ground. When encountering thresholds or other fixed obstacles, the user generally also needs to lift the floor sweeping robot over the obstacles and then continue the cleaning task, which causes inconvenience in use.

[0003] In related technologies, there are also some that set obstacle-crossing mechanisms on the cleaning robots to cross obstacles. However, generally, the body is lifted up and down in the vertical direction to avoid obstacles. However, in the process of use, this form is prone to collide with obstacles, resulting in the inability to cross obstacles or a poor obstacle-crossing effect. Summary of the Utility Model

[0004] The utility model aims to solve one of the technical problems in the related technologies to a certain extent. For this purpose, the utility model provides a floor sweeping robot that can well avoid obstacles and has a better obstacle-crossing effect.

[0005] To achieve the above purpose, the utility model discloses a floor sweeping robot, including a body and an obstacle-crossing mechanism. The body includes a housing at the bottom of the body. The housing includes an auxiliary obstacle-crossing plate. The auxiliary obstacle-crossing plate is located at the front end of the body. The output end of the obstacle-crossing mechanism is connected to the auxiliary obstacle-crossing plate. The obstacle-crossing mechanism can rotate the auxiliary obstacle-crossing plate until the rear end of the auxiliary obstacle-crossing plate abuts against the front side of the component protruding from the bottom of the body.

[0006] In this technical solution, by setting the obstacle-crossing mechanism, when encountering an obstacle, the obstacle-crossing mechanism can drive the auxiliary obstacle-crossing plate to rotate, and the rear end of the auxiliary obstacle-crossing plate can abut against the front side of the protruding component at the bottom of the floor sweeping robot. In this way, during the obstacle-crossing process, it is avoided that the protruding body of the floor sweeping robot directly abuts against the obstacle, which affects obstacle crossing. In addition, the rotation of the auxiliary obstacle-crossing plate can also make the front end of the auxiliary obstacle-crossing plate lean backward towards the rear of the robot, enabling the auxiliary obstacle-crossing plate to better avoid obstacles. In addition, in this application, a part of the self-structure (housing) of the floor sweeping robot forms the auxiliary obstacle-crossing plate, which reduces the accessories added due to improving the obstacle-crossing ability. Moreover, during normal operation, the auxiliary obstacle-crossing plate can also perfectly fit with the body of the floor sweeping robot, playing a role in protecting the robot.

[0007] Furthermore, the obstacle-crossing mechanism includes at least one sliding part and at least one rotary driving part. The rotary driving part corresponds to the sliding part. The sliding part includes a cylinder and a pivot connecting part. The cylinder can slide along the thickness direction of the machine body. The pivot connecting part is located at the first end of the cylinder. The pivot connecting part is pivotally connected to the auxiliary obstacle-crossing plate; the rotary driving part is used to drive the auxiliary obstacle-crossing plate to pivot around the pivot connecting part when the sliding part slides. Through this setting, the effect of the auxiliary obstacle-crossing plate descending and rotating simultaneously is achieved, enabling the auxiliary obstacle-crossing plate to face the obstacle in a more appropriate posture, making it more convenient to cross the obstacle.

[0008] Furthermore, the rotary driving part includes a torsion spring. The torsion spring is sleeved on the pivot connecting part. The first end of the torsion spring is connected to the sliding part, and the second end of the torsion spring is connected to the auxiliary obstacle-crossing plate. The obstacle-crossing mechanism further includes a first spring. The first spring is sleeved on the cylinder. The machine body is provided with a guide cylinder for installing the cylinder. A baffle is provided at the top of the cylinder. The first spring is installed between the baffle and the end face of the guide cylinder in a compressed state. Through the settings of the first spring and the torsion spring, the guide column and the auxiliary obstacle-crossing plate can be more stably maintained in the reset position and the extended position. The pre-set elastic force and torsion force can also compensate for the gaps generated by wear or loosening of the components during use to a certain extent, improving the stability of the equipment operation.

[0009] Furthermore, the auxiliary obstacle-crossing plate includes a shell body and pivot ears arranged on both sides of the shell body. There is a spacing between the two pivot ears. The pivot connecting part is arranged between the pivot ears on both sides. The torsion spring is arranged between the pivot ear and the pivot connecting part. The number of sliding parts is two. The pivot connecting parts of the sliding parts are respectively pivotally connected to the pivot ears on their corresponding sides through connecting shafts. By providing connecting parts at both ends of the auxiliary obstacle-crossing plate, support can be provided to both ends of the auxiliary obstacle-crossing plate respectively, improving the stability of the installation and rotation of the auxiliary obstacle-crossing plate.

[0010] Furthermore, an installation cavity is provided on the outer side surface of the auxiliary obstacle-crossing plate. An auxiliary wheel is installed in the installation cavity. The wheel surface of the auxiliary wheel protrudes from the outer side surface of the auxiliary obstacle-crossing plate. The auxiliary wheel is close to the rear end of the auxiliary obstacle-crossing plate. By providing the auxiliary wheel, in the later stage of obstacle crossing, the design of the auxiliary wheel can make the friction between the auxiliary obstacle-crossing plate and the bottom surface be rolling friction, preventing the driving wheel from slipping and making the obstacle crossing smoother.

[0011] Furthermore, the housing is disposed at the edge of the bottom of the body. The outer side surface of the housing is a curved surface, and one end of the housing facing the edge of the body extends obliquely towards the top surface of the body. Both sides of the auxiliary obstacle-crossing plate can be butted against the side edges of the adjacent housing. The curved surface and the inclined structure can better avoid obstacles. In addition, ensuring that the curved surface and the front side surface of the protruding part of the body are always smoothly transitioned during movement can prevent the contact between the protruding steps of the sweeping robot itself and the obstacles, making the obstacle crossing smoother and more convenient for the robot to avoid obstacles during movement or reduce the resistance of the obstacles when contacting the obstacles.

[0012] Furthermore, the robot further includes a universal wheel assembly slidably connected to the body and capable of sliding along the thickness direction of the body. The bottom of the universal wheel assembly extends out of the bottom surface of the body. The universal wheel assembly is opposite to the auxiliary obstacle-crossing plate. The obstacle-crossing mechanism can rotate the auxiliary obstacle-crossing plate until the rear end of the auxiliary obstacle-crossing plate abuts against the front side surface of the universal wheel assembly when the universal wheel assembly extends out of the bottom surface of the body.

[0013] With this setting, the universal wheel assembly of the sweeping robot is set to a structure that can be lifted and lowered relative to the body. In this way, when crossing an obstacle, the lifting of the universal wheel can lift the body. Combining with the function of the above-mentioned auxiliary obstacle-crossing plate, the sweeping robot can not only lift the body but also rotate the obstacle-crossing plate, improving the obstacle-crossing ability from two different dimensions. Moreover, both the universal wheel assembly and the auxiliary obstacle-crossing plate are original structures of the sweeping robot itself, with better integration with the robot itself and without additionally increasing the volume of the sweeping robot.

[0014] Further, the universal wheel assembly includes a universal wheel bracket, a universal wheel body, and a pressing block disposed on the universal wheel bracket. The universal wheel body is connected to the bottom of the universal wheel bracket and extends out of the bottom surface of the machine body. The universal wheel bracket is slidably connected to the machine body and can slide along the thickness direction of the machine body. The obstacle crossing mechanism includes a sliding portion and a rotary driving member. The rotary driving member corresponds to the sliding portion. The sliding portion includes a column and a pivot connecting portion. The column can slide along the thickness direction of the machine body. The pivot connecting portion is located at the first end of the column. The pivot connecting portion is pivotally connected to the auxiliary obstacle crossing plate. The rotary driving member is configured to drive the auxiliary obstacle crossing plate to pivot around the pivot connecting portion when the sliding portion slides. The sliding portion further includes a pressure receiving boss disposed on the outer peripheral surface of the column. The pressure receiving boss is located between the pivot connecting portion and the second end of the column. And the pressing block can abut against the pressure receiving boss when the universal wheel assembly extends out of the machine body, and drive the sliding portion to slide in the same direction, and can synchronously rotate the auxiliary obstacle crossing plate until the rear end of the auxiliary obstacle crossing plate abuts against the front side surface of the universal wheel body. This enables the actions of the obstacle crossing mechanism and the lifting of the universal wheel to be linked, reducing the number of driving power components, further reducing the number of components, and improving the integrity.

[0015] Further, at least one first limiting portion for limiting the sliding of the universal wheel bracket along the thickness direction of the machine body is provided on the machine body. The universal wheel bracket is provided with a second limiting portion corresponding to the first limiting portion. The obstacle crossing mechanism includes a power assembly and a return assembly provided on the machine body.

[0016] The power assembly is configured to drive the universal wheel assembly to extend out of the bottom surface of the machine body and keep the universal wheel assembly in the extended position.

[0017] The return assembly is configured to drive the universal wheel assembly to reset from the extended position and keep the universal wheel assembly in the reset position.

[0018] Further, the power assembly includes at least one elastic driving member. The elastic driving member is disposed between the first limiting portion of the universal wheel assembly and the second limiting portion of the machine body. The elastic driving member is configured to drive the universal wheel assembly to extend out of the bottom surface of the machine body by its own elastic force.

[0019] Further, the universal wheel assembly includes a universal wheel bracket disposed on the body. The universal wheel bracket includes a bracket main body and a driving arm. The number of the first limiting portion and the second limiting portion is two. Each first limiting portion includes a limiting column disposed on the body, and each second limiting portion includes a limiting main body disposed on the bracket main body. The limiting main body includes a first limiting hole corresponding to the limiting column and an annular mounting groove surrounding the first limiting hole. The limiting column is inserted into the first limiting hole. The elastic driving member includes a second spring. The second spring is installed in the mounting groove, and the first end of the second spring is connected to the body, and the second end of the second spring is connected to the bracket main body. The first end of the driving arm is connected to the bracket main body, and the second end of the driving arm extends toward the return assembly. The second spring is provided as a driving member for driving the universal wheel bracket to move in the first direction, and the cam-link mechanism is used as a driving member for reversely driving the universal wheel bracket. This can reduce the performance requirements for the motor. In addition, by designing the second spring, the impact force during obstacle crossing can be absorbed during the obstacle crossing process, reducing the impact force on the connecting rod, the driving cam, and the cam motor, and improving the service life of the components.

[0020] Further, the return assembly includes a cam motor, a driving cam, and a connecting rod disposed on the body. The driving cam is disposed at the output end of the cam motor. The middle of the connecting rod is rotatably connected to the body. The cam surface of the driving cam abuts against the side surface of the first end of the connecting rod. The second end of the connecting rod abuts against the bottom of the driving arm. The driving cam can drive the first end of the connecting rod to rotate and drive the second end of the connecting rod to drive the universal wheel assembly to extend from the bottom surface of the body.

[0021] Further, the driving arm is provided with a light blocking piece, and the body is provided with a photoelectric switch communicatively connected to the cam motor. When the driving arm moves to the reset position, the photoelectric switch can be triggered by the light blocking piece. A positioning depression is provided on the mating surface between the connecting rod and the driving cam. The contour of the positioning depression is set to a structure that is profiled to the cam surface. When the driving cam rotates until the cam surface is engaged in the positioning depression, the universal wheel assembly is held in the reset position under the combined action of the driving cam and the positioning depression. A surface contact structure is formed between the positioning depression and the connecting rod at the far rest position of the driving cam to achieve a better self-locking effect.

[0022] Further, the universal wheel assembly includes a universal wheel bracket slidably disposed within the body. The first limiting portion includes two limiting posts disposed on the body. The second limiting portion is disposed on the universal wheel bracket and includes two second limiting holes corresponding to the limiting posts. The limiting posts penetrate through the second limiting holes. The power assembly includes a driving motor disposed on the body and a driving plate connected to the output end of the driving motor. The driving plate is disposed on the side of the universal wheel bracket facing the front of the body. The driving plate includes a driving guide hole for cooperating with the limiting posts. A driving spring is connected between the first end face of the universal wheel bracket and the driving plate. A reset spring is connected between the second end face of the universal wheel bracket and the body. The reset spring is in a compressed state. By directly driving the universal wheel bracket through the driving spring using the driving motor, the overall structure of the obstacle-crossing mechanism is simplified, and the driving spring can also absorb the impact force during the obstacle-crossing process.

[0023] Further, the body is provided with a guide hole for guiding the universal wheel bracket. At least a part of the universal wheel bracket is inserted into the guide hole. The lower end face of the guide hole can stop the movement of the universal wheel body along the reset direction, so that a gap is formed between the universal wheel bracket and the universal wheel body at the reset position. The setting of the gap ensures that during the normal operation of the sweeping robot, the position of the universal wheel body is always fixed, and there will be no position error of the universal wheel body caused by the motor not rotating to the correct position or the deformation of the plastic parts at the end of the warranty period after long-term operation, ensuring the stable operation of the radar and the line laser.

[0024] These features and advantages of the present utility model will be disclosed in detail in the following specific embodiments and the accompanying drawings. The best embodiments or means of the present utility model will be shown in detail in combination with the accompanying drawings, but it is not a limitation to the technical solution of the present utility model. In addition, these features, elements, and components appear multiple times in the following text and drawings, and different symbols or numbers are marked for convenience of representation, but they all represent components with the same or similar structures or functions. Description of the Drawings

[0025] The following further illustrates the present utility model with reference to the accompanying drawings:

[0026] Figure 1 Overall structure diagram of a sweeping robot according to one embodiment of the present utility model;

[0027] Figure 2 Side sectional view (power assembly is the second spring) according to one embodiment of the present utility model;

[0028] Figure 3 For the present utility model Figure 2 Local enlarged view at A in;

[0029] Figure 4 Schematic diagram of the state of the universal wheel assembly and the cam-link mechanism in the extended position of one embodiment of the present utility model;

[0030] Figure 5 Schematic diagram of the state of the universal wheel assembly and the cam-link mechanism in the reset position of one embodiment of the present utility model;

[0031] Figure 6 Side sectional view of the normal working state of one embodiment of the present utility model;

[0032] Figure 7 Side sectional view of the obstacle-crossing state of one embodiment of the present utility model;

[0033] Figure 8 Schematic diagram of the extended position when the auxiliary obstacle-crossing plate does not move with the universal wheel assembly;

[0034] Figure 9 Three-dimensional structure diagram of one embodiment of the present utility model;

[0035] Figure 10 Side sectional view of one embodiment of the present utility model (the power assembly is a driving motor).

[0036] Among them,

[0037] 100, body; 101, guide cylinder; 102, guide hole; 103, cover plate; 104, limit post; 105, drive wheel; 106, housing;

[0038] 200, universal wheel assembly; 201, universal wheel bracket; 202, universal wheel body; 203, universal wheel; 204, drive arm; 205, light-shielding piece; 206, gap; 2071, first limit hole; 2072, second limit hole; 2073, installation groove; 208, pressing block; 209, connecting pin shaft;

[0039] 301, sliding part; 3011, column; 3012, pivot connection part; 3013, pressed convex platform; 302, auxiliary obstacle-crossing plate; 3021, shell main body; 3022, pivot ear; 303, connecting shaft; 304, auxiliary wheel; 305, curved surface; 306, first spring; 307, torsion spring; 308, baffle;

[0040] 410, drive cam; 411, connecting rod; 4111, positioning depression;

[0041] 420, reset spring;

[0042] 510, second spring;

[0043] 520, drive plate; 521, drive spring. Specific Embodiments

[0044] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present utility model and should not be construed as a limitation to the present utility model.

[0045] As used herein, the phrase "in one embodiment" or "example" or "instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself may be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0046] Refer to the attached Figure 1 、 9 In one embodiment of the present utility model, a floor sweeping robot is disclosed, which includes a body 100 and an obstacle crossing mechanism. The body 100 includes a housing 106 at the bottom of the body 100. The housing 106 includes an auxiliary obstacle crossing plate 302. The auxiliary obstacle crossing plate 302 is located at the front end of the body 100. The output end of the obstacle crossing mechanism is connected to the auxiliary obstacle crossing plate 302. The obstacle crossing mechanism can rotate the auxiliary obstacle crossing plate 302 until the rear end of the auxiliary obstacle crossing plate 302 abuts against the front side surface of the component protruding from the bottom of the body 100.

[0047] As can be seen from Figure 1 , the housing 106 is located at the bottom of the floor sweeping robot and is generally distributed at the edge of the bottom of the body 100, serving to enclose the body 100 and protect the robot. The auxiliary obstacle crossing plate 302 in this embodiment is equivalent to setting a part of the original structure of the housing 106 as a movable part. When the floor sweeping robot is performing normal cleaning operations, refer to Figure 6 , the auxiliary obstacle crossing plate 302 and the housing 106 fit perfectly, ensuring the overall appearance of the floor sweeping robot and providing a protective effect.

[0048] The auxiliary obstacle crossing plate 302 is arranged at the front bottom of the floor sweeping robot in terms of orientation, and an obstacle crossing mechanism is provided on the floor sweeping robot. The output end of the obstacle crossing mechanism is connected to the auxiliary obstacle crossing plate 302. When the floor sweeping robot encounters an obstacle during the cleaning operation, the obstacle crossing mechanism can drive the auxiliary obstacle crossing plate 302 to rotate, and make the rear end of the auxiliary obstacle crossing plate 302 abut against the front side surface of the component protruding from the bottom of the body 100. In this way, the rear end of the auxiliary obstacle crossing plate 302 and the front side surface of the component protruding from the bottom of the body 100 can be smoothly butted. Refer to the attached Figure 7, it should be noted that the components protruding from the bottom of the body 100 can be the universal wheel body 202 and other components protruding from the bottom of the body 100 in terms of structural design. The components protruding from the bottom of the body 100 are generally located on the front side of the universal wheel 203. When encountering an obstacle, without the existence of the auxiliary obstacle-crossing plate 302, the front side of these components protruding from the bottom of the body 100 is likely to be pressed against the obstacle, resulting in the sweeping robot being unable to cross the obstacle. Refer to the attached Figure 8 .

[0049] Refer to the attached Figure 6 、 9 , the obstacle-crossing mechanism of one embodiment of the present utility model includes at least one sliding part 301 and at least one rotary driving part. The rotary driving part corresponds to the sliding part 301. The sliding part 301 includes a column body 3011 and a pivoting connection part 3012. The column body 3011 can slide along the thickness direction of the body 100. The pivoting connection part 3012 is located at the first end of the column body 3011. The pivoting connection part 3012 is pivotally connected to the auxiliary obstacle-crossing plate 302; the rotary driving part is used to drive the auxiliary obstacle-crossing plate 302 to pivot around the pivoting connection part 3012 when the sliding part 301 slides.

[0050] In this embodiment, the sliding part 301 and the rotary driving part cooperate with each other to drive the rotation of the auxiliary obstacle-crossing plate 302. Among them, the sliding part 301 can drive one end of the auxiliary obstacle-crossing plate 302 to move up and down. At the same time, the rotary driving part drives the auxiliary obstacle-crossing plate 302 to rotate, realizing the movement effect of the auxiliary obstacle-crossing plate 302 descending and rotating at the same time. The descent of the auxiliary obstacle-crossing plate 302 can better make the rear end thereof abut against the lower end of the front side of the component protruding from the bottom of the body 100. The rotational movement enables the auxiliary obstacle-crossing plate 302 to face the obstacle in a more appropriate posture, making it more convenient to cross the obstacle. When crossing the obstacle, the sweeping robot will accelerate and then rush towards the obstacle. Under the guiding action of the auxiliary obstacle-crossing plate 302, it can be avoided that the protruding components at the bottom of the body 100 directly abut against the obstacle, realizing smooth obstacle crossing.

[0051] The sliding of the sliding part 301 in this embodiment can be directly connected to a power component, such as being driven by a motor or a linear driving component (such as a cylinder, a linear electric cylinder, a hydraulic drive, etc.). Of course, it can also only be used as an intermediate transmission part and be driven by other components.

[0052] The rotating drive member of one embodiment of the present utility model includes a torsion spring 307 (which can of course also be set as other types of elastic members). The torsion spring 307 is sleeved on the pivot connection portion 3012. The first end of the torsion spring 307 is connected to the sliding portion 301, and the second end of the torsion spring 307 is connected to the auxiliary obstacle-crossing plate 302. It should be noted that in order to ensure the rotation of the auxiliary obstacle-crossing plate 302, a certain amount of torsion is pre-stored when the torsion spring 307 is installed. In this way, not only can the front end of the auxiliary obstacle-crossing plate 302 always fit against the bottom of the machine body 100 under the action of the torsion spring 307 in the normal working state to achieve the sealing effect of the machine body 100, but also the looseness problem caused by the assembly gap after long-term use can be compensated to a certain extent.

[0053] The obstacle-crossing mechanism further includes a first spring 306. The first spring 306 is sleeved on the column body 3011. The machine body 100 is provided with a guide cylinder 101 for installing the column body 3011. A baffle 308 is provided at the top of the column body 3011. The first spring 306 is compressively installed between the baffle 308 and the end face of the guide cylinder 101. Similarly, when the first spring 306 is installed, a certain amount of pressure is also pre-set. Through the settings of the first spring 306 and the torsion spring 307, the guide post and the auxiliary obstacle-crossing plate 302 can be more stably maintained in the reset position and the extended position. The pre-set elastic force and torsion can also compensate for the gaps generated by wear or looseness of the components during use to a certain extent, improving the stability of the equipment operation.

[0054] It should be noted that since the first spring 306 needs to overcome the torsion of the torsion spring 307 to reset the sliding portion 301 to the reset position during normal operation, the elastic force of the first spring 306 generally needs to be greater than the torsion of the torsion spring 307.

[0055] The auxiliary obstacle-crossing plate 302 of the present utility model includes a shell main body 3021 and pivot ears 3022 provided on both sides of the shell main body 3021. A distance is formed between the two pivot ears 3022. The pivot connection portion 3012 is arranged between the pivot ears 3022 on both sides. The torsion spring 307 is arranged between the pivot ears 3022 and the pivot connection portion 3012. The number of sliding portions 301 is two. The pivot connection portions 3012 of the sliding portions 301 are respectively pivotally connected to the pivot ears 3022 on their corresponding sides through connecting shafts 303. By providing connection parts at both ends of the auxiliary obstacle-crossing plate 302, the auxiliary obstacle-crossing plate 302 can be supported from both ends, improving the stability of the installation and rotation process of the auxiliary obstacle-crossing plate 302.

[0056] It should be noted that the rotation of the auxiliary obstacle-crossing plate 302 mentioned in this embodiment is not limited to the rotation driven by the sliding part 301 and the rotation driving part mentioned above. In actual use, the rotation of the auxiliary obstacle-crossing plate 302 of the present utility model can also be set to be driven by a motor. At this time, the auxiliary obstacle-crossing plate 302 can be directly rotatably connected to the body 100 through a transfer shaft. The transfer shaft is arranged at the middle position of the auxiliary obstacle-crossing plate 302. When obstacle-crossing is required, the auxiliary obstacle-crossing plate 302 can be directly driven to rotate. At this time, one end of the obstacle-crossing plate will naturally have a downward trend under the action of rotation, and then it can be made to abut against the front side of the component protruding from the bottom of the body 100 to assist the sweeping robot in crossing the obstacle. Of course, the rotation of the auxiliary obstacle-crossing plate 302 can also be set to other structures that can make one end of it descend to align with the front side of the component protruding from the bottom of the body 100.

[0057] In order to improve the success rate of obstacle-crossing, the present utility model is provided with an installation cavity on the outer side surface of the auxiliary obstacle-crossing plate 302. An auxiliary wheel 304 is installed in the installation cavity. The side wall of the auxiliary wheel 304 protrudes from the outer side surface of the auxiliary obstacle-crossing plate 302. The auxiliary wheel 304 is close to the rear end of the auxiliary obstacle-crossing plate 302. When the sweeping robot of the present utility model accelerates to cross the obstacle, it will first accumulate a certain amount of kinetic energy. In the early stage of obstacle-crossing, this kinetic energy will gradually be consumed to overcome the gravitational potential energy, resulting in insufficient kinetic energy in the later stage of obstacle-crossing. At the same time, the torsion spring 307 of the driving wheel 105 gradually expands, and the force applied to the driving wheel 105 also becomes smaller. As a result, the frictional force that the ground can provide to the driving wheel 105 becomes smaller. In this embodiment, the auxiliary wheel 304 is provided to enhance the obstacle-crossing passability. In the later stage of obstacle-crossing, the design of the auxiliary wheel 304 can make the friction between the auxiliary obstacle-crossing plate 302 and the bottom surface be rolling friction, reduce the demand for driving force, prevent the driving wheel 105 from slipping, and make the obstacle-crossing smoother.

[0058] The housing 106 of the present utility model is disposed at the edge of the bottom of the body 100. The outer side surface of the housing 106 is a curved surface, and one end of the housing 106 facing the edge of the body 100 extends obliquely towards the top surface of the body 100. The two side edges of the auxiliary obstacle-crossing plate 302 can be butted against the side edges of the adjacent housing 106. The curved surface and the inclined structure are arranged to better avoid obstacles. In addition, ensuring that the curved surface and one side surface of the universal wheel assembly 200 are always smoothly transitioned during the movement process can prevent the contact between the protruding step of the universal wheel body 202 itself and the obstacle, making the obstacle-crossing smoother and more convenient for the robot to avoid obstacles during the traveling process, or reducing the resistance of the obstacle when contacting the obstacle. It can be seen that the present utility model integrates the obstacle-crossing mechanism with the structure of the floor-sweeping robot itself. In the normal working state, the auxiliary obstacle-crossing plate 302 functions the same as the housing 106 of an ordinary floor-sweeping robot, and there is no obvious difference in appearance. Only when obstacle-crossing, the auxiliary obstacle-crossing plate 302 will rotate to improve the success rate of obstacle-crossing.

[0059] See the attached Figure 9 In one embodiment of the present utility model, it further includes a universal wheel assembly 200 slidably connected to the body 100 and capable of sliding along the thickness direction of the body 100. The bottom of the universal wheel assembly 200 extends out of the bottom surface of the body 100. The universal wheel assembly 200 is opposite to the auxiliary obstacle-crossing plate 302. The obstacle-crossing mechanism can rotate the auxiliary obstacle-crossing plate 302 until the rear end of the auxiliary obstacle-crossing plate 302 abuts against the front side surface of the universal wheel assembly 200 when the universal wheel assembly 200 extends out of the bottom surface of the body 100.

[0060] In this embodiment, on the basis of the above embodiment, a liftable universal wheel assembly 200 is added. During the obstacle-crossing process, the universal wheel assembly 200 can extend out of the bottom surface of the body 100 to lift the body 100. At the same time, the auxiliary obstacle-crossing plate 302 can also rotate until the rear end of the auxiliary obstacle-crossing plate 302 abuts against the front side surface of the universal wheel assembly 200. In this way, the lifted body 100 can also, to a certain extent, prevent the part protruding from the bottom of the body 100 from directly pressing on the obstacle. Combining the effect that the auxiliary obstacle-crossing plate 302 abuts against the front side surface of the universal wheel assembly 200 can further improve the obstacle-crossing ability.

[0061] See the attached Figure 1 、 2, 10. One embodiment of the present utility model discloses a floor sweeping robot, including a body 100, a universal wheel assembly 200, and an obstacle crossing mechanism. The universal wheel assembly 200 is slidably disposed on the body 100, and the universal wheel assembly 200 can slide along the thickness direction of the body 100. The universal wheel assembly 200 includes a universal wheel bracket 201 disposed inside the body 100 and a universal wheel body 202 protruding from the bottom of the body 100. The body 100 includes an auxiliary obstacle crossing plate 302 disposed at the front end of the body 100. The obstacle crossing mechanism includes a sliding portion 301 slidably disposed on the body 100 and capable of sliding along the thickness direction of the body 100. The bottom of the auxiliary obstacle crossing plate 302 is rotatably connected to the sliding portion 301, and the top of the auxiliary obstacle crossing plate 302 abuts against the bottom of the body 100. The sliding of the sliding portion 301 can drive the rotation of the auxiliary obstacle crossing plate 302, and make the bottom of the auxiliary obstacle crossing plate 302 follow the sliding of the sliding portion 301, and the top of the auxiliary obstacle crossing plate 302 slide back and forth along the bottom of the body 100 synchronously.

[0062] The obstacle crossing mechanism of one embodiment of the present utility model includes at least one sliding portion 301 and at least one rotation driving member. The rotation driving member corresponds to the sliding portion 301. The sliding portion 301 includes a cylinder 3011, a pressure receiving boss 3013, and a pivot connection portion 3012. The cylinder 3011 can slide along the thickness direction of the body 100. The pressure receiving boss 3013 is disposed on the outer peripheral surface of the cylinder 3011. The pivot connection portion 3012 is located at the first end of the cylinder 3011. The pressure receiving boss 3013 is located between the pivot connection portion 3012 and the second end of the cylinder 3011. The pivot connection portion 3012 is pivotally connected to the auxiliary obstacle crossing plate 302. The universal wheel assembly 200 includes a universal wheel bracket 201 and a pressure applying block 208 disposed on the universal wheel bracket 201. The universal wheel bracket 201 can slide along the thickness direction of the body 100, and the pressure applying block 208 can abut against the pressure receiving boss 3013 when the universal wheel assembly 200 extends out of the body 100, and drive the sliding portion 301 to slide in the same direction. The rotation driving member is used to drive the auxiliary obstacle crossing plate 302 to pivot around the pivot connection portion 3012 when the sliding portion 301 slides. In this embodiment, the universal wheel assembly 200 can drive the sliding portion 301 to slide only when sliding downward. The upward sliding of the universal wheel assembly 200 will not drive the sliding plate to move upward (the upward movement of the sliding portion 301 is realized by other components). This embodiment enables the universal wheel bracket 201 and the sliding portion 301 to produce a linkage effect, improves the integrity of the device, and converts the linear motion of the guide column in the sliding assembly into the rotation of the auxiliary obstacle crossing plate 302, making the overall structure more compact, more conducive to space layout, and facilitating structural design.

[0063] When in use, when the floor sweeping robot detects an obstacle at the front end of its traveling route, the universal wheel assembly 200 will move relative to the body 100. Since the universal wheels 203 at the bottom of the universal wheel assembly 200 and the drive wheels 105 are always supported on the ground, at this time, the body 100 will move upward relative to the universal wheel assembly 200. In this way, it is equivalent to the front end of the body 100 being lifted. Since the height of the drive wheels 105 relative to the body remains unchanged, the overall effect is that the body 100 rotates by an angle relative to the contact point of the drive wheels 105 with the ground, causing the head of the robot to tilt up, facilitating the head of the robot to cross the obstacle. It should be noted that during each obstacle-crossing process, the height at which the head of the robot is lifted is the same.

[0064] In the present utility model, the direction in which the universal wheel assembly 200 extends out of the bottom of the body 100 can be vertically downward, and the direction in which the universal wheel assembly 200 returns to its original position can be vertically upward.

[0065] The universal wheel assembly 200 of the present utility model includes a universal wheel bracket 201 and a universal wheel body 202 disposed on the universal wheel bracket 201. The universal wheel body 202 protrudes from the bottom of the body 100 (so that the universal wheels 203 are always supported on the ground), and a power assembly and a return assembly are provided on the body 100;

[0066] The power assembly is used to drive the universal wheel assembly 200 to move vertically downward and can keep the universal wheel assembly 200 in the extended position;

[0067] The return assembly is used to drive the universal wheel assembly 200 to move vertically upward and can keep the universal wheel assembly 200 in the reset position; wherein, the extended position is the position where the obstacle-crossing mechanism is located when the floor sweeper encounters an obstacle and needs to cross the obstacle, and the reset position is the position where the obstacle-crossing mechanism is located when the floor sweeper is working normally.

[0068] During the cleaning process of the floor sweeping robot, it is in a normal working state for most of the time, and each component of the obstacle crossing mechanism is in the reset position. At this time, the body 100 is horizontal. Among them, the reset position of the universal wheel assembly 200 is at the highest point, the reset position of the sliding part 301 is also at the highest point of the displacement, the rear end of the auxiliary obstacle crossing plate 302 (the end connected to the sliding part 301) is also at the highest point of the displacement, and the front end of the auxiliary obstacle crossing plate 302 is at the most forward position within its displacement range (relative to the body 100); when it is necessary to cross an obstacle, the obstacle crossing mechanism will first switch to the extended position. As described above, at this time, the universal wheel 203 and the driving wheel 105 are in contact with the ground to form a support, ensuring the overall stable support effect of the floor sweeping robot. The front end of the body 100 is lifted upward, the universal wheel bracket 201 in the universal wheel assembly 200 is at the lowest point of the displacement, and the sliding part 301 is also at the lowest point of the displacement under the action of the universal wheel bracket 201. At this time, the rear end of the auxiliary obstacle crossing plate 302 will move down with the downward movement of the sliding part 301, and the front end will rotate backward relative to the front end of the body 100. This is equivalent to having a backward tilting effect when rotating, so that the front end of the auxiliary obstacle crossing plate 302 will have an avoidance effect in both the height direction and the horizontal direction.

[0069] In addition, it should be noted that after the universal wheel assembly 200 descends, the contour of the universal wheel body 202 will further protrude from the bottom of the body 100, forming a step (the structure of the universal wheel body 202 itself). This step may affect obstacle crossing. See the Figure 8 step indicated by the arrow in the attachment. If a component that descends synchronously with the universal wheel 203 is designed at the front end of the universal wheel body 202, the front end of this component will also form a step due to the descent, which will further affect obstacle crossing.

[0070] Therefore, the present utility model designs an auxiliary obstacle crossing plate 302 that can rotate while descending. The auxiliary obstacle crossing plate 302 in the present utility model is a component of the floor sweeping robot itself. It is arranged at the front end of the body 100 and is generally of an inclined surface structure. In the normal floor sweeping state, the auxiliary obstacle crossing plate 302 fits with the structure of the body 100, mainly playing a role of shielding and protection. When crossing an obstacle, the lower end of the auxiliary obstacle crossing plate 302 can move down synchronously with the downward movement of the body of the universal wheel 203, so that no prominent step will be generated due to relative movement between the two (that is, there is a smooth transition between the rear end of the auxiliary obstacle crossing plate 302 and the universal wheel body 202. See the Figure 7) Meanwhile, by setting the surface 305 structure of the auxiliary obstacle-crossing plate 302 facing away from the body 100 to be the same as the lower front end of the body 100, when crossing an obstacle, the surface is perfectly combined with the front end of the body 100 in structure, and there is no protruding step surface on the front side of the floor sweeping robot, making the obstacle crossing smoother. It should be noted that during the actual rotation of the auxiliary obstacle-crossing plate 302 of the present utility model, through structural design, it will always maintain a smooth butt joint with the front side of the universal wheel body 202. The smooth butt joint here means that the butt joint part between the two has a smooth transition and no protruding step will be formed.

[0071] It should be noted that the universal wheel bracket 201 and the universal wheel body 202 in the universal wheel assembly 200 of the present utility model can be set to be detachably connected, and the two can be connected through a snap structure.

[0072] The universal wheel assembly 200 of the present utility model includes a universal wheel bracket 201 and a universal wheel body 202 connected to the bottom of the universal wheel bracket 201. The universal wheel body 202 includes a universal wheel 203 that directly contacts the bottom surface during use. The universal wheel bracket 201 and the universal wheel body 202 are detachably connected by plugging or snapping. Refer to the connecting pin shaft in the appendix Figure 2 The universal wheel bracket 201 is arranged inside the body, a part of the universal wheel body is placed outside the body, and the universal wheel bracket 201 is slidably connected to the body through a first limiting part and a second limiting part. The first limiting part and the second limiting part make the installation and sliding of the universal wheel bracket more stable.

[0073] Refer to the appendix Figure 2 、 4 、5、9, one embodiment of the power assembly of the present utility model includes a second spring 510. The second spring 510 is arranged between the universal wheel bracket 201 and the body 100 and the second spring 510 is in a compressed state (the preset elastic force in the installation stage), that is, the second spring 510 always provides a downward pressure for the universal wheel bracket 201; the universal wheel bracket 201 includes a bracket main body and a driving arm 204 extending to one side of the bracket main body; the return assembly includes a cam motor, a driving cam 410, and a connecting rod 411. The driving motor is arranged at the output end of the cam motor. The middle of the connecting rod 411 is rotatably connected to the body 100. The cam surface of the driving cam 410 is always in contact with one end of the connecting rod 411. The other end of the connecting rod 411 abuts against the bottom of the driving arm 204. The rotation of the driving cam 410 can drive one end of the connecting rod 411 to rotate and make the other end of the connecting rod 411 drive the universal wheel bracket 201 to move in the reverse direction of the first direction and stay in the reset position.

[0074] It can be seen that in this embodiment, the second spring 510 is provided as a driving member for driving the universal wheel bracket 201 to move downward (the first direction), and the cam-link mechanism is used as a driving member for driving the universal wheel bracket 201 to move upward. Since the return component is a rigid driving structure driven by a cam motor, it can overcome the elastic force of the second spring 510 to move the universal wheel bracket 201 upward or keep the universal wheel bracket 201 in the reset position (the highest point, as shown in the appendix). Figure 5 Only when the end of the connecting rod 411 placed at the bottom of the driving arm 204 moves downward, the second spring 510 can drive the universal wheel bracket 201 to move downward. During the acceleration and obstacle crossing process of the sweeping robot, the second spring 510 can absorb the impact force of obstacle crossing, reduce the impact force on the connecting rod 411, the driving cam 410, the cam motor and other plastic accessories, improve the service life of the components, and also reduce the performance requirements for the cam motor.

[0075] Refer to the appendix Figure 2 In this embodiment, a cover plate 103 is provided on the body. The first limiting portion is formed on the cover plate 103. The first limiting portion can be set as a limiting post structure as shown in Figure 2 . The second limiting portion on the universal wheel bracket 201 is set as a structure of a first limiting hole 2071 that cooperates with the limiting post. The first limiting hole 2071 and the limiting post 104 are inserted and matched. An annular installation groove 2073 for installing the second spring 510 is further opened on the second limiting portion of the universal wheel bracket 201. The width of the installation groove 2073 is slightly larger than the diameter of the spring steel column forming the second spring, which facilitates the installation of the second spring 510 into the installation groove 2073 and provides a certain constraint on the second spring 510, so that it will not bend during use. The number of the second springs 510 in the present utility model can be set to two, and of course, it can also be set to multiple. This can not only improve the driving force, but also avoid the problem of inoperability caused by the failure of one spring. The two second springs are symmetrically arranged, which can improve the installation stability of the universal wheel bracket 201. When the two second springs 510 are installed, they are installed in the installation grooves opened on the universal wheel bracket 201, and a cover plate 103 is provided on the body 100, and the cover plate 103 presses the second spring 510 from the top of the universal wheel bracket 201.

[0076] Refer to the appendix Figure 4 、 5, 9. In addition, the driving arm 204 of this embodiment may also be provided with a light-shielding sheet 205, and the body 100 is provided with a photoelectric switch communicatively connected to the cam motor. When the driving arm 204 moves to the reset position, the photoelectric switch can be triggered by the light-shielding sheet 205. The design of the light-shielding sheet 205 serves as an indicating component. For example, when the floor sweeping robot crosses an obstacle and needs to return to the normal cleaning state, after the cam-link 411 mechanism drives the universal wheel bracket 201 to the highest point, the cooperation between the light-shielding sheet 205 and the photoelectric switch sends signals to the cam motor and the cleaning driving components of the floor sweeping robot, etc., to control their switching of working states.

[0077] In this embodiment, the link 411 is provided with a positioning recess 4111 (the recessed surface contour of the positioning recess 4111 is a curved surface structure that imitates the surface of the driving cam 410) that cooperates with the cam surface of the driving cam 410. When the cam surface of the driving cam 410 faces the positioning recess 4111 of the link 411, the universal wheel assembly 200 is held in the reset position under the action of the driving cam 410 and the link 411. With this setting, when the driving cam 410 presses down the link 411 to raise the universal wheel 203 to the reset position, the contact between the driving cam 410 and the link 411 changes from line contact to surface contact, achieving self-locking. When the positioning recess 4111 is not provided, when the universal wheel bracket 201 is in the reset position, the contact between the driving cam 410 and the link 411 is line contact. Due to manufacturing errors and the presence of fine particle protrusions and depressions on the contact surface, the direction of the force between the two is uncontrollable, and self-locking cannot be achieved. After the universal wheel bracket 201 rises to the reset position, the driving cam 410 will be reversely rotated by the rotational force, and the motor shaft and the gear will be subjected to the rotational force again, and the position of the universal wheel 203 cannot be fixed. In this embodiment, the driving cam 410 and the link 411 are in surface contact, which is equivalent to countless line contacts. Even if there are protrusions and depressions at a certain point, the resultant force of countless component forces will point to the center of the circle, and thus self-locking can be achieved, making the overall working process more stable.

[0078] See the appendix Figure 10, the universal wheel assembly of one embodiment of the present utility model includes a universal wheel bracket 201 slidably disposed in the machine body. The first limiting portion includes two limiting columns 104 disposed on the machine body. The second limiting portion is disposed on the universal wheel bracket 201 and includes two second limiting holes 2072 corresponding to the limiting columns 104. The limiting columns 104 penetrate through the second limiting holes 2072. The power assembly includes a driving motor disposed on the machine body and a driving plate 520 connected to the output end of the driving motor. The driving plate 520 is disposed on the side of the universal wheel bracket 201 facing the front of the machine body 100. The driving plate includes a driving guide hole for cooperating with the limiting column 104. A driving spring is connected between the first end face of the universal wheel bracket and the driving plate. A return spring 420 is connected between the second end face of the universal wheel bracket 201 and the machine body 100. The return spring 420 is in a compressed state.

[0079] In the use of this embodiment, the universal wheel bracket 201 is held in the reset position (the highest position) under the action of the return spring 420. When obstacle crossing is required, the driving motor presses down the universal wheel bracket 201 (the return spring 420 is further compressed) through the driving plate 520 and the driving spring 521, so that the universal wheel bracket 201 moves to the extended position (the lowest point) for obstacle crossing operation. When the obstacle crossing is completed, the driving motor rotates in the reverse direction to drive the driving plate 520 and the driving spring 521 to move upward. At this time, the return spring 420 will pull the universal wheel bracket 201 to move upward to the reset position. Similarly, during actual installation, in order to ensure the installation stability and provide sufficient elastic force, two driving springs and return springs can be symmetrically arranged.

[0080] It can be seen that compared with the design of the power assembly and the return assembly in the above embodiment, in this embodiment, the driving motor directly drives the universal wheel bracket 201 through the driving spring 521, simplifying the overall structure of the obstacle crossing mechanism (equivalent to simplifying the cam-link 411 structure mentioned above). The driving spring 521 in this embodiment can also absorb the impact force during the obstacle crossing process.

[0081] Since the caster wheel assembly 200 in the obstacle-crossing mechanism of the present utility model is a movable part, after its multiple-frequency actions, due to assembly or use errors, the position of the caster wheel 203 may change slightly, affecting the use effect. To avoid this problem, the body 100 of one embodiment of the present utility model is provided with a sliding mounting portion for mounting the caster wheel bracket 201. The sliding mounting portion includes a guiding hole 102 provided in the body 100. At least a part of the caster wheel bracket 201 is inserted into the guiding hole 102. The lower end surface of the guiding hole 102 stops the upward movement of the caster wheel body 202 towards the reset position, so as to form a gap 206 between the caster wheel bracket 201 and the caster wheel body 202 at the reset position.

[0082] See the appendix Figure 2 、 3 , a small movement space (gap 206) is provided between the caster wheel body 202 and the caster wheel bracket 201 in the vertical direction. This gap 206 enables the caster wheel body 202 and the caster wheel bracket 201 to move relative to each other at a specific stage during the movement of the caster wheel assembly 200. For example, when obstacle crossing is required, the caster wheel bracket 201 moves downward. The caster wheel bracket 201 will first move downward alone by a certain distance (eliminating the gap 206 between it and the caster wheel body 202), and then drive the caster wheel body 202 to move downward together. Similarly, when it is necessary to reset to the normal working state after obstacle crossing, the caster wheel assembly 200 will move upward. At this time, the caster wheel bracket 201 and the caster wheel body 202 will move upward together in the initial stage. When the upper end surface of the caster wheel body 202 abuts against the lower end surface of the guiding hole 102, at this time, under the stopping effect of the lower end surface of the guiding hole 102, the caster wheel body 202 cannot continue to move upward. At this time, the caster wheel bracket 201 moves upward alone until it reaches the reset position (separating the caster wheel bracket 201 and the caster wheel body 202 by Figure 3 the distance of the gap 206 in the middle).

[0083] It can be seen that the gap 206 between the caster wheel bracket 201 and the caster wheel body 202 is provided at the reset position in this embodiment. The setting of the gap 206 can ensure that during the normal operation of the sweeper, the position of the caster wheel body 202 is always fixed, and there will be no position error of the caster wheel body 202 caused by the motor not rotating to the correct position or the deformation of the plastic parts at the end of the warranty period after long-term operation, thus ensuring the stable operation of the radar and the line laser.

[0084] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that the present utility model includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present utility model will be included in the scope of the claims.

Claims

1. A sweeping robot, comprising a body (100) and an obstacle crossing mechanism, wherein the body (100) comprises a shell (106) located at the bottom of the body (100), characterized in that: The shell (106) comprises an auxiliary obstacle crossing plate (302), the auxiliary obstacle crossing plate (302) is located at the front end of the machine body (100), the output end of the obstacle crossing mechanism is connected to the auxiliary obstacle crossing plate (302), and the obstacle crossing mechanism can rotate the auxiliary obstacle crossing plate (302) until the rear end of the auxiliary obstacle crossing plate (302) abuts against the front side of a component protruding from the bottom of the machine body (100).

2. The sweeping robot according to claim 1, characterized in that: The obstacle crossing mechanism comprises at least one sliding portion (301) and at least one rotating driving member, wherein the rotating driving member corresponds to the sliding portion (301), the sliding portion (301) comprises a column (3011) and a pivoting connection portion (3012), the column (3011) is capable of sliding along the thickness direction of the machine body (100), the pivoting connection portion (3012) is located at a first end of the column (3011), and the pivoting connection portion (3012) is pivotally connected to the auxiliary obstacle crossing plate (302); the rotating driving member is used for driving the auxiliary obstacle crossing plate (302) to pivot around the pivoting connection portion (3012) when the sliding portion (301) slides.

3. The sweeping robot according to claim 2, characterized in that: The rotary drive member comprises a torsion spring (307), wherein the torsion spring (307) is sleeved on the pivot connection portion (3012), wherein a first end of the torsion spring (307) is connected to the sliding portion (301), and a second end of the torsion spring (307) is connected to the auxiliary obstacle crossing plate (302); the obstacle crossing mechanism further comprises a first spring (306), wherein the first spring (306) is sleeved on the column (3011), the body (100) is provided with a guide cylinder (101) for mounting the column (3011), a baffle (308) is provided on the top of the column (3011), and the first spring (306) is mounted between the baffle (308) and an end surface of the guide cylinder (101) in a compressed state.

4. The sweeping robot according to claim 3, characterized in that: The auxiliary obstacle crossing plate (302) comprises a shell body (3021) and pivot ears (3022) arranged on both sides of the shell body (3021), a spacing is formed between the two pivot ears (3022), the pivot connection part (3012) is arranged between the pivot ears (3022) on both sides, the torsion spring (307) is arranged between the pivot ears (3022) and the pivot connection part (3012), the number of the sliding part (301) is two, and the pivot connection part (3012) of the sliding part (301) is pivotally connected to the pivot ears (3022) on the corresponding side through the connecting shaft (303).

5. The sweeping robot according to any one of claims 1 to 4, characterized in that: The outer side surface of the auxiliary obstacle crossing plate (302) is provided with a mounting cavity, an auxiliary wheel (304) is mounted in the mounting cavity, the wheel surface of the auxiliary wheel (304) protrudes from the outer side surface of the auxiliary obstacle crossing plate (302), and the auxiliary wheel (304) is close to the rear end of the auxiliary obstacle crossing plate (302).

6. The sweeping robot according to any one of claims 1 to 4, characterized in that: The shell (106) is arranged at the edge of the bottom of the body (100), the outer side surface of the shell (106) is arranged as a curved surface (305), and one end of the shell (106) facing the edge of the body (100) extends obliquely toward the top surface of the body (100), and the two side edges of the auxiliary obstacle crossing plate (302) can be butted against the side edges of the adjacent shell (106).

7. The sweeping robot according to claim 1, characterized in that: The robot further comprises a universal wheel assembly (200) slidably connected to the body (100) and capable of sliding along the thickness direction of the body (100); the bottom of the universal wheel assembly (200) protrudes from the bottom surface of the body (100); the universal wheel assembly (200) is opposite to the auxiliary obstacle crossing plate (302); and the obstacle crossing mechanism is capable of rotating the auxiliary obstacle crossing plate (302) until the rear end of the auxiliary obstacle crossing plate (302) abuts against the front side of the universal wheel assembly (200) when the universal wheel assembly (200) protrudes from the bottom surface of the body (100).

8. The sweeping robot according to claim 7, characterized in that: The universal wheel assembly (200) comprises a universal wheel bracket (201), a universal wheel body (202) and a pressure block (208) arranged on the universal wheel bracket (201); the universal wheel body (202) is connected to the bottom of the universal wheel bracket (201) and extends out of the bottom surface of the body (100); the universal wheel bracket (201) is slidably connected to the body (100) and can slide along the thickness direction of the body (100); the obstacle crossing mechanism comprises a sliding part (301) and a rotating driving member, the rotating driving member corresponds to the sliding part (301); the sliding part (301) comprises a column (3011) and a pivot connection part (3012); the column (3011) can slide along the thickness direction of the body (100); the pivot connection part (3012) is located at a first end of the column (3011); The pivot connection part (3012) is pivotally connected to the auxiliary obstacle crossing plate (302); the rotary drive member is used to drive the auxiliary obstacle crossing plate (302) to pivot around the pivot connection part (3012) when the sliding part (301) slides; the sliding part also includes a pressure boss (3013) arranged on the outer peripheral surface of the column (3011), and the pressure boss (3013) is located between the pivot connection part (3012) and the second end of the column (3011), and the pressure block (208) can abut against the pressure boss (3013) when the universal wheel assembly (200) extends out of the body (100), and drive the sliding part (301) to slide in the same direction, and can make the auxiliary obstacle crossing plate (302) rotate synchronously until the rear end of the auxiliary obstacle crossing plate (302) is docked with the front side of the universal wheel body (202).

9. The sweeping robot according to claim 8, characterized in that: The machine body is provided with at least one first limiting portion for limiting the universal wheel bracket (201) from sliding along the thickness direction of the machine body (100); the universal wheel bracket (201) is provided with a second limiting portion corresponding to the first limiting portion; and the obstacle crossing mechanism comprises a power component and a return component arranged on the machine body (100); The power assembly is used to drive the universal wheel assembly (200) to extend from the bottom surface of the machine body (100) and to keep the universal wheel assembly (200) in the extended position; The return assembly is used to drive the universal wheel assembly (200) to return from the extended position and to keep the universal wheel assembly (200) in the return position.

10. The sweeping robot according to claim 9, characterized in that: The power assembly comprises at least one elastic driving member, the elastic driving member being arranged between a first limiting portion of the universal wheel assembly (200) and a second limiting portion of the machine body (100), the elastic driving member being used to drive the universal wheel assembly (200) to extend out from the bottom surface of the machine body (100) by its own elastic force.

11. The sweeping robot according to claim 10, characterized in that: The universal wheel bracket (201) comprises a bracket body and a driving arm (204); the number of the first limiting part and the second limiting part is two; each of the first limiting parts comprises a limiting column (104) arranged on the body (100); each of the second limiting parts comprises a limiting body arranged on the bracket body; the limiting body comprises a first limiting hole (2071) corresponding to the limiting column (104) and an annular mounting groove (2073) surrounding the first limiting hole (2071); the limiting column (104) is inserted into the first limiting hole (2071); the elastic driving member comprises a second spring (510); the second spring (510) is installed in the mounting groove (2073); the first end of the second spring (510) is connected to the body (100); the second end of the second spring (510) is connected to the bracket body; the first end of the driving arm (204) is connected to the bracket body; the second end of the driving arm (204) extends toward the return assembly.

12. The sweeping robot according to claim 11, characterized in that: The return assembly comprises a cam motor, a driving cam (410) and a connecting rod (411) arranged on the machine body, wherein the driving cam (410) is arranged at the output end of the cam motor, the middle part of the connecting rod (411) is rotatably connected to the machine body (100), the cam surface of the driving cam (410) abuts against the side surface of the first end of the connecting rod (411), and the second end of the connecting rod (411) abuts against the bottom of the driving arm (204), and the driving cam (410) can drive the first end of the connecting rod (411) to rotate and drive the second end of the connecting rod (411) to drive the universal wheel assembly (200) to extend from the bottom surface of the machine body (100).

13. The cleaning robot according to claim 12, characterized in that: The driving arm (204) is provided with a light shielding sheet (205), and the machine body (100) is provided with a photoelectric switch that is communicatively connected to the cam motor. When the driving arm (204) moves to a reset position, the photoelectric switch can be triggered through the light shielding sheet (205); the matching surfaces of the connecting rod (411) and the driving cam (410) are provided with a positioning recess (4111), and the contour of the positioning recess (4111) is set to a structure that imitates the cam surface. When the driving cam (410) rotates until the cam surface is stuck in the positioning recess (4111), the universal wheel assembly (200) is kept in the reset position under the cooperation of the driving cam (410) and the positioning recess (4111).

14. The sweeping robot according to claim 9, characterized in that: The first limiting portion comprises two limiting posts (104) arranged on the machine body (100); the second limiting portion is arranged on the universal wheel bracket (201) and comprises two second limiting holes (2072) corresponding to the limiting posts (104); the limiting posts (104) pass through the second limiting holes (2072); the power assembly comprises a driving motor arranged on the machine body (100) and a driving plate (520) connected to the output end of the driving motor; the driving plate (520) is arranged on the side of the universal wheel bracket (201) facing the front of the body, the driving plate (520) includes a driving guide hole for cooperating with the limiting column (104), a driving spring (521) is connected between the first end face of the universal wheel bracket (201) and the driving plate (520), and a return spring (420) is connected between the second end face of the universal wheel bracket (201) and the body (100), and the return spring (420) is in a compressed state.

15. The sweeping robot according to claim 8, characterized in that: The machine body (100) is provided with a guide hole (102) for guiding the universal wheel bracket (201); at least a portion of the universal wheel bracket (201) is inserted into the guide hole (102); and the lower end surface of the guide hole (102) is capable of stopping the movement of the universal wheel body (202) along the reset direction, so that a gap (206) is formed between the universal wheel bracket (201) and the universal wheel body (202) at the reset position.

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