Obstacle crossing mechanism and cleaning robot

Abstract

The obstacle crossing mechanism comprises a first support, a rolling wheel assembly and an elastic telescopic assembly, the first support is provided with a rotating center, the rolling wheel assembly comprises a first rolling wheel and a second rolling wheel which are installed on the first support, and the first end of the elastic telescopic assembly is connected with a machine body of the cleaning robot; and the second end part is rotationally connected with the first bracket at a preset rotating position. In the invention, the second end part of the elastic telescopic assembly is rotationally connected with the first bracket at the preset rotating position, and the preset rotating position does not coincide with the rotating center of the first bracket, so that when the elastic telescopic assembly applies pressure to the first bracket, the pressure transmitted to the first roller and the second roller by the first bracket can be different; and when the obstacle crossing mechanism encounters an obstacle, the first bracket is easy to upwarp by the rollers with smaller stress, and the rollers with larger stress can provide stronger road holding force, so that the obstacle crossing performance of the obstacle crossing mechanism is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent appliances, and particularly to an obstacle-crossing mechanism and a cleaning robot. Background Art

[0002] With the development of the economy and the progress of society, people's requirements for the quality of life are getting higher and higher, and intelligent household appliances emerge as the times require. Among them, robots with functions of sweeping and mopping the floor, as a kind of intelligent household appliances, play an increasingly important role in people's daily lives and are loved by more and more users. Utility Model Content

[0003] To overcome the problems existing in the related art, the present disclosure provides an obstacle-crossing mechanism and a cleaning robot.

[0004] In a first aspect of the present disclosure, there is provided an obstacle-crossing mechanism installed on the body of a cleaning robot. The obstacle-crossing mechanism includes:

[0005] A first bracket provided with a rotation center, and the first bracket can rotate relative to the body around the rotation center;

[0006] A roller assembly installed on the first bracket. The roller assembly includes a first roller and a second roller arranged adjacent to each other, and the first roller and the second roller are located on the same side of the body;

[0007] An elastic telescopic assembly, a first end of the elastic telescopic assembly is rotatably connected to the body, and a second end of the elastic telescopic assembly is rotatably connected to the first bracket at a preset rotation position;

[0008] Wherein, the preset rotation position does not coincide with the rotation center, and the elastic telescopic assembly applies a pressure to the first bracket through the second end, so that the first bracket applies a pressure to one of the first roller and the second roller.

[0009] In some embodiments, the elastic telescopic assembly includes a mounting rod, a telescopic rod and a reset member. One end of the telescopic rod is inserted into the mounting rod and the telescopic rod can move relative to the mounting rod along the axial direction of the mounting rod. The free end of the telescopic rod serves as the first end, and the end of the mounting rod far from the first end serves as the second end;

[0010] The reset member is respectively connected to the mounting rod and the telescopic rod, and the reset member is used to provide a reset force after relative movement occurs between the mounting rod and the telescopic rod.

[0011] In some embodiments, the reset member includes a spring, and the spring is sleeved on the mounting rod and / or the telescopic rod.

[0012] In some embodiments, a preset included angle is formed between the axis of the mounting rod and a preset reference line, and the preset reference line passes through the rotation center and is parallel to the direction of gravity.

[0013] In some embodiments, along the traveling direction of the machine body, the first roller is located on the front side of the second roller, and the preset rotation position is arranged closer to the second roller relative to the rotation center.

[0014] In some embodiments, the diameter of the first roller is larger than that of the second roller.

[0015] In some embodiments, the first bracket includes a roller bracket and a power assembly. The first roller and the second roller are rotatably mounted on the roller bracket, and the power assembly is mounted on the roller bracket. The power assembly is respectively connected to the first roller and the second roller to drive the first roller and the second roller to rotate.

[0016] In some embodiments, the roller bracket includes a frame body, the frame body is located between the first roller and the second roller, and the power assembly is mounted on the frame body;

[0017] Wherein, both the rotation center and the preset rotation position are arranged on the frame body.

[0018] In some embodiments, the roller bracket includes a frame body and a turntable connected to the frame body. The frame body is located between the first roller and the second roller, the power assembly is mounted on the frame body, and the rotation center is arranged on the frame body;

[0019] A baffle is arranged on the radially outer side of the turntable for mounting the second roller, and the preset rotation position is arranged on the baffle.

[0020] In some embodiments, the obstacle-crossing mechanism further includes a second bracket, the second bracket is rotatably connected to the machine body, and the second bracket is rotatably connected to the first bracket at the rotation center.

[0021] In some embodiments, a first limiting portion is arranged at the top of the first bracket, and a second limiting portion is arranged on the second bracket;

[0022] When the second roller crosses an obstacle, the first bracket moves towards the second bracket, and the second limiting portion abuts against the first limiting portion to limit the first bracket.

[0023] In a second aspect of the present disclosure, a cleaning robot is provided, including a machine body and the obstacle-crossing mechanism as described in the first aspect.

[0024] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: The second end of the elastic telescopic component is rotatably connected to the first bracket at a preset rotation position, and the preset rotation position does not coincide with the rotation center of the first bracket. Therefore, when the elastic telescopic component applies pressure to the first bracket, the pressures transmitted by the first bracket to the first roller and the second roller can be different. When the obstacle-crossing mechanism encounters an obstacle, the roller with less force makes the first bracket easy to tilt, and the roller with greater force can provide stronger grip, improving the obstacle-crossing performance of the obstacle-crossing mechanism.

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. Brief Description of the Drawings

[0026] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0027] Figure 1 is a perspective view of an obstacle-crossing mechanism shown according to an exemplary embodiment.

[0028] Figure 2 is a front view of an obstacle-crossing mechanism shown according to an exemplary embodiment.

[0029] Figure 3 is a partial exploded view of an obstacle-crossing mechanism shown according to an exemplary embodiment.

[0030] Figure 4 is a partial exploded view of an obstacle-crossing mechanism shown according to an exemplary embodiment.

[0031] Figure 5 is a partial exploded view of an obstacle-crossing mechanism shown according to an exemplary embodiment.

[0032] Figure 6 is a perspective view of an obstacle-crossing mechanism shown according to another exemplary embodiment.

[0033] Figure 7 is a schematic diagram of an obstacle-crossing mechanism not encountering an obstacle shown according to an exemplary embodiment.

[0034] Figure 8 is a schematic diagram of an obstacle-crossing mechanism passing over an obstacle shown according to an exemplary embodiment.

[0035] Figure 9 is a schematic diagram of an obstacle-crossing mechanism passing by an obstacle shown according to an exemplary embodiment. Detailed Description of the Embodiments

[0036] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0037] In the related art, floor sweeping robots and mopping robots can usually perform cleaning operations on flat ground. However, when encountering uneven roads and other roads with obstacles, the obstacle-crossing performance of the robots is poor, affecting the user experience.

[0038] To solve the problems existing in the related art, the embodiments of the present disclosure provide an obstacle-crossing mechanism and a cleaning robot. The obstacle-crossing mechanism includes a first bracket, a roller assembly, and an elastic telescopic assembly. The first bracket is provided with a rotation center. The roller assembly includes a first roller and a second roller mounted on the first bracket. The first end of the elastic telescopic assembly is connected to the body of the cleaning robot, and the second end is rotatably connected to the first bracket at a preset rotation position. In the present disclosure, the second end of the elastic telescopic assembly is rotatably connected to the first bracket at a preset rotation position, and the preset rotation position does not coincide with the rotation center of the first bracket. Thus, when the elastic telescopic assembly applies pressure to the first bracket, the pressures transmitted by the first bracket to the first roller and the second roller can be different. When the obstacle-crossing mechanism encounters an obstacle, the roller with less force makes the first bracket easy to lift, and the roller with greater force can provide stronger grip, improving the obstacle-crossing performance of the obstacle-crossing mechanism.

[0039] According to an exemplary embodiment of the present disclosure, as Figure 1 shown, the embodiments of the present disclosure provide an obstacle-crossing mechanism 100. The obstacle-crossing mechanism 100 is installed on the body of the cleaning robot. The cleaning robot is, for example, a floor sweeping robot, a mopping robot, etc. The obstacle-crossing mechanism 100 enables the cleaning robot to easily cross an obstacle 200 (refer to Figure 8 ), expanding the application scenarios of the cleaning robot. The obstacle 200 is, for example, a bump, a slope, items scattered on the floor at home, etc. It should be noted that at least one obstacle-crossing mechanism 100 as Figure 1 shown can be provided on the body of the cleaning robot, or two, three, four, or more can be provided. For example, if the cleaning robot is provided with four rollers and two rollers are provided on each side, then one obstacle-crossing mechanism 100 can be provided on each side to improve the obstacle-crossing effect; of course, one obstacle-crossing mechanism 100 can also be provided only on one side, and only two rollers can be provided on the other side without it.

[0040] As Figure 1 and Figure 2As shown, the obstacle-crossing structure includes a first bracket 10. The first bracket 10 has a rotation center 10a, and the first bracket 10 can be directly or indirectly connected to the body through the rotation center 10a. In one example, referring to Figure 1 and Figure 2 , the obstacle-crossing mechanism 100 can be directly connected to the body through a preset rotating shaft 12 in the rotation center 10a. In another example, referring to Figure 6 and Figure 7 , the first bracket 10 can be indirectly connected to the body through a second bracket 60 (which will be introduced in detail later).

[0041] Referring to Figure 1 and Figure 2 , the obstacle-crossing mechanism 100 further includes a roller assembly 20. The roller assembly 20 is installed on the first bracket 10. The roller assembly 20 includes a first roller 21 and a second roller 22 arranged adjacent to each other. The first roller 21 and the second roller 22 are located on the same side of the body. When crossing an obstacle 200 (referring to Figure 8 ), the relative height of the first roller 21 and the second roller 22 will change, so that the first bracket 10 rotates relative to the body around the rotation center 10a. By setting a rotation center 10a and two rollers on the first bracket 10, and when crossing an obstacle, the first bracket 10 can flexibly rotate along with the obstacle-crossing process, enabling the rollers of the cleaning robot to maintain a good grip with the horizontal plane 300 and the obstacle 200 during the obstacle-crossing process, improving the traveling stability, and avoiding slipping due to insufficient grip and thus being unable to successfully cross the obstacle 200.

[0042] Referring to Figures 1 to 3 , the obstacle-crossing mechanism 100 further includes an elastic telescopic assembly 30. The first end 30a of the elastic telescopic assembly 30 is rotatably connected to the body, and the second end 30b of the elastic telescopic assembly 30 is rotatably connected to the first bracket 10 at a preset rotation position 40. When the cleaning robot encounters an obstacle 200, the elastic telescopic assembly 30 can shorten or elongate to ensure the balance of the body of the cleaning robot. It should be noted that when the first bracket 10 rotates around the rotation center 10a, the first bracket 10 will drive the second end 30b of the elastic telescopic assembly 30 to change its position, so that the arrangement direction of the first end 30a and the second end 30b of the elastic telescopic assembly 30 (that is, the telescopic direction of the elastic telescopic assembly 30) changes. Therefore, setting the first end 30a to be rotatably connected to the body and setting the second end 30b to be rotatably connected to the first bracket 10 can prevent the elastic telescopic assembly 30 from bending, breaking, etc., and more flexibly apply pressure to the rollers for grip during the obstacle-crossing process to improve the obstacle-crossing performance.

[0043] In some alternative embodiments (not shown in the drawings), the first end of the elastic telescopic assembly may be fixedly connected to the body, while the second end abuts against the first bracket and a limiting structure is provided in the first bracket, and the abutting position is located in the limiting structure to prevent it from coming out. For example, the elastic telescopic assembly may always provide a pressure to the first bracket in the direction vertically downward ( Figure 1 the reverse of the z direction shown in

[0044] Refer to Figure 1 and Figure 2 , the preset rotation position 40 does not coincide with the rotation center 10a, that is, the preset rotation position 40 is offset from the rotation center 10a (also known as eccentric setting). When the elastic telescopic assembly 30 applies pressure to the first bracket 10 through the second end 30b, the pressure received by the first bracket 10 causes it to have a tendency to rotate around the rotation center 10a, so that the first bracket 10 applies pressure to one of the first roller 21 and the second roller 22. For example, according to the different functions of the two rollers during the movement of the cleaning robot, the pressure of the first bracket 10 can be set to act on the first roller 21 or on the second roller 22.

[0045] For example, according to the traveling direction of the cleaning robot body ( Figure 1 the x direction shown in

[0046] ), the first roller 21 is the front wheel and the second roller 22 is the rear wheel. By adaptively setting the relative position of the preset rotation position 40 and the rotation center 10a, when the first bracket 10 applies pressure, the pressure received by the second roller 22 can be made greater than the pressure received by the first roller 21. Thus, when the cleaning robot encounters an obstacle 200, the first roller 21 that first contacts the obstacle 200 is more likely to lift up because the pressure it receives is smaller, and the second roller 22 has a stronger grip because the pressure it receives is greater, enhancing the performance of climbing over the obstacle 200.

[0047] In an exemplary embodiment, as Figure 1 and Figure 2As shown, the obstacle-crossing mechanism 100 includes a first bracket 10, a roller assembly 20, and an elastic telescopic assembly 30. The first bracket 10 is provided with a rotation center 10a. The roller assembly 20 includes a first roller 21 and a second roller 22 mounted on the first bracket 10. The first end 30a of the elastic telescopic assembly 30 is connected to the body of the cleaning robot, and the second end 30b is rotatably connected to the first bracket 10 at a preset rotation position 40.

[0048] As Figure 3 shown, the elastic telescopic assembly 30 includes a mounting rod 32 and a telescopic rod 31. One end of the telescopic rod 31 is inserted into the mounting rod 32, and the telescopic rod 31 can move relative to the mounting rod 32 along the axial direction of the mounting rod 32. The free end of the telescopic rod 31 constitutes the first end 30a of the elastic telescopic assembly 30, and one end of the mounting plate away from the first end 30a of the elastic telescopic assembly 30 constitutes the second end 30b. Refer to Figure 3 , the elastic telescopic assembly 30 further includes a reset member 33. The reset member 33 is respectively connected to the mounting rod 32 and the telescopic rod 31. The reset member 33 is used to provide a reset force after relative movement occurs between the mounting plate and the telescopic rod 31. For example, when the mounting rod 32 moves relative to the telescopic rod 31 so that the length of the elastic telescopic assembly 30 is shortened, the reset member 33 can provide a force that can make the mounting rod 32 and the telescopic rod 31 move away from each other (reset). In addition, the reset member 33 also enables the obstacle-crossing mechanism 100 to have a damping function, improving the running stability of the cleaning robot.

[0049] In one example, refer to Figure 3 , the reset member 33 includes a spring. The spring is sleeved on the mounting rod 32 and the telescopic rod 31. One end of the spring is connected to the first end 30a of the elastic telescopic assembly 30, and the other end of the spring is connected to the second end 30b of the elastic telescopic assembly 30. When the length of the elastic telescopic assembly 30 is shortened, the first end 30a and the second end 30b of the elastic telescopic assembly 30 approach each other and compress the spring, and the compressed spring can provide a reset force for the first end 30a and the second end 30b to move away from each other.

[0050] In another example (not shown in the drawings), the reset member includes a spring. The spring is sleeved on the telescopic rod, and a part of the spring structure is located in the chute 321 of the mounting rod (refer to Figure 3 ). One end of the spring is connected to the first end of the elastic telescopic assembly, and the other end of the spring is connected to the bottom surface of the chute 321 of the mounting rod.

[0051] In yet another example (not shown in the drawings), the reset member includes two magnets. The two magnets are respectively arranged on the mounting rod and the telescopic rod, and the same poles of the two magnets face each other. That is, the repulsive force generated when the same poles of the magnets face each other is used as the reset force.

[0052] Among them, the reset member 33 can adopt any one of the aforementioned three examples, or can be a combination of any two examples to obtain a stronger reset force, or can be a combination of the three examples to obtain an even stronger reset force.

[0053] Among them, as Figure 2 shown, there is a preset included angle between the axis of the mounting rod 32 and the preset reference line. The preset reference line is a perpendicular line passing through the rotation center 10a, and the perpendicular line is always parallel to the direction of gravity ( Figure 1 the z-direction shown in it). The smaller the included angle, the greater the component force of the elastic telescopic assembly 30 in the direction of gravity. The preset included angle can be any value between 0° and 60°, such as 1°, 15°, 30° or 50°.

[0054] During the movement of the cleaning robot, the size of the preset included angle will change based on whether an obstacle 200 is encountered, so as to adjust the direction of the pressure exerted by the elastic telescopic assembly 30 on the first bracket 10, and further adjust the pressure of the first bracket 10 on the first roller 21 and the second roller 22. Exemplarily, in combination with Figure 7 and Figure 8 it can be known that Figure 8 the included angle when climbing over an obstacle shown is smaller than Figure 7 the included angle when on a flat road surface shown, so that Figure 8 the pressure exerted by the elastic telescopic assembly 30 on the second roller 22 shown is greater, improving the grip of the second roller 22, and further enhancing the obstacle crossing performance. In this embodiment, by setting the mounting rod 32 to form a preset included angle relative to the direction of gravity, the reset force provided by the reset member 33 in the elastic telescopic assembly 30 can exert an inclined acting force on the first bracket 10, so that the first bracket 10 can exert a variable pressure on one of the first roller 21 and the second roller 22 to achieve the effect of easily crossing the obstacle 200.

[0055] In an exemplary embodiment, as Figure 1 and Figure 2 shown, the obstacle crossing mechanism 100 includes a first bracket 10, a roller assembly 20 and an elastic telescopic assembly 30. The first bracket 10 is provided with a rotation center 10a. The roller assembly 20 includes a first roller 21 and a second roller 22 mounted on the first bracket 10. The first end 30a of the elastic telescopic assembly 30 is connected to the body of the cleaning robot, and the second end 30b is rotatably connected to the first bracket 10 at a preset rotation position 40.

[0056] The obstacle crossing mechanism 100 provided in this embodiment can include any structure of the obstacle crossing mechanism 100 provided in the foregoing various embodiments.

[0057] As Figure 1 shown, along the traveling direction of the body ( Figure 1In the x - direction shown, the first roller 21 is located in front of the second roller 22. That is, the first roller 21 is the front wheel and the second roller 22 is the rear wheel. The preset rotation position 40 is arranged closer to the second roller 22 relative to the rotation center 10a. To facilitate the explanation of the technical solution of the present disclosure, the position where the first end 30a is rotationally connected to the body is defined as the first installation position 31a. The line connecting the first installation position 31a and the center of the first roller 21 is defined as the first line m, and the line connecting the first installation position 31a and the center of the second roller 22 is defined as the second line n.

[0058] In one example, referring to Figure 8 , it shows that when the first roller 21 of the cleaning robot encounters an obstacle 200 and tilts up, the first bracket 10 rotates clockwise around the rotation center 10a, and the first bracket 10 drives the preset rotation position 40 to move backward ( Figure 1 in the reverse direction of the x - direction shown). Since the height h1 of the first installation position 31a (refer to Figure 7 ) remains unchanged, the angle between the telescopic direction of the elastic telescopic component 30 and the first line m becomes larger, and the angle between the telescopic direction of the elastic telescopic component 30 and the second line n becomes smaller. Thus, the pressure of the elastic telescopic component 30 on the second roller 22 is greatly increased, and the pressure of the elastic telescopic component 30 on the first roller 21 is reduced, realizing the enhancement of the grip of the second roller 22, reducing the pressure of the first roller 21 on the obstacle 200, making it easier for the obstacle - crossing mechanism 100 to tilt up to cross the obstacle 200, and reducing the difficulty of crossing the obstacle.

[0059] In another example, referring to Figure 9 , it shows that the second roller 22 of the cleaning robot is about to cross the obstacle 200. At this time, the first bracket 10 rotates counterclockwise around the rotation center 10a, and the first bracket 10 drives the second end 30b of the elastic telescopic component 30 to move forward ( Figure 1 in the x - direction shown). Since the height h1 of the first installation position 31a remains unchanged, the angle between the telescopic direction of the elastic telescopic component 30 and the first line m becomes smaller, and the angle between the telescopic direction of the elastic telescopic component 30 and the second line n becomes larger. Thus, the pressure of the elastic telescopic component 30 on the first roller 21 is increased, and the pressure of the elastic telescopic component 30 on the second roller 22 is reduced, realizing the enhancement of the grip of the first roller 21, reducing the pressure of the second roller 22 on the obstacle 200, making the obstacle - crossing mechanism 100 have a stronger grip and a smaller pressure on the obstacle 200, and reducing the difficulty of crossing the obstacle.

[0060] Among them, referring to Figure 2 and Figure 7, the diameter of the first roller 21 is greater than the diameter of the second roller 22. It is understandable that for obstacles 200 of the same height, when the position where the roller contacts the obstacle 200 is flush with the circle of the roller, it will be difficult for the roller to pass over the obstacle 200 or even completely impossible to pass over. By increasing the diameter of the first roller 21 (i.e., the front wheel), the center of the first roller 21 is higher than the initial contact point between the first roller 21 and the obstacle 200, which facilitates the first roller 21 to pass over the obstacle 200. In this embodiment, by setting the first roller 21 located at the front side of the traveling direction to have a larger diameter, the ability of the obstacle crossing mechanism 100 to cross the obstacle 200 is improved.

[0061] Among them, see Figure 4 and Figure 5 The first bracket 10 includes a roller frame 11 and a power assembly 50. The first roller 21 and the second roller 22 are rotatably mounted on the roller frame 11. The power assembly 50 is mounted on the roller frame 11. The power assembly 50 can be transmission-connected to at least one of the first roller 21 and the second roller 22 to drive the rollers to rotate.

[0062] In one example, if Figure 4 and Figure 5 As shown, the power assembly 50 is connected to the first roller 21 and the second roller 22 respectively, so that the first roller 21 and the second roller 22 both have driving force. Figure 4 and Figure 5 The power assembly 50 includes a driving motor 51, a first gear 52, a plurality of second gears 53 and a plurality of third gears 54. The output shaft of the driving motor 51 is connected to the first gear 52. Two third gears 54 are provided. The two third gears 54 are coaxially arranged with the first roller 21 and the second roller 22 respectively. The plurality of second gears 53 are arranged between the first gear 52 and the third gear 54 to transfer the torque of the first gear 52 to the third gear 54, thereby driving the first roller 21 and the second roller 22 to rotate. In some optional embodiments (not shown in the drawings), the power assembly 50 can be composed of a driving motor 51 and a transmission belt, which will not be described in detail.

[0063] In another example (not shown in the drawings), the power assembly is connected to the first roller only.

[0064] In yet another example (not shown in the drawings), the power assembly is connected to the second roller only.

[0065] See also Figures 3 to 5, the first bracket 10 further includes a first side cover 15 and a second side cover 16. The first side cover 15 and the second side cover 16 are respectively disposed on both sides of the roller frame 11. The first side cover 15 and the roller frame 11 enclose and define a motor installation space, and the second side cover 16 and the roller frame 11 enclose and define a gear installation space. The roller frame 11 has a rotating shaft hole, and the rotating shaft hole communicates the motor installation space with the gear installation space. The output shaft of the driving motor 51 passes through the rotating shaft hole to be connected to the first gear 52. Among them, referring to Figure 3 , on the side of the first side cover 15 facing away from the roller frame 11, there is a convex column 151. The convex column 151 coincides with the preset rotation position 40. The second end 30b of the elastic telescopic assembly 30 has a through hole, and the through hole is sleeved on the convex column 151. A screw 152 is provided in the convex column 151, and the screw 152 is used to limit the second end 30b from coming out.

[0066] Referring to Figure 4 and Figure 5 , it can be determined that the driving motor 51, the first roller 21 and the second roller 22 are located on the same side of the roller frame 11, and multiple gears are located on the other side of the roller frame 11, which improves the utilization rate of the space on both sides of the roller frame 11, is beneficial to reducing the volume of the obstacle-crossing mechanism 100, reducing the occupancy of the internal space of the cleaning robot, and facilitating the setting of a larger-capacity battery, a larger-volume dust collection box, etc. in the machine body, thereby improving the user experience.

[0067] In some embodiments, as Figure 4 and Figure 5 shown, the roller frame 11 includes a frame body 111. The frame body 111 is located between the first roller 21 and the second roller 22. The power assembly 50 is installed on the frame body 111. The rotation center 10a and the preset rotation position 40 are both set on the frame body 111. In this embodiment, the rotation center 10a and the preset rotation position 40 are not overly limited.

[0068] In other embodiments, as Figure 4 and Figure 5 shown, the roller frame 11 includes a frame body 111. The frame body 111 is located between the first roller 21 and the second roller 22. The power assembly 50 is installed on the frame body 111. The rotation center 10a is set on the frame body 111. Referring to Figure 4 , the roller frame 11 further includes a turntable 112 connected to the frame body 111. There are two turntables 112 (including a first turntable 1121 and a second turntable 1122). The first turntable 1121 is used to install the first roller 21, and the second turntable 1122 is used to install the second roller 22. A baffle 13 is provided on the radial outer side of the second turntable 1122, and the preset rotation position 40 is set on the baffle 13 (not shown in this exemplary diagram).

[0069] In an exemplary embodiment, as Figure 1 and Figure 2As shown, the obstacle-crossing mechanism 100 includes a first bracket 10, a roller assembly 20, and an elastic telescopic assembly 30. The first bracket 10 is provided with a rotation center 10a. The roller assembly 20 includes a first roller 21 and a second roller 22 mounted on the first bracket 10. The first end 30a of the elastic telescopic assembly 30 is connected to the body of the cleaning robot, and the second end 30b is rotatably connected to the first bracket 10 at a preset rotation position 40. Along the traveling direction of the body ( Figure 1 the x direction shown in), the first roller 21 is located on the front side of the second roller 22, and the preset rotation position 40 is arranged closer to the second roller 22 relative to the rotation center 10a.

[0070] As Figure 6 and Figure 7 shown, the obstacle-crossing mechanism 100 further includes a second bracket 60. The second bracket 60 is rotatably connected to the body at a second mounting position 62, and the second bracket 60 is rotatably connected to the first bracket 10 at the rotation center 10a. The second bracket 60 can provide a pulling force to the first bracket 10 to prevent the first bracket 10 from moving relative to the body in the traveling direction and improve the overall strength.

[0071] In addition, it can be understood that referring to Figure 2 , when the second bracket 60 is not provided in the obstacle-crossing mechanism 100, the obstacle-crossing mechanism 100 needs to be directly rotatably connected to the body through the rotation center 10a of the first bracket 10. When the cleaning robot encounters an obstacle 200, the height of the rotation center 10a of the first bracket 10 increases, resulting in the inclination of the body. Referring to Figure 7 and Figure 8 , in the obstacle-crossing mechanism 100 provided in this embodiment, by setting the second bracket 60, when the cleaning robot encounters an obstacle 200, the height of the rotation center 10a of the first bracket 10 increases, but the height h2 of the second mounting position 62 remains basically unchanged. Compared with the obstacle-crossing mechanism 100 without the second bracket 60, the body is more stable when crossing the obstacle 200.

[0072] Among them, as Figure 4 and Figure 9 shown, a first limiting portion 14 is provided at the top of the first bracket 10, and a second limiting portion 61 is provided on the second bracket 60. When the obstacle-crossing mechanism 100 is about to cross the obstacle 200 (that is, the second roller 22 is about to cross the obstacle 200), the first bracket 10 moves toward the second bracket 60, and the second limiting portion 61 approaches and abuts against the first limiting portion 14 to limit the first bracket 10. By limiting the first bracket 10, for example, it can prevent the reset member 33 of the elastic telescopic assembly 30 from being squeezed against the baffle 13 of the first bracket 10 and causing damage.

[0073] In one example, the first limiting portion 14 may be a convex structure on the top of the first bracket 10, and the second limiting portion 61 may be an elastic block (such as a silica gel block or a rubber block) provided on the second bracket 60.

[0074] Among them, referring to Figure 4 , the preset rotating shaft 12 may be fixedly connected to the second bracket 60, such as by bonding, gluing or integrally forming. The preset rotating shaft 12 penetrates through the first side cover 15 and extends into the roller frame 11.

[0075] According to an exemplary embodiment of the present disclosure, the present disclosure also provides a cleaning robot, which includes a body and the obstacle-crossing mechanism 100 provided in any of the foregoing embodiments of the present disclosure.

[0076] The cleaning robot provided by the embodiment of the present disclosure has all the technical effects of the obstacle-crossing mechanism. The second end of the elastic telescopic assembly is rotationally connected to the first bracket at a preset rotational position, and the rotational center of the preset rotational position and the first bracket do not coincide. Therefore, when the elastic telescopic assembly applies pressure to the first bracket, the pressure transmitted by the first bracket to the first roller and the second roller can be different. When the obstacle-crossing mechanism encounters an obstacle, the roller with less force makes the first bracket easy to tilt, and the roller with greater force can provide stronger grip, improving the obstacle-crossing performance of the obstacle-crossing mechanism.

[0077] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the embodiments disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0078] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. An obstacle-crossing mechanism, characterized in that, Installed on the body of the cleaning robot, the obstacle-crossing mechanism includes: A first bracket, which sets a rotation center, and the first bracket can rotate relative to the body around the rotation center; A roller assembly, installed on the first bracket, the roller assembly includes a first roller and a second roller arranged adjacent to each other, and the first roller and the second roller are located on the same side of the body; An elastic telescopic assembly, the first end of the elastic telescopic assembly is rotationally connected to the body, and the second end of the elastic telescopic assembly is rotationally connected to the first bracket at a preset rotation position; Wherein, the preset rotation position does not coincide with the rotation center, and the elastic telescopic assembly applies pressure to the first bracket through the second end, so that the first bracket applies pressure to one of the first roller and the second roller.

2. The obstacle-crossing mechanism according to claim 1, wherein The elastic telescopic assembly includes a mounting rod, a telescopic rod and a reset member. One end of the telescopic rod is inserted into the mounting rod and the telescopic rod can move relative to the mounting rod along the axial direction of the mounting rod. The free end of the telescopic rod serves as the first end, and the end of the mounting rod away from the first end serves as the second end; The reset member is respectively connected to the mounting rod and the telescopic rod, and the reset member is used to provide a reset force after relative movement occurs between the mounting rod and the telescopic rod.

3. The obstacle-crossing mechanism according to claim 2, wherein The reset member includes a spring, and the spring is sleeved on the mounting rod and / or the telescopic rod.

4. The obstacle-crossing mechanism according to claim 2, wherein, There is a preset included angle between the axis of the mounting rod and a preset reference line, and the preset reference line passes through the rotation center and is parallel to the direction of gravity.

5. The obstacle-crossing mechanism according to any one of claims 1 to 4, characterized in that, Along the traveling direction of the body, the first roller is located in front of the second roller, and the preset rotation position is set closer to the second roller relative to the rotation center.

6. The obstacle-crossing mechanism according to claim 5, wherein The diameter of the first roller is larger than that of the second roller.

7. The obstacle-crossing mechanism according to claim 5, wherein, The first bracket includes a roller frame and a power assembly. The first roller and the second roller are rotatably installed on the roller frame. The power assembly is installed on the roller frame, and the power assembly is respectively connected to the first roller and the second roller to drive the first roller and the second roller to rotate.

8. The obstacle-crossing mechanism according to claim 7, wherein, The roller frame includes a frame body, the frame body is located between the first roller and the second roller, and the power assembly is installed on the frame body; Wherein, the rotation center and the preset rotation position are both set on the frame body.

9. The obstacle-crossing mechanism according to claim 7, characterized in that, The roller frame includes a frame body and a turntable connected to the frame body. The frame body is located between the first roller and the second roller, the power assembly is installed on the frame body, and the rotation center is set on the frame body; A baffle is arranged on the radial outer side of the turntable for installing the second roller, and the preset rotation position is set on the baffle.

10. The obstacle-crossing mechanism according to claim 5, wherein The obstacle-crossing mechanism further includes a second bracket, the second bracket is rotationally connected to the body, and the second bracket is rotationally connected to the first bracket at the rotation center.

11. The obstacle-crossing mechanism according to claim 10, wherein A first limiting portion is arranged at the top of the first bracket, and a second limiting portion is arranged on the second bracket; When the second roller crosses an obstacle, the first bracket moves towards the second bracket, and the second limiting portion abuts against the first limiting portion to limit the first bracket.

12. A cleaning robot, characterized in that, It includes a machine body and an obstacle-crossing mechanism as described in any one of claims 1-11.

Images