Cleaning device

Abstract

The utility model discloses a cleaning device. The cleaning device comprises a machine body and a moving wheel set, the moving wheel set is arranged at the bottom of the machine body, the moving wheel set comprises a mounting frame, moving wheels and torsional springs, the mounting frame is rotatably connected to the machine body through a rotating shaft, the moving wheels are rotatably mounted on the mounting frame, the rotating shaft is sleeved with the torsional springs, and the torsional springs are arranged on the rotating shaft. The axis of the torsional spring is consistent with the axis of the rotating shaft, the torsional spring comprises a first cantilever section and a second cantilever section, the first cantilever section abuts against the machine body, the second cantilever section of the torsional spring abuts against the mounting frame, and when the cleaning device is in an initial state and an obstacle crossing state, the torsional spring is always in a screwed state; and an included angle C between the first cantilever section and the second cantilever section meets the relational expression that C is more than or equal to 150 degrees and less than or equal to 180 degrees. The cleaning device can solve the problem that in the prior art, the obstacle crossing level of a sweeper is low.

Description

Technical Field

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

[0002] At present, the obstacle crossing level of indoor floor sweeping robots is not high, and some thresholds or obstacles indoors exceed 20 mm. When the robot cannot cross the obstacle, it will stay in place and cannot continue the cleaning work, affecting the cleaning efficiency.

[0003] The existing technical solutions do not form a clear understanding of the dynamic mechanism during the obstacle crossing process of the floor sweeping robot, and fail to fully exert the obstacle crossing level of the floor sweeping robot, resulting in the obstacle crossing level of indoor floor sweeping robots remaining at a relatively low level or within for many years. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a cleaning device, which at least solves the problem of low obstacle crossing level of the existing floor sweeping machine.

[0005] According to one aspect of the utility model, a cleaning device is provided, including: a body;

[0006] A moving wheel set, the moving wheel set is arranged at the bottom of the body, the moving wheel set includes a mounting frame, a moving wheel and a torsion spring, the mounting frame is rotatably connected to the body through a rotating shaft, the moving wheel is rotatably mounted on the mounting frame, the torsion spring is sleeved on the rotating shaft, and the axis of the torsion spring is consistent with the axis of the rotating shaft. The torsion spring includes a first cantilever section and a second cantilever section. The first cantilever section abuts against the body, and the second cantilever section of the torsion spring abuts against the mounting frame. When the cleaning device is in the initial state and the obstacle crossing state, the torsion spring is always in a tightened state, and the included angle C between the first cantilever section and the second cantilever section satisfies the relational expression: 150°≤C≤180°.

[0007] Further, the obstacle crossing height h of the cleaning device and the forward speed v of the moving wheel satisfy the linear relational expression: h = a*v 2 +b, where a and b are coefficients, the value range of a is [95, 106], the value range of b is [-0.9, 11], and v≥0.3 m / s.

[0008] Further, when the cleaning device is in the initial state, the cleaning device satisfies the relational expression: T≥0.20×w×L, where T is the torque of the torsion spring, T≤w×L, w is the gravity of the cleaning device, and L is the distance between the axis of the moving wheel and the axis of the rotating shaft.

[0009] Further, during the obstacle crossing process of the cleaning device, the rotation angle E of the mounting frame is greater than or equal to 15° and less than or equal to 60°.

[0010] Further, during the obstacle crossing process of the cleaning device, the torque exerted by the torsion spring on the moving wheel set gradually decreases as the rotation angle of the moving wheel set around the rotating shaft increases, and the pre-tightening force of the torsion spring gradually decreases.

[0011] Further, during the obstacle crossing process of the cleaning device, the useful work done by the torsion spring on the moving wheel set gradually increases as the rotation angle of the moving wheel set around the rotating shaft increases.

[0012] Further, a first insertion hole is provided on the machine body, a first bending portion is provided at the end of the first cantilever segment, the first cantilever segment is inserted into the first insertion hole and is limited in the first insertion hole by the first bending portion; and / or,

[0013] A second insertion hole is provided on the mounting frame, a second bending portion is provided at the end of the second cantilever segment, and the second bending portion is inserted into the second insertion hole.

[0014] Further, when the torsion spring is in a natural state, the included angle between the first cantilever segment and the second cantilever segment is C1;

[0015] When the cleaning device is in an obstacle crossing state, the included angle between the first cantilever segment and the second cantilever segment is C2;

[0016] When the cleaning device is in an initial state, the included angle between the first cantilever segment and the second cantilever segment is C3;

[0017] When the cleaning device is in an obstacle crossing state, the maximum rotation angle of the mounting frame is Emax;

[0018] Wherein, C3 < C2 < C1, Emax = C2 - C1.

[0019] Further, the cleaning device further includes a driving mechanism installed on the mounting frame, the driving mechanism includes a motor and a reduction gearbox, both the motor and the reduction gearbox are installed on the mounting frame, the motor is connected to the reduction gearbox, and the reduction gearbox is connected to the moving wheel.

[0020] Further, a detection element and a controller are provided on the cleaning device, the detection element and the motor are both electrically connected to the controller, the detection element is at least used to send an obstacle crossing signal to the controller, and the controller controls the rotation speed of the motor according to the obstacle crossing signal.

[0021] In the present utility model, a pre-twisted torsion spring is provided between the fuselage and the mounting bracket. In this way, the torsion spring can release the elastic potential energy stored therein when it collides with an obstacle. The release of this elastic potential energy enables the mobile wheel set to firmly grip the ground or tabletop and cooperate with the driving mechanism to cross over higher obstacles, thereby improving the obstacle-crossing ability of the cleaning device and reducing the energy consumption of the driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present utility model and form a part of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0023] Figure 1 is a three-dimensional structure diagram of the cleaning device disclosed in the embodiment of the present application;

[0024] Figure 2 is a top view of the cleaning device disclosed in the embodiment of the present application with part of the housing removed;

[0025] Figure 3 is Figure 2 an enlarged view of the M area in

[0026] Figure 4 is a three-dimensional structure diagram of the mobile wheel set disclosed in the embodiment of the present application;

[0027] Figure 5 is a front view of the cleaning device disclosed in the embodiment of the present application with part of the structure of the fuselage removed;

[0028] Figure 6 is Figure 5 a cross-sectional view of A-A (when the cleaning device is running on a horizontal ground) in

[0029] Figure 7 is Figure 5 a cross-sectional view of A-A (when the cleaning device runs to hit an obstacle) in

[0030] Figure 8 is a connection relationship diagram of the controller, the motor, and the detection element disclosed in the embodiment of the present application;

[0031] Figure 9 is a simulation diagram of the useful work done by the torsion spring on the mobile wheel set during the obstacle-crossing process of the cleaning device of the present application;

[0032] Figure 10 is a torque simulation diagram of the torsion spring on the mobile wheel set during the obstacle-crossing process of the cleaning device of the present application.

[0033] Among them, the above-mentioned drawings include the following reference numerals:

[0034] 10. Body; 11. First socket hole; 20. Movable wheel set; 21. Mounting frame; 211. Rotating shaft; 212. Second socket hole; 213. Top surface; 22. Movable wheel; 23. Torsion spring; 231. First cantilever segment; 2311. First bending portion; 232. Second cantilever segment; 2321. Second bending portion; 24. Driving mechanism; 241. Motor; 242. Reduction gearbox; 30. Obstacle; 40. Detection element; 50. Controller. Detailed implementation manners

[0035] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0036] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present utility model. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0038] As described in the background art, the existing cleaning devices, such as the obstacle-crossing level of a floor sweeper, are relatively low, and it is difficult to cross relatively high obstacles 30 during use. For this reason, the present application provides a new type of cleaning device, which has a relatively high obstacle-crossing level and can improve the automatic control process of the cleaning device. The cleaning device of the present application will be introduced in detail below with reference to the specification drawings.

[0039] See Figures 1 to 7As shown, according to an embodiment of the present application, a cleaning device is provided. The cleaning device includes a body 10 and a moving wheel set 20. Among them, the moving wheel set 20 is arranged at the bottom of the body 10. The moving wheel set 20 includes a mounting frame 21, a moving wheel 22, a torsion spring 23 and a driving mechanism 24. The mounting frame 21 is rotatably connected to the body 10. The moving wheel 22 is rotatably mounted on the mounting frame and protrudes from the bottom surface of the body 10. The torsion spring 23 is sleeved on the rotating shaft 211, and the axis of the torsion spring 23 is consistent with the axis of the rotating shaft 211. The torsion spring 23 includes a first cantilever section 231 and a second cantilever section 232. The first cantilever section 231 abuts against the body 10, and the second cantilever section 232 of the torsion spring 23 abuts against the mounting frame 21. When the cleaning device is in the initial state and the obstacle-crossing state, the torsion spring 23 is always in a tightened state, and the included angle C between the first cantilever section 231 and the second cantilever section 232 satisfies the relational expression: 150° ≤ C ≤ 180°.

[0040] It should be noted that when the cleaning device is moving on a plane, due to the limiting effect of the gravity of the cleaning device, the body 10 is in a first position relative to the moving wheel 22 (this first position is the initial state described in the present application); and when the cleaning device is picked up or the moving wheel 22 does not contact the ground and remains suspended, the moving wheel 22 is affected by its own gravity and rotates downward around the rotating shaft 211 to be in a second position. It can be understood that the above second position may change. For example, when the cleaning device is picked up (the moving wheel 22 does not contact the ground), the second position that the moving wheel 22 can reach is usually lower than the second position that the moving wheel 22 can reach when the cleaning device is on the ground or climbing a slope. Here, the height or low is referenced by the distance between the driving wheel and the surface on which the cleaning device is placed.

[0041] When the cleaning device in this embodiment works, through the action of the driving mechanism 24 arranged on the mounting frame 21, the moving wheel 22 can be driven to rotate around its own axis, and then the entire cleaning device can be driven to move in space to perform a cleaning operation. However, since there will inevitably be obstacles 30 on the space ground or tabletop, when the cleaning device is moving, when the cleaning device collides with a relatively high obstacle 30, only relying on the driving mechanism 24 to drive the moving wheel 22, the cleaning device can only cross relatively low obstacles 30.

[0042] In this application, since a torsion spring 23 is provided on the moving wheel set 20, a first cantilever segment 231 of the torsion spring 23 abuts against the fuselage 10, and a second cantilever segment 232 of the torsion spring 23 abuts against the mounting bracket 21. That is, when the cleaning device is in the initial state or the obstacle-crossing state, the included angle C between the first cantilever segment 231 and the second cantilever segment 232 satisfies the relation: 150° ≤ C ≤ 180°, that is, the torsion spring 23 is always in a tightened state. That is to say, when the cleaning device is in the initial state, the pre-tightening force of the torsion spring 23 can apply a torque to the mounting bracket 21, and the torsion spring 23 stores a certain amount of elastic potential energy. When the cleaning device runs to the obstacle 30, the moving wheel 22 protruding from the bottom surface of the fuselage 10 will collide with the obstacle 30. At this time, the mounting bracket 21 of the moving wheel set 20 rotates relative to the fuselage 10 due to the pre-torsion force of the torsion spring 23. The pre-tightened torsion spring 23 can apply a greater ground pressure to the mounting bracket 21, and further can apply a greater ground pressure to the moving wheel 22 mounted on the mounting bracket 21, so that the moving wheel 22 can better grip the ground or the tabletop. At the same time, the elastic potential energy stored in the pre-tightened torsion spring 23 can be released to do useful work on the cleaning device, that is, the elastic potential energy can be converted into the obstacle-crossing energy of the cleaning device, so that the whole cleaning device shows a tendency to take off, and can drive the whole cleaning device to cross a higher obstacle 30 together with the driving power of the driving mechanism 24. In addition, since the axis of the torsion spring 23 in this embodiment is consistent with the axis of the rotating shaft 211, and the torsion spring 23 is always tightened, the elastic potential energy stored in the torsion spring 23 can be 100% converted into the potential energy of the fuselage 10 to assist the cleaning device in crossing obstacles.

[0043] Combined with Figures 3 to 6 As shown, during the working process of the cleaning device, when the cleaning device is on a horizontal ground, the torsion spring 23 is in an extreme tightened state under the gravity of the fuselage 10. At this time, the included angle C between the first cantilever segment 231 and the second cantilever segment 232 of the torsion spring 23 is the smallest, and the elastic potential energy stored in the torsion spring 23 is the largest. At the same time, the torsion spring 23 can apply a torque to the moving wheel set 20, so that the moving wheel set 20 has a tendency to rotate towards the ground. When the torsion spring 23 is in the natural state, the included angle between the first cantilever segment 231 and the second cantilever segment 232 of the torsion spring 23 is the largest, which is greater than the state when the torsion spring 23 is assembled on the cleaning device. At this time, the elastic potential energy stored in the torsion spring 23 is 0.

[0044] When the mobile wheel group 20 of the cleaning device collides with the obstacle 30, the first cantilever segment 231 and the second cantilever segment 232 of the torsion spring 23 are twisted, and the angle C between the first cantilever segment 231 and the second cantilever segment 232 becomes larger, but is always smaller than the angle when the torsion spring 23 is in a natural state, that is, the torsion spring 23 is always in a tightened state during the horizontal plane operation and obstacle crossing process. In this process, the torsion spring 23 can release 100% of its elastic potential energy to act on the mobile wheel group 20, so that the mobile wheel group 20 rotates toward the ground to do useful work. This part of useful work is achieved by the torque of the torsion spring 23 on the rotating shaft 211 and the rotation angle. In the process of the cleaning device crossing the obstacle, since the mobile wheel group 20 rotates toward the ground, the center of gravity of the cleaning device becomes higher. At this time, the potential energy of the whole machine increases, showing a tendency to take off to cross higher obstacles 30.

[0045] When the cleaning device passes over the obstacle, the gravity of the cleaning device does work on the torsion spring 23, so that the torsion spring 23 returns to the limit tension state to prepare for the next obstacle. Figure 9 As shown, Figure 9 It is a simulation diagram of the useful work done by the torsion spring 23 on the moving wheel set during the obstacle crossing process of the cleaning device. Figure 9 It can be known that when the cleaning device is in the initial state and moves in the water, the rotation angle of the mounting frame 21 relative to the fuselage 10 is 0°. At this time, the angle between the line connecting the central axis of the rotating shaft 211 and the moving wheel 22 and the bottom plane of the fuselage 10 is D. When the cleaning device collides with the obstacle 30, the mounting frame 21 can rotate relative to the fuselage 10 under the action of the torsion spring 23. During the rotation process, the torsion spring 23 can do useful work on the moving wheel group 20, and as the rotation angle of the mounting frame 21 increases, the useful work done by the torsion spring 23 on the moving wheel group 20 increases. In this process, the useful work done by the torsion spring 23 can be converted into the obstacle crossing energy of the cleaning device, thereby cooperating with the driving mechanism 24 to drive the entire cleaning device to cross the obstacle 30.

[0046] Specifically, when the torsion spring 23 is in a natural state, the angle between the first cantilever segment 231 and the second cantilever segment 232 is C1; when the cleaning device is in an obstacle-crossing state, the angle between the first cantilever segment 231 and the second cantilever segment 232 is C2; when the cleaning device is in an initial state, the angle between the first cantilever segment 231 and the second cantilever segment 232 is C3; when the cleaning device is in an obstacle-crossing state, the maximum rotation angle of the mounting bracket 21 is Emax; wherein, C3<C2<C1, Emax=C2-C1. In actual design, the larger C3 is, the more elastic potential energy the torsion spring 23 can store when C1 remains unchanged.

[0047] See also Figure 10 As shown, Figure 10 2 is a simulation diagram of the torque of the torsion spring 23 on the moving wheel set 20 during the obstacle crossing process of the cleaning device.Figure 10 It can be known that when the cleaning device is in the initial state and moves in the horizontal plane, the rotation angle of the mounting bracket 21 relative to the fuselage 10 is 0°. At this time, due to the pre-torque of the torsion spring 23, the torque it exerts on the moving wheel set 20 is the largest. During the obstacle-crossing process of the cleaning device, as the moving wheel set 20 rotates around the rotating shaft 211, the rotation angle of the mounting bracket 21 relative to the fuselage 10 (i.e., the rotation angle of the moving wheel set 20 relative to the fuselage 10) E increases, the torque exerted by the torsion spring 23 on the moving wheel set 20 gradually decreases, and the pre-tightening force of the torsion spring 23 gradually decreases. The product of this torque and the rotation angle of the mounting bracket 21 is the useful work done by the torsion spring 23 on the moving wheel set 20. For example, when the initial torque of the torsion spring 23 is designed to be 855 Nmm (0-degree rotation angle), the torsion spring 23 can convert more elastic potential energy into the energy required for the whole machine to cross obstacles; when the torsion spring 23 is twisted to the limit angle (30 degrees in the figure), the torsion spring can provide a greater ground pressure when designing the initial torque.

[0048] That is to say, in this embodiment, a pre-tightened torsion spring 23 is arranged between the fuselage 10 and the mounting bracket 21. In this way, the torsion spring 23 can release the stored elastic potential energy when it collides with the obstacle 30. The release of this elastic potential energy can enable the moving wheel set 20 to hold well on the ground or the tabletop and cooperate with the driving mechanism 24 to cross higher obstacles 30, thereby improving the obstacle-crossing level of the cleaning device and reducing the energy consumption of the driving mechanism 24.

[0049] For the convenience of installation, a rotating shaft 211 is arranged at the end of the mounting bracket 21 in this embodiment, and the mounting bracket 21 is rotatably mounted on the fuselage 10 through the rotating shaft 211. It can be understood that during actual processing, the rotating shaft 211 can be integrally processed with the mounting bracket 21, that is, the mounting bracket 21 is fixed to the rotating shaft 211. After installation, the mounting bracket 21 can rotate synchronously with the rotating shaft 211. Of course, in other embodiments of the present application, the rotating shaft 211 can also be fixedly installed on the fuselage 10, and when the cleaning device works, the mounting bracket 21 can rotate relative to the rotating shaft 211. During installation, the torsion spring 23 is sleeved on the rotating shaft 211, and the structure is stable and reliable.

[0050] For the convenience of connection, a first insertion hole 11 is arranged on the fuselage 10 in this embodiment. A first bending part 2311 is arranged at the end of the first cantilever section 231. The first cantilever section 231 is inserted into the first insertion hole 11 and is limited by the first bending part 2311. That is to say, after the first cantilever section 231 is inserted into the first insertion hole 11, the first bending part 2311 can play a limiting role on the first cantilever section 231 to prevent the first cantilever section 231 from falling off from the first insertion hole 11, and the structure is stable and reliable.

[0051] Optionally, a second insertion hole 212 is provided on the mounting bracket 21 in this embodiment. A second bending portion 2321 is provided at the end of the second cantilever segment 232. The second bending portion 2321 is inserted into the second insertion hole 212. In this embodiment, the torsion spring 23 is connected to the mounting bracket 21 by inserting the second bending portion 2321 into the second insertion hole 212, which facilitates the integrated and miniaturized design of the mobile wheel set 20 in the axial direction of the rotating shaft 211.

[0052] Optionally, when the cleaning device is overcoming an obstacle, the rotation angle E of the mounting bracket 21 is greater than or equal to 15° and less than or equal to 60°. For example, 15°, 20°, 25°, 30°, 35°, 45°, 50°, 55°, 60°, etc. It should be noted that the maximum rotation angle of the mounting bracket 21 described in this embodiment refers to the maximum angle of rotation of the mounting bracket 21 relative to the bottom of the fuselage 10 when the mounting bracket 21 is placed on a horizontal plane and can overcome an obstacle 30 of 20 mm, and it is defined that the rotation angle of the mounting bracket 21 relative to the fuselage 10 when the cleaning device is in the horizontal plane is 0°. If the maximum rotation angle of the mounting bracket 21 is less than 15°, the height of the mounting bracket 21 rotating and lifting the fuselage 10 is relatively low, and the obstacle-overcoming height of the cleaning device is relatively low; when the maximum rotation angle of the mounting bracket 21 is greater than 60°, in the initial state, the requirement for the pre-torsion force of the torsion spring 23 is relatively high, and the design cost is relatively high. That is to say, in this embodiment, by setting the maximum rotation angle of the mounting bracket 21 between 15° and 60°, the obstacle-overcoming height of the cleaning device and the manufacturing difficulty can be balanced.

[0053] Furthermore, the mounting bracket 21 in this embodiment is a frame structure with an opening at the bottom. The moving wheel 22 is rotatably mounted on a box-shaped structure. Specifically, the moving wheel 22 is rotatably mounted on the box-shaped structure through a rotating shaft and other structures. After being installed, the edge of the moving wheel 22 protrudes from the bottom opening of the box-shaped structure and protrudes from the bottom of the mounting bracket 21 to facilitate contact with the bottom surface for movement. At the same time, the drive mechanism 24 is also installed inside the frame structure. In this way, other external structures can be effectively prevented from interfering with and damaging the drive mechanism 24.

[0054] Exemplarily, the drive mechanism 24 in this embodiment includes a motor 241 and a reduction gearbox 242. The motor 241 and the reduction gearbox 242 are both installed on the mounting bracket 21, specifically inside the box-shaped mounting bracket 21. The motor 241 is connected to the reduction gearbox 242, and the reduction gearbox 242 is connected to the moving wheel 22. That is, the output shaft of the motor 241 is connected to the output shaft of the reduction gearbox 242, and the output shaft of the reduction gearbox 242 is connected to the rotating shaft on the moving wheel 22. In this way, when the motor 241 works, it can drive the moving wheel 22 to rotate to drive the fuselage 10 to move.

[0055] Of course, in other embodiments of the present application, the drive mechanism 24 may not be provided with a speed reducer 242. As long as it is other deformation methods under the concept of the present application, they are all within the protection scope of the present application.

[0056] The cleaning device further includes a motor 241 and a speed reducer 242. Both the motor 241 and the speed reducer 242 are installed on the mounting frame 21. The motor 241 is connected to the speed reducer 242, and the speed reducer 242 is connected to the moving wheel 22.

[0057] Combined Figures 1 to 10 As shown, for the convenience of control, a detection element 40 and a controller 50 are further provided on the cleaning device in this embodiment. Among them, both the detection element 40 and the motor 241 are electrically connected to the controller 50.

[0058] Exemplarily, the detection element 40 may be an image sensor, or a current detection element, or a combination of an image sensor and a current detection element. When the detection element 40 is set as an image sensor, if the image sensor detects that there is an obstacle 30 in the traveling direction of the cleaning device, at this time, the controller 50 can control the motor 241 according to this signal to make the motor 241 run at an accelerated speed to cross the obstacle 30. When the moving wheel 22 collides with the obstacle 30, the moving wheel 22 will be blocked. At this time, the working current of the motor 241 used to drive the moving wheel 22 will change. When the detection element 40 is set as a current detection element, if the change value of the current value of the current detection element exceeds a predetermined value, the controller 50 is used to control the motor 241 to rotate at an accelerated speed to cross the obstacle 30.

[0059] It can be understood that the current change value in this embodiment can be determined by means of simulation in combination with the obstacle 30 and the cleaning device, and no specific limitation is made in the present application.

[0060] In this embodiment, in order to enable the cleaning device to cross an obstacle 30 of 20 mm, when the cleaning device is in the initial state, the cleaning device satisfies the relational expression: T≥0.20×w×L, where T is the torque of the torsion spring 23, T≤w×L, w is the gravity of the cleaning device, and L is the distance between the axis of the moving wheel 22 and the axis of the rotating shaft 211. In actual design, the larger the value of T, the greater the pressure of the moving wheel set 20 on the ground, and the more useful work the torsion spring 23 does during the obstacle-crossing process. In this embodiment, by making T≤w×L, the whole machine of the cleaning device can be well attached to the ground to facilitate effective cleaning of the ground, and the situation of unstable movement of the cleaning device caused by too large torque can be avoided.

[0061] When the cleaning device is in the initial state, on the premise that the cleaning device satisfies the relational expressions: T≥0.20×w×L and T≤w×L, the obstacle-crossing height of the cleaning device and the forward speed v of the moving wheels 22 satisfy the relational expression: h = a*v 2 +b, where h is the obstacle-crossing height of the cleaning device, the value range of a is [95, 106], and the value range of b is [-0.9, 11]. It should be noted that when actually calculating the obstacle-crossing height h of the cleaning device in this embodiment, each quantity in the formula only takes a numerical value without a unit. Among them, v is taken under the unit converted to m / s, and the finally converted unit of the obstacle-crossing height h is mm. Such a setting can keep the obstacle-crossing level of the cleaning device in this embodiment above 20 mm, and can significantly improve the obstacle-crossing height of the cleaning device in this embodiment. Optionally, v≥0.3m / s in this embodiment, such as 0.4m / s, 0.5m / s, 0.6m / s, 0.7m / s, 0.8m / s. When crossing an obstacle, the greater the forward speed v of the moving wheels 22, the better. However, if it is too large, it will increase the energy consumption of the motor 241, and the cleaning device is prone to take off. During specific design, it can be verified according to the height of the obstacle 3030 in the use scenario.

[0062] Specifically, during actual design, the values of a and b are related to the static friction coefficient between the moving wheels 22 and the obstacle 30. Exemplarily, in some working conditions, the values of a and b can be set as follows in the table. Under different working conditions, by making a and b satisfy the relationship in the following table, the cleaning device can cross an obstacle 30 higher than 20 mm.

[0063] Coefficient c of static friction between the moving wheel and the obstacle Coefficient a Coefficient b 0.3 105.2 -0.89 0.4 116.0 -0.03 0.45 116.5 1.88 0.5 107.9 4.96 0.6 98.7 10.51

[0064] Among them, when c is between 0.3 0.4, 0.4 0.45, 0.45 0.5, and 0.5 0.6, the interpolation method is used to determine a and b respectively.

[0065] Furthermore, there are multiple moving wheel groups 20 in this embodiment. The multiple moving wheel groups 20 are arranged at intervals on the bottom surface of the fuselage 10 and are arranged in the same straight line, and the axes of the moving wheels 22 on each moving wheel group 20 are the same. Such a setting facilitates the stable support of the fuselage 10 and improves the smoothness during the movement of the cleaning device.

[0066] Exemplarily, the moving wheel group 20 can be set to two, three, or more. In the drawings of this embodiment, the case where the moving wheel group 20 is two is shown. The two moving wheel groups 20 are arranged at intervals on the bottom surface of the fuselage 10, and the moving wheels 22 on the two moving wheel groups 20 are coaxially arranged, which is convenient for driving the fuselage 10 to move.

[0067] Further, the top surface 213 of the mounting bracket 21 in this embodiment, and the surface of the fuselage 10 facing the top surface 213 of the mounting bracket 21 are both flat surfaces. That is to say, when the fuselage 10 of the cleaning device leans against the mounting bracket 21, the mounting bracket 21 and the fuselage 10 are in surface-to-surface contact. Compared with point-to-surface contact or point-to-point contact, the surface-to-surface contact between the fuselage 10 and the mounting bracket 21 in this embodiment is not likely to be worn during the movement of the cleaning device, which can improve the service life and use stability of the cleaning device in this embodiment. Of course, the mounting bracket 21 and the fuselage 10 in this application can also be in point-to-surface contact or point-to-point contact. This application does not exclude the point-to-surface contact or point-to-point contact between the mounting bracket 21 and the fuselage 10.

[0068] For the sake of convenience in description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" and the like can be used here to describe the spatial position relationship between one device or feature and other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figure is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientation of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations will be made for the spatial relative descriptions used here.

[0069] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above terms have no special meanings, so they cannot be understood as limitations on the protection scope of the present utility model.

[0070] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A cleaning device, characterized in that, Comprising: A fuselage (10); A mobile wheel set (20), the mobile wheel set (20) being arranged at the bottom of the fuselage (10), the mobile wheel set (20) including a mounting bracket (21), a mobile wheel (22) and a torsion spring (23), the mounting bracket (21) being rotatably connected to the fuselage (10) through a rotating shaft (211), the mobile wheel (22) being rotatably mounted on the mounting bracket (21), the torsion spring (23) being sleeved on the rotating shaft (211), and the axis of the torsion spring (23) being consistent with the axis of the rotating shaft (211), the torsion spring (23) including a first cantilever section (231) and a second cantilever section (232), the first cantilever section (231) abutting against the fuselage (10), the second cantilever section (232) of the torsion spring (23) abutting against the mounting bracket (21), when the cleaning device is in the initial state and the obstacle-crossing state, the torsion spring (23) is always in a tightened state, and the included angle C between the first cantilever section (231) and the second cantilever section (232) satisfies the relation: 150° ≤ C ≤ 180°.

2. The cleaning device according to claim 1, wherein, The obstacle-crossing height h of the cleaning device and the forward speed v of the moving wheels (22) satisfy the linear relationship: h = a * v 2 + b, where a and b are coefficients, the value range of a is [95, 106], the value range of b is [-0.9, 11], and v ≥ 0.3 m / s.

3. The cleaning device according to claim 1, wherein When the cleaning device is in the initial state, the cleaning device satisfies the relation: T ≥ 0.20 × w × L, where T is the torque of the torsion spring (23), T ≤ w × L, w is the gravity of the cleaning device, and L is the distance between the axis of the mobile wheel (22) and the axis of the rotating shaft (211).

4. The cleaning device according to claim 1, wherein During the obstacle-crossing process of the cleaning device, the rotation angle E of the mounting bracket (21) is greater than or equal to 15° and less than or equal to 60°.

5. The cleaning device according to claim 1, characterized in that, During the obstacle-crossing process of the cleaning device, the torque exerted by the torsion spring (23) on the mobile wheel set (20) gradually decreases as the rotation angle of the mobile wheel set (20) around the rotating shaft (211) increases, and the pre-tightening force of the torsion spring (23) gradually decreases.

6. The cleaning device according to claim 1, wherein During the obstacle-crossing process of the cleaning device, the useful work done by the torsion spring (23) on the mobile wheel set (20) gradually increases as the rotation angle of the mobile wheel set (20) around the rotating shaft (211) increases.

7. The cleaning device according to claim 1, characterized in that, A first insertion hole (11) is provided on the fuselage (10), a first bending portion (2311) is provided at the end of the first cantilever section (231), the first cantilever section (231) is inserted into the first insertion hole (11) and is limited in the first insertion hole (11) by the first bending portion (2311); and / or, A second insertion hole (212) is provided on the mounting bracket (21), a second bending portion (2321) is provided at the end of the second cantilever section (232), and the second bending portion (2321) is inserted into the second insertion hole (212).

8. The cleaning device according to claim 1, characterized in that When the torsion spring (23) is in the natural state, the included angle between the first cantilever section (231) and the second cantilever section (232) is C1; When the cleaning device is in the obstacle-crossing state, the included angle between the first cantilever section (231) and the second cantilever section (232) is C2; When the cleaning device is in the initial state, the included angle between the first cantilever segment (231) and the second cantilever segment (232) is C3; When the cleaning device is in the obstacle-crossing state, the maximum rotation angle of the mounting bracket (21) is Emax; Wherein, C3 < C2 < C1, Emax = C2 - C1.

9. The cleaning device according to any one of claims 1 to 7, characterized in that The cleaning device further includes a driving mechanism (24) mounted on the mounting bracket (21). The driving mechanism (24) includes a motor (241) and a reduction gearbox (242). Both the motor (241) and the reduction gearbox (242) are mounted on the mounting bracket (21). The motor (241) is connected to the reduction gearbox (242), and the reduction gearbox (242) is connected to the moving wheel (22).

10. The cleaning device according to claim 9, wherein, A detection element (40) and a controller (50) are provided on the cleaning device. The detection element (40) and the motor (241) are both electrically connected to the controller (50). The detection element (40) is at least used to send an obstacle-crossing signal to the controller (50), and the controller (50) controls the rotation speed of the motor (241) according to the obstacle-crossing signal.

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