Cleaning robot

Abstract

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, the supporting unit can rotate around the driving wheel, and the obstacle crossing wheel is arranged on the robot body. The driving wheels are arranged on the machine body so that the advancing assembly can be switched between an advancing state and an obstacle crossing state, and when the advancing assembly is in the advancing state, the driving wheels abut against the ground so as to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, the obstacle crossing wheels drive the robot body to advance, and the obstacle crossing capacity of the cleaning robot is improved.

Description

Technical Field

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

[0002] With the development of economy and the continuous progress of society, smart home products have gradually entered people's lives, providing many conveniences for people's lives. Among them, cleaning robots provide a lot of help for home cleaning work, greatly reducing the labor intensity of people's cleaning.

[0003] In related art solutions, a cleaning robot is equipped with a position sensor, a walking mechanism, and a cleaning mechanism. The position sensor can acquire indoor environmental information, and the cleaning robot can set a walking route based on this information and move through the walking mechanism. As the cleaning robot moves, the cleaning mechanism cleans the floor along its path. Due to the complex indoor floor environment, there may be steps between adjacent areas. The driving wheels of the cleaning robot have poor obstacle clearance capabilities, and this often results in the robot being unable to navigate steps, resulting in missed areas. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a cleaning robot, which is conducive to improving the obstacle-crossing ability of the cleaning robot.

[0005] To achieve the above-mentioned and other related purposes, the utility model provides a cleaning robot, comprising a body and a travel assembly, wherein a chassis is provided on the side of the body facing the cleaning surface, and along the forward direction of the body, the body has a front end, a middle part and a rear end; a universal wheel is provided on the side of the front end facing the cleaning surface, a tail wheel is provided on the side of the rear end facing the cleaning surface, and a travel assembly is provided on the side of the middle part facing the cleaning surface, the travel assembly is used to drive the body forward, the travel assembly comprises a driving wheel, a support unit and an obstacle-crossing wheel, the support unit can move relative to the body to drive the obstacle-crossing wheel to switch between a supporting position and a storage position;

[0006] When the obstacle crossing wheel is in the supporting position, the obstacle crossing wheel abuts against the cleaning surface, and the first rotation center of the obstacle crossing wheel is located before the second rotation center of the drive wheel, so that the tail wheel abuts against the cleaning surface and the universal wheel is separated from the cleaning surface; and the fuselage moves on the cleaning surface driven by the obstacle crossing wheel until the drive wheel abuts against the obstacle to be crossed, so that the fuselage passes over the obstacle driven by the drive wheel, and in the process of the fuselage moving driven by the obstacle crossing wheel, the height of the chassis passing over the obstacle and the height of the universal wheel are greater than or equal to the height of the obstacle;

[0007] When the obstacle-crossing wheels are in the storage position, the universal wheels abut against the cleaning surface, the tail wheel is separated from the cleaning surface, and the fuselage moves on the cleaning surface driven by the driving wheels.

[0008] In an optional embodiment of the present invention, the first rotation center of the obstacle crossing wheel is closer to the front end of the fuselage when in the stowed position than when in the support position;

[0009] The support unit can swing back and forth relative to the fuselage to drive the obstacle-crossing wheel to switch between the support position and the storage position.

[0010] In an optional embodiment of the present invention, the obstacle overcoming wheel also has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against the obstacle to be crossed, the supporting unit can move relative to the fuselage, driving the obstacle overcoming wheel to switch from the supporting position to the avoidance position, so that the fuselage can overcome the obstacle under the drive of the driving wheel.

[0011] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position, and the first rotation center of the obstacle overcoming wheel is closer to the front end of the fuselage when in the support position than when in the avoidance position;

[0012] When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the supporting unit can swing from front to back relative to the fuselage, driving the obstacle-crossing wheel to switch from the supporting position to the avoiding position, so that the fuselage can cross the obstacle driven by the driving wheel.

[0013] In an optional embodiment of the present invention, the swing axis of the support unit is parallel to the rotation axis of the driving wheel.

[0014] In an optional embodiment of the present invention, the travel assembly further comprises a bracket, the bracket is provided on the machine body, and the driving wheel is provided on the bracket;

[0015] The bracket has an outer wall surface away from the driving wheel and extending along the height direction of the fuselage. The support unit is arranged on the outer wall surface of the bracket. Along the forward direction of the fuselage, the support unit can swing back and forth relative to the bracket.

[0016] In an optional embodiment of the present invention, when the obstacle crossing wheel is in the stowed position, along the height direction of the fuselage, the obstacle crossing wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and a first height of the obstacle crossing wheel and / or the support unit is greater than or equal to a second height of the chassis; the first height refers to the height between the lowest point of the obstacle crossing wheel and / or the support unit and the cleaning surface, and the second height is the height between the lowest point of the chassis and the cleaning surface;

[0017] Alternatively, when the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the storage position to the support position through the opening.

[0018] In an optional embodiment of the present invention, when the obstacle overcoming wheel is in the avoidance position, along the height direction of the fuselage, the obstacle overcoming wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and the third height of the obstacle overcoming wheel and / or the support unit is greater than or equal to the second height of the chassis; the third height refers to the height between the lowest point of the obstacle overcoming wheel and / or the support unit and the cleaning surface when in the avoidance position, and the second height is the height between the lowest point of the chassis and the cleaning surface;

[0019] When the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a second opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the supporting position to the avoiding position through the opening.

[0020] In an optional embodiment of the present invention, the travel assembly further comprises a bracket, the bracket being provided on the body, the drive wheel being provided on the bracket; one end of the support unit is connected to the bracket, and the other end is connected to the obstacle-crossing wheel, and the support unit is movable relative to the bracket to drive the obstacle-crossing wheel to switch between the storage position and the support position;

[0021] The bracket can float up and down relative to the fuselage to drive the traveling assembly to float up and down relative to the fuselage; when the cleaning robot is separated from the cleaning surface, the bracket floats downward to the extreme position relative to the fuselage as the first position; when the cleaning robot abuts against the cleaning surface, the bracket floats upward to the extreme position relative to the fuselage under the action of the gravity of the fuselage as the second position.

[0022] In an optional embodiment of the present invention, when the bracket is in the first position and the obstacle crossing wheel is in the storage position, along the height direction of the fuselage, the obstacle crossing wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and the first height of the obstacle crossing wheel and / or the support unit is greater than or equal to the second height of the chassis; the first height refers to the height between the lowest point of the obstacle crossing wheel and / or the support unit and the cleaning surface, and the second height is the height between the lowest point of the chassis and the cleaning surface;

[0023] Alternatively, when the bracket is in the first position and the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the storage position to the support position through the opening.

[0024] In an optional embodiment of the present invention, when the bracket is in the first position and the obstacle overcoming wheel is in the avoidance position, along the height direction of the fuselage, the obstacle overcoming wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and the third height of the obstacle overcoming wheel and / or the support unit is greater than or equal to the second height of the chassis; the third height refers to the height between the lowest point of the obstacle overcoming wheel and / or the support unit and the cleaning surface when in the avoidance position, and the second height is the height between the lowest point of the chassis and the cleaning surface;

[0025] Alternatively, when the bracket is in the first position and the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a second opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the supporting position to the avoiding position through the opening.

[0026] In an optional embodiment of the present invention, when the obstacle overcoming wheel is in the supporting position, along the direction of travel of the fuselage, the obstacle overcoming wheel has a first front end, and the driving wheel has a second front end, and the first front end is located behind the second front end.

[0027] In an optional embodiment of the present invention, the obstacle-crossing wheel further has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the support unit can move relative to the fuselage to drive the obstacle-crossing wheel to switch from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, can cross the obstacle.

[0028] The cleaning robot further includes a limiting structure, wherein the limiting structure includes a first pin shaft and a first arc-shaped groove;

[0029] One of the first pin and the first arc-shaped slot is provided on the side wall of the support unit facing the bracket, and the other is provided on the side wall of the bracket facing the support unit; wherein the first pin extends into the first arc-shaped slot, and the first arc-shaped slot extends along the swinging direction of the support unit, and the first pin can move along the extending direction of the first arc-shaped slot as the support unit swings;

[0030] The first arc-shaped groove has a first end face and a second end face in the extension direction, and the two end faces of the first arc-shaped groove are used to limit the maximum swing stroke of the obstacle overcoming wheel; wherein, when the first pin shaft abuts against the first end face, the obstacle overcoming wheel is located in the storage position; when the first pin shaft abuts against the second end face, the obstacle overcoming wheel is located in the avoidance position.

[0031] In an optional embodiment of the present invention, a second driving structure is further included, wherein the second driving structure is used to drive the supporting unit to swing relative to the bracket;

[0032] Furthermore, it further comprises an in-position detection element for detecting that the obstacle-crossing wheel is switched to the supporting position;

[0033] When the in-position detection element detects that the obstacle overcoming wheel is in the supporting position, the second driving structure stops driving the supporting unit to swing relative to the bracket, so that the obstacle overcoming wheel remains in the supporting position and can drive the fuselage to move.

[0034] In an optional embodiment of the present invention, the cleaning robot also includes a locking mechanism, which has a locked state and an unlocked state. In the locked state, the locking mechanism locks the bracket to the body, and the drive wheel cannot float up and down relative to the body; in the unlocked state, the drive wheel can float up and down relative to the body; when the obstacle crossing wheel is in the supporting position, the locking mechanism is in the locked state; when the obstacle crossing wheel is in the storage position, the locking mechanism is in the unlocked state.

[0035] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against an obstacle to be crossed, the obstacle overcoming wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle.

[0036] During the process of the obstacle-crossing wheel switching from the supporting position to the avoiding position, the locking mechanism remains in the locked state.

[0037] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against an obstacle to be crossed, the obstacle overcoming wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle.

[0038] When the obstacle-crossing wheel is in the avoidance position, the locking mechanism is in an unlocked state.

[0039] In an optional embodiment of the present invention, the support unit is arranged between the bracket and the fuselage, the first end of the support unit is rotatably provided on the bracket, and the second end of the support unit is connected to the obstacle crossing wheel, driving the first end to rotate relative to the bracket to drive the second end to swing relative to the bracket.

[0040] In an optional embodiment of the present invention, the locking mechanism includes a second pin and a second arcuate groove, the second arcuate groove is provided on the side wall of the first end portion, the second pin is provided on the fuselage, and the second pin extends into the second arcuate groove; wherein,

[0041] The second arc-shaped groove extends along the swing direction of the support unit, and the second arc-shaped groove includes a limiting groove section and a first notch section provided on one end of the groove section, and the groove section is connected to the first notch section;

[0042] When the second pin shaft moves along the extending direction of the groove section as the first end portion rotates, the second pin shaft abuts against the top wall of the groove section along the height direction of the fuselage, so that the locking mechanism is in a locked state;

[0043] When the obstacle-crossing wheel is in the storage position, the second pin shaft can be disengaged from the second arc-shaped groove through the first notch section, so that the bracket can float up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

[0044] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against an obstacle to be crossed, the obstacle overcoming wheel swings from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, can cross the obstacle.

[0045] The other end of the second arc-shaped groove is a second notch;

[0046] When the obstacle-crossing wheel is in the avoidance position, the second pin shaft can be disengaged from the second arc-shaped groove through the second notch, so that the driving wheel floats up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

[0047] In an optional embodiment of the present invention, when the locking mechanism is in a locked state, it is used to lock the bracket in the second position;

[0048] When the obstacle-crossing wheel is in the stowed position, in the second position, the second pin is located in the first notch section; and in the first position, in the height direction of the fuselage, the second pin is located outside the first notch section;

[0049] When the obstacle crossing wheel is in the avoidance position, in the second position, the second pin shaft is in the second notch section, and in the first position, in the height direction of the fuselage, the second pin shaft is outside the second notch section.

[0050] In an optional embodiment of the present invention, when the obstacle-crossing wheel is in the supporting position, the bracket can float up and down relative to the fuselage, so that the driving wheel can float up and down relative to the fuselage.

[0051] In an optional embodiment of the present invention, after the cleaning robot finishes overcoming the obstacle, the universal wheel abuts against the cleaning surface, the tail wheel disengages from the cleaning surface, the obstacle-overcoming wheel remains in an avoidance position, and the body moves on the cleaning surface driven by the driving wheel.

[0052] In an optional embodiment of the present invention, the universal wheel assembly includes a mounting seat and a universal wheel provided on the mounting seat;

[0053] The chassis has a limiting cavity, which has a fixed height in the height direction of the fuselage and has a top wall and a bottom wall; the mounting seat is embedded in the limiting cavity;

[0054] at least one second elastic member, one end of the second elastic member being disposed on the top wall and the other end being disposed on the mounting seat;

[0055] When the universal wheel assembly is in a non-falling state, the mounting seat remains in contact with the bottom wall under the action of the compression of the second elastic member, and the elastic force generated by the compression is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly;

[0056] There is a floating gap between the mounting seat and the top wall. When the universal wheel assembly is in a falling state, the mounting seat compresses the second elastic member to float toward the top wall due to the impact force of the cleaning surface during the falling state.

[0057] In an optional embodiment of the present invention, it further includes a limiting frame provided on the chassis, wherein the limiting frame and the chassis form the limiting cavity;

[0058] The limiting frame is arranged on the upper surface of the chassis and is located in the inner cavity of the fuselage; the top wall of the limiting cavity is arranged on the limiting frame, and the bottom wall is arranged on the chassis.

[0059] In an optional embodiment of the present invention, the mounting base includes a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame;

[0060] The universal wheel assembly further includes a rotating shaft, the bottom of the rotating shaft is connected to the universal wheel, and the top of the rotating shaft is arranged in the first groove;

[0061] In the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward;

[0062] There is a floating gap between the top of the first groove and the top wall; or, a relief hole is opened in the top wall, and when the mounting seat floats upward, the first groove can pass through the relief hole;

[0063] The outer wall of the mounting frame is provided with an outer edge that protrudes horizontally outwards, and in the height direction of the fuselage, the top of the mounting frame is higher than the outer edge;

[0064] The outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the second elastic member is located in the floating cavity, with one end connected to the top wall and the other end connected to the outer edge;

[0065] When the universal wheel assembly is in a non-falling state, the outer edge maintains contact with the bottom wall.

[0066] In an optional embodiment of the present invention, the universal wheel assembly includes a mounting seat and a universal wheel provided on the mounting seat;

[0067] The chassis of the fuselage has a limiting cavity, the height of the limiting cavity is fixed in the height direction of the fuselage, and the limiting cavity has a top wall and a bottom wall, the bottom wall is provided with an upwardly protruding portion, and the mounting seat is embedded in the limiting cavity;

[0068] at least one second elastic member, one end of the second elastic member being disposed on the bottom wall and the other end being disposed on the mounting seat;

[0069] When the universal wheel assembly is in a non-falling state, the mounting seat is kept in contact with the protrusion under the action of the stretch of the second elastic member, and along the height direction of the fuselage, the surface of the mounting seat that is used to abut the protrusion is located above the protrusion, and the elastic force generated by the stretch is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly;

[0070] There is a floating gap between the mounting seat and the top wall. When the universal wheel assembly is in a falling state, the mounting seat stretches the second elastic member to float toward the top wall due to the impact force of the cleaning surface during the falling state.

[0071] In an optional embodiment of the present invention, it further includes a limiting frame provided on the chassis, wherein the limiting frame and the chassis form the limiting cavity;

[0072] The limiting frame is arranged on the upper surface of the chassis and is located in the inner cavity of the fuselage; the top wall of the limiting cavity is arranged on the limiting frame, and the bottom wall is arranged on the chassis.

[0073] In an optional embodiment of the present invention, the mounting base includes a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame;

[0074] The universal wheel assembly further includes a rotating shaft, the bottom of the rotating shaft is connected to the universal wheel, and the top of the rotating shaft is arranged in the first groove;

[0075] In the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward;

[0076] There is a floating gap between the top of the first groove and the top wall; or, a relief hole is opened in the top wall, and when the mounting seat floats upward, the first groove can pass through the relief hole;

[0077] The outer wall of the mounting frame is provided with an outer edge that protrudes horizontally outward, and the top of the mounting frame is higher than the outer edge in the height direction of the fuselage; the outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the second elastic member is located in the floating cavity, with one end connected to the top wall and the other end connected to the outer edge;

[0078] When the universal wheel assembly is in a non-falling state, the outer edge maintains contact with the protrusion.

[0079] In an optional embodiment of the present invention, the bottom of the limiting frame is provided with a second groove that is recessed upwards;

[0080] The limiting frame is sleeved on the outside of the mounting frame through the second groove, and the floating cavity is formed between the groove bottom and the outer edge of the second groove.

[0081] In an optional embodiment of the present invention, there are at least two second elastic members, there are at least two outer edges, the at least two outer edges are evenly distributed around the outer wall of the mounting frame, and the elastic force of the second elastic member supported by each outer edge is the same;

[0082] Alternatively, there are at least two second elastic members, the outer edge is annular and surrounds the outer wall of the mounting frame, and the elastic force of the second elastic member is evenly distributed on the outer edge.

[0083] In an optional embodiment of the present invention, a first guide column is provided on the outer edge, a second guide column is provided on the top wall, and the two ends of the second elastic member are respectively mounted on the first guide column and the second guide column, and there is a floating gap between the first guide column and the second guide column.

[0084] In an optional embodiment of the present invention, the universal wheel assembly further includes a shaft sleeve, the shaft sleeve being fixed to the chassis, the shaft sleeve being sleeved on the outside of the rotating shaft, a limiting member being provided on the top of the rotating shaft, the limiting member abutting against the top of the shaft sleeve in a non-falling state, and the limiting member being disengaged from the abutment against the top of the shaft sleeve in a falling state;

[0085] In the height direction of the fuselage, the length of the shaft sleeve is smaller than the length of the rotating shaft, so that the rotating shaft has a floating gap when moving up and down relative to the shaft sleeve.

[0086] In an optional embodiment of the present invention, a buffer layer is provided on the side of the chassis facing the cleaning surface to buffer the abutment friction between the chassis and obstacles when the obstacle-crossing wheels at the supporting position drive the fuselage to move.

[0087] In an optional embodiment of the present invention, the diameter of the obstacle-crossing wheel is smaller than the radius of the driving wheel.

[0088] In an optional embodiment of the present invention, the rotation of the obstacle-crossing wheel and the rotation of the driving wheel adopt the same driving mechanism.

[0089] In an optional embodiment of the present invention, the first rotation axis of the obstacle-crossing wheel is parallel to the second rotation axis of the driving wheel.

[0090] In an optional embodiment of the present invention, along the forward direction of the fuselage, there is a height difference between the cleaning surface located on the rear side of the obstacle and the upper surface of the obstacle;

[0091] After the driving wheel passes over the obstacle, the rear end of the fuselage abuts against the upper surface of the obstacle, and the driving wheel is separated from the cleaning surface behind the obstacle, the obstacle-crossing wheel in the supporting position is used to drive the fuselage to move until the rear end of the fuselage is separated from the upper surface of the obstacle.

[0092] In an optional embodiment of the present invention, along the forward direction of the fuselage, there is a height difference between the cleaning surface located on the rear side of the obstacle and the upper surface of the obstacle;

[0093] After the driving wheel passes over the obstacle, the rear end of the fuselage abuts against the upper surface of the obstacle, and the driving wheel is separated from the cleaning surface behind the obstacle, the support unit is in a state of swinging from the avoidance position to the storage position, so that the obstacle-crossing wheel abuts against the cleaning surface during the swinging process, driving the fuselage to move until the rear end of the fuselage is separated from the upper surface of the obstacle.

[0094] In an optional embodiment of the present invention, when it is necessary to overcome an obstacle, the driving wheel stops rotating, so that the fuselage stops moving;

[0095] After the body stops moving, the obstacle-crossing wheels are switched to a supporting position to drive the body to move on the cleaning surface.

[0096] In an optional embodiment of the present invention, the support unit includes a second support member and a third support member; the second support member can rotate relative to the fuselage around the first rotation axis;

[0097] The third support member is disposed on the second support member away from the first rotation axis, the first end of the third support member is rotatably connected to the second support member, the obstacle overcoming wheel is rotatably disposed on the second end of the third support member, and the second rotation axis of the third support member relative to the second support member does not coincide with the second rotation axis;

[0098] The end of the second support member used to connect to the third support member also has an abutment portion. When the second support member rotates around the first rotation axis, the abutment portion abuts against the third support member, so as to drive the third support member to swing around the first rotation axis based on the extrusion force exerted by the abutment portion on the third support member.

[0099] In an optional embodiment of the present invention, the second support member is sleeved on the driving wheel shaft of the driving wheel.

[0100] In an optional embodiment of the present invention, the first rotation axis overlaps with the rotation axis of the driving wheel.

[0101] In an optional embodiment of the present invention, a first elastic member is further provided between the second support member and the third support member, one end of the first elastic member is fixed on the second support member, and the other end is fixed on the third support member, and the first elastic member has a tendency to keep the abutting portion of the second support member in abutment with the third support member.

[0102] In an optional embodiment of the present invention, the second support member has an accommodating notch, the first end of the third support member is rotatably connected to one side of the accommodating notch, and the side wall of the side of the accommodating notch connected to the first end forms the abutting portion;

[0103] When the third supporting member is subjected to a pressing force that causes the third supporting member to move away from the abutting portion, the third supporting member moves into the accommodating notch.

[0104] In an optional embodiment of the present invention, the spatial size of the accommodating gap is larger than the spatial size of the third support member and the obstacle-crossing wheel, so as to ensure that the third support member and the obstacle-crossing wheel can be fully accommodated in the accommodating gap.

[0105] In an optional embodiment of the present invention, the cleaning robot further includes a first driving structure and a first transmission mechanism, wherein the first driving structure is used to drive the driving wheel to rotate and the obstacle-crossing wheel to rotate;

[0106] The first transmission mechanism includes a driving gear, a driven gear and an intermediate transmission gear, and the driving gear and the driven gear are meshed and connected through the intermediate transmission gear;

[0107] The driving wheel is provided with a driving wheel shaft, and the driving wheel shaft is passed through the driving wheel and the driving gear to drive the driving wheel and the driving gear to rotate. The driving gear drives the driven gear to rotate through the intermediate transmission gear. The obstacle overcoming wheel is provided with a driven wheel shaft, and the driven wheel shaft is passed through the obstacle overcoming wheel and the driven gear. The driven gear drives the obstacle overcoming wheel to rotate through the driven wheel shaft.

[0108] In an optional embodiment of the present invention, a cavity is formed in the support unit, and the first transmission mechanism is disposed in the cavity. In an optional embodiment of the present invention, the intermediate transmission gear includes a third intermediate transmission gear, and the third intermediate transmission gear includes a first gear portion and a second gear portion disposed coaxially, with a common axis of the first gear portion and the second gear portion serving as a third intermediate gear shaft.

[0109] The first gear portion drives the second gear portion to rotate via the third intermediate gear shaft;

[0110] The driving gear and the first gear portion are meshed with each other, and the driven gear and the second gear portion are meshed with each other; or, the intermediate transmission gear further includes a first intermediate transmission gear and a second intermediate transmission gear, the driving gear, the first intermediate transmission gear and the first gear portion are meshed with each other, and the driven gear, the second intermediate transmission gear and the second gear portion are meshed with each other.

[0111] In an optional embodiment of the present invention, the second support member is provided with a fixed shaft, the fixed shaft is arranged away from the first rotation axis, the third support member is provided with a shaft sleeve, the third support member is sleeved on the fixed shaft via the shaft sleeve, and the fixed shaft can rotate relative to the shaft sleeve; or the third support member is provided with a fixed shaft, the second support member is provided with a shaft sleeve, the shaft sleeve is arranged away from the first rotation axis, the third support member is sleeved on the fixed shaft via the shaft sleeve, and the fixed shaft can rotate relative to the shaft sleeve;

[0112] The third intermediate wheel shaft is a hollow structure. The fixed shaft and the shaft sleeve are passed through the third intermediate wheel shaft, and the fixed shaft and the shaft sleeve can rotate relative to the third intermediate wheel shaft.

[0113] In an optional embodiment of the present invention, a first elastic member is further provided between the second support member and the third support member, one end of the first elastic member is fixed to the second support member, and the other end is fixed to the third support member, and the first elastic member has a tendency to keep the abutting portion of the second support member in abutment with the third support member;

[0114] The first elastic member is a torsion spring, which is sleeved on the outside of the third intermediate wheel shaft and located in the gap between the first gear part and the second gear part.

[0115] In an optional embodiment of the present invention, when the obstacle crossing wheel is in the stowed position, along the height direction of the fuselage, the obstacle crossing wheel and / or the third support member are located on the side of the chassis facing the cleaning surface, and a first height of the obstacle crossing wheel and / or the third support member is greater than or equal to a second height of the chassis; the first height refers to the height between the lowest point of the obstacle crossing wheel and / or the third support member and the cleaning surface, and the second height refers to the height between the lowest point of the chassis and the cleaning surface;

[0116] Alternatively, when the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the third support member are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the third support member can be switched from the storage position to the support position through the opening.

[0117] In an optional embodiment of the present invention, when the obstacle overcoming wheel is in the avoidance position, along the height direction of the fuselage, the obstacle overcoming wheel and / or the third support member are located on the side of the chassis facing the cleaning surface, and the third height of the obstacle overcoming wheel and / or the third support member is greater than or equal to the second height of the chassis; the third height refers to the height between the lowest point of the obstacle overcoming wheel and / or the third support member and the cleaning surface when in the avoidance position,

[0118] The second height is the height between the lowest point of the chassis and the cleaning surface;

[0119] Alternatively, when the obstacle crossing wheel is in the avoidance position, the obstacle crossing wheel and / or the third support member are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the third support member can be switched from the storage position to the support position through the opening.

[0120] In an optional embodiment of the present invention, the cleaning robot further includes a second driving structure and a second transmission mechanism, the second transmission mechanism including a ring gear, the ring gear being fixed to the first end portion of the support unit to drive the support unit to swing relative to the bracket;

[0121] The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the support unit can move relative to the fuselage to drive the obstacle-crossing wheel to switch from the supporting position to the avoidance position, so that the fuselage can cross the obstacle under the drive wheel.

[0122] The cleaning robot further includes a limiting structure, wherein the limiting structure includes a first pin shaft and a first arc-shaped groove;

[0123] One of the first pin and the first arc-shaped groove is provided on the side wall of the gear ring facing the bracket, and the other is provided on the side wall of the bracket facing the gear ring; wherein the first pin extends into the first arc-shaped groove, and the first arc-shaped groove extends along the swinging direction of the support unit, and the first pin can move along the extending direction of the first arc-shaped groove as the support unit swings;

[0124] The first arc-shaped groove has a first end face and a second end face in the extension direction, and the two end faces of the first arc-shaped groove are used to limit the maximum swing stroke of the obstacle overcoming wheel; wherein, when the first pin shaft abuts against the first end face, the obstacle overcoming wheel is located in the storage position; when the first pin shaft abuts against the second end face, the obstacle overcoming wheel is located in the avoidance position.

[0125] To achieve the above-mentioned and other related purposes, the present invention further provides a cleaning robot, comprising a body and a travel assembly; a chassis is provided on the side of the body facing the cleaning surface; along the forward direction of the body, the body has a front end, a middle portion, and a rear end; a drive wheel is provided on the side of the middle portion facing the cleaning surface;

[0126] The traveling assembly includes a bracket, a driving wheel, a support unit, and an obstacle-crossing wheel; the bracket is arranged on the fuselage, and the driving wheel is arranged on the bracket; the bracket can float up and down relative to the fuselage, so that the driving wheel floats up and down relative to the fuselage;

[0127] The obstacle-crossing wheel has a supporting position and a stowed position; wherein, in the supporting position, the obstacle-crossing wheel abuts against the cleaning surface and supports the front end of the fuselage to be lifted, and the fuselage moves on the cleaning surface driven by the obstacle-crossing wheel until the driving wheel abuts against the obstacle to be crossed, so that the fuselage passes over the obstacle driven by the driving wheel, and in the process of the fuselage moving driven by the obstacle-crossing wheel, the height of the chassis passing over the obstacle is greater than or equal to the height of the obstacle; in the stowed position, the obstacle-crossing wheel cancels the support that causes the front end of the fuselage to be lifted;

[0128] The cleaning robot also includes a locking mechanism, which has a locked state and an unlocked state. In the locked state, the locking mechanism locks the bracket to the body, and the driving wheel cannot float up and down relative to the body; in the unlocked state, the driving wheel can float up and down relative to the body; when the obstacle-crossing wheel is in the supporting position, the locking mechanism is in the locked state; when the obstacle-crossing wheel is in the storage position, the locking mechanism is in the unlocked state.

[0129] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against an obstacle to be crossed, the obstacle overcoming wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle.

[0130] During the process of the obstacle-crossing wheel switching from the supporting position to the avoiding position, the locking mechanism remains in the locked state.

[0131] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against an obstacle to be crossed, the obstacle overcoming wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle.

[0132] When the obstacle-crossing wheel is in the avoidance position, the locking mechanism is in an unlocked state.

[0133] In an optional embodiment of the present invention, the bracket can float up and down relative to the body to drive the traveling assembly to float up and down relative to the body; when the cleaning robot is separated from the cleaning surface, the bracket floats downward relative to the body to an extreme position, which serves as the first position; when the cleaning robot abuts the cleaning surface, the bracket floats upward relative to the body under the action of the gravity of the body to an extreme position, which serves as the second position;

[0134] When the locking mechanism is in the locked state, it is used to lock the bracket in the second position.

[0135] In an optional embodiment of the present invention, the support unit is arranged between the bracket and the fuselage, the first end of the support unit is rotatably provided on the bracket, and the second end of the support unit is connected to the obstacle crossing wheel, driving the first end to rotate relative to the bracket to drive the second end to swing relative to the bracket.

[0136] In an optional embodiment of the present invention, the locking mechanism includes a second pin and a second arcuate groove, the second arcuate groove is provided on the side wall of the first end portion, the second pin is provided on the fuselage, and the second pin extends into the second arcuate groove; wherein,

[0137] The second arc-shaped groove extends along the swing direction of the support unit, and the second arc-shaped groove includes a limiting groove section and a first notch section provided on one end of the groove section, and the groove section is connected to the first notch section;

[0138] When the second pin moves along the extending direction of the groove segment as the first end portion rotates, the second pin abuts against the top wall of the groove segment along the height direction of the fuselage, and the locking mechanism is in a locked state;

[0139] When the obstacle-crossing wheel is in the storage position, the second pin shaft can be disengaged from the second arc-shaped groove through the first notch section, so that the traveling assembly floats up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

[0140] In an optional embodiment of the present invention, the obstacle overcoming wheel further has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against an obstacle to be crossed, the obstacle overcoming wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle.

[0141] The other end of the second arc-shaped groove is a second notch;

[0142] When the obstacle-crossing wheel is in the avoidance position, the second pin shaft can be disengaged from the second arc-shaped groove through the second notch, so that the traveling assembly floats up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

[0143] In an optional embodiment of the present invention, when the cleaning robot is separated from the cleaning surface, the bracket floats downward relative to the body; when the cleaning robot abuts the cleaning surface, the bracket floats upward relative to the body under the action of the gravity of the body, the extreme position of the bracket floating downward is used as the first position, and the extreme position of the bracket floating upward is used as the second position;

[0144] When the locking mechanism is in the locked state, it is used to lock the bracket in the second position;

[0145] When the obstacle crossing wheel is in the stowed position, in the second position, the second pin shaft is in the first notch section; in the first position, in the height direction of the fuselage, the second pin shaft is outside the first notch section.

[0146] In an optional embodiment of the present invention, when the cleaning robot is separated from the cleaning surface, the bracket floats downward relative to the body; when the cleaning robot abuts the cleaning surface, the bracket floats upward relative to the body under the action of the gravity of the body, the extreme position of the bracket floating downward is used as the first position, and the extreme position of the bracket floating upward is used as the second position;

[0147] When the locking mechanism is in the locked state, it is used to lock the bracket in the second position;

[0148] When the obstacle crossing wheel is in the avoidance position, in the second position, the second pin shaft is in the first notch section; in the first position, in the height direction of the fuselage, the second pin shaft is outside the first notch section.

[0149] The technical effect of the present invention is that: since rotatable obstacle-crossing wheels are provided on the support unit of the present invention, the obstacle-crossing wheels can be used to drive the body to move when the body is tilted to the ground. The body maintains an inclined state when moving, which can greatly improve the obstacle-crossing ability, thereby enabling the cleaning robot of this embodiment to cross obstacles of higher heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0150] Figure 1 A simplified structural diagram of a cleaning robot in a moving state provided by an embodiment of the present invention;

[0151] Figure 2 A simplified structural diagram of the cleaning robot provided by one embodiment of the present utility model in an obstacle-crossing state;

[0152] Figure 3 A simplified structural diagram of a traveling assembly provided in one embodiment of the present utility model;

[0153] Figure 4 for Figure 3 A simplified diagram with some structures hidden;

[0154] Figure 5 A simplified structural diagram of a travel assembly provided in another embodiment of the present utility model;

[0155] Figure 6 for Figure 5 A simplified diagram with some structures hidden;

[0156] Figure 7 for Figure 5 AA section view;

[0157] Figure 8(a)-Figure 8(e) for Figure 5 A schematic diagram of the transition of the traveling component from the obstacle crossing state to the traveling state is shown;

[0158] Figure 9 is a side view of a travel assembly provided in yet another embodiment of the present utility model;

[0159] Figure 10 yes Figure 9 A side view of the travel assembly provided by the illustrated embodiment in another state;

[0160] Figure 11 yes Figure 9 A side view of the travel assembly provided by the illustrated embodiment in another state;

[0161] Figure 12 This is a schematic diagram of the three-dimensional structure of the second pin provided in an embodiment of the present utility model;

[0162] Figure 13 is a side view of a travel assembly provided in yet another embodiment of the present utility model;

[0163] Figure 14 This is a partial enlarged view of the wheel surface of the driving wheel provided in an embodiment of the present utility model;

[0164] Figure 15 It is a partial cross-sectional view of a driving wheel provided in an embodiment of the present utility model;

[0165] Figure 16 This is a schematic diagram of the bottom structure of the cleaning robot provided in an embodiment of the present utility model;

[0166] Figure 17 yes Figure 16 AA section view;

[0167] Figure 18 yes Figure 17 a cross-sectional view of the region in another state;

[0168] Figure 19 is a side view of the cleaning robot provided by an embodiment of the present utility model;

[0169] Figure 20 is a side view of the cleaning robot provided by an embodiment of the present utility model in another state;

[0170] Figure 21 The cleaning robot provided by the embodiment of the present utility model is Figure 20 A cross-sectional view of the state shown;

[0171] Figure 22This is an exploded view of the cleaning robot provided by an embodiment of the present utility model;

[0172] Figure 23 This is an exploded view of the universal wheel assembly and the elastic member provided in an embodiment of the present utility model;

[0173] Figure 24 This is an exploded view of the universal wheel assembly provided in an embodiment of the present utility model;

[0174] Figure 25 is a perspective view of a mounting bracket provided in an embodiment of the present utility model;

[0175] Figure 26 This is a three-dimensional diagram of the mounting bracket provided by an embodiment of the present utility model from another perspective;

[0176] Figure 27 This is a three-dimensional diagram of a limiting frame provided in an embodiment of the present utility model;

[0177] Figure 28 It is a three-dimensional diagram of a shaft sleeve provided in an embodiment of the present utility model;

[0178] Figure 29 This is a schematic diagram of the assembly structure of a universal wheel assembly provided by one of the alternative embodiments of the present invention;

[0179] Figure 30 This is a schematic diagram of the assembly structure of a universal wheel assembly provided by another alternative embodiment of the present invention;

[0180] Figure 31 This is a schematic diagram of the cooperation structure between the first arc-shaped groove and the first pin provided in an embodiment of the present utility model;

[0181] Figure 32 This is a schematic diagram of the assembly structure of the bracket and the driving wheel provided in an embodiment of the present utility model;

[0182] Figure 33 This is a schematic diagram of the assembly structure of the support unit and the obstacle-crossing wheel provided in an embodiment of the present utility model;

[0183] Figure 34 This is a three-dimensional diagram of the bottom structure of the cleaning robot provided by an embodiment of the present utility model;

[0184] Figure 35 yes Figure 34 A partial enlarged view of;

[0185] Figure 36 It is a cross-sectional view of a traveling assembly provided by an embodiment of the present utility model. DETAILED DESCRIPTION

[0186] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0187] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0188] As described in the background art, the cleaning robot has a problem of poor obstacle crossing ability. Specifically, some related technologies disclose that the cleaning robot includes an obstacle crossing mechanism for crossing obstacles, and the obstacle crossing mechanism includes a support member (such as a support rod, etc.) that can rotate around a driving wheel. When the driving wheel approaches an obstacle such as a step, the fuselage is propped up by rotating the support member, and then the driving wheel rotates to make the fuselage cross the step. Since the driving wheel is generally arranged in the middle of the forward direction of the fuselage, when the driving wheel approaches the step, part of the fuselage has already crossed the step, that is, the cleaning robot in the solution of the related technology can only cross steps with a height less than the ground clearance of the fuselage; when encountering a step with a height greater than the ground clearance of the fuselage, the fuselage may collide with the step, causing the cleaning robot to be damaged or shut down.

[0189] In view of this, an embodiment of the present invention aims to provide a cleaning robot. By providing a support unit that can rotate around a drive wheel and arranging obstacle-crossing wheels on the support unit, the support unit drives the obstacle-crossing wheels to contact the ground in the obstacle-crossing state, and the drive wheel is lifted off the ground, thereby driving the robot body forward. The present invention can prop up the robot body when it is at a preset distance from an obstacle, so that the front end of the robot body is lifted away from the ground, the rear end of the robot body is close to the ground, and the entire robot body is tilted. The obstacle-crossing wheels are used to contact the ground to drive the robot body forward. At this time, the distance between the front end of the robot body and the ground is much greater than the ground clearance of the robot body, thereby improving the cleaning robot's obstacle-crossing ability.

[0190] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings so that those skilled in the art can understand the contents of the present invention in more detail.

[0191] Figure 1 A simplified structural diagram of a cleaning robot in a moving state provided by an embodiment of the present invention; Figure 2This is a simplified structural diagram of a cleaning robot provided by one embodiment of the present invention in an obstacle-crossing state.

[0192] Please refer to Figure 1-Figure 2 This embodiment provides a cleaning robot 10, which can also be called a self-cleaning robot, a sweeping robot, or an intelligent cleaner, and has functions such as movement, sweeping, and vacuuming. The cleaning robot 10 can be, for example, a dual-purpose cleaning robot, such as a sweeping robot or a sweeping and mopping robot.

[0193] The cleaning robot 10 includes a body 100, a travel assembly 200, and a cleaning mechanism 300. The travel assembly 200 and the cleaning mechanism 300 are both arranged on the side of the body 100 facing the ground when the cleaning robot 10 is in use. The body 100 can be of various shapes. To balance stability and suitability for various scenarios, such as cleaning areas under beds, the body 100 is typically cylindrical, D-shaped, or quadrangular, and the corresponding body 100 profile is circular, D-shaped, or rectangular. The range of the body 100 profile can be determined based on the projection of the body 100 on a horizontal plane. The travel assembly 200 can drive the body 100 to travel and cross obstacles. The cleaning mechanism 300 can be movably connected to the body 100. When the body 100 travels, the cleaning mechanism 300 rotates around the body 100 to clean the ground. Optionally, an auxiliary steering wheel (not shown in the figure) can be provided on the fuselage 100. The auxiliary steering wheel can be a universal wheel fixed on the fuselage 100. The steering of the cleaning robot 10 can be achieved by rotating and stopping the driving wheel in conjunction with the auxiliary steering wheel.

[0194] According to the state of the cleaning robot 10 when moving, the body 100 may include a front end 101, a rear end 102, a left side, and a right side, wherein the front end 101 refers to the end of the body 100 facing the direction of travel when the cleaning robot 10 is moving, the rear end 102 refers to the end of the body 100 away from the direction of travel when the cleaning robot 10 is moving, and the left side and the right side refer to the other two sides whose connecting line is perpendicular to the connecting line between the front end 101 and the rear end 102. The auxiliary steering wheel can be set on the body 100 near the front end 101, and the travel assembly 200 can be roughly set in the middle of the front end 101 and the rear end 102 of the body 100, and one is set on the left side and the right side of the body 100 to ensure the balance of the body 100.

[0195] Figure 3 A simplified structural diagram of a traveling assembly provided in one embodiment of the present invention; Figure 4 for Figure 3 A simplified diagram with some structures hidden; Figure 5 A simplified structural diagram of a traveling assembly provided in another embodiment of the present invention; Figure 6 for Figure 5 A simplified diagram with some structures hidden; Figure 7 for Figure 5 AA cross-sectional view.

[0196] Please continue to refer to Figure 1-Figure 7 The travel assembly 200 of this embodiment includes a drive wheel 210, a support unit, and an obstacle-crossing wheel 230. The drive wheel 210 is disposed entirely or partially outside the body 100 so as to contact the ground and propel the body 100 forward. For example, the drive wheel 210 can be driven by a drive motor disposed within the body 100, or a hub motor can be provided within the drive wheel 210, enabling the drive wheel 210 to be self-driven. The support unit can rotate about the drive wheel 210 to switch the travel assembly 200 between a travel state and an obstacle-crossing state. The obstacle-crossing wheel 230 is disposed on the support unit and can rotate with the drive wheel 210 or independently, with the specific configuration being determined as needed.

[0197] In the traveling state, the traveling assembly 200 of this embodiment maintains the fuselage 100 substantially parallel to the ground, and the drive wheels 210 are in contact with the ground (i.e., the drive wheels 210 are in contact with the ground) to propel the fuselage 100 forward. At this point, the obstacle-crossing wheels 230 can be in contact with the ground, assisting in propulsion of the fuselage 100. Alternatively, the obstacle-crossing wheels 230 can be detached from the ground, allowing the fuselage 100 to propel forward solely using the drive wheels 210.

[0198] For example, when the traveling assembly 200 of this embodiment is in the traveling state, the obstacle-crossing wheel 230 is off the ground, and the driving wheel 210 is in contact with the ground, so that the driving wheel 210 drives the body 100 to travel. Figure 1 As shown, the obstacle crossing wheels 230 are stored in the fuselage 100 .

[0199] When the traveling assembly 200 of this embodiment is in the obstacle overcoming state, the support unit drives the obstacle overcoming wheels 230 to contact the ground 20 and causes the driving wheels 210 to leave the ground 20 , so that the obstacle overcoming wheels 230 drive the fuselage 100 to move forward, thereby crossing the obstacle 30 on the ground 20 .

[0200] Figure 2 The state of the cleaning robot 10 of this embodiment when it contacts the obstacle 30 is specifically shown. Figure 2As can be understood from the above description, the cleaning robot 10 of this embodiment can drive the obstacle-crossing wheel 230 to contact the ground 20 through the support unit when it is at a preset distance from the obstacle 30, wherein the preset distance must be greater than the distance between the front end 101 of the fuselage 100 and the obstacle 30 at that position, and the specific value of the preset distance can be selected as needed. After the obstacle-crossing wheel 230 contacts the ground 20, the fuselage 100 is gradually supported by the support unit, so that the driving wheel 210 is separated from the ground 20, the front end 101 of the fuselage 100 is away from the ground 20, the rear end 102 of the fuselage 100 is close to the ground 20, and the fuselage 100 is tilted to the ground 20 as a whole, and the fuselage 100 is generally in a Figure 2 The state shown. It can be understood that in this state, the distance between the front end 101 of the fuselage 100 and the ground 20 is much greater than the ground clearance of the fuselage 100 when in the moving state, so the cleaning robot 10 is easier to cross the obstacle 30, or compared with the solutions of the related technology, this embodiment can enable the cleaning robot 10 to cross obstacles 30 with higher heights, thereby improving the obstacle crossing ability of the cleaning robot 10. Then, the cleaning robot 10 of this embodiment can maintain the above state and use the obstacle crossing wheels 230 to rotate and drive the fuselage 100 to move forward. After the obstacle crossing wheel 230 abuts against the obstacle 30, the support unit drives the obstacle crossing wheel 230 along Figure 2 The driving wheel 210 swings in the direction indicated by the middle arrow, so that the driving wheel 210 contacts the upper surface of the obstacle 30 (the surface on the side away from the ground 20), and the friction between the driving wheel 210 and the upper surface of the obstacle 30 when rotating is used to drive the body 100 to move forward, and the body 100 is gradually restored from the inclined state to the state parallel to the ground 20, and the cleaning robot 10 completes the crossing of the obstacle 30.

[0201] In some embodiments, in order to achieve the above functions, it can be understood that this embodiment also includes a sensor and a controller (not shown in the figure), wherein the sensor and the travel component are both communicatively connected to the controller.

[0202] The sensor is used to detect obstacles 30 in the direction of travel of the cleaning robot. Upon detection, it sends an obstacle signal to the controller. This obstacle signal may include information such as the distance between the cleaning robot and obstacle 30 and the height of obstacle 30. Upon receiving the obstacle signal, the controller sends a control command to the traveling assembly 200 to change its state. Upon receiving the control command, the traveling assembly 200 switches from the self-propelled state to the obstacle-crossing state, causing the obstacle-crossing wheels 230 to contact the ground 20, the drive wheels 210 to separate from the ground 20, and the entire body 100 to tilt relative to the ground 20. The cleaning robot remains in the obstacle-crossing state, moving toward and overcoming obstacle 30. It can be understood that, since the rotatable obstacle-crossing wheels 230 are provided on the support unit of this embodiment, the obstacle-crossing wheels 230 can be used to drive the body 100 to move when the body 100 is tilted to the ground 20 (that is, the traveling component 200 is in the traveling state). Maintaining the body 100 in the tilted state while moving can greatly enhance the obstacle-crossing capability, thereby enabling the cleaning robot 10 of this embodiment to cross obstacles 30 at higher heights.

[0203] Furthermore, when the traveling assembly 200 of this embodiment switches from the self-propelled state to the obstacle crossing state, the driving wheel 210 is in a stopped state to prevent the driving wheel 210 from driving the fuselage 100 to move and causing the fuselage to be unstable during the switching.

[0204] Of course, in other embodiments, when the traveling component 200 of this embodiment switches from the self-propelled state to the obstacle crossing state, the driving wheel 210 is in a working state, that is, the driving wheel 210 continues to drive the body forward to improve the operation efficiency of the robot.

[0205] Since the robot's driving wheels themselves have a certain obstacle-crossing capability, in some embodiments of the present invention, the robot can collect the height of the obstacle through sensors installed on the body, and determine whether it needs to switch to the obstacle-crossing state based on whether the height of the obstacle exceeds a preset height threshold, so as to reduce the number of switches between the moving state and the obstacle-crossing state, improve operating efficiency and equipment life.

[0206] Specifically, the above-mentioned sensor can be any sensor on the fuselage that has the ability to collect the height of obstacles, such as one or more of a line laser sensor, a lidar, a structured light sensor, and an AI camera. The present invention is not limited to the above-mentioned sensors, and any sensor that has the ability to collect the height of obstacles can achieve the above-mentioned function.

[0207] In some embodiments, the height threshold may be 2CM, 3CM, or 4CM, etc. The height threshold may be predetermined based on the obstacle-crossing capability of the driving wheel itself, or may be specified based on user-set instructions, which is not limited in the present invention.

[0208] To facilitate obstacle traversal, upon detecting an obstacle, the controller can send instructions to the travel component 200, controlling the robot to advance toward the obstacle and adjust the robot's direction to face the obstacle, i.e., the robot's forward direction is perpendicular or approximately perpendicular to the tangent of the obstacle. By adjusting the robot's direction toward the obstacle, the robot's drive wheels and obstacle-traversing wheels can be directed directly toward the obstacle, improving the robot's obstacle-traversing capabilities. Of course, the actual direction can be set according to actual needs, and embodiments of the present invention are not limited to facing directly toward the obstacle.

[0209] When the traveling component 200 switches to the obstacle crossing state, the robot can continue to move toward the obstacle, and when the obstacle crossing wheel and / or driving wheel of the robot contacts the obstacle, the robot will stop. Figure 2 The robot begins obstacle climbing at the position shown. Specifically, when the robot reaches the aforementioned position, the obstacle climbing wheels can be controlled to stop moving while the drive wheels can be controlled to continue moving forward, thereby improving the driving performance of the drive wheels and enhancing their climbing ability. Alternatively, both the obstacle climbing wheels and the drive wheels can be controlled to maintain forward movement, allowing the obstacle climbing wheels to assist in climbing.

[0210] Please continue to refer to Figure 2 In this embodiment, when the support unit rotates in a first direction (clockwise in the figure) around the axis of the drive wheel 210, the traveling assembly 200 switches from the traveling state to the obstacle-crossing state. Correspondingly, when the support unit rotates in a second direction (counterclockwise in the figure) around the axis of the drive wheel 210, the traveling assembly 200 switches from the obstacle-crossing state to the traveling state.

[0211] The body 100 of this embodiment is also provided with an edge sensor 110. The edge sensor 110 is located in front of or behind the axis of the driving wheel 210 in the direction of travel of the cleaning robot. In this embodiment, the edge sensor 110 is placed in this position to make room for the obstacle-crossing wheels 230 and the support unit 220, thereby providing sufficient space.

[0212] In this embodiment, the support unit includes at least one support member, and the driving wheel 210 and the obstacle crossing wheel 230 are respectively arranged at the opposite ends of the support member. The above structure can enable the obstacle crossing wheel 230 to be arranged away from the driving wheel 210, so as to increase the height of the support unit to support the fuselage 100, thereby facilitating the cleaning robot 10 to cross obstacles 30 with higher heights.

[0213] Please refer to Figure 3 and Figure 4In one possible implementation, the support unit of this embodiment includes a first support member 221, which includes a rotating portion 2211 and a support arm 2212. The rotating portion 2211 and the drive wheel 210 are coaxially arranged. The first end of the support arm 2212 is connected to the rotating portion 2211, and the second end of the support arm 2212 extends radially outward from the rotating portion 2211. The obstacle-crossing wheel 230 is rotatably arranged at the second end of the support arm 2212. In this embodiment, the rotating portion 2211 is generally cylindrical, and the rotation axis of the rotating portion 2211 is coaxial with the drive wheel 210. For example, the rotating portion 2211 and the drive wheel 210 can be connected to the same shaft to ensure their coaxiality, allowing the rotating portion 2211 to rotate about the axis of the drive wheel 210. The support arm 2212 is generally rod-shaped and can be connected to the rotating portion 2211, such as by welding. Alternatively, the rotating portion 2211 and the support arm 2212 can be integrally formed. For example, in this embodiment, the rotating portion 2211 and the support arm 2212 can be integrally formed. The support arm 2212 is preferably positioned away from the rotation axis of the rotating portion 2211. This allows the rotating portion 2211 to rotate and drive the support arm 2212 over a greater distance, thereby raising the body 100 to a higher height. This facilitates the cleaning robot 10 in crossing over higher obstacles 30.

[0214] Combine Figures 1-4 It can be understood that when the traveling assembly 200 of this embodiment is in the traveling state, the first support member 221 remains stationary at a certain height, at which time the support arm 2212 is separated from the ground 20, thereby causing the obstacle-crossing wheel 230 mounted on the support arm 2212 to be separated from the ground 20, and the traveling assembly 200 is generally Figure 3 Status shown.

[0215] When the travel assembly 200 transitions from the self-propelled state to the obstacle-crossing state, the slewing portion 2211 rotates in a first direction about the axis of the drive wheel 210, and the support arm 2212 swings circumferentially along with the slewing portion 2211, thereby driving the obstacle-crossing wheel 230 mounted on the support arm 2212 close to the ground 20. After the obstacle-crossing wheel 230 approaches the ground 20, the reaction force exerted by the ground 20 propels the fuselage 100 via the first support member 221, causing the drive wheel 210 to separate from the ground 20 and the fuselage 100 to gradually tilt relative to the ground 20.

[0216] When the traveling assembly 200 is in the obstacle-crossing state, the front end 101 of the body 100 is away from the ground 20, the rear end 102 of the body 100 is close to the ground 20, and the body 100 as a whole is tilted relative to the ground 20. The obstacle-crossing wheels 230 rotate to drive the body 100 to move forward. Due to the tilted configuration of the body 100, the cleaning robot 10 can cross higher obstacles 30, thereby improving the cleaning robot 10's obstacle-crossing capability.

[0217] After the obstacle is overcome, the rotating part 2211 in the traveling assembly 200 rotates in the second direction around the axis of the driving wheel 210, thereby driving the obstacle-overcoming wheel 230 installed on the support arm 2212 to gradually move away from the ground 20 and finally return to the ground. Figure 3 The status shown is to prepare for the next obstacle crossing.

[0218] In some embodiments, this embodiment further includes a first transmission mechanism 240, which is disposed on the first support member 221. The obstacle overcoming wheel 230 is connected to the drive wheel 210 via the first transmission mechanism 240, so that rotation of the drive wheel 210 drives the obstacle overcoming wheel 230. In other words, the obstacle overcoming wheel 230 of this embodiment can rotate along with the drive wheel 210, maintaining rotation during the movement of the fuselage 100. The first transmission mechanism 240 can be disposed inside or outside the first support member 221 (e.g., on the side of the first support member 221 facing the drive wheel 210); the specific structure of the first transmission mechanism 240 can be selected based on actual needs.

[0219] For example, Figure 3 and Figure 4 As shown, the first support member 221 of this embodiment may include a body and a cover. The body has a cavity formed therein to provide space for installing other components. The cover is connected to the body via fasteners such as screws. The first transmission mechanism 240 is preferably disposed within the cavity of the first support member 221, thereby facilitating protection of the first transmission mechanism 240 by the first support member 221 and extending the service life of the first transmission mechanism 240.

[0220] The first transmission mechanism 240 includes a driving gear 241, a driven gear 242, and a plurality of intermediate transmission gears 243. The driving gear 241 and the driven gear 242 are meshed and connected via the plurality of intermediate transmission gears 243. The number of intermediate transmission gears 243 and the specific parameters of the driving gear 241, the driven gear 242, and the plurality of intermediate transmission gears 243 can be set according to the required transmission ratio between the driving wheel 210 and the obstacle overcoming wheel 230.

[0221] The drive wheel 210 is provided with a drive shaft 211, which extends between the drive wheel 210 and the driving gear 241. The power output from the drive wheel 210 drives the driving gear 241 to rotate. In this embodiment, a first retaining spring may be provided on the drive shaft 211 to secure the driving gear 241 to the drive shaft 211 and prevent it from falling off. The obstacle-crossing wheel 230 is provided with a driven shaft 231, which extends between the obstacle-crossing wheel 230 and the driven gear 242. Rotation of the driven gear 242 transmits power to the obstacle-crossing wheel 230 via the driven shaft 231, thereby driving the obstacle-crossing wheel 230 to rotate.

[0222] In other embodiments, this embodiment further includes a first drive device (not shown in the figure), the output end of the first drive device is connected to the obstacle overcoming wheel 230, and the obstacle overcoming wheel 230 can be rotated by the drive of the first drive device so that the obstacle overcoming wheel 230 can rotate independently. When the obstacle overcoming wheel 230 leaves the ground, the obstacle overcoming wheel 230 can be controlled to stop rotating, thereby saving energy.

[0223] Alternatively, the first drive device may include a drive motor, for example, which may be disposed within the obstacle overcoming wheel 230. In this case, the drive motor may be a hub motor, and the obstacle overcoming wheel 230 may be self-driven like the drive wheel 210. Alternatively, the first drive device may be disposed within the first support member 221, with the output end of the first drive device connected to the obstacle overcoming wheel 230 to drive the obstacle overcoming wheel 230 to rotate.

[0224] In some embodiments, this embodiment further includes a second driving device 250, which is connected to the first support member 221 to drive the first support member 221 to rotate around the axis of the driving wheel 210, thereby switching the traveling component 200 between the traveling state and the obstacle crossing state.

[0225] Specifically, the second drive device 250 is connected to the first support member 221 via a second transmission mechanism 260. The second transmission mechanism 260 includes a worm 261 and a ring gear 262. The worm 261 meshes with the ring gear 262 and is connected to the output end of the second drive device 250. The ring gear 262 is disposed on the outer periphery of the rotating portion 2211, and the axis of the ring gear 262 coincides with the axis of the drive wheel 210. When the second transmission mechanism 260 drives the worm 261 to rotate, the worm 261 drives the ring gear 262 to rotate synchronously. The rotation of the ring gear 262 drives the rotating portion 2211 to rotate about the axis of the drive wheel 210, thereby driving the support arm 2212 and the obstacle-crossing wheel 230 thereon to rotate, thereby switching the traveling assembly 200 between the traveling state and the obstacle-crossing state.

[0226] This embodiment also includes a bracket 270, which is used to connect to the fuselage 100. For example, a connecting hole 271 is provided on the bracket 270, and the connecting shaft passes through the connecting hole 271 and is connected to the fuselage 100. The traveling component 200 can rotate around the connecting shaft, thereby realizing a rotational connection with the fuselage 100.

[0227] Bracket 270 also mounts the drive wheel 210 and provides mounting space for the second drive device 250. For example, the drive wheel 210 is positioned on a first side of the bracket 270, while the first support member 221 and the obstacle-crossing wheel 230 are positioned on a second side of the bracket 270. The drive wheel 210 is securely connected to the bracket 270 via bearings, bushings, and other components mounted on the drive wheel shaft 211. Bracket 270 also includes a mounting slot within which the second drive device 250 can be mounted.

[0228] Optionally, the obstacle overcoming wheel 230 of this embodiment may be located on the side of the first support member 221 facing the driving wheel 210 to reduce the overall size of the traveling assembly 200 and improve space utilization.

[0229] Please refer to Figure 5-Figure 7 In another possible embodiment, the support unit of this embodiment includes a second support member 222 and a third support member 223. The second support member 222 is rotatable about the axis of the drive wheel 210. The first end of the third support member 223 is rotatably connected to the second support member 222, and the obstacle-crossing wheel 230 is rotatably disposed on the second end of the third support member 223. When the traveling assembly 200 switches from the traveling state to the obstacle-crossing state, the second support member 222 rotates to drive the third support member 223 to move, causing the obstacle-crossing wheel 230 to contact the ground 20. In this case, the second support member 222 functions as the rotating portion 2211 in the above-mentioned embodiment, and the third support member 223 functions as the support arm 2212 in the above-mentioned embodiment. In this embodiment, the second support member 222 and the drive wheel 210 can be connected to the same shaft, thereby ensuring their coaxiality and allowing the second support member 222 to rotate about the axis of the drive wheel 210. The third support member 223 is generally rod-shaped and is preferably positioned away from the rotation axis of the second support member 222. This allows the second support member 222 to rotate, driving the third support member 223 to travel a longer distance, thereby raising the body 100 to a higher height, thereby facilitating the cleaning robot 10 to traverse taller obstacles 30. The third support member 223 is rotatably connected to the second support member 222, allowing the third support member 223 to not only rotate with the second support member 222 but also to rotate relative to the second support member 222, thereby facilitating changes in the overall length of the second and third support members 222, 223, and making it less likely that the body 100 will be lifted again when the traveling assembly 200 returns to the traveling state after traversing an obstacle, thereby enhancing the user experience.

[0230] Optionally, in this embodiment, the rotation axis of the second support member 222 does not coincide with the rotation axis of the third support member 223 , so that the third support member 223 can rotate eccentrically around the second support member 222 .

[0231] For example, Figure 5 As shown, the second support member 222 of this embodiment is provided with a fixed shaft 2221, which is arranged away from the rotation axis of the second support member 222, and the third support member 223 is provided with a first shaft sleeve 2231. The third support member 223 is sleeved on the fixed shaft 2221 through the first shaft sleeve 2231, so that the third support member 223 can rotate eccentrically relative to the second support member 222. By arranging the third support member 223 to rotate eccentrically relative to the second support member 222, when switching from the obstacle overcoming state to the traveling state, the third support member 223 can rotate around a rotation axis different from that of the second support member 222, so that the obstacle overcoming wheel 230 will not be supported on the ground due to the squeezing force of the second support member 222 during the process of the second support member 222 being recovered from the obstacle overcoming state to the traveling state, resulting in the problem that the obstacle overcoming wheel 230 pushes the fuselage 100 and the driving wheel 210 upward during the recovery process.

[0232] Combine Figure 1 、 Figure 2 、 Figure 5-Figure 7 It can be understood that when the traveling assembly 200 of this embodiment is in the traveling state, the second support member 222 and the third support member 223 do not rotate. At this time, the third support member 223 is separated from the ground 20, thereby causing the obstacle-crossing wheel 230 installed on the third support member 223 to be separated from the ground 20. The traveling assembly 200 is generally Figure 5 Status shown.

[0233] Since the second support member 222 and the third support member 223 are movably connected, in order to keep the third support member 223 Figure 5 In the state shown, a first elastic member 224 is further provided between the second support member 222 and the third support member 223 of this embodiment. The first elastic member 224 is used to apply elastic force to the third support member 223 in the moving state to keep the obstacle-crossing wheel 230 out of contact with the ground 20.

[0234] Optionally, the first elastic member 224 includes a torsion spring, a first end of the torsion spring is connected to the second support member 222 , and a second end of the torsion spring is connected to the third support member 223 .

[0235] When the travel assembly 200 transitions from the self-propelled state to the obstacle-crossing state, the second support member 222 rotates in a first direction about the axis of the drive wheel 210, and the third support member 223 swings circumferentially with the second support member 222, thereby driving the obstacle-crossing wheel 230 mounted on the third support member 223 close to the ground 20. After the obstacle-crossing wheel 230 approaches the ground 20, the reaction force exerted by the ground 20 propels the fuselage 100 via the second support member 222 and the third support member 223, causing the drive wheel 210 to separate from the ground 20 and the fuselage 100 to gradually tilt away from the ground 20.

[0236] When the traveling assembly 200 is in the obstacle-crossing state, the front end 101 of the body 100 is away from the ground 20, the rear end 102 of the body 100 is close to the ground 20, and the body 100 as a whole is tilted relative to the ground 20. The obstacle-crossing wheels 230 rotate to drive the body 100 to move forward. Due to the tilted configuration of the body 100, the cleaning robot 10 can cross higher obstacles 30, thereby improving the cleaning robot 10's obstacle-crossing capability.

[0237] After the obstacle is overcome, the second support member 222 in the traveling assembly 200 rotates along the second direction around the axis of the driving wheel 210, thereby driving the obstacle-overcoming wheel 230 installed on the third support member 223 to gradually move away from the ground 20 and finally return to the ground. Figure 5 During this process, since the third support member 223 can rotate relative to the second support member 222, the overall length of the second support member 222 and the third support member 223 can be changed, so that the second support member 222 and the third support member 223 will not prop up the body 100 again, thereby improving the user experience.

[0238] That is to say, after the traveling component 200 of this embodiment crosses the obstacle 30 and switches back to the traveling state from the obstacle-crossing state, the third support member 223 rotates relative to the second support member 222 so that the height of the obstacle-crossing wheel 230 is higher than or equal to the height of the driving wheel 210. Since the driving wheel 210 is always in contact with the ground 20, the fuselage 100 is not propped up again, which is beneficial to improving the user experience.

[0239] Figure 8(a)-Figure 8(e) for Figure 5 Schematic diagram of the transition of the traveling component from the obstacle crossing state to the traveling state.

[0240] FIG8( a ) shows a schematic diagram of the traveling assembly 200 just after completing the obstacle crossing. At this time, the second support member 222 drives the third support member 223 to rotate to the rear of the driving wheel 210 in the direction of travel. Figure 5 As shown in the state, the second support member 222 needs to rotate along the second direction (counterclockwise direction as shown by arrow a1 in the figure) to drive the third support member 223 and the obstacle-crossing wheel 230 to gradually approach the ground 20.

[0241] Figure 8(b) shows a schematic diagram of the obstacle overcoming wheel 230 abutting the ground 20. When the second support member 222 continues to rotate in the second direction (counterclockwise as shown by arrow a1 in the figure) so that the obstacle overcoming wheel 230 abuts the ground 20, since the second support member 222 and the third support member 223 are rotationally connected, under the action of the reaction force applied by the ground 20 to the obstacle overcoming wheel 230, the third support member 223 rotates around the hinge point of the second support member 222 and the third support member 223 in the first direction (clockwise as shown by arrow a2 in the figure), so that the driving wheel 210 always maintains contact with the ground 20.

[0242] The second support member 222 continues to rotate in the second direction (counterclockwise as indicated by arrow a1 in the figure), causing the third support member 223 to continue to rotate in the first direction (clockwise as indicated by arrow a2 in the figure) about the hinge point between the second and third support members 222 and 223, ultimately causing the third support member 223 and the obstacle-crossing wheel 230 to be stored between the second support member 222 and the ground 20. As shown in FIG8(c), to ensure that the third support member 223 and the obstacle-crossing wheel 230 do not prop up the fuselage 100 in this state, the maximum dimension of the second support member 222 along the radial direction of the drive wheel 210 needs to be smaller than the radius of the drive wheel 210. This structurally provides sufficient space for the storage of the third support member 223 during the transition from the obstacle-crossing state to the traveling state.

[0243] Specifically, the second support member 222 of this embodiment also has a accommodating gap 2222, and the first end of the third support member 223 is rotatably connected to one side of the accommodating gap 2222, and when the traveling component 200 switches from the obstacle crossing state to the traveling state, the third support member 223 is received in the accommodating gap 2222, and the spatial dimension of the accommodating gap 2222 is larger than the overall spatial dimension of the third support member 223 and the obstacle crossing wheel 230, thereby ensuring that the third support member 223 and the obstacle crossing wheel 230 can be completely received in the accommodating gap 2222.

[0244] As shown in Figure 8(d), the second support member 222 continues to rotate in the second direction (counterclockwise as shown by arrow a1 in the figure) in the state shown in Figure 8(c), so that the third support member 223 and the obstacle crossing wheel 230 gradually rotate to the front of the travel direction of the driving wheel 210. At this time, the obstacle crossing wheel 230 gradually leaves the ground 20.

[0245] After the obstacle crossing wheel 230 leaves the ground 20, since the ground 20 no longer applies a force to the obstacle crossing wheel 230, the third support member 223 is propped up under the elastic force applied by the first elastic member 224, so that the obstacle crossing wheel 230 is away from the ground 20 and finally returns to the state shown in Figure 8(e) to prepare for the next obstacle crossing.

[0246] In some embodiments, this embodiment further includes a first transmission mechanism 240, which is disposed between the second support member 222 and the third support member 223. The obstacle overcoming wheel 230 is connected to the drive wheel 210 via the first transmission mechanism 240, so that rotation of the drive wheel 210 drives the obstacle overcoming wheel 230. In other words, the obstacle overcoming wheel 230 of this embodiment can rotate along with the drive wheel 210, maintaining rotation during the movement of the fuselage 100. The first transmission mechanism 240 can be disposed within the second support member 222 and the third support member 223, or it can be disposed outside the second support member 222 and the third support member 223 (e.g., on the side of the second support member 222 and the third support member 223 facing the drive wheel 210). The specific structure of the first transmission mechanism 240 can be selected based on actual needs.

[0247] For example, Figure 5-Figure 7 As shown, the second support member 222 and the third support member 223 of this embodiment can each include a body and a cover plate. The body of the second support member 222 and the body of the third support member 223 each have a cavity formed therein to provide space for installing other components. The cover plates of the second support member 222 and the cover plates of the third support member 223 are connected to their respective bodies via fasteners such as screws. The first transmission mechanism 240 of this embodiment can be disposed within the cavities of the second support member 222 and the third support member 223, thereby utilizing the second support member 222 and the third support member 223 to provide protection for the first transmission mechanism 240, thereby facilitating a longer service life of the first transmission mechanism 240.

[0248] The first transmission mechanism 240 may include a driving gear 241, a driven gear 242, and a plurality of intermediate transmission gears 243. The driving gear 241 and the driven gear 242 are meshed and connected via the plurality of intermediate transmission gears 243. The number of intermediate transmission gears 243, as well as the specific parameters of the driving gear 241, the driven gear 242, and the plurality of intermediate transmission gears 243, may be set according to the required transmission ratio between the driving wheel 210 and the obstacle-crossing wheel 230.

[0249] The driving wheel 210 is provided with a driving wheel shaft 211, which extends between the driving wheel 210 and the driving gear 241. The driving wheel shaft 211 thus utilizes the power output from the driving wheel 210 to drive the driving gear 241 to rotate. In this embodiment, a first retaining spring 225 may be provided on the driving wheel shaft 211 to secure the driving gear 241 to the driving wheel shaft 211 and prevent the driving gear 241 from falling off. The obstacle crossing wheel 230 is provided with a driven wheel shaft 231, which extends between the obstacle crossing wheel 230 and the driven gear 242. When the driven gear 242 rotates, the driven wheel shaft 231 transmits power to the obstacle crossing wheel 230, thereby driving the obstacle crossing wheel 230 to rotate.

[0250] Since the second support member 222 and the third support member 223 of this embodiment are two independent parts that are movably connected, the plurality of intermediate transmission gears 243 include at least two first intermediate transmission gears 2431, at least two second intermediate transmission gears 2432 and a third intermediate transmission gear 2433. Figure 7 As shown, the third intermediate transmission gear 2433 includes a coaxially arranged first gear portion 24331 and a second gear portion 24332. The driving gear 241, the first intermediate transmission gear 2431, and the first gear portion 24331 mesh with each other and are located within the second support member 222. The driven gear 242, the second intermediate transmission gear 2432, and the second gear portion 24332 mesh with each other and are located within the third support member 223. In other words, in this embodiment, the coaxially arranged first gear portion 24331 and second gear portion 24332 of the third intermediate transmission gear 2433 enable smooth power transmission between the second support member 222 and the third support member 223. A polished rod section may be disposed between the first gear portion 24331 and the second gear portion 24332 of the third intermediate transmission gear 2433, and a torsion spring may be wound around this polished rod section. In this embodiment, the fixed shaft 2221 connecting the second support member 222 and the third support member 223 may be passed through the third intermediate transmission gear 2433.

[0251] In other embodiments, this embodiment further includes a first drive device (not shown in the figure), the output end of the first drive device is connected to the obstacle overcoming wheel 230, and the obstacle overcoming wheel 230 can be rotated by the drive of the first drive device so that the obstacle overcoming wheel 230 can rotate independently. When the obstacle overcoming wheel 230 leaves the ground, the obstacle overcoming wheel 230 can be controlled to stop rotating, thereby saving energy.

[0252] Alternatively, the first drive device may include a drive motor, for example, which may be disposed within the obstacle overcoming wheel 230. In this case, the drive motor may be a hub motor, and the obstacle overcoming wheel 230 may be self-driven like the drive wheel 210. Alternatively, the first drive device may be disposed within the third support member 223, with the output end of the first drive device connected to the obstacle overcoming wheel 230 to drive the obstacle overcoming wheel 230 to rotate.

[0253] In some embodiments, this embodiment further includes a second driving device 250, which is connected to the second support member 222 to drive the second support member 222 to rotate around the axis of the driving wheel 210, thereby switching the traveling component 200 between the traveling state and the obstacle crossing state.

[0254] Specifically, the second drive device 250 is connected to the second support member 222 via a second transmission mechanism 260. The second transmission mechanism 260 includes a worm 261 and a ring gear 262. The worm 261 meshes with the ring gear 262 and is connected to the output end of the second drive device 250. The ring gear 262 is disposed on the outer periphery of the second support member 222, and the axis of the ring gear 262 coincides with the axis of the drive wheel 210. When the second transmission mechanism 260 drives the worm 261 to rotate, the worm 261 drives the ring gear 262 to rotate synchronously. The rotation of the ring gear 262 drives the second support member 222 to rotate about the axis of the drive wheel 210, thereby driving the third support member 223 and the obstacle-crossing wheel 230 thereon to rotate, thereby switching the traveling assembly 200 between the traveling state and the obstacle-crossing state.

[0255] Optionally, the second drive device 250 of this embodiment may further include a plurality of transmission gears 263, through which the worm 261 and the ring gear 262 are engaged. In this embodiment, the plurality of transmission gears 263 are arranged on the outside of the second drive device 250, so that the second drive device 250 can omit structures such as a gear box, thereby helping to reduce the overall volume of the second drive device 250 and the second transmission mechanism 260.

[0256] This embodiment also includes a bracket 270, which is used to connect to the fuselage 100. For example, a connecting hole 271 is provided on the bracket 270, and the connecting shaft passes through the connecting hole 271 and is connected to the fuselage 100. The traveling component 200 can rotate around the connecting shaft, thereby realizing a rotational connection with the fuselage 100.

[0257] Bracket 270 also mounts the drive wheel 210 and provides mounting space for the second drive device 250. For example, the drive wheel 210 is positioned on a first side of the bracket 270, while the second support member 222, the third support member 223, and the obstacle-crossing wheel 230 are positioned on a second side of the bracket 270. The drive wheel 210 is securely connected to the bracket 270 via bearings, bushings, and other components mounted on the drive wheel shaft 211. Bracket 270 also includes a mounting slot within which the second drive device 250 can be mounted.

[0258] Optionally, the obstacle overcoming wheel 230 of this embodiment may be located on the side of the first support member 221 facing the driving wheel 210 to reduce the overall size of the traveling assembly 200 and improve space utilization.

[0259] Based on the solutions of the aforementioned embodiments, in some embodiments, the support unit 220 may include a second support member 222 and a third support member 223; the second support member 222 can rotate relative to the fuselage 100 around a first rotation axis; the third support member 223 is arranged on the second support member 222 away from the first rotation axis, the first end of the third support member 223 and the second support member 222 are rotatably connected, the obstacle overcoming wheel 230 is rotatably arranged at the second end of the third support member 223, and the second rotation axis of the third support member 223 relative to the second support member 222 does not coincide with the second rotation axis; the end of the second support member 222 for connecting to the third support member 223 also has an abutment portion, and when the second support member 222 rotates around the first rotation axis, the abutment portion abuts against the third support member 223, so that the third support member 223 is driven to swing around the first rotation axis based on the extrusion force exerted by the abutment portion on the third support member 223. The third support member 223 is pivotally connected to the second support member 222. The rotation axis of the second support member 222 and the rotation axis of the third support member 223 do not coincide. This allows the third support member 223 to rotate eccentrically about the second support member 222, facilitating a change in the overall length of the second and third support members 222, 223. This prevents the traveling assembly 200 from re-supporting the body 100 when returning to the traveling state after navigating an obstacle, thereby enhancing the user experience. Furthermore, this increases the obstacle avoidance margin of the third support member 223, further preventing interference between the third support member 223 and the obstacle during navigating, thereby improving the obstacle navigating effect.

[0260] In some embodiments, the second support member 222 is sleeved on the driving wheel shaft of the driving wheel 210 to simplify the structure.

[0261] In some embodiments, the first rotation axis overlaps with the rotation axis of the driving wheel 210, which can prevent the support unit 220 from swinging and interfering with the first transmission structure of the obstacle overcoming wheel 230 when the motor of the driving wheel 210 is used to synchronously drive the obstacle overcoming wheel 230 to rotate, thereby facilitating structural arrangement.

[0262] In some embodiments, a first elastic member is further disposed between the second support member 222 and the third support member 223. One end of the first elastic member is fixed to the second support member 222, and the other end is fixed to the third support member 223. The first elastic member tends to maintain contact between the abutting portion of the second support member 222 and the third support member 223. This structure prevents the third support member 223 from descending due to its own weight when in the stowed position, thereby interfering with the normal movement of the fuselage 100. Furthermore, by maintaining contact between the abutting portion of the second support member 222 and the third support member 223, the probability of the second support member 222 rotating relative to the third support member 223 when the obstacle-crossing wheels 230 in the supporting position drive the fuselage 100 is reduced, thereby ensuring normal movement of the fuselage 100.

[0263] In some embodiments, the second support member 222 has a receiving notch, and the first end of the third support member 223 is rotatably connected to one side of the receiving notch. The sidewall of the side where the receiving notch is connected to the first end forms the abutment portion. When the third support member 223 is subjected to a compressive force that causes the third support member 223 to move away from the abutment portion, the third support member 223 moves into the receiving notch. By providing the receiving notch, the third support member 223 can be better accommodated, so that when the traveling assembly 200 returns to the traveling state after surmounting an obstacle, it is not easy to prop up the fuselage 100 again, which is conducive to improving the user experience. At the same time, the avoidance range of the third support member 223 to obstacles can be increased, further preventing the third support member 223 from interfering with obstacles during the obstacle surmounting process, thereby improving the obstacle surmounting effect.

[0264] In some embodiments, the dimensions of the receiving opening are larger than those of the third support member 223 and the obstacle-crossing wheel 230, ensuring that the third support member 223 and the obstacle-crossing wheel 230 can be fully accommodated within the receiving opening. By setting the dimensions of the receiving opening, the third support member 223 can be fully accommodated, preventing the vehicle body 100 from being re-propped up when the traveling assembly 200 returns to the traveling state after navigating an obstacle, thereby enhancing the user experience. This also increases the obstacle avoidance range of the third support member 223, further preventing interference between the third support member 223 and the obstacle during the obstacle-crossing process and improving the obstacle-crossing effect.

[0265] In some embodiments, the cleaning robot further includes a first drive structure for driving the drive wheel 210 to rotate and the obstacle-crossing wheel 230 to rotate; the cleaning robot further includes a first transmission mechanism, the first transmission mechanism including a driving gear, a driven gear, and an intermediate transmission gear, wherein the driving gear and the driven gear are meshed and connected via the intermediate transmission gear; the drive wheel 210 is provided with a drive wheel shaft, which passes through the drive wheel 210 and the driving gear to drive the drive wheel 210 to rotate and the driving gear to rotate, and the driving gear drives the driven gear to rotate via the intermediate transmission gear; the obstacle-crossing wheel 230 is provided with a driven wheel shaft, which passes through the obstacle-crossing wheel 230 and the driven gear, and the driven gear drives the obstacle-crossing wheel 230 to rotate via the driven wheel shaft. The rotation of the drive wheel 210 and the obstacle-crossing wheel 230 uses the same drive structure, which can further simplify the drive structure.

[0266] In some embodiments, a cavity is formed in the support unit 220, and the first transmission mechanism is arranged in the cavity. While avoiding interference between the transmission mechanism and other components, the structure can be simplified by reusing the accommodating cavity of the support unit 220, and the effective space can be further fully utilized to arrange the structure and improve the compactness of the structure.

[0267] In some embodiments, the intermediate transmission gear includes a third intermediate transmission gear, which includes a first gear portion and a second gear portion arranged coaxially, with the common axis of the first gear portion and the second gear portion serving as the third intermediate wheel shaft, and the first gear portion drives the second gear portion to rotate via the third intermediate wheel shaft; the driving gear and the first gear portion are meshed with each other, and the driven gear and the second gear portion are meshed with each other; or, the intermediate transmission gear further includes a first intermediate transmission gear and a second intermediate transmission gear, the driving gear, the first intermediate transmission gear and the first gear portion are meshed with each other, and the driven gear, the second intermediate transmission gear and the second gear portion are meshed with each other. Through this gear transmission method, the rotation between the second support member 222 and the third support member 223 can be achieved while ensuring that the rotation of the driving wheel 210 and the rotation of the obstacle-crossing wheel 230 adopt the same drive structure, thereby simplifying the structure; and further making full use of the effective space, performing structural arrangement, and improving the compactness of the structure.

[0268] In some embodiments, the second support member 222 is provided with a fixed shaft, the fixed shaft being disposed away from the first rotation axis, the third support member 223 is provided with a sleeve, the third support member 223 is sleeved on the fixed shaft via the sleeve, and the fixed shaft is rotatable relative to the sleeve; or the third support member 223 is provided with a fixed shaft, the second support member 222 is provided with a sleeve, the sleeve being disposed away from the first rotation axis, the third support member 223 is sleeved on the fixed shaft via the sleeve, and the fixed shaft is rotatable relative to the sleeve; the third intermediate wheel shaft is a hollow structure, the fixed shaft and the sleeve are passed through the third intermediate wheel shaft, and the fixed shaft and the sleeve are rotatable relative to the third intermediate wheel shaft. This structural arrangement can ensure that the rotation of the driving wheel 210 and the rotation of the obstacle-crossing wheel 230 use the same drive structure, while enabling rotation between the second support member 222 and the third support member 223, further simplifying the structure, and further fully utilizing the available space for structural arrangement, thereby improving the compactness of the structure.

[0269] In some embodiments, a first elastic member is further provided between the second support member 222 and the third support member 223, one end of the first elastic member is fixed on the second support member 222, and the other end is fixed on the third support member 223, and the first elastic member has a tendency to keep the abutting portion of the second support member 222 in abutment with the third support member 223; the first elastic member is a torsion spring, which is sleeved on the outside of the third intermediate wheel shaft and is located in the gap between the first gear part and the second gear part. Setting the first elastic member at this position can further make full use of the effective space, arrange the structure, and improve the compactness of the structure.

[0270] The embodiments of this specification provide a cleaning robot that may include a body 100. Along the forward direction of the body 100, the body 100 has a front end, a rear end, and a middle portion located between the front end and the rear end. A housing is provided on the outside of the body 100. The housing may include a chassis 1001 and an upper cover (not shown). The chassis 1001 is provided on a side of the body 100 that is close to a cleaning surface, and the upper cover is provided on a side of the body 100 that is away from the cleaning surface. The chassis 1001 and the upper cover form a receiving cavity. The cleaning surface may be, for example, the ground.

[0271] A travel assembly may be provided on the side of the body 100 near the cleaning surface, and is used to drive the body 100 to move on the cleaning surface. The travel assembly may be provided in the middle of the body 100. The travel assembly includes a drive wheel 210 and a bracket 270, wherein the bracket 270 is provided on the body 100, and the drive wheel 210 is provided on the bracket 270. The bracket 270 can float up and down relative to the body 100, so that the travel assembly floats up and down relative to the body 100, at least to cushion the shaking of the cleaning robot when it travels on a slightly uneven cleaning surface.

[0272] The bracket 270 can float up and down relative to the body 100, thereby driving the traveling assembly to float up and down relative to the body 100. When the cleaning robot is detached from the cleaning surface, the bracket 270 floats downward relative to the body 100 to an extreme position, which serves as the first position. When the cleaning robot abuts the cleaning surface, the bracket 270 floats upward relative to the body 100 to an extreme position, which serves as the second position, under the action of the gravity of the body 100. As shown in the above embodiment, a first elastic member can be provided between the bracket 270 and the body 100 to enable the bracket 270 to float up and down relative to the body 100. A limiting structure can further be provided on the body 100 to define the extreme positions at which the traveling assembly can float relative to the body 100. The extreme position at which the bracket 270 floats downward serves as the first position, and the extreme position at which the bracket 270 floats upward serves as the second position. Of course, other mechanisms for achieving floating between the bracket 270 and the body 100 can also be used, and are not limited thereto.

[0273] When the bracket 270 is in the first position, a portion of the bracket 270 may be located within the accommodating cavity, while a portion protrudes from the bottom plate 1001 and is located outside the accommodating cavity. Alternatively, the bracket 270 may be completely accommodated within the accommodating cavity. When the bracket 270 is in the first position, a portion of the bracket 270 may be located within the accommodating cavity, while a portion protrudes from the bottom plate 1001 and is located outside the accommodating cavity. Alternatively, the bracket 270 may be completely accommodated within the accommodating cavity.

[0274] The distance between the chassis 1001 and the cleaning surface is usually small so that the cleaning member can effectively clean the cleaning surface. The size of the driving wheel 210 is usually much larger than the distance between the chassis 1001 and the cleaning surface, and the driving wheel 210 is required to drive the body 100 to move when moving on the cleaning surface. Therefore, when the driving wheel 210 is in the first position and the second position, the driving wheel 210 is usually partially disposed within the accommodating cavity and partially protrudes from the chassis 1001 and is located outside the accommodating cavity; in the first position, the portion of the driving wheel 210 protruding from the chassis 1001 is larger than the portion of the driving wheel 210 protruding from the body 100 in the second position.

[0275] The front end of the body 100, facing the cleaning surface, is also provided with a universal wheel protruding from the chassis 1001 to assist in steering the body 100. Furthermore, to facilitate better autonomous cleaning and ensure a high degree of cleanliness, cleaning robots are typically equipped with a variety of cleaning components, such as a roller brush, side brush, and rag tray, as well as various sensing elements, such as an LDS laser radar, an AI visual sensor, a line laser, and an edge sensor. Home environments are typically complex, and household cleaning robots are typically smaller in size to enhance their mobility. As can be seen, the components within the body 100 are arranged extremely tightly, leaving little redundant space. Therefore, when configuring an obstacle-crossing assist mechanism to assist the body 100 in crossing higher obstacles, it is necessary to fully consider the internal spatial layout of the body 100, reduce the size of the auxiliary obstacle-crossing components, and optimize the structural layout of the auxiliary obstacle-crossing components to improve space utilization.

[0276] Based on this, as shown in the above embodiments, the embodiments of this specification provide an obstacle surmounting method that reuses the cleaning robot's built-in drive wheels 210 to climb over obstacles. Compared to methods that separately provide auxiliary mechanisms for obstacle surmounting, this method offers a simpler structure, requiring only auxiliary wheels to lift the body 100 and move it a short distance. As can be seen from the above embodiments, with this structural design, the auxiliary wheels can be very small due to the limited distance they need to travel. The drive and transmission structures of the auxiliary wheels can also be relatively simple, thereby reducing the size of the components required to assist in obstacle surmounting. For example, the diameter of the obstacle surmounting wheel 230 can be smaller than the radius of the drive wheel 210. Furthermore, by optimizing the arrangement of the support unit 220, transmission mechanism, drive mechanism, and obstacle surmounting wheel 230 relative to the body 100, space utilization is further improved. While achieving obstacle surmounting, the overall size of the body 100 and the arrangement of components within the body 100 are not significantly altered.

[0277] In conventional household cleaning robots, the drive wheels 210 are typically located in the middle of the body 100. When the drive wheels 210 abut a step, driving the body 100 over the step, the front end of the body 100 reaches the step first. If the chassis 1001 of the body 100 before the drive wheels 210 is lower than the height of the step, the body 100 will be hindered from moving, thereby affecting the body 100's ability to overcome the obstacle. By providing the support unit 220 to elevate the front end of the body 100, when the drive wheels 210 abut the upper edge of the step, the chassis 1001 of the body 100 before the drive wheels 210 is higher than the upper edge of the step, preventing the body 100 before the drive wheels 210 from hindering its forward movement.

[0278] After the fuselage 100 is lifted, the driving wheels 210 are still a certain distance away from the step. Therefore, the fuselage 100 needs to be driven to move until the driving wheels 210 contact the step. The driving wheels 210 then climb over the obstacle, driving the fuselage 100 over the obstacle. However, when it is necessary to overcome a higher obstacle, the chassis 1001 of the fuselage 100 in front of the driving wheels 210 needs to be raised to a higher height, which may cause the driving wheels 210 to be lifted off the ground. Even if the driving wheels 210 do not leave the ground, the pressure between the driving wheels 210 and the ground will be greatly reduced, making it difficult or impossible for the driving wheels 210 to drive the fuselage 100 on the ground. Therefore, in the embodiment of this specification, an obstacle-crossing wheel 230 is added to the side of the support unit 220 close to the ground. Since the support unit 220 and the obstacle-crossing wheel 230 need to support the front end of the fuselage 100 to be elevated, the obstacle-crossing wheel 230 exerts a certain supporting force on the fuselage 100, which in turn creates a certain pressure between the obstacle-crossing wheel 230 and the ground, thereby enabling the fuselage 100 to be driven forward by the obstacle-crossing wheel 230. If the elevation height of the front end of the fuselage 100 is low, there may still be pressure between the drive wheel 210 and the ground, and the obstacle-crossing wheel 230 and the drive wheel 210 can be used to jointly drive the fuselage 100 forward. If the obstacle to be crossed is relatively high, the drive wheel 210 is off the ground or the pressure between the drive wheel 210 and the ground is zero, and the obstacle-crossing wheel 230 can be used to drive the fuselage 100 forward on the ground.

[0279] When the support unit 220 needs to switch between multiple positions, such as between the support position and the stowed position and the avoidance position shown in the following embodiments, the support unit 220 can move relative to the fuselage 100 to drive the obstacle-crossing wheels 230 to move relative to the fuselage 100 to achieve position switching. For example, the support unit 220 can swing or move linearly relative to the fuselage 100.

[0280] For example, the first end of the support unit 220 is rotatably mounted on the bracket 270 or the fuselage 100, and the second end of the support unit 220 is connected to the obstacle-crossing wheel 230. The second driving device drives the first end to rotate, causing the second end to swing relative to the bracket 270 or the fuselage 100 to switch between any two positions: the storage position, the support position, and the avoidance position. The first end can be, for example, the rotating portion 2211 or the second support member 222 shown in the above embodiment, and the second end can be the support portion 2212 or the third support member 223 shown in the above embodiment.

[0281] When the obstacle-crossing wheel 230 is in the supporting position, if the distance between the second rotation center of the obstacle-crossing wheel 230 and the first rotation center of the drive wheel 210 is relatively close, in order to further shorten the length of the support unit 220 and reduce space usage, the connection point between the support unit 220 and the fuselage 100 can also be arranged close to the first rotation center of the drive wheel 210 along the forward direction of the fuselage 100. Based on this, the support unit 220 can be arranged in the middle of the fuselage 100. For example, the support unit 220 can be connected to a housing in the middle of the fuselage 100 or to a bracket 270. This effectively shortens the length of the support unit 220 and reduces space usage while ensuring that the drive wheel 210 drives the fuselage 100 to cross obstacles. At the same time, by being arranged on the bracket 270, it is also possible to avoid the need for additional structural components on the fuselage 100 for connecting the support unit 220, thereby reducing structural complexity.

[0282] The bracket 270 includes a side wall extending in the height direction of the fuselage 100. The drive wheel axle of the drive wheel 210 is located on the side wall of the bracket 270, and the drive wheel 210 can rotate around the drive wheel axle. The support unit 220 can also be located on the side wall of the bracket 270. When in the supporting position, the support unit 220 needs to protrude from the chassis 1001 to abut against the cleaning surface. If the support unit 220 is located on the top wall of the bracket 270, it is more difficult for the support unit 220 to extend downward. Being located on the side wall of the bracket 270 can further extend the support unit 220 toward the cleaning surface; and the axle of the drive wheel 210 can be conveniently used to drive the obstacle-crossing wheel 230 to rotate.

[0283] The support unit 220 shown can be disposed between the bracket 270 and the fuselage 100. For example, the housing includes a side shell extending in the height direction of the fuselage 100, and the bracket 270 is disposed within the accommodating cavity of the fuselage 100, adjacent to the side shell. The support unit 220 can be disposed between the side wall of the bracket 270 and the side shell, which makes assembly and maintenance of the support unit 220 more convenient and effectively utilizes the side shell of the fuselage 100. When the obstacle clearance wheel 230 switches positions, the bracket 270 can be locked and unlocked. Specifically, as shown in the following embodiment, the locking and unlocking structure is simplified.

[0284] The bracket 270 has an outer wall surface away from the driving wheel 210 and extending along the height direction of the fuselage 100 . The support unit 220 is disposed on the outer wall surface of the bracket 270 to prevent the support unit 220 from interfering with the operation of the driving wheel 210 .

[0285] The traveling assembly also includes a first drive device, a second drive device and a third drive device, wherein the first drive device drives the obstacle-crossing wheel 230 to rotate, the third drive device drives the driving wheel 210 to rotate, and the second drive device drives the support unit 220 to move relative to the bracket 270, so as to at least enable the second end of the support unit 220 to move relative to the bracket 270, thereby driving the obstacle-crossing wheel 230 to switch between any two positions of the support position, the storage position and the avoidance position. As shown in the above embodiment, the first drive device and the third drive device can be the same drive device, which realizes the rotation drive of the driving wheel 210 and the obstacle-crossing wheel 230 respectively through different transmission mechanisms. The relevant structural descriptions of each drive device and transmission device can refer to the above embodiment and will not be repeated here.

[0286] The obstacle-overcoming wheels 230 rotate synchronously with the drive wheels 210, as shown in the above embodiment. By controlling the obstacle-overcoming wheels 230 to rotate synchronously with the drive wheels 210, there is no need to switch between the rotation and stop of the obstacle-overcoming wheels 230 and the drive wheels 210 during obstacle overcoming, reducing control complexity. Furthermore, the corresponding driving forces of the obstacle-overcoming wheels 230 and the drive wheels 210 can be utilized promptly to advance and overcome obstacles, reducing obstacles during obstacle overcoming.

[0287] Of course, the obstacle-crossing wheels 230 can also rotate only when in the support position and stop rotating in other positions. The drive wheels 210 can continue to rotate; alternatively, when the obstacle-crossing wheels 230 are in the support position, the drive wheels 210 are separated from the cleaning surface and stop rotating. When the obstacle-crossing wheels 230 abut an obstacle, or when the drive wheels 210 abut an obstacle, the drive wheels 210 start rotating to drive the machine body 100 over the obstacle. This segmented control approach reduces energy consumption.

[0288] When obstacle clearance is required, the drive wheels 210 can stop rotating, causing the body 100 to stop moving. After the body 100 stops moving, the support unit 220 moves relative to the body 100, driving the obstacle clearance wheels 230 to switch from the stowed position to the support position. After switching to the support position, the obstacle clearance wheels 230 drive the body 100 to move across the cleaning surface. Switching from the stowed position to the obstacle clearance position while the body 100 is stopped ensures the stability of the raised front end of the body 100. At the same time, the raised front end of the body 100 may prevent the effective cleaning of the path driven by the obstacle clearance wheels 230. If the body 100 is very close to an obstacle, the body 100 can be controlled to stop and then the front end of the body 100 can be controlled to lift, thereby further cleaning areas that were missed during the obstacle clearance process.

[0289] The obstacle crossing wheel 230 has a supporting position. When in the supporting position, the obstacle crossing wheel 230 abuts against the cleaning surface and supports the front end of the fuselage 100 to lift up, and the fuselage 100 moves on the cleaning surface driven by the obstacle crossing wheel 230 until the driving wheel 210 abuts against the obstacle to be crossed, so that the fuselage 100 crosses the obstacle driven by the driving wheel 210, wherein, in the process of the fuselage 100 moving on the cleaning surface driven by the obstacle crossing wheel 230, the height of the chassis 1001 crossing the obstacle is greater than or equal to the height of the obstacle; when a universal wheel is provided at the front end of the fuselage 100, the height of the chassis 1001 crossing the obstacle and the height of the universal wheel are greater than or equal to the height of the obstacle.

[0290] It should be noted that when the obstacle-crossing wheels 230 are in the support position, the support unit 220 is also in the support position. Therefore, in the embodiments of this specification, the support position can correspond to the obstacle-crossing wheels 230, the support unit 220, or the auxiliary obstacle-crossing mechanism. Similarly, in the embodiments of this specification, the stowed position and the avoidance position can correspond to the obstacle-crossing wheels 230 or the support unit 220.

[0291] The height to which the obstacle crossing wheel 230 lifts the front end of the fuselage 100 is used as the obstacle crossing height. The obstacle crossing height can be set with any point on the chassis 1001 at the front end of the fuselage 100 as a reference point, and is the distance between the reference point and the cleaning surface in the height direction of the fuselage 100. The height to which the front end of the fuselage 100 is lifted needs to satisfy the requirement that, after the front end of the fuselage 100 is lifted, the height of the chassis 1001 that passes over the obstacle during the process of the fuselage 100 being driven by the obstacle crossing wheel 230 is greater than or equal to the height of the obstacle, so as to avoid interference between the chassis 1001 of the fuselage 100 and the obstacle before the driving wheel 210 abuts against the obstacle to drive the fuselage 100 over the obstacle, thereby affecting the forward movement of the fuselage 100 or damaging the chassis 1001.

[0292] The obstacle clearance height can be fixed or determined based on the height of the obstacle to be cleared. For example, the length of the support unit 220 protruding from the chassis 1001 can be configured to raise the front end of the fuselage 100 to the obstacle clearance height, and / or the support point positions of the obstacle clearance wheels 230 can be configured to raise the front end of the fuselage 100 to the obstacle clearance height. If the support unit 220 in the above embodiment is a swinging structure, the front end of the fuselage 100 can be raised to the obstacle clearance height by adjusting the swing angle of the support unit 220, controlling the length of the support unit 220 protruding from the chassis 1001, and controlling the support point positions of the obstacle clearance wheels 230.

[0293] When universal wheels are provided at the front end of the fuselage 100, the height to which the fuselage 100 is lifted when navigating obstacles also needs to be considered, considering the universal wheels protruding from the chassis 1001, to prevent interference between the universal wheels and the obstacle, which could prevent the fuselage 100 from moving forward. Therefore, when the auxiliary obstacle-climbing mechanism is in the support position, the front end of the fuselage 100 can be raised relative to the rear end, so that the height of the chassis 1001 at the location of the universal wheels is higher than the height of the chassis 1001 at the location of the drive wheels 210. This ensures that when the universal wheels reach the obstacle, they are higher than the upper surface of the obstacle, preventing interference with the obstacle and hindering the forward movement of the fuselage 100.

[0294] A buffer layer is provided on the surface of the chassis 1001 of the fuselage 100 facing the cleaning surface to cushion the contact friction between the chassis 1001 and the obstacle when the obstacle-crossing wheels 230 in the supporting position drive the fuselage 100 to move. The buffer layer can be made of a flexible material. In actual scenarios, the upper surface of the obstacle may not be flat and may be uneven, or the front end height of the fuselage 100 may be insufficient due to measurement errors, resulting in the chassis 1001 of the fuselage 100 being scraped against the upper surface of the obstacle being crossed by the obstacle-crossing wheels 230 during the process, thereby damaging the chassis 1001 of the fuselage 100. By providing a buffer layer, the buffer layer can be used to cushion the above-mentioned scrapes, reducing the probability of damage to the chassis 1001.

[0295] The first rotation center of the obstacle-crossing wheel 230 is located forward of the second rotation center of the drive wheel 210, causing the front end of the fuselage 100 to be raised relative to the rear end. When the front end is raised higher, the rear end abuts the cleaning surface. However, the rear end of the fuselage 100 is typically provided with a wet cleaning member, which causes water to accumulate on the cleaning surface when the wet cleaning member abuts the cleaning surface. Furthermore, the abutment of the wet cleaning member and the rear housing against the cleaning surface can also cause wear on the wet cleaning member and the rear housing. Therefore, a tail wheel 500 can be provided at the rear end of the fuselage 100. The tail wheel 500 is disengaged from the cleaning surface when the obstacle-crossing wheel 230 is in the stowed position and abuts the cleaning surface when the obstacle-crossing wheel 230 is in the support position. With this arrangement, the height of the tail wheel 500 protruding from the chassis 1001 is relatively small, which can prevent the tail wheel 500 from interfering with obstacle crossing and normal movement. At the same time, when the obstacle crossing wheel 230 drives the fuselage 100 to move, it can also reduce water stains accumulated on the cleaning surface by the wet cleaning parts, and reduce the wear of the wet cleaning parts and the rear shell.

[0296] When the obstacle crossing wheel 230 is in the supporting position, it can be at the rear end of the fuselage 100, and the front end of the fuselage 100 can be lifted by shortening the distance between the rear end of the fuselage 100 and the cleaning surface. However, due to the small distance between the chassis 1001 and the cleaning surface, using this method, the height to which the front end of the fuselage 100 can be lifted is limited, and the height of the obstacle that can be crossed is also limited.

[0297] Alternatively, the obstacle-crossing wheels 230 are positioned at the front of the fuselage 100 when in the supported position, increasing the ground clearance of the chassis 1001 at the front of the fuselage 100. Compared to the obstacle-crossing wheels 230 being positioned at the rear of the fuselage 100 when in the supported position, the obstacle-crossing wheels 230 positioned at the front of the fuselage 100 significantly increase the distance between the front of the fuselage 100 and the cleaning surface, allowing the vehicle to overcome higher obstacles. Accordingly, when the obstacle-crossing wheels 230 are in the supported position, their first rotational center is located ahead of the second rotational center of the drive wheels 210.

[0298] As can be seen from the foregoing, in order to increase obstacle clearance while reducing space requirements, the obstacle wheels 230 are relatively small. When the obstacle wheels 230 are used to propel the fuselage 100 toward an obstacle, the obstacle wheels 230 typically abut the lower portion of the obstacle, making it difficult to use the obstacle wheels 230 to climb over the obstacle and necessitating the use of the drive wheels 210. Under this structural design, if the obstacle wheels 230 are relatively far from the drive wheels 210 when in the support position, when the obstacle wheels 230 abut the obstacle, even if the obstacle wheels 230 are controlled to avoid interference with the obstacle during evasion, after avoiding the obstacle wheels 230, the large distance between the drive wheels 210 and the obstacle prevents the drive wheels 210 from abutting the upper edge of the obstacle, making it difficult to rely on the drive wheels 210 to climb over the obstacle and achieve obstacle clearance.

[0299] Accordingly, the obstacle-crossing wheel 230 can be positioned in the middle of the fuselage 100 when in the support position. In some embodiments, when the obstacle-crossing wheel 230 is in the support position, along the direction of travel of the fuselage 100, the obstacle-crossing wheel 230 has a first, forwardmost end, and the drive wheel 210 has a second, forwardmost end, with the first forwardmost end located behind the second, forwardmost end. Furthermore, the first rotation center of the obstacle-crossing wheel 230 is located forward of the second rotation center of the drive wheel 210, ensuring that the drive wheel 210 can contact obstacles and drive the fuselage 100 over them. This approach can both increase the height of the fuselage 100 and reduce the interference of the obstacle-crossing wheel 230 with the drive wheel 210, thereby driving the fuselage 100 over obstacles.

[0300] The area where the drive wheel 210 contacts the upper edge of an obstacle when the drive wheel 210 is capable of driving the fuselage 100 over an obstacle can be described as the obstacle-crossing contact area of the drive wheel 210. It should be noted that this obstacle-crossing contact area is not a fixed area on the surface of the drive wheel 210, but rather the area where the drive wheel 210 contacts the upper edge of the obstacle when the drive wheel 210 is capable of climbing over an obstacle. In actual operation scenarios, the area of the wheel surface where the drive wheel 210 contacts the upper edge of the obstacle is too close to the front of the drive wheel 210, making it prone to slipping, making it difficult for the drive wheel 210 to drive the fuselage 100 over the obstacle. Furthermore, if it is possible to predetermine the position of the obstacle-crossing contact area of the driving wheel 210 relative to the rotation center of the driving wheel 210 when the driving wheel 210 can drive the fuselage 100 to climb over an obstacle, then based on the relative position of the obstacle-crossing contact area, the distance of the first rotation direction of the obstacle-crossing wheel 230 relative to the first rotation center of the driving wheel 210 when the obstacle-crossing wheel 230 is in the supporting position is set, so that when the obstacle-crossing wheel 230 abuts against an obstacle, the obstacle-crossing contact area of the driving wheel 210 abuts against the upper edge of the obstacle, driving the fuselage 100 to overcome the obstacle; or when the obstacle-crossing wheel 230 moves from the supporting position to the avoiding position, the obstacle-crossing contact area of the driving wheel 210 abuts against the upper edge of the obstacle, driving the fuselage 100 to overcome the obstacle.

[0301] The front end of the fuselage 100, facing the cleaning surface, is equipped with a universal wheel. When the obstacle-crossing wheel 230 is in the supporting position, the projection of the second rotation center of the driving wheel 210 onto the fuselage 100 in a direction perpendicular to the cleaning surface serves as the second reference point, and the projection of the first rotation center of the obstacle-crossing wheel 230 in the supporting position onto the fuselage 100 serves as the first reference point. The center of gravity of the fuselage 100 can be set at the first reference point, the second reference point, or an area between the first and second reference points. By setting the center of gravity of the fuselage 100 at these positions, the center of gravity of the fuselage 100 is located between the driving wheel 210 and the universal wheel during travel, thereby ensuring the stability of the fuselage 100. When the universal wheel is released from the cleaning surface, the front end of the fuselage 100 is lifted, and the tail wheel 500 at the rear end of the fuselage 100 contacts the cleaning surface. With the center of gravity of the fuselage 100 at this position, the fuselage 100 can move stably, driven by the obstacle-crossing wheel 230. And because the center of gravity is not on the rear side of the driving wheel 210, after the driving wheel 210 climbs over the upper edge of the obstacle, the front end of the fuselage 100 can also fall in time, driving the rear end of the fuselage 100 to rise, further assisting the driving wheel 210 to complete the obstacle crossing, and reducing the difficulty of the driving wheel 210 climbing over the obstacle to drive the fuselage 100 to cross the obstacle.

[0302] When the cleaning robot is in the traveling state, the length of the support unit 220 protruding from the chassis 1001 and / or the position of the support point of the obstacle-crossing wheels 230 differ from the support position in the obstacle-crossing state to prevent the front end of the body 100 from being lifted during the traveling state. Accordingly, the position of the support unit 220 and obstacle-crossing wheels 230 in the traveling state can be designated as the stowed position. Accordingly, in the stowed position, the obstacle-crossing wheels 230 remove their support for the front end of the body 100, restoring the ground clearance of the chassis 1001 to the same height as in the traveling state. As shown in the above embodiment, in the traveling state, the obstacle-crossing wheels 230 may also contact the cleaning surface; when in contact with the cleaning surface, they may or may not generate a supporting force on the body 100. Accordingly, in the stowed position, the obstacle-crossing wheels 230 may remain in place on the cleaning surface and may or may not generate a supporting force on the body 100. Alternatively, in the moving state, the obstacle-crossing wheels 230 are separated from the cleaning surface, and the body 100 moves forward driven by the driving wheels 210 .

[0303] When the obstacle overcoming wheel 230 is in the support position, its second rotation center is ahead of the first rotation center of the drive wheel 210, and the distance between them is relatively close. This can cause the obstacle overcoming wheel 230 to abut the lower portion of the obstacle before the drive wheel 210, leaving a slight gap between the drive wheel 210 and the obstacle, preventing direct contact. Alternatively, when the drive wheel 210 abuts the obstacle, the obstacle overcoming wheel 230 abuts the obstacle or is very close to the obstacle. This can also interfere with the obstacle when the drive wheel 210 drives the fuselage 100 over the obstacle. Therefore, when the obstacle overcoming wheel 230 is in the support position, it may interfere with the obstacle overcoming of the drive wheel. Accordingly, when the drive wheel or obstacle overcoming wheel 230 abuts the obstacle, the support unit 220 and the obstacle overcoming wheel 230 can be driven to avoid the obstacle, thereby switching to the avoidance position, thereby minimizing interference between the obstacle overcoming wheel 230 and the support unit 220 and the obstacle overcoming of the obstacle. The avoidance position of the support unit 220 and the obstacle-crossing wheel 230 may coincide with the storage position, or may be a separately set position.

[0304] Correspondingly, the obstacle overcoming wheel 230 also has an avoidance position. When the obstacle overcoming wheel 230 in the supporting position abuts against the obstacle to be crossed, the supporting unit can move relative to the fuselage, driving the obstacle overcoming wheel 230 to switch from the supporting position to the avoidance position, so that the fuselage can cross the obstacle under the drive of the driving wheel.

[0305] In the forward direction of the fuselage 100, the obstacle-crossing wheel 230 has a clearance position behind the support position. When the driving wheels drive the fuselage 100 to cross an obstacle, the obstacle-crossing wheel 230 contacts the obstacle, thereby blocking the forward movement of the fuselage 100. By retracting the obstacle-crossing wheel 230 to the rear, interference between the obstacle-crossing wheel 230 and the obstacle is avoided, ensuring smooth obstacle crossing for the fuselage 100. Of course, in the height direction of the fuselage 100, the clearance position may also be located above the support position. When the obstacle-crossing wheel 230 contacts the obstacle, the obstacle-crossing wheel 230 may be retracted upward into the accommodation cavity of the fuselage 100, thus avoiding interference between the obstacle-crossing wheel 230 and the obstacle, ensuring smooth obstacle crossing for the fuselage 100.

[0306] As shown in the above embodiment, the motor can be used to drive the support unit 220 to move, thereby driving the obstacle-crossing wheel 230 to move, thereby causing the support unit 220 and the obstacle-crossing wheel 230 to switch to the avoidance position. Figure 5 The support unit 220 structure shown is such that the third support member 223 can rotate relative to the second support member 222. The second support member 222 is provided with a notch to accommodate the third support member 223. When the obstacle-crossing wheel 230 is in the supporting position, the notch is located at the rear side of the third support member 223. Under this structure, it is also not conducive to the motor driving the second support member 222 to rotate. When the driving wheel drives the fuselage 100 to cross an obstacle, the obstacle generates a backward squeezing force on the third support member 223. This squeezing force overcomes the elastic force of the first elastic member connected to the third support member 223, causing the third support member 223 to move into the notch, thereby avoiding interference between the support unit 220 and the obstacle-crossing wheel 230 and the obstacle when crossing an obstacle. Of course, in the case of Figure 5 Under the support unit 220 structure shown, after the driving wheel and / or obstacle-crossing wheel 230 abut against the obstacle, the motor can also be used to drive the second support member 222 to rotate, driving the third support member 223 and the obstacle-crossing wheel 230 to rotate backward. At the same time, the gap in the second support member 222 can be used to further reduce the probability of interference between the third support member 223 and the obstacle-crossing wheel 230.

[0307] In some embodiments, when the support unit 220 swings relative to the fuselage 100 to switch between various positions, along the forward direction of the fuselage 100, the first rotation center of the obstacle overcoming wheel 230 is closer to the front side of the fuselage 100 when in the storage position than when in the support position, and the first rotation center of the obstacle overcoming wheel 230 is closer to the rear side of the fuselage 100 when in the avoidance position than when in the support position.

[0308] When it is determined that the obstacle needs to be crossed with the help of the obstacle-crossing wheels 230 , the second driving device drives the support unit 220 to swing, so that the obstacle-crossing wheels 230 swing from the storage position toward the support position.

[0309] When the obstacle-crossing wheels 230 are in the supporting position, the second driving device drives the support unit 220 to swing, causing the obstacle-crossing wheels 230 to swing from the supporting position toward the avoiding position; and / or the support unit 220 swings under the pressure of the obstacle, causing the obstacle-crossing wheels 230 to swing from the supporting position toward the avoiding position. The pressure of the obstacle applied to the support unit 220 can be the pressure exerted by the obstacle on the obstacle-crossing wheels 230 or the pressure exerted by the obstacle on the support unit 220.

[0310] When it is determined that the position needs to be switched from the avoidance position to the storage position, the second driving device drives the support unit 220 to swing, so that the obstacle-crossing wheel 230 swings from the avoidance position toward the storage position.

[0311] The switching of the obstacle-crossing wheel 230 among the three positions can be referred to the above embodiment and will not be described in detail here.

[0312] The swing axis of the support unit 220 is parallel to the rotation axis of the drive wheel, allowing the support unit 220 to swing within a plane parallel to the side of the drive wheel. When the support unit 220 is positioned on the outer wall of the bracket 270, and the outer wall is located between the drive wheel and the housing, this prevents interference between the support unit 220 and the obstacle-crossing wheel 230 and the side housing or drive wheel during swinging when the support unit 220 is in the stowed position, the supporting position, and the avoidance position, thereby preventing the obstacle-crossing wheel 230 from interfering with the side housing and the drive wheel. As shown in the above embodiment, the swing axis can coincide with the rotation axis of the drive wheel.

[0313] Furthermore, the rotation axis of the obstacle-crossing wheel 230 can be parallel to the rotation axis of the drive wheel. This ensures that the control logic used when the obstacle-crossing wheel 230 drives the fuselage 100 is the same as when the drive wheel drives the fuselage 100, ensuring control consistency. Furthermore, a single drive device can be used to drive both the rotation of the obstacle-crossing wheel 230 and the rotation of the drive wheel. For detailed implementation, please refer to the above embodiment and will not be elaborated on here.

[0314] See also Figure 2 、 5As shown in Figures 6 and 8(a)-8(e), the support unit 220 can switch between a first angle, a second angle, and a third angle relative to the bracket 270, and the first angle, the second angle, and the third angle correspond to the storage position, the support position, and the avoidance position, respectively. The support unit 22022 swings from the storage position to the support position, that is, the support unit 220 swings from the first angle to the second angle, and the obstacle crossing wheel 230 swings from being off the ground to being in contact with the ground. As the support unit 220 continues to swing, the obstacle crossing wheel 230 begins to support the front end of the fuselage 100 to lift up, the tail wheel 500 contacts the ground, and the drive wheel 210 is off the ground until the support unit 220 swings to the second angle corresponding to the support position.

[0315] In the support position, because the tail wheel 500 is in contact with the ground, the line connecting the fulcrum between the obstacle-crossing wheel 230 and the ground and the center of gravity of the cleaning robot is perpendicular to the ground. Alternatively, the projection of the fulcrum between the obstacle-crossing wheel 230 and the ground onto the body 100 is located forward of the center of gravity. This positional relationship between the support position and the center of gravity of the body 100 ensures that the body 100 can move under the influence of the obstacle-crossing wheel 230.

[0316] Then, the obstacle-crossing wheels 230 in the supporting position drive the fuselage 100 to move forward until it reaches the Figure 2 If the obstacle overcoming wheels 230 reach the obstacle 30 before the drive wheels 210, the obstacle overcoming wheels 230 can be controlled to swing toward the avoidance position, so that the drive wheels 210 abut the obstacle 30. The support position can be pre-designed and optimized to ensure that even if the obstacle overcoming wheels 230 abut the obstacle 30 first, there is only a slight gap between the drive wheels 210 and the obstacle 30. This ensures that after the obstacle overcoming wheels 230 avoid the obstacle, the drive wheels 210 can abut the obstacle 30 and drive the fuselage 100 over the obstacle 30.

[0317] When the obstacle crossing wheel 230 abuts against the obstacle 30, the support unit 220 can be driven to continue to swing backward to a third angle corresponding to the avoidance position. Because the center of gravity is located at the rotation center of the driving wheel or in front of the rotation center, as the driving wheel moves to the upper surface of the obstacle, the front end of the fuselage 100 falls under the action of gravitational potential energy, and at the same time, the rear end of the fuselage 100 is lifted up, so that the fuselage 100 as a whole can cross the obstacle.

[0318] Along the forward direction of the fuselage 100, if there is a height difference between the cleaning surface located on the rear side of the obstacle and the upper surface of the obstacle; after the driving wheel passes over the obstacle, if the rear end of the fuselage 100 abuts against the upper surface of the obstacle and the driving wheel is separated from the cleaning surface on the rear side of the obstacle, the support unit 220 can move relative to the fuselage 100 to drive the obstacle crossing wheel 230 to switch from the avoidance position to a position where the obstacle crossing wheel 230 has a specified abutment force with the cleaning surface, and the specified abutment force enables the obstacle crossing wheel 230 to drive the fuselage 100 to move until the rear end of the fuselage 100 is separated from the upper surface of the obstacle, so as to prevent the fuselage 100 from getting stuck on the obstacle and affecting obstacle crossing. For example, the obstacle crossing wheel 230 can be switched to the supporting position, so that the fuselage 100 can be driven forward by the obstacle crossing wheel 230 at the supporting position until the rear end of the fuselage 100 leaves the upper surface of the obstacle, and then the obstacle crossing wheel 230 can be controlled to switch to the storage position to avoid manual intervention and improve the user experience.

[0319] For example, with respect to the structure in which the support unit 220 swings relative to the fuselage 100, if after the driving wheel passes over the obstacle, if the rear end of the fuselage 100 abuts against the upper surface of the obstacle and the driving wheel is detached from the cleaning surface behind the obstacle, the support unit 220 can be driven to swing from the avoidance position to the storage position, so that when the obstacle-crossing wheel 230 abuts against the cleaning surface during the swinging process, the obstacle-crossing wheel 230 drives the fuselage 100 to move until the rear end of the fuselage 100 is detached from the upper surface of the obstacle, that is, when the obstacle-crossing wheel 230 is switched to the storage position, the rotation of the obstacle-crossing wheel 230 can be used to drive the fuselage 100 forward, thereby reducing the probability of the fuselage 100 being stuck on the obstacle while simplifying the control logic. If the fuselage 100 is still stuck on the obstacle after the obstacle wheels 230 are switched to the storage position, the obstacle wheels 230 can be further switched to the support position, so that the obstacle wheels 230 at the support position can be used to drive the fuselage 100 forward until the rear end of the fuselage 100 is free from the upper surface of the obstacle, and then the obstacle wheels 230 can be controlled to switch to the storage position to avoid manual intervention and improve user experience.

[0320] In some embodiments, when the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the support unit 220 are located on the side of the chassis 1001 facing the cleaning surface, and the first height of the obstacle crossing wheel 230 and / or the support unit 220 is greater than or equal to the second height of the chassis 1001; the first height refers to the height between the lowest point of the obstacle crossing wheel 230 and / or the support unit 220 and the cleaning surface, and the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; or, when the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the support unit 220 are completely stored on the side of the chassis 1001 away from the cleaning surface, and a first opening is provided on the chassis 1001, so that the obstacle crossing wheel 230 and / or the support unit 220 can be switched from the storage position to the support position through the opening.

[0321] When in motion, obstacles that the body 100 can pass through are typically lower than the height of the chassis 1001. When the obstacle-crossing wheels 230 are in the stowed position, their lowest point is located above the lowest point of the chassis 1001, or above the chassis 1001, and are completely stowed in the storage cavity. This further reduces the probability of obstacles getting stuck between the obstacle-crossing wheels 230 and the drive wheels, improving the smoothness of the machine's operation. In the moving state, the environment is relatively complex. When the cleaning robot passes over an uneven cleaning surface, the support unit 220 protrudes from the chassis 1001, making it prone to collision with the cleaning surface, thereby affecting the machine's passability and damaging the support unit 220. The lowest point of the support unit 220 is located above the lowest point of the chassis 1001, or is completely stowed in the storage cavity of the body 100, further reducing the occurrence of the aforementioned situation and ensuring smooth movement of the body 100.

[0322] When the bracket 270 can float relative to the fuselage 100, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the support unit 220 are located on the side of the chassis 1001 facing the cleaning surface, and the first height of the obstacle crossing wheel 230 and / or the support unit 220 is greater than or equal to the second height of the chassis 1001; the first height refers to the height between the lowest point of the obstacle crossing wheel 230 and / or the support unit 220 and the cleaning surface. degrees, the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; or, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the support unit 220 are all stored on the side of the chassis 1001 away from the cleaning surface, and a first opening is provided on the chassis 1001, so that the obstacle crossing wheel 230 and / or the support unit 220 can be switched from the storage position to the support position through the opening.

[0323] When the support unit 220 includes a second support member 222 and a third support member 223, when the obstacle overcoming wheel 230 is in the stowed position, along the height direction of the fuselage 100, the obstacle overcoming wheel 230 and / or the third support member 223 are located on the side of the chassis 1001 facing the cleaning surface, and a first height of the obstacle overcoming wheel 230 and / or the third support member 223 is greater than or equal to a second height of the chassis 1001; the first height refers to the height between the lowest point of the obstacle overcoming wheel 230 and / or the third support member 223 and the cleaning surface, and the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; alternatively, when the obstacle overcoming wheel 230 is in the stowed position, along the height direction of the fuselage 100, the obstacle overcoming wheel 230 and / or the third support member 223 are completely stowed on the side of the chassis 1001 away from the cleaning surface, and a first opening is provided on the chassis 1001 so that the obstacle overcoming wheel 230 and / or the third support member 223 can be switched from the stowed position to the supporting position through the opening.

[0324] When the bracket 270 can float relative to the fuselage 100, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the third support member 223 are located on the side of the chassis 1001 facing the cleaning surface, and the first height of the obstacle crossing wheel 230 and / or the third support member 223 is greater than or equal to the second height of the chassis 1001; the first height refers to the height between the lowest point of the obstacle crossing wheel 230 and / or the third support member 223 and the cleaning surface. height, the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; or, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the third support member 223 are all stored on the side of the chassis 1001 away from the cleaning surface, and a first opening is provided on the chassis 1001, so that the obstacle crossing wheel 230 and / or the third support member 223 can be switched from the storage position to the support position through the opening.

[0325] When the obstacle overcoming wheel 230 is in the avoidance position, along the height direction of the fuselage 100, the obstacle overcoming wheel 230 and / or the support unit 220 are located on the side of the chassis 1001 facing the cleaning surface, and the third height of the obstacle overcoming wheel 230 and / or the support unit 220 is greater than or equal to the second height of the chassis 1001; the third height refers to the height between the lowest point of the obstacle overcoming wheel 230 and / or the support unit 220 and the cleaning surface, and the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; when the obstacle overcoming wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle overcoming wheel 230 and / or the support unit 220 are completely stored on the side of the chassis 1001 away from the cleaning surface, and a second opening is provided on the chassis 1001, so that the obstacle overcoming wheel 230 and / or the support unit 220 can switch from the support position to the avoidance position through the opening.

[0326] When the bracket 270 can float relative to the fuselage 100, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the avoidance position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the support unit 220 are located on the side of the chassis 1001 facing the cleaning surface, and the third height of the obstacle crossing wheel 230 and / or the support unit 220 is greater than or equal to the second height of the chassis 1001; the third height refers to the height between the lowest point of the obstacle crossing wheel 230 and / or the support unit 220 and the cleaning surface. degrees, the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; or, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the support unit 220 are all stored on the side of the chassis 1001 away from the cleaning surface, and a second opening is provided on the chassis 1001, so that the obstacle crossing wheel 230 and / or the support unit 220 can switch from the supporting position to the avoidance position through the opening.

[0327] When the support unit 220 includes a second support member 222 and a third support member 223, when the obstacle overcoming wheel 230 is in the avoidance position, along the height direction of the fuselage 100, the obstacle overcoming wheel 230 and / or the third support member 223 are located on the side of the chassis 1001 facing the cleaning surface, and the third height of the obstacle overcoming wheel 230 and / or the third support member 223 is greater than or equal to the second height of the chassis 1001; the third height refers to the height between the lowest point of the obstacle overcoming wheel 230 and / or the third support member 223 and the cleaning surface, and the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; when the obstacle overcoming wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle overcoming wheel 230 and / or the third support member 223 are completely stored on the side of the chassis 1001 away from the cleaning surface, and a second opening is provided on the chassis 1001, so that the obstacle overcoming wheel 230 and / or the third support member 223 can be switched from the support position to the avoidance position through the opening.

[0328] When the bracket 270 can float relative to the fuselage 100, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the avoidance position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the third support member 223 are located on the side of the chassis 1001 facing the cleaning surface, and the third height of the obstacle crossing wheel 230 and / or the third support member 223 is greater than or equal to the second height of the chassis 1001; the third height refers to the height between the lowest point of the obstacle crossing wheel 230 and / or the third support member 223 and the cleaning surface. height, the second height is the height between the lowest point of the chassis 1001 and the cleaning surface; or, when the bracket 270 is in the first position and the obstacle crossing wheel 230 is in the storage position, along the height direction of the fuselage 100, the obstacle crossing wheel 230 and / or the third support member 223 are all stored on the side of the chassis 1001 away from the cleaning surface, and a second opening is provided on the chassis 1001, so that the obstacle crossing wheel 230 and / or the third support member 223 can be switched from the supporting position to the avoidance position through the opening.

[0329] Of course, when the bracket 270 floats relative to the fuselage 100, when the bracket 270 is in the first position, the lowest point of the obstacle crossing wheel 230 and / or the support unit 220 / the third support member 223 is lower than the lowest point of the chassis 1001, or protrudes from the side of the chassis 1001 away from the cleaning surface; when the bracket 270 is in the second position, the lowest point of the obstacle crossing wheel 230 and / or the support unit 220 / the third support member 223 is higher than the lowest point of the chassis 1001, or is completely stored on the side of the chassis 1001 away from the cleaning surface.

[0330] like Figure 3 、 Figure 5As shown in Figure 8(e), the obstacle-crossing wheels 230 are in the stowed position. When the travel assembly supports the machine body 100 on a cleaning surface, the obstacle-crossing wheels 230 in the stowed position can be disengaged from the cleaning surface, providing no support for the machine body 100. The machine body 100 moves on the cleaning surface driven by the drive wheels. Regardless of whether the obstacle-crossing wheels 230 and the drive wheels rotate simultaneously, a gap typically exists between the obstacle-crossing wheels 230 and the drive wheels to prevent interference with the rotation of one. During travel, environmental characteristics are complex and variable. If the obstacle-crossing wheels 230 come into contact with the cleaning surface, the drive wheels will also come into contact with the cleaning surface, making it easy for small obstacles, such as wiring harnesses, to become stuck between them, increasing the probability of operational anomalies. Therefore, when the support force of the obstacle-crossing wheels 230 is not required to lift the machine body 100 over obstacles, setting the aforementioned heights of the obstacle-crossing wheels 230 and the support unit 220 can reduce the probability of operational anomalies.

[0331] Furthermore, the support unit 220 is movably connected to the machine body 100 or the bracket 270 to ensure that the obstacle-crossing wheels 230 can switch between a support position, a stowed position, and an avoidance position. The support unit 220 and obstacle-crossing wheels 230 protrude from the chassis 1001. This can easily damage the connection between the support unit 220 and the machine body 100, or between the support unit 220 and the bracket 270, if the support unit 220 or obstacle-crossing wheels 230 collide with an obstacle or become entangled with a wiring harness, thereby affecting the machine's ability to cross obstacles. Setting the obstacle-crossing wheels 230 and support unit 220 at the aforementioned heights can further reduce the likelihood of such problems.

[0332] When the machine body 100 moves from a higher cleaning surface to a lower cleaning surface, if the second ends of the obstacle-crossing wheels 230 and support unit 220 protrude from the chassis 1001 in their stowed position, they may first interfere with the lower cleaning surface, causing the machine body 100 to become stuck on the step formed between the higher and lower cleaning surfaces, thus affecting the machine's movement. When the drive wheel reaches a recess, the bracket 270 floats downward from its second position. If the recess is deep, the bracket 270 floats downward to its first position. If the bracket 270 is in the first position, the second ends of the obstacle-crossing wheels 230 and support unit 220 protrude from the chassis 1001, potentially colliding with the cleaning surface and damaging them. By ensuring that the second ends of the obstacle-crossing wheels 230 and support unit 220 are fully contained within the accommodating cavity when the bracket 270 is in the first position, the likelihood of such interference is reduced, improving the machine body 100's ability to navigate smoothly.

[0333] Similarly, in the avoidance position, the support unit 220 and obstacle clearance wheel 230 can adopt the aforementioned height settings. If the bracket 270 is capable of floating up and down relative to the body 100, the obstacle clearance wheel 230 and support unit 220 can adopt the aforementioned height settings only when the bracket 270 is in the second position. Of course, the obstacle clearance wheel 230 and support unit 220 also adopt the aforementioned height settings when the bracket 270 is in the first position. In particular, when the obstacle clearance wheel 230 remains in the avoidance position and the cleaning robot is moving normally on the cleaning surface, adopting the aforementioned height settings for the obstacle clearance wheel 230 and support unit 220 can reduce the occurrence of abnormalities, improve the maneuverability of the body 100, and prevent damage to the obstacle clearance wheel 230 and the second end portion.

[0334] The support unit 220 can remain away from the cleaning surface during the movement relative to the body 100 to avoid interference between the support unit 220 and the cleaning surface, thereby preventing the position switching of the obstacle-crossing wheel 230 from being affected.

[0335] In some embodiments, the extreme position of the movement of the support unit 220 relative to the fuselage 100 can also be detected to prevent the support unit 220 from moving beyond the limit, causing the support unit 220 and the obstacle crossing wheel 230 to interfere with other components on the fuselage 100. For example, an in-place detection element can be set at the extreme position.

[0336] Furthermore, a position check can be performed to determine whether the obstacle-crossing wheels 230 have reached their support position, ensuring that the support position of the obstacle-crossing wheels 230 meets obstacle crossing requirements. For example, if the front end of the fuselage 100 is not lifted high enough, the chassis 1001 and / or universal wheels of the fuselage 100 may interfere with the obstacle, affecting the movement of the fuselage 100 and preventing the driving wheels from contacting the obstacle. Alternatively, although the driving wheels can contact the obstacle, the chassis 1001 of the fuselage 100 may rub against the obstacle while the obstacle-crossing wheels 230 are moving the fuselage 100, damaging the chassis 1001. Alternatively, when the driving wheels contact the obstacle, the contact position between the driving wheels and the obstacle is not appropriate, resulting in insufficient contact force to enable the driving wheels to drive the fuselage 100 over the obstacle. Alternatively, if the fuselage 100 is lifted too high, there may be a significant height difference between the driving wheels and the upper surface of the obstacle. After the obstacle-crossing wheels 230 avoid the obstacle, the driving wheels may strike the obstacle. Furthermore, this may prevent the driving wheels from properly contacting the obstacle, thus hindering obstacle crossing. Therefore, it is necessary to control the support position of the obstacle crossing wheel 230 to control the lifting height of the front end of the fuselage 100 to ensure that the driving wheel can drive the fuselage 100 to cross the obstacle without causing damage to the fuselage 100.

[0337] Fixed support positions can be preset, and position detection elements can be configured at corresponding positions to detect whether the support unit 220 has moved to the support position. The specific form of the position detection element is not particularly limited, as long as it can accurately identify the position of the obstacle overcoming wheel 230. In specific embodiments, the position detection element can be, for example, a photoelectric sensor, a Hall sensor, etc.

[0338] Alternatively, the controller may determine the support position based on the obstacle height information detected by the sensing element, such as by controlling the swing angle of the support unit 220 from the storage position to flexibly adjust the support position to which the support unit 220 swings. When controlling the swing angle of the support unit 220 from the storage position, a position detection element may also be incorporated to accurately determine the position of the support unit 220. For example, the sensor may be coupled with a code disk having a plurality of identified features arranged at intervals. The sensor may detect and count these identified features to achieve multi-position detection of the obstacle surmounting wheel 230.

[0339] Accordingly, in some embodiments, the cleaning robot further includes an in-position detection element (not shown) for detecting that the obstacle overcoming wheel 230 has swung to the support position; when the in-position detection element detects that the obstacle overcoming wheel 230 is in the support position, the support unit 220 stops moving relative to the body 100, so that the obstacle overcoming wheel 230 remains in the support position and can drive the body 100 to move. For example, the second driving structure can stop driving the support unit 220 to move relative to the body 100, or a limiting mechanism is provided on the body 100 to limit the movement of the support unit 220 when the support unit 220 moves to the support position, so that the obstacle overcoming wheel 230 remains in the support position.

[0340] The in-position detection element in this embodiment can detect and identify the relative position between the obstacle crossing wheel 230 and the fuselage 100, thereby ensuring the position accuracy of the obstacle crossing wheel 230 when in the supporting position, and ensuring that the driving wheel can drive the fuselage 100 to overcome obstacles without causing damage to the fuselage 100.

[0341] For an embodiment in which the support unit 220 is arranged on the bracket 270 and the second driving structure drives the support unit 220 to swing relative to the bracket 270, the cleaning robot may further include the following limiting structure, wherein the limiting structure includes a first pin and a first arcuate groove; one of the first pin and the first arcuate groove is arranged on the side wall of the support unit 220 facing the bracket 270, and the other is arranged on the side wall of the bracket 270 facing the support unit 220; wherein the first pin extends into the first arcuate groove, and the first arcuate groove extends along the swinging direction of the support unit 220, and the first pin can move along the extension direction of the first arcuate groove as the support unit 220 swings; the first arcuate groove has a first end face and a second end face in the extension direction, and the two end faces of the first arcuate groove are used to limit the maximum swing stroke of the obstacle overcoming wheel 230; wherein, when the first pin abuts against the first end face, the obstacle overcoming wheel 230 is located in the storage position; when the first pin abuts against the second end face, the obstacle overcoming wheel 230 is located in the avoidance position.

[0342] By utilizing the two end faces of the arc groove to limit the extreme positions of the avoidance position and the storage position, there is no need to separately set up a structure for detecting the extreme swing position of the support unit 220. When it is determined that the support unit 220 has swung to the extreme position, the support unit 220 can be abutted against the end face of the arc groove, and the second driving structure can stop driving based on the signal, so that the support unit 220 is maintained at the extreme position, reducing structural complexity and reducing costs.

[0343] Correspondingly, under the above-mentioned structure for limiting the extreme positions of the avoidance position and the storage position, an in-place detection element can be set only for the support position. When the in-place detection element detects that the obstacle crossing wheel 230 is in the support position, the second driving structure stops driving the support unit 220 to swing relative to the bracket 270, so that the obstacle crossing wheel 230 remains in the support position and can drive the fuselage 100 to move, thereby realizing accurate and flexible control of the support position.

[0344] See also Figures 29-31As shown, optionally, the first end of the support unit 220 is located between the housing of the body 100 and the bracket 270; one of the first pin 229 and the first arc-shaped groove 272 is provided on the side wall of the second support member 222 facing the bracket 270, and the other is provided on the side wall of the bracket 270 facing the second support member 222; wherein, the first pin 229 extends into the first arc-shaped groove 272, and the first arc-shaped groove 272 extends along the swing direction of the support unit 220, and the first pin 229 extends along the swing direction of the support unit 220. 29 can move along the extension direction of the first arc groove 272 as the second support member 222 rotates; the first arc groove 272 has a first end face and a second end face in the extension direction, and the two end faces of the first arc groove 272 are used to limit the maximum swing stroke of the obstacle overcoming wheel 230; wherein, when the first pin shaft 229 abuts against the first end face, the obstacle overcoming wheel 230 is located in the storage position; when the first pin shaft 229 abuts against the second end face, the obstacle overcoming wheel 230 is located in the avoidance position.

[0345] The bracket 270 is movably connected to the body 100, allowing the drive wheel 210 to float up and down relative to the body 100. This, combined with the elastic element disposed between the bracket 270 and the body 100, provides a shock-absorbing function for the drive wheel 210. However, the floating structure of the drive wheel 210 causes it to sway up and down under its own weight when the front end of the body 100 is raised, which can affect the cleaning robot's stability when navigating obstacles. To address this, the following embodiments further provide a locking mechanism to limit the displacement of the drive wheel 210 during obstacle navigation.

[0346] Optionally, the locking mechanism has a locked state and an unlocked state. In the locked state, the locking mechanism locks the bracket 270 on the fuselage 100, and the traveling assembly cannot float up and down relative to the fuselage 100; in the unlocked state, the traveling assembly can float up and down relative to the fuselage 100; when the obstacle crossing wheel 230 is in the supporting position, the locking mechanism is in the locked state; when the obstacle crossing wheel 230 is in the storage position, the locking mechanism is in the unlocked state.

[0347] Because the obstacle-crossing wheels 230 drive the body 100 to travel a short distance, the obstacle-crossing wheels 230 cannot float up and down, and will not significantly affect the movement of the body 100. Before the cleaning robot crosses an obstacle, the locking mechanism is adjusted to the locked state, and the driving wheels 210 cannot float up and down. When the obstacle-crossing wheels 230 drive the body 100 to move to the obstacle, the driving wheels 210 have already abutted the obstacle or there is only a small gap with the obstacle. After the obstacle-crossing wheels 230 avoid the obstacle, the driving wheels 210 will no longer shake significantly under the abutting force of the obstacle, thereby improving the stability of the cleaning robot when crossing obstacles.

[0348] Furthermore, the locking mechanism can be arranged to remain in a locked state during the process of the obstacle-crossing wheel 230 switching from the support position to the avoidance position. When the obstacle-crossing wheel 230 drives the body 100 to move to the obstacle, although the driving wheel 210 has already abutted the obstacle, the abutment force may be relatively small in the early stage. Alternatively, when the obstacle-crossing wheel 230 drives the body 100 to move to the obstacle, there is a small gap between the driving wheel 210 and the obstacle. If the obstacle-crossing wheel 230 leaves the support position, that is, the bracket 270 is unlocked, the driving wheel will still shake during the obstacle-crossing process, affecting the stability of the obstacle-crossing. Further controlling the locking mechanism to remain in a locked state during the process of the obstacle-crossing wheel 230 switching from the support position to the avoidance position can further improve the stability of the cleaning robot when crossing obstacles.

[0349] Of course, if the avoidance position is not set properly, when the support unit 220 swings to the avoidance position, the drive wheel is still climbing over the obstacle, which may still cause the body 100 to shake, affecting the stability of the obstacle crossing. Accordingly, when the obstacle crossing wheel 230 is in the avoidance position, the locking mechanism remains in the locked state, further improving the stability of the cleaning robot when crossing obstacles.

[0350] In the above embodiment, the locking mechanism can lock the bracket 270 at the second position, and can also lock the bracket 270 at other positions.

[0351] In some embodiments, the locking mechanism may be in an unlocked state when the obstacle-crossing wheel 230 is in the avoidance position.

[0352] If the locking mechanism of the obstacle-crossing wheels 230 remains locked when they are in the avoidance position, the drive wheels will remain locked after the vehicle 100 has traversed the obstacle. Therefore, the obstacle-crossing wheels 230 must be quickly switched to the stowed position to unlock them. This ensures that the vehicle 100 can be driven smoothly by the drive wheels while in motion. When the obstacle-crossing wheels 230 are in the avoidance position, the locking mechanism is unlocked. After the vehicle 100 has traversed an obstacle, even though the obstacle-crossing wheels 230 are in the avoidance position, the drive wheels can still drive the vehicle 100 smoothly while in motion. This eliminates the need to immediately switch the obstacle-crossing wheels 230 to the stowed position, further reducing control complexity.

[0353] Furthermore, when the obstacle-crossing wheel 230 is in the avoidance position, if the locking mechanism remains locked and locked in the second position, after the driving wheel passes over the obstacle, the rear end of the fuselage 100 may not have yet passed over the obstacle. As a result, when the driving wheel disengages from the obstacle, the rear end of the fuselage 100 abuts against the upper surface of the obstacle. In the case of a high obstacle, the driving wheel cannot abut against the clean surface behind the obstacle, unable to continue to drive the fuselage 100, causing the fuselage 100 to become stuck in this position, affecting the machine's ability to overcome obstacles. When the obstacle-crossing wheel 230 is in the avoidance position, the locking mechanism is unlocked. After the driving wheel passes over the obstacle, it floats downward, significantly increasing the probability of the driving wheel abutting against the clean surface, ensuring that the driving wheel can drive the fuselage 100 over the obstacle and improving the obstacle-crossing effect.

[0354] When the obstacle-crossing wheels 230 are in the avoidance position, if the bracket 270 and the body 100 are not locked, the cleaning robot can control the obstacle-crossing wheels 230 to remain in the avoidance position after completing the obstacle traversal, and the body 100 moves over the cleaning surface driven by the driving wheels. The cleaning robot can adjust the obstacle-crossing wheels 230 from the avoidance position to the storage position at any time as needed.

[0355] The support unit 220 is disposed between the bracket 270 and the fuselage 100. The first end of the support unit 220 is rotatably disposed on the bracket 270. The second end of the support unit 220 is connected to the obstacle-crossing wheel 230. The first end rotates relative to the bracket 270 to drive the second end to swing relative to the bracket 270. Figure 8(a)-8(e) As shown, optionally, the locking mechanism includes a second pin shaft 120 and a second arc-shaped groove 226 , the second arc-shaped groove 226 is provided on the side wall of the first end portion, the second pin shaft 120 is provided on the fuselage 100 , and the second pin shaft 120 extends into the second arc-shaped groove 226 .

[0356] Among them, the second arc groove 226 extends along the swinging direction of the support unit 220, and the second arc groove 226 includes a limiting groove section and a first notch section 227 provided on one end of the groove section, and the groove section and the first notch section 227 are connected; when the second pin shaft 120 moves along the extension direction of the groove section with the rotation of the first end portion, the second pin shaft 120 abuts against the top wall of the groove section along the height direction of the fuselage 100, so that the locking mechanism is in a locked state; when the obstacle crossing wheel 230 is in the storage position, the second pin shaft 120 can be disengaged from the second arc groove 226 through the first notch section 227, so that the bracket 270 can float up and down relative to the fuselage 100 between the first position and the second position, and the locking mechanism is in an unlocked state.

[0357] In this embodiment, the bracket 270 and the first end of the support unit 220 only rotate, and there is no relative movement structure along the height direction of the fuselage 100. A locking structure is set between the first end of the support unit 220 and the fuselage 100, and the pin shaft is fixed on the fuselage 100. Based on the swing direction of the support unit 220, an arc groove is configured to use the pin shaft and the top wall of the groove section to limit the position of the bracket 270 relative to the fuselage 100 along the height direction of the fuselage 100. By using a simple matching structure, the position of the bracket 270 relative to the fuselage 100 during the swinging of the support unit 220 is locked, which greatly reduces the complexity of the locking structure design and the complexity of the control, and greatly reduces the manufacturing cost.

[0358] For example, the first notch section 227 extends a certain length in the height direction of the fuselage 100, with the top opening of the first notch section 227 facing upward. In both the first and second positions, the second pin 120 is located within the first notch section 227, with the groove walls of the first notch section 227 connected to the groove walls of the groove section. If the bracket 270 is not in the desired locking position when the obstacle surmounting wheel 230 begins to swing from the stowed position, the groove walls of the first notch section 227 can apply a contact force to the second pin 120 as the support unit 220 swings, causing the second pin 120 to move downward and in the swing direction of the support unit 220, or upward and in the swing direction of the support unit 220 until the second pin 120 enters the groove section. Based on this solution, when the obstacle surmounting wheel 230 begins to swing from the stowed position and the bracket 270 is not in the desired locking position, the pin enters the groove section, locking the bracket 270.

[0359] In some embodiments, when the locking mechanism is in the locked state, the bracket 270 can be locked in the second position. When the obstacle crossing wheel 230 is in the storage position, in the second position, the second pin 120 is located within the first notch section 227. In the first position, in the height direction of the fuselage 100, the second pin 120 is outside the first notch section 227, thereby allowing the bracket 270 to float up and down relative to the fuselage. When the cleaning robot is on the cleaning surface, the bracket 270 is typically in the second position, at which point the second pin 120 is located within the first notch section 227. As the obstacle crossing wheel 230 rotates from the storage position to the support position, the second pin 120 can quickly enter the groove section, thereby locking the support position.

[0360] It should be understood that the specific form of the locking mechanism is not limited. For example, in other embodiments, the locking mechanism may be provided with an independent driving element. For example, an independently retractable latch is provided on the body 100, and a socket is provided on the bracket 270 to cooperate with the latch. The latch can be driven by the independent driving element to achieve automatic retraction and extension of the latch. The latch engages or disengages with the socket through the retraction and extension action, thereby achieving the locking and unlocking action of the locking mechanism. The engagement or disengagement of the latch with the socket can be controlled during the swinging process of the support unit 220 to achieve the locking and unlocking action of the locking mechanism.

[0361] See also Figure 8(a)-8(e) As shown, after the cleaning robot has crossed the obstacle, the obstacle-crossing wheel 230 is in the position shown in FIG8(a). At this time, the second pin 120 is still stuck in the second arc-shaped groove 226. Therefore, the driving wheel 210 is temporarily unable to float up and down, affecting the normal and stable movement of the machine. The obstacle-crossing wheel 230 needs to be quickly switched to the storage position. By unlocking the bracket 270 in the avoidance position, the machine can move directly after the obstacle is crossed and switch positions as needed to improve control flexibility. If the driving wheel crosses the obstacle and the rear end of the cleaning robot is still on the obstacle, it is possible that the driving wheel 210 cannot contact the ground. Therefore, driving the support unit 220 to the state shown in FIG8(e) in the avoidance position can ensure that the driving wheel 210 can smoothly contact the ground and ensure the obstacle crossing effect.

[0362] See also Figure 9-11 As shown, optionally, the other end of the second arc-shaped slot 226 is a second notch section 228. When the obstacle-crossing wheel 230 is in the avoidance position, the locking mechanism switches to the unlocked state, and the second pin shaft 120 can be disengaged from the second arc-shaped slot 226 through the second notch section 228, so that the bracket 270 floats up and down relative to the fuselage 100. Compared with the previous embodiment, this embodiment adds a second notch section 228 to the second arc-shaped slot 226. The support unit 220 moves to the Figure 11 In the state shown, due to the presence of the second notch section 228, the second pin shaft 120 can immediately disengage from the second arc groove 226, thereby ensuring that the driving wheel 210 can contact the ground in time after crossing the obstacle, thereby ensuring the obstacle crossing effect; and the cleaning robot does not need to drive the obstacle crossing wheel 230 to reset immediately after completing the obstacle crossing, thereby improving the control freedom of the cleaning robot.

[0363] The structure of the second notch 228 is similar to that of the first notch 227. Similarly, it can be configured such that when the obstacle-crossing wheel 230 is in the avoidance position, at the second position, the second pin 120 is within the second notch, and at the first position, the second pin 120 is outside the second notch in the height direction of the fuselage.

[0364] It should be understood that the locking mechanism in the above embodiment is not necessary, and in some other embodiments, the locking mechanism may be eliminated, such as Figure 13 As shown, when the obstacle crossing wheel 230 is provided on the bracket 270, when the locking mechanism is canceled, after the obstacle crossing wheel 230 lifts the front end of the fuselage, even if the obstacle crossing wheel 230 has a supporting force on the bracket 270, the bracket 270 may still float downward slightly, so that the height difference between the obstacle crossing wheel 230 and the fuselage increases, thereby slightly increasing the height of the obstacle that the driving wheel can cross.

[0365] like Figure 36 The structure shown, from left to right, is a driving wheel 210, a bracket 270, a second support member 222 of the support unit 220, and a side shell of the fuselage 100; the bracket 270 has an outer wall away from the driving wheel 210, and the side wall of the second support member 222 has a first wall facing the outer wall of the bracket 270, and a second wall away from the outer wall of the bracket 270.

[0366] A cavity is formed between the first wall of the second support member 222 and the outer wall of the bracket 270. The ring gear 262 of the first transmission mechanism 240 and the second transmission mechanism 260 are disposed within the cavity. The ring gear 262 of the second transmission mechanism 260 is sleeved onto the output shaft of the drive wheel drive structure (i.e., the drive wheel shaft 211). The driving gear 241 of the first transmission mechanism 240 is fixed to the drive wheel shaft 211, so that the drive wheel shaft 211 drives the driving gear 241 to rotate.

[0367] The gear ring 262 is fixed on the second support member 222 to drive the support unit 220 to swing. Accordingly, the side wall of the second support member 222 rotates with the rotation of the gear ring 262 .

[0368] The first pin shaft 229 can be set on the gear ring 262, and the first arc-shaped groove 272 is set on the outer wall surface of the bracket 270. As the gear ring 262 rotates, the first pin shaft 229 rotates in the first arc-shaped groove 272 along the extension direction of the first arc-shaped groove 272.

[0369] The second pin shaft 120 is arranged on the side shell of the fuselage 100, and the second arc-shaped groove 226 is arranged on the second wall surface of the support unit 220. As the ring gear 262 rotates, the side wall of the second support member 222 rotates, so that the second pin shaft 120 rotates in the extension direction of the second arc-shaped groove 226.

[0370] Through this arrangement structure, the internal space formed by the bracket and the support unit is utilized to accommodate the transmission mechanism for the rotation of the obstacle crossing wheel and the transmission mechanism for the swinging of the support unit, thereby improving the compactness of the structure; while realizing the position switching of the obstacle crossing wheel, the grooves and shafts provided on the bracket, the ring gear, the support unit, the shell of the fuselage are utilized to realize the extreme limit of the swinging of the support unit, and the locking of the up and down floating of the driving wheel, making the swinging structure of the entire obstacle crossing wheel simpler and more compact.

[0371] See also Figure 14 、 15 As shown, in an optional embodiment of the present invention, the wheel surface of the driving wheel 210 is provided with a plurality of protruding units 212 spaced apart along the circumference of the driving wheel 210, and the top surface of the protruding unit 212 is provided with a first recess 213. The first recess 213 is arranged in a direction parallel to the axis of the driving wheel, and the first recess 213 divides the top surface of the protruding unit 212 into at least two sub-units 214. In this embodiment, the provision of the first recess 213 on the protruding unit 212 enables the driving wheel 210 to more easily engage with the corners of obstacles during obstacle traversal, thereby further improving the cleaning robot's ability to traverse obstacles.

[0372] See also Figure 14 、 15 As shown, in an optional embodiment of the present invention, a second recess 215 is provided on the top surface of the protruding unit 212. The second recess 215 defines a grid pattern on the top surface of the protruding unit 212. The depth of the second recess 215 is less than the depth of the first recess 213. The second recess 215 can increase the friction between the wheel surface and the ground, preventing the driving wheel 210 from slipping, thereby improving the movement efficiency of the cleaning robot.

[0373] See also Figure 14 、 15 As shown, in an optional embodiment of the present invention, a third recess 216 is formed between two adjacent protruding units 212. The depth of the third recess 216 is greater than the depth of the first recess 213. The third recess 216 can improve the adaptability of the driving wheel 210 to complex ground environments, making it easier for the driving wheel 210 to cross some low obstacles, such as carpets.

[0374] See also Figure 14 、 15As shown, in an optional embodiment of the present invention, a plurality of protruding elements 212 arranged circumferentially along the drive wheel 210 form a circle of pattern elements 2121. The pattern elements 2121 are arranged in at least two circles along the axial direction of the drive wheel 210. Adjacent circles of the pattern elements 2121 are staggered so that the protruding elements 212 of the two adjacent circles of the pattern elements 2121 overlap in the axial direction of the drive wheel 210. The staggered arrangement of the pattern elements 2121 enables the projections of the protruding elements 212 along the axial direction of the drive wheel to form a continuous and relatively smooth profile, thereby reducing bumps and vibrations during the movement of the robot.

[0375] See also Figure 14 、 15 As shown, in an optional embodiment of the present invention, the width of the overlapping region in the circumferential direction of the drive wheel 210 is an integral multiple of the width of the subunits 214 in the circumferential direction of the drive wheel 210. This allows the subunits 214 in the overlapping region to be aligned with each other, ensuring continuity between the two ends of the first recess 213, and further ensuring that the first recess 213 can tightly engage with the corner of the obstacle during obstacle traversal.

[0376] It should be understood that the present invention primarily improves the structures related to the walking function of a cleaning robot. Therefore, the accompanying drawings and embodiments only illustrate the structures and principles related to the walking function of the cleaning robot. In practice, a cleaning robot should also include various cleaning components, as well as navigation, power supply, and control modules. These cleaning components may include, for example, a main brush, side brushes, a dust collection system, a dust box, and a rag. The main brush (also known as a roller brush) rotates to collect trash, dust, and debris from the cleaning surface, making it easier for the subsequent dust collection system to collect them. It can cover a wide area and effectively improve cleaning efficiency. The bristles or brush strips of the roller brush can penetrate deep into carpet fibers or crevices to remove deeply buried dust and hair. For hard cleaning surfaces, it can also help remove small debris from floor crevices. The roller brush concentrates trash on the cleaning surface to a central location, making it easier for the dust collection system to collect it. This centralized cleaning method improves cleaning thoroughness. Different types of roller brushes (such as bristle brushes and rubber brushes) are suitable for different cleaning surface types. For example, bristle brushes are suitable for cleaning carpets, while rubber brushes are suitable for cleaning hard surfaces. The side brushes are located on both sides or one side of the cleaning robot, and can reach hard-to-reach places such as corners and edges of furniture. They sweep garbage, dust and debris in these areas to the main brush area of the cleaning robot, ensuring that the edges of the cleaning surface are also cleaned; with the assistance of the side brushes, the cleaning robot can more comprehensively clean the entire cleaning surface, including the edges and corners of the floor, reduce missed areas, and improve the overall cleaning effect. The vacuum system uses suction to suck dust, debris, hair, etc. on the cleaning surface into the dust box of the cleaning robot; the suction force can effectively absorb fine particles and dust on the cleaning surface, improving the thoroughness of cleaning the cleaning surface, especially on hard cleaning surfaces and carpets. The strong suction force helps to remove garbage hidden in gaps and fibers; the vacuum system filters out fine particles (such as allergens and dust) in the inhaled air through filters to prevent these particles from being discharged back into the air, reducing the impact on air quality. The dust box collects dust, trash, debris, and hair that the robot picks up during cleaning. It serves as a storage container for the waste collected by the robot during cleaning. The dust box is easy for users to remove and clean: simply remove the dust box from the robot periodically, empty the contents, and then replace it. This design makes waste disposal simple and convenient. A rag, used with a water tank or detergent container, wet mops the cleaning surface. This wet mopping function removes dirt and stubborn stains that can't be reached by the robot's main or side brushes, providing a more thorough cleaning.

[0377] The walking mechanism of a cleaning robot includes multiple wheels, such as drive wheels and universal wheels. The drive wheels are driven by a motor, and the torque and speed output by the motor enable the cleaning robot to move on the cleaning surface. They are the main power source for the cleaning robot's movement. By controlling the speed and rotation direction of different drive wheels, the cleaning robot can move forward, backward, and turn. For example, the left and right wheels rotating at different speeds allow the cleaning robot to flexibly turn in a small space. The drive wheels need to bear the overall weight of the cleaning robot and ensure that it can move smoothly on different cleaning surfaces. They can be equipped with wear-resistant tires or rubber pads to adapt to various cleaning surface conditions. Universal wheels are unpowered follower wheels that can rotate freely on a horizontal plane, allowing the cleaning robot to easily turn in a small space. This flexible steering ability makes it easier for the cleaning robot to bypass furniture, obstacles, and corners, providing more comprehensive cleaning. However, when the cleaning robot crosses some relatively high obstacles or steps, it needs to control the front end of the body to lift a large angle, resulting in the front end of the body falling toward the cleaning surface under the action of gravitational potential energy in the second half of crossing the obstacle. The collision between the universal wheels and the cleaning surface will produce a large impact force and noise, and the user experience is very poor; at the same time, the large impact may cause certain damage to floor tiles, floors, etc.; in addition, the machine vibration caused by the impact will also have an adverse effect on the accuracy of the internal sensors of the machine.

[0378] The universal wheel assembly is located at the front of the fuselage in its forward direction and at the bottom of the fuselage in its height. For example, the universal wheel assembly is typically fixed to the chassis at the front of the fuselage. Without a dedicated obstacle-crossing mechanism to lift the front of the fuselage, the height of the chassis is limited, meaning the fuselage can typically only cross obstacles that are lower than the chassis height.

[0379] If the distance between the chassis of the machine body and the cleaning surface is too large, the connecting shaft between the cleaning parts installed on the chassis and the chassis will be longer when they come into contact with the cleaning surface. The longer connecting shaft will cause problems such as obstacles such as entanglement of wire harnesses, and the longer connecting shaft will also affect the stability of the cleaning parts relative to the chassis, thereby affecting the cleaning effect. Therefore, the distance between the chassis of the cleaning robot and the cleaning surface is usually smaller.

[0380] For cleaning surfaces with a height difference, when the cleaning robot moves from the higher cleaning surface to the lower cleaning surface, the universal wheels may collide with the lower cleaning surface. However, to prevent the cleaning robot from being unable to cross from the lower cleaning surface to the higher cleaning surface when returning, which would affect the cleaning path planning, in the absence of an auxiliary obstacle crossing mechanism, the height difference of the cleaning surfaces that the cleaning robot can pass through is usually also affected by the height of the chassis, resulting in a smaller height difference when the cleaning robot moves from the higher cleaning surface to the lower cleaning surface. In addition, when the cleaning robot moves from the higher cleaning surface to the lower cleaning surface, the cleaning robot reaches the drop zone during normal travel, resulting in a lower height difference between the front end of the cleaning robot and the lower cleaning surface. When the front end of the cleaning robot falls, there will not be a very large impact force between the universal wheels and the cleaning surface. For threshold-type obstacles, since the height of the threshold that the cleaning robot can pass through is also affected by the height of the chassis, in the absence of an auxiliary obstacle crossing mechanism, the threshold that the cleaning robot can pass through is usually also low. This allows the robot to pass through threshold-type obstacles without a very large impact force between the universal wheels and the cleaning surface when the front end of the cleaning robot falls. Therefore, most cleaning robots currently do not have a buffer mechanism for the universal wheel to cushion the impact of the cleaning surface. Although some devices or existing technologies have configured a buffer mechanism to cushion the impact of the cleaning surface on the universal wheel assembly when the front end of the body falls, since the universal wheel of the cleaning robot is usually subjected to a relatively small impact from the cleaning surface, the elastic force corresponding to the deformation of the second elastic member does not need to be too large to achieve cushioning of the universal wheel. Therefore, a second elastic member can be provided between the mounting frame of the universal wheel and the chassis of the body, as shown in CN111374611A. Figure 2 The structure shown.

[0381] like Figure 20 、 21As shown, in an embodiment of the present specification, an auxiliary obstacle-crossing mechanism is provided to lift the front end of the fuselage so that at least the height of the universal wheel is higher than the obstacle. After the universal wheel has crossed the obstacle, the cleaning robot continues to be controlled to move until the drive wheel provided in the middle of the fuselage can contact the upper edge of the obstacle, and travels to a high cleaning surface or crosses a threshold-type obstacle through the driving force, thereby achieving obstacle crossing over relatively high obstacles. For example, the above-mentioned obstacle-crossing method can enable the cleaning robot to cross obstacles with a height of 40 mm, or even higher obstacles, such as those with a height of more than 50 mm. During the obstacle-crossing process, the height to which the universal wheel is lifted along with the front end of the fuselage is usually higher than the height of the obstacle, so that the drive wheel can contact the upper edge of the obstacle. In the second half of the obstacle-crossing process, under the action of the gravitational potential energy of the fuselage, the front end of the fuselage will fall toward the cleaning surface, causing the universal wheel to be subjected to the impact force of the cleaning surface. Because the front end of the machine rises a significant height during obstacle crossing, the universal wheels experience a significant impact from the cleaning surface when the front end of the machine falls. This is especially true when crossing obstacles like thresholds, where the height difference between the front end of the machine and the cleaning surface behind the threshold is even greater. Therefore, a significant elastic force is required between the universal wheels and the chassis to cushion the impact of the cleaning surface.

[0382] In actual operation, for example, when crossing a 40mm high threshold-like obstacle, the impact force borne by the universal wheel from the cleaning surface can usually reach about 3 to 5 times the weight of the body acting on the universal wheel, so that the deformation of the second elastic member to buffer the impact force from the cleaning surface is also about 3 to 5 times the deformation to offset the weight of the body acting on the universal wheel. However, due to the sensing accuracy requirements of the cleaning robot, the front end of the cleaning robot is usually also equipped with LED laser modules, AI vision modules, line laser modules, etc., which makes the front end space of the cleaning robot limited. Some structural components of the above-mentioned sensors are arranged above the universal wheel. In view of this, if a second elastic member that acts as a buffer is provided on the universal wheel assembly, the deformation space of the second elastic member is limited. In order to significantly increase the elastic force of the second elastic member within the limited deformation space, it is necessary to significantly increase the elastic coefficient of the second elastic member.

[0383] However, after the elastic coefficient increases significantly, small fluctuations in the elastic deformation can lead to large fluctuations in the elastic force. Accordingly, when the second elastic member is positioned between the universal wheel mounting bracket and the chassis to cushion the impact of the cleaning surface, even slight deviations in the deformation of the second elastic member will result in a significant deviation between the elastic force acting on the front end of the robot and the gravity acting on the universal wheel. This can cause the front end of the robot to significantly lift or tilt downward, significantly impacting the robot's smooth travel when not navigating obstacles and the cleaning performance of the cleaning elements. Consequently, the initial deformation of the second elastic member at the factory requires very high precision, increasing assembly requirements. Furthermore, due to the material, the second elastic member may experience slight deformation over time. Due to the large elastic coefficient, this slight deformation can also cause the front end of the cleaning robot to tilt downward or lift after a period of use, significantly impacting the robot's smooth travel when not navigating obstacles and the cleaning performance of the cleaning elements.

[0384] In addition, the CN111374611A Figure 2 The structure shown, when the elastic force corresponding to the initial deformation of the second elastic member (the remaining elastic deformation after the fuselage bears the elastic force acting on the universal wheel assembly) is large, after the universal wheel is subjected to a large impact force from the cleaning surface, the second elastic member will further apply the force received to the chassis, thereby driving the front end of the fuselage to lift high, resulting in the front end of the fuselage being in a state of repeatedly falling and bouncing after falling, and being unable to stabilize the fuselage, affecting the robot's obstacle crossing, and at the same time, causing a bad user experience.

[0385] To this end, the present invention provides a fixed-height limiting cavity on the chassis of the fuselage, and embeds the universal wheel mounting seat in the limiting cavity. For example, when the second elastic member is a compression spring, one end of the second elastic member can be disposed on the top wall of the limiting cavity, and the other end can be disposed on the universal wheel mounting seat, so that the universal wheel mounting seat can float up and down in the limiting cavity. Because the limiting cavity is fixed to the chassis, even when the elastic force of the second elastic member is greater than the weight of the fuselage acting on the universal wheel, the fuselage will not be lifted. Therefore, the elastic force of the initial deformation of the second elastic member (the elastic force corresponding to the contact between the mounting seat and the bottom wall of the limiting cavity when the second elastic member is a compression spring) can be configured to be greater than the weight of the fuselage acting on the universal wheel. When the second elastic member is a compression spring, the length of the limiting cavity in the height direction of the robot can be set so that the initial deformation force of the second elastic member when the mounting seat abuts the bottom wall of the limiting cavity is greater than the weight of the robot acting on the universal wheel. This ensures that when the cleaning robot moves on a flat surface, the front end of the robot body will not tilt downward or rise due to the second elastic member. Furthermore, the initial deformation force of the second elastic member is greater than the weight of the robot acting on the universal wheel. This can also minimize the downward tilt of the front end of the robot body when the elastic force of the second elastic member decreases with use. If the elastic force of the second elastic member increases with use, the front end of the robot body will not rise. Furthermore, due to the limited space within the robot body, the second elastic member has less room for elastic deformation. By setting the initial deformation force of the second elastic member to be greater than the weight of the robot acting on the universal wheel, the maximum impact force that the second elastic member can withstand from the cleaning surface can be further increased.

[0386] If the front end of the robot falls and the universal wheel is impacted by the cleaning surface, the mounting seat can move upward, causing the second elastic member to further compress, thereby utilizing the elastic force of the second elastic member to cushion the impact force on the universal wheel. Restricted by the limiting cavity fixed to the chassis, after the front end of the robot falls, the universal wheel floats up and down relative to the chassis within the space defined by the limiting cavity, limiting the vertical floating range of the front end of the robot to the height range of the limiting cavity. This results in less overall shaking of the robot when it completes obstacle crossing, indicating that the cleaning robot has higher obstacle crossing stability and a better user experience.

[0387] At the same time, because the downward movement tendency of the mounting seat is limited, the downward movement tendency of the universal wheel when the front end of the fuselage is lifted is also limited. Because the universal wheel is set at the front end of the fuselage, the bottom of the universal wheel usually needs to be higher than the upper edge of the obstacle to enable the driving wheel to contact the upper edge of the obstacle when overcoming the obstacle. If the downward movement tendency of the mounting seat is not limited, the front end of the fuselage is lifted, and the second elastic member between the universal wheel and the chassis returns to a state of zero deformation, so that the distance between the universal wheel and the chassis increases. This may cause the lifting height of the front end of the fuselage to be further increased to avoid the bottom of the universal wheel colliding or scratching with the obstacle during the obstacle crossing process, thereby affecting the obstacle crossing of the cleaning robot. Based on the structure in the embodiment of this specification, the downward movement tendency of the universal wheel is limited, which can effectively reduce the impact of the universal wheel on the cleaning robot's obstacle crossing and improve the obstacle crossing effect.

[0388] When the second elastic member is a tension spring, an upwardly projecting protrusion can be provided on the bottom wall of the limiting cavity, with a floating gap between the upper surface of the protrusion and the top wall of the limiting cavity. One end of the second elastic member is positioned on the bottom wall of the limiting cavity, and the other end is positioned above the mounting seat of the universal wheel. When the second elastic member is at its initial deformation within the limiting cavity, the mounting seat abuts the protrusion. Along the height of the robot body, the surface of the mounting seat that abuts the protrusion is located above the protrusion, and a floating gap is provided between the mounting seat and the top wall of the limiting cavity. The elastic force of the second elastic member at its initial deformation is greater than the weight of the robot body acting on the universal wheel, thereby ensuring that the front end of the robot body does not tilt downward or rise due to the second elastic member when the cleaning robot body moves on a flat surface. If the front end of the robot body falls and the universal wheel is impacted by the cleaning surface, the mounting seat can move upward, causing the second elastic member to further stretch, thereby utilizing the elastic force of the second elastic member to cushion the impact force on the universal wheel. Restricted by the limiting cavity fixed on the chassis, after the front end of the fuselage falls, the universal wheel floats up and down relative to the chassis in the space defined by the upper surface of the raised part of the limiting cavity and the top wall, so that the up and down floating range of the front end of the fuselage is also limited to the height range between the upper surface of the raised part and the top wall, so that the overall shaking of the fuselage is less when the obstacle is overcome, that is, the cleaning robot has higher obstacle overcoming stability and better user experience.

[0389] When the second elastic member is a tension spring, the floating gap of the second elastic member for bearing the impact force of the cleaning surface is limited between the upper surface of the above-mentioned raised portion and the top wall, that is, part of the height of the limiting cavity is allocated to the gravity of the supporting body acting on the universal wheel, and the floating gap in the limiting cavity for bearing the impact force of the cleaning surface is compressed. In summary, when the height of the limiting cavity is the same and the elastic coefficient is the same, the compression spring has a larger impact force threshold for bearing than the tension spring.

[0390] See also Figure 16-30As shown, the technical solution of the present invention is described in detail below in conjunction with specific embodiments:

[0391] See also Figure 16-21 As shown in Figures 29, the cleaning robot provided by an embodiment of the present invention includes a body 100 and an obstacle crossing mechanism; a driving wheel 210 and a universal wheel assembly 400 are provided at the bottom of the body 100, and the universal wheel assembly 400 is arranged near the front end of the body 100 along the forward direction of the body 100.

[0392] The obstacle-crossing mechanism is movably connected to the body 100 , and is configured to drive the front end of the body 100 to lift up, so as to at least separate the universal wheel assembly 400 from the cleaning surface.

[0393] For example, when the cleaning robot is moving normally on a cleaning surface, the obstacle-crossing mechanism can be in a stowed position to avoid interfering with the robot's movement. When the cleaning robot needs to cross an obstacle that is higher than the chassis, the obstacle-crossing mechanism can be controlled to switch from the stowed position to the support position, raising the front end of the robot body. This allows the universal wheel assembly to at least separate from the cleaning surface, thereby raising the chassis and universal wheels above the obstacle, preventing interference between the chassis and universal wheels, which are previously required for the driving wheels to cross the obstacle. This allows the driving wheels to be brought into contact with the obstacle, allowing the robot to cross the obstacle. During the latter half of the obstacle-crossing process, the front end of the robot body falls due to gravitational potential energy, and the driving wheels come into contact with the cleaning surface. After the obstacle is crossed, the obstacle-crossing mechanism can be further switched to the stowed position. In this example scenario, as the front end of the robot body begins to fall due to gravitational potential energy until the driving wheels come into contact with the cleaning surface, the state of the driving wheels can be described as falling.

[0394] See also Figure 16 、 19 As shown in Figure 22, in an optional embodiment of the present invention, the obstacle surmounting mechanism includes a support unit 220 and obstacle surmounting wheels 230. The obstacle surmounting wheels 230 are mounted on the support unit 220, and the support unit 220 is swingably arranged relative to the fuselage 100. When the front end of the fuselage 100 is raised, the obstacle surmounting wheels 230 can drive the fuselage 100 to continue moving, thereby ensuring that the fuselage 100 can smoothly surmount obstacles.

[0395] The support unit 220 is configured so that, during its swinging process, the fulcrum between the obstacle-crossing wheels 230 and the cleaning surface can move from the front side of the cleaning robot's center of gravity to the rear side of the cleaning robot's center of gravity. When the fulcrum between the obstacle-crossing wheels 230 and the cleaning surface is located in front of the cleaning robot's center of gravity or at the center of gravity of the body, the front end of the body 100 is lifted, which facilitates the front end of the body 100 to cross obstacles. When the fulcrum between the obstacle-crossing wheels 230 and the cleaning surface is located behind the cleaning robot's center of gravity, the front end of the body 100 lands and the rear end of the body 100 is lifted, which facilitates the entire body 100 to cross obstacles.

[0396] See also Figure 16 、 19 As shown in Figure 22, in an optional embodiment of the present invention, a tail wheel 500 is further provided at the bottom of the body 100, located near the rear end of the body 100. When the front end of the body 100 is raised, the tail wheel 500 forms a rolling engagement with the cleaning surface, preventing the rear end of the body 100 from scratching the cleaning surface. In a preferred embodiment, when the cleaning robot is placed flat on the cleaning surface, the tail wheel 500 does not contact the cleaning surface, thus avoiding leaving wheel marks on the cleaned surface.

[0397] Accordingly, the state of the universal wheel assembly is described as falling from the position where the universal wheel assembly is separated from the cleaning surface and then contacts the cleaning surface. Other stages include the state of the universal wheel assembly being in a non-falling state, such as when the robot is moving normally on the cleaning surface and the universal wheel assembly is in continuous contact with the cleaning surface; and when the front end of the robot body is lifted, separating the universal wheel assembly from the cleaning surface to perform obstacle traversal.

[0398] The universal wheel assembly 400 includes a mounting base and a universal wheel mounted on the mounting base; Figure 29As shown, the chassis of the body 100 has a limiting cavity 110. The limiting cavity 110 has a fixed height in the height direction of the body 100 and has a top wall 111 and a bottom wall 112. In a specific embodiment, the limiting cavity 110 can be formed on the chassis, for example, by specially designing the chassis, or by configuring additional components on the chassis. The mounting seat is embedded in the limiting cavity 110; at least one second elastic member 410 has one end disposed on the top wall 111 and the other end disposed on the mounting seat. When the universal wheel assembly 400 is in a non-falling state, the mounting seat remains in contact with the bottom wall 112 due to the compression of the second elastic member 410. The elastic force generated by the compression is greater than or equal to the weight of the body 100 acting on the universal wheel assembly 400. There is a floating gap between the mounting seat and the top wall 111 . When the universal wheel assembly 400 is in a falling state, the mounting seat compresses the second elastic member 410 to float toward the top wall 111 due to the impact force of the cleaning surface during the fall.

[0399] In the above embodiment, the second elastic member 410 can be, for example, a compression spring. The present invention provides a fixed-height limiting cavity 110 on the chassis of the body 100, along the height direction of the body 100, and embeds the mounting seat of the universal wheel in the limiting cavity 110, so that the mounting seat of the universal wheel can float up and down in the limiting cavity 110. Because the limiting cavity 110 is fixed to the chassis, even when the elastic force of the second elastic member 410 is greater than the weight of the body 100 acting on the universal wheel, the body 100 will not be lifted. Therefore, the elastic force of the initial deformation of the second elastic member 410 (i.e., the elastic force corresponding to the contact between the mounting seat and the bottom wall 112 of the limiting cavity 110) can be configured to be greater than the weight of the body 100 acting on the universal wheel. Specifically, the length of the limiting cavity 110 in the height direction of the body 100 can be set so that the elastic force of the initial deformation of the second elastic member 410 when the mounting seat abuts the bottom wall 112 of the limiting cavity 110 is greater than the weight of the body 100 acting on the universal wheel. This ensures that when the cleaning robot moves on a plane, the front end of the body 100 will not tilt downward or rise due to the provision of the second elastic member 410. Furthermore, the elastic force of the initial deformation of the second elastic member 410 is greater than the weight of the body 100 acting on the universal wheel. This can also minimize the reduction in the elastic force of the second elastic member 410 over time, thereby reducing the downward tilt of the front end of the body 100. If the elastic force of the second elastic member 410 increases over time, the front end of the body 100 will not rise. At the same time, due to the space limitation inside the fuselage 100, the elastic deformation space of the second elastic member 410 is relatively small. By setting the elastic force of the initial deformation of the second elastic member to be larger than the gravity of the fuselage 100 acting on the universal wheel, the maximum impact force that the second elastic member 410 can withstand from the cleaning surface can be further increased.

[0400] When the front end of the body 100 falls and the universal wheel is impacted by the cleaning surface, the mounting seat can move upward, causing the second elastic member 410 to further compress, thereby utilizing the elastic force of the second elastic member 410 to cushion the impact force on the universal wheel. Restricted by the limiting cavity 110 fixed to the chassis, after the front end of the body 100 falls, the universal wheel floats up and down relative to the chassis within the space defined by the limiting cavity 110, so that the vertical floating range of the front end of the body 100 is also limited to the height range of the limiting cavity 110. As a result, the overall shaking of the body 100 is minimized when the obstacle is overcome, which means that the cleaning robot has high obstacle-overcoming stability and a better user experience.

[0401] At the same time, because the downward movement tendency of the mounting seat is limited, the downward movement tendency of the universal wheel is also limited when the front end of the body 100 is raised. Because the universal wheel 210 is located at the front end of the body, the bottom of the universal wheel generally needs to be higher than the upper edge of the obstacle to ensure that the driving wheel 210 contacts the upper edge of the obstacle when navigating the obstacle. If the downward movement tendency of the mounting seat is not limited, the front end of the body 100 is lifted, and the second elastic member 410 between the universal wheel and the chassis returns to a state of zero deformation, increasing the distance between the universal wheel and the chassis. This may cause the lifting height of the front end of the body 100 to be further increased to prevent the bottom of the universal wheel from colliding or scratching the obstacle during the obstacle navigating process, thereby affecting the obstacle navigating of the cleaning robot. Based on the structure in the embodiments of this specification, the downward movement tendency of the universal wheel is limited, which can effectively reduce the impact of the universal wheel on the cleaning robot's obstacle navigating and improve the obstacle navigating effect.

[0402] See also Figure 17 、 18 , 22, 23, 27, and 29, further comprising a limiting frame 430 disposed on the chassis, wherein the limiting frame 430 and the chassis enclose the limiting cavity 110. The limiting frame 430 is detachably connected to the chassis, facilitating installation and removal of the mounting seat, thereby facilitating maintenance of the universal wheel assembly 400.

[0403] See also Figure 17 、 18As shown, the limiting frame 430 is provided on the upper surface of the chassis and is located in the inner cavity of the body 100; the top wall 111 of the limiting cavity 110 is provided on the limiting frame 430, and the bottom wall 112 is provided on the chassis. It should be understood that the distance between the chassis and the cleaning surface is very small, and the universal wheel also needs to occupy a part of the lateral space. If the limiting cavity 110 is under the chassis, firstly, the space needs to be expanded laterally, and secondly, the floating clearance of the second elastic member 410 for bearing the impact force is also limited. Therefore, in this embodiment, the limiting frame 430 is provided on the upper surface of the chassis, which can further ensure the deformation of the second elastic member, so that the second elastic member has a sufficiently large elastic force to support the impact force from the cleaning surface.

[0404] It should be understood that the installation position of the limiting frame 430 is not unique. For example, in some other embodiments, such as Figure 29 As shown, the limiting frame 430 can also be arranged on the lower surface of the chassis, outside the fuselage 100; the bottom wall 112 of the limiting cavity 110 is arranged on the limiting frame 430, and the top wall 111 is arranged on the chassis.

[0405] See also Figure 25 、 26 As shown, the mounting seat includes a mounting frame 420, and a first groove 423 that is recessed upward is provided on the bottom of the mounting frame 420; the universal wheel assembly 400 also includes a rotating shaft 403, the bottom of the rotating shaft 403 is connected to the universal wheel, and the top of the rotating shaft 403 is provided in the first groove 423; in the falling state, the top of the rotating shaft 403 abuts the bottom of the first groove 423 to drive the mounting seat to float upward; there is a floating gap between the top of the first groove and the top wall; or, an avoidance hole is opened on the top wall, and when the mounting seat floats upward, the first groove can pass through the avoidance hole. Furthermore, the outer wall of the mounting frame 420 is provided with an outer edge 421 that protrudes horizontally outward; the outer edge 421 is located in the limiting cavity 110, and a floating cavity is formed between the outer edge 421 and the top wall 111; the second elastic member 410 is located in the floating cavity, with one end connected to the top wall 111 and the other end connected to the outer edge 421; when the universal wheel assembly 400 is in a non-falling state, the outer edge 421 maintains contact with the bottom wall 112. Figure 17 、 18 As shown, in the height direction of the body 100, the top wall 111 of the mounting bracket 420 is higher than the outer edge 421. With this structure, the rotating shaft 403 and the second elastic member 410 share the same height space, further improving space utilization and making the structure more compact. It also ensures that the second elastic member 410 has sufficient elasticity within the limited height space to support the impact force exerted on the universal wheel by the cleaning surface.

[0406] See also Figure 17 、 18 As shown in Figures 27 and 27, the bottom of the limiting frame 430 is provided with an upwardly recessed second groove 431. The limiting frame 430 is positioned outside the mounting frame 420 via the second groove 431, with the floating cavity formed between the bottom of the second groove 431 and the outer edge 421. By configuring the limiting frame 430 as an upwardly recessed groove structure and fitting it outside the mounting frame, this embodiment further protects the mounting frame and the second elastic member, preventing interference between the mounting frame and the second elastic member and other components within the interior of the fuselage during operation or when the front end of the fuselage falls.

[0407] In a specific embodiment, the universal wheel includes a swivel bracket 401 and a roller 402. The roller 402 is rotatably connected to the swivel bracket 401. The swivel bracket 401 is rotatably connected to the body 100 via a rotating shaft 403. The rotating shaft 403 is movably connected to the body 100 along its own axis. In a specific embodiment, the axis of the roller 402 can be perpendicular to the rotating shaft 403. The rotating shaft 403 can be arranged so that when the body 100 is placed flat on a cleaning surface, the rotating shaft 403 is perpendicular to the cleaning surface. This ensures that the axis of the roller 402 is always parallel to the cleaning surface during the rotation of the swivel bracket 401. It should be noted that there are multiple embodiments to choose from for the circumferential connection relationship between the rotating shaft 403 and the rotating bracket 401 and the fuselage 100. For example, in some embodiments, the rotating shaft 403 can be fixedly connected to the rotating bracket 401, and the rotating shaft 403 is rotationally connected to the fuselage 100; for example, in some other embodiments, the rotating shaft 403 can be rotationally connected to the rotating bracket 401, and the rotating shaft 403 is circumferentially fixedly connected to the fuselage 100 (the rotating shaft 403 can still move axially relative to the fuselage 100); for example, the rotating shaft 403 can also be rotationally connected to the rotating bracket 401 and the fuselage 100 at the same time.

[0408] It should be understood that through the rotational connection between the swivel bracket 401 and the roller 402, the universal wheel assembly 400 can rotate freely in multiple directions, thereby improving the flexibility of the robot; the movable connection between the rotating shaft 403 and the fuselage 100 along its own axial direction further enhances the freedom of movement of the universal wheel assembly 400, so that the robot can more flexibly cope with various complex cleaning surface environments and obstacles; due to the flexible rotation ability and up and down floating ability of the universal wheel assembly 400, when the robot encounters an obstacle, it can more easily adjust its posture and height, thereby improving its obstacle-crossing ability; this installation method is usually designed to be relatively simple and easy to disassemble and install. When the universal wheel assembly 400 needs to be maintained or replaced, the operator can easily complete these tasks, thereby improving the maintainability of the robot.

[0409] See also Figure 17 、 18 As shown in Figures 22 and 23, in an optional embodiment of the present invention, in order to further effectively utilize the smaller height space and increase the overall elastic force of the second elastic member to support the impact force of the universal wheel from the cleaning surface, a plurality of second elastic members 410 can be provided. In order to make the elastic force of the second elastic member 410 act evenly on the mounting frame 420, each second elastic member 410 can be controlled to be evenly distributed on the outer edge 421. For example, there are at least two second elastic members 410, and there are at least two outer edges 421. The at least two outer edges 421 are evenly distributed around the outer wall of the mounting frame 420, and the elastic force of the second elastic member 410 carried by each outer edge 421 is the same. For another example, there are at least two second elastic members 410, and the outer edge 421 is annularly surrounding the outer wall of the mounting frame 420. The elastic force of the second elastic member 410 is evenly distributed on the outer edge 421.

[0410] See also Figure 17 、 18 As shown, a first guide post 422 is provided on the outer edge 421, and a second guide post 432 is provided on the top wall 111. The two ends of the second elastic member 410 are respectively mounted on the first guide post 422 and the second guide post 432, and a floating gap is provided between the first guide post 422 and the second guide post 432. The first guide post 422 and the second guide post 432 can limit the compression spring, preventing the compression spring from deflecting and improving the impact resistance of the compression spring. The floating gap between the first guide post 422 and the second guide post 432 can ensure that when the second elastic member is compressed, the first guide post 422 and the second guide post 432 interfere with each other, affecting the compression amount of the second elastic member.

[0411] See also Figure 17 、 18As shown in Figures 23 and 28, the universal wheel assembly 400 also includes a sleeve 440, which is fixed on the chassis and sleeved outside the rotating shaft 403. A limiting member 404 is provided on the top of the rotating shaft 403. In a non-falling state, the limiting member 404 abuts against the top of the sleeve 440. In a falling state, the limiting member 404 is disengaged from the abutment with the top of the sleeve 440. In the height direction of the fuselage 100, the length of the sleeve 440 is smaller than the length of the rotating shaft 403, so that the rotating shaft 403 has a floating gap when moving up and down relative to the sleeve 440, thereby ensuring that the second elastic member has sufficient compression. In a specific embodiment, an annular groove can be provided on the circumference of the rotating shaft 403 near the upper end thereof, and the limiting member 404 can be, for example, a retaining spring mounted within the annular groove. This arrangement facilitates installation and removal of the universal wheel assembly 400, helps reduce maintenance, and makes inspection and maintenance of the universal wheel assembly 400 more convenient. In other embodiments, the limiting member 404 can also be integrally formed with the rotating shaft 403.

[0412] See also Figure 17 、 18 As shown in Figures 24 and 25, in an optional embodiment of the present invention, a buffer pad 405 made of elastic material is provided at the upper end of the swivel bracket 401. When some extreme working conditions cause the universal wheel assembly 400 to reach its maximum upward displacement, the buffer pad 405 can still prevent a rigid collision between the fuselage 100 and the universal wheel assembly 400.

[0413] It should be understood that the specific form of the second elastic member 410 is not unique, and in some other embodiments, the second elastic member 410 may also be a tension spring. Figure 30In the illustrated embodiment, the cleaning robot includes a body 100 and an obstacle crossing mechanism; a driving wheel 210 and a universal wheel assembly 400 are provided at the bottom of the body 100, and the universal wheel assembly 400 is arranged near the front end of the body 100 along the forward direction of the body 100; the obstacle crossing mechanism is movably connected to the body 100, and the obstacle crossing mechanism is configured to drive the front end of the body 100 to lift, so as to at least separate the universal wheel assembly 400 from the cleaning surface; the universal wheel assembly 400 includes a mounting seat and a universal wheel provided on the mounting seat; the chassis of the body 100 has a limiting cavity 110, and the height of the limiting cavity 110 is fixed in the height direction of the body 100, and has a top wall 111 and a bottom wall 112, and the bottom wall 112 is provided with an upwardly convex protrusion 10 1. The mounting seat is embedded in the limiting cavity 110; one end of at least one second elastic member 410 is provided on the bottom wall 112, and the other end is provided on the mounting seat; when the universal wheel assembly 400 is in a non-falling state, the mounting seat remains in contact with the protrusion 101 under the action of the stretching amount of the second elastic member 410, and along the height direction of the fuselage, the surface of the mounting seat for contacting the protrusion is located above the protrusion, and the elastic force generated by the stretching amount is greater than or equal to the gravity of the fuselage 100 acting on the universal wheel assembly 400; there is a floating gap between the mounting seat and the top wall 111, and when the universal wheel assembly 400 is in a falling state, the mounting seat stretches the second elastic member 410 to float toward the top wall 111 under the action of the impact force of the cleaning surface during falling.

[0414] In this embodiment, the specific composition of the limiting cavity 110 can be implemented with reference to the previous embodiment and will not be described in detail. When the second elastic member 410 is a tension spring, an upwardly protruding protrusion 101 can be provided on the bottom wall 112 of the limiting cavity 110, with a floating gap between the upper surface of the protrusion 101 and the top wall 111 of the limiting cavity 110. One end of the second elastic member 410 is provided on the bottom wall 112 of the limiting cavity 110, and the other end is provided on the mounting seat of the universal wheel. The initial deformation mounting seat of the second elastic member 410 within the limiting cavity 110 abuts against the aforementioned protrusion 101. Along the height direction of the fuselage 100, the surface of the mounting seat that abuts against the protrusion 101 is located above the protrusion 101, and a floating gap is provided between the mounting seat and the top wall 111 of the limiting cavity 110. The elastic force corresponding to the initial deformation of the second elastic member 410 is greater than the gravity of the body 100 acting on the universal wheel. This ensures that the front end of the body 100 does not tilt downward or rise due to the second elastic member 410 when the cleaning robot moves on a flat surface. If the front end of the body 100 falls and the universal wheel is impacted by the cleaning surface, the mounting base can move upward, causing the second elastic member 410 to further stretch, thereby utilizing the elastic force of the second elastic member 410 to cushion the impact force on the universal wheel. Restricted by the limiting cavity 110 fixed to the chassis, after the front end of the body 100 falls, the universal wheel floats up and down relative to the chassis within the space defined by the upper surface of the raised portion 101 and the top wall 111 of the limiting cavity 110. This limits the vertical floating range of the front end of the body 100 to the height range between the upper surface of the raised portion 101 and the top wall 111. This results in less overall shaking of the body 100 when the robot traverses an obstacle, resulting in greater obstacle-crossing stability and a better user experience.

[0415] When the second elastic member 410 is a tension spring, the floating gap of the second elastic member 410 for bearing the impact force of the cleaning surface is limited between the upper surface of the above-mentioned raised portion 101 and the top wall 111, that is, part of the height of the limiting cavity 110 is allocated to the gravity of the supporting body 100 acting on the universal wheel, and the floating gap in the limiting cavity 110 for bearing the impact force of the cleaning surface is compressed. In summary, when the height of the limiting cavity 110 is the same and the elastic coefficient is the same, the compression spring has a larger impact force threshold for bearing than the tension spring.

[0416] In an optional embodiment of the present invention, a limiting frame is further provided on the chassis, wherein the limiting frame and the chassis define the limiting cavity. This arrangement has the beneficial effect of detachably connecting the limiting frame to the chassis, facilitating installation and removal of the mounting seat, thereby facilitating maintenance of the universal wheel assembly.

[0417] In an optional embodiment of the present invention, the limit frame is arranged on the upper surface of the chassis and is located in the inner cavity of the body; the top wall of the limit cavity is arranged on the limit frame, and the bottom wall is arranged on the chassis. The beneficial effect of this arrangement is that the distance between the chassis and the cleaning surface is very small, and the universal wheel still needs to occupy a part of the lateral space. If the limit cavity is under the chassis, firstly, the space needs to be expanded laterally, and secondly, the floating gap of the second elastic member for bearing the impact force is also limited. Therefore, in this embodiment, the limit frame is arranged on the upper surface of the chassis, which can further ensure the deformation of the second elastic member, so that the second elastic member has a sufficiently large elastic force to support the impact force from the cleaning surface.

[0418] In an optional embodiment of the present invention, the limit bracket is mounted on the lower surface of the chassis, outside the body; the bottom wall of the limit cavity is mounted on the limit bracket, and the top wall is mounted on the chassis. This arrangement provides a feasible alternative embodiment and increases the degree of design freedom.

[0419] In an optional embodiment of the present invention, the mounting base includes a mounting frame, the bottom of which is provided with a first, upwardly recessed groove; the universal wheel assembly further includes a rotating shaft, the bottom of which is connected to the universal wheel, and the top of which is disposed in the first groove; in the falling state, the top of the rotating shaft abuts the bottom of the first groove, thereby driving the mounting base to float upward; a floating gap is defined between the top of the first groove and the top wall; alternatively, the top wall defines a relief hole, through which the first groove can pass when the mounting base floats upward; an outer wall of the mounting frame includes a horizontally outwardly projecting outer edge; the outer edge is located within the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; a second elastic member is located within the floating cavity, one end of which is connected to the top wall and the other end of which is connected to the outer edge; when the universal wheel assembly is in the non-falling state, the outer edge maintains abutment with the protrusion. In an optional embodiment of the present invention, the top of the mounting frame is higher than the outer edge in the height direction of the fuselage. The beneficial effects of this arrangement are: the mounting frame and the second elastic member reuse the height space, further improving space utilization and making the structure more compact; and ensuring that the second elastic member has sufficient elastic force within the limited height space to support the impact force exerted on the universal wheel from the cleaning surface.

[0420] In an optional embodiment of the present invention, the bottom of the limit frame is provided with a second, upwardly recessed groove. This embodiment, by configuring the limit frame as an upwardly recessed groove and fitting it onto the exterior of the mounting frame, further protects the mounting frame and the second elastic member, preventing interference between the mounting frame and the second elastic member and other components within the interior of the fuselage during operation or when the front end of the fuselage falls. The limit frame fits onto the exterior of the mounting frame via the second groove, with the bottom of the second groove and the outer edge defining the floating cavity.

[0421] In an optional embodiment of the present invention, there are at least two second elastic members, and at least two outer edges are evenly distributed around the outer wall of the mounting frame, with each outer edge bearing the same elastic force of the second elastic member. Alternatively, there are at least two second elastic members, and the outer edges are annularly arranged around the outer wall of the mounting frame, with the elastic force of the second elastic member evenly distributed along the outer edges. This further effectively utilizes the smaller height space, increases the overall elastic force of the second elastic members, supports the impact force on the universal wheel from the cleaning surface, and ensures that the elastic force of the second elastic members is evenly applied to the mounting frame.

[0422] In an optional embodiment of the present invention, a first guide post is provided on the outer edge, a second guide post is provided on the top wall, and the two ends of the second elastic member are respectively mounted on the first guide post and the second guide post, with a floating gap between the first guide post and the second guide post. The beneficial effects of this arrangement are: the first guide post and the second guide post can limit the compression spring, preventing the compression spring from deflecting, thereby improving the impact resistance of the compression spring. In addition, the floating gap between the first guide post 422 and the second guide post 432 can ensure that when the second elastic member is compressed, the first guide post 422 and the second guide post 432 interfere with each other, affecting the compression amount of the second elastic member.

[0423] In an optional embodiment of the present invention, the universal wheel assembly further comprises a sleeve, which is fixed to the chassis and sleeved on the outside of the rotating shaft. A limit member is provided on the top of the rotating shaft. In a non-falling state, the limit member abuts against the top of the sleeve, and in a falling state, the limit member disengages from the abutment with the top of the sleeve. In the height direction of the fuselage, the length of the sleeve is less than the length of the rotating shaft, so that the rotating shaft has a floating gap when moving up and down relative to the sleeve, ensuring that the second elastic member has sufficient compression. The beneficial effect of such a setting is that the rotating shaft will cause wear to the fuselage when it moves. In this embodiment, a sleeve is provided at the position where the fuselage and the rotating shaft meet. The sleeve can be separately provided with a wear-resistant material, thereby increasing the service life while reducing the cost of the entire machine. The limit member can prevent the universal wheel from falling out of the sleeve.

[0424] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

[0425] In the description herein, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of the embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, assemblies, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of the embodiments of the present invention.

Claims

1. A cleaning robot, characterized in that: The robot comprises a body and a travel assembly, wherein a chassis is provided on the side of the body facing the cleaning surface, and the body has a front end, a middle part, and a rear end along the forward direction of the body; a universal wheel is provided on the side of the front end facing the cleaning surface, a tail wheel is provided on the side of the rear end facing the cleaning surface, and a travel assembly is provided on the side of the middle part facing the cleaning surface, the travel assembly is used to drive the body forward, the travel assembly comprises a driving wheel, a support unit, and an obstacle-crossing wheel, the support unit can move relative to the body to drive the obstacle-crossing wheel to switch between a support position and a storage position; When the obstacle crossing wheel is in the supporting position, the obstacle crossing wheel abuts against the cleaning surface, and the first rotation center of the obstacle crossing wheel is located before the second rotation center of the drive wheel, so that the tail wheel abuts against the cleaning surface and the universal wheel is separated from the cleaning surface; and the fuselage moves on the cleaning surface driven by the obstacle crossing wheel until the drive wheel abuts against the obstacle to be crossed, so that the fuselage passes over the obstacle driven by the drive wheel, and in the process of the fuselage moving driven by the obstacle crossing wheel, the height of the chassis passing over the obstacle and the height of the universal wheel are greater than or equal to the height of the obstacle; When the obstacle-crossing wheels are in the storage position, the universal wheels abut against the cleaning surface, the tail wheel is separated from the cleaning surface, and the fuselage moves on the cleaning surface driven by the driving wheels.

2. The cleaning robot according to claim 1, characterized in that: The first rotation center of the obstacle crossing wheel is closer to the front end of the fuselage when in the stowed position than when in the supporting position; The support unit can swing back and forth relative to the fuselage to drive the obstacle-crossing wheel to switch between the support position and the storage position.

3. The cleaning robot according to claim 1, characterized in that: The obstacle overcoming wheel also has an avoidance position. When the obstacle overcoming wheel in the supporting position abuts against the obstacle to be crossed, the supporting unit can move relative to the fuselage, driving the obstacle overcoming wheel to switch from the supporting position to the avoidance position, so that the fuselage can cross the obstacle under the drive of the driving wheel.

4. The cleaning robot according to claim 3, characterized in that: The obstacle overcoming wheel also has an avoidance position, and the first rotation center of the obstacle overcoming wheel is closer to the front end of the fuselage when it is in the support position than when it is in the avoidance position; When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the supporting unit can swing from front to back relative to the fuselage, driving the obstacle-crossing wheel to switch from the supporting position to the avoiding position, so that the fuselage can cross the obstacle driven by the driving wheel.

5. The cleaning robot according to claim 2 or 4, characterized in that: The swing axis of the support unit is parallel to the rotation axis of the driving wheel.

6. The cleaning robot according to claim 1, characterized in that: The traveling assembly further comprises a bracket, the bracket being arranged on the machine body, and the driving wheel being arranged on the bracket; The bracket has an outer wall surface away from the driving wheel and extending along the height direction of the fuselage. The support unit is arranged on the outer wall surface of the bracket. Along the forward direction of the fuselage, the support unit can swing back and forth relative to the bracket.

7. The cleaning robot according to claim 1 or 2, characterized in that: When the obstacle crossing wheel is in the stowed position, along the height direction of the fuselage, the obstacle crossing wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and a first height of the obstacle crossing wheel and / or the support unit is greater than or equal to a second height of the chassis; the first height refers to the height between the lowest point of the obstacle crossing wheel and / or the support unit and the cleaning surface, and the second height refers to the height between the lowest point of the chassis and the cleaning surface; Alternatively, when the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the storage position to the support position through the opening.

8. The cleaning robot according to claim 3 or 4, characterized in that: When the obstacle overcoming wheel is in the avoidance position, along the height direction of the fuselage, the obstacle overcoming wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and the third height of the obstacle overcoming wheel and / or the support unit is greater than or equal to the second height of the chassis; the third height refers to the height between the lowest point of the obstacle overcoming wheel and / or the support unit and the cleaning surface when in the avoidance position, and the second height is the height between the lowest point of the chassis and the cleaning surface; When the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a second opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the supporting position to the avoiding position through the opening.

9. The cleaning robot according to any one of claims 1 to 4, characterized in that: The traveling assembly further includes a bracket, the bracket being mounted on the body, the driving wheel being mounted on the bracket; one end of the supporting unit being connected to the bracket, and the other end being connected to the obstacle-crossing wheel; the supporting unit being movable relative to the bracket to drive the obstacle-crossing wheel to switch between a storage position and a supporting position; The bracket can float up and down relative to the fuselage to drive the traveling assembly to float up and down relative to the fuselage; when the cleaning robot is separated from the cleaning surface, the bracket floats downward to the extreme position relative to the fuselage as the first position; when the cleaning robot abuts against the cleaning surface, the bracket floats upward to the extreme position relative to the fuselage under the action of the gravity of the fuselage as the second position.

10. The cleaning robot according to claim 9, characterized in that: When the bracket is in the first position and the obstacle crossing wheel is in the stowed position, the obstacle crossing wheel and / or the support unit are located on the side of the chassis facing the cleaning surface along the height direction of the fuselage, and the first height of the obstacle crossing wheel and / or the support unit is greater than or equal to the second height of the chassis; the first height refers to the height between the lowest point of the obstacle crossing wheel and / or the support unit and the cleaning surface, and the second height refers to the height between the lowest point of the chassis and the cleaning surface; Alternatively, when the bracket is in the first position and the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the storage position to the support position through the opening.

11. The cleaning robot according to claim 9, characterized in that: When the bracket is in the first position and the obstacle overcoming wheel is in the avoidance position, along the height direction of the fuselage, the obstacle overcoming wheel and / or the support unit are located on the side of the chassis facing the cleaning surface, and the third height of the obstacle overcoming wheel and / or the support unit is greater than or equal to the second height of the chassis; the third height refers to the height between the lowest point of the obstacle overcoming wheel and / or the support unit and the cleaning surface when in the avoidance position, and the second height is the height between the lowest point of the chassis and the cleaning surface; Alternatively, when the bracket is in the first position and the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the support unit are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a second opening is provided on the chassis so that the obstacle crossing wheel and / or the support unit can be switched from the supporting position to the avoiding position through the opening.

12. The cleaning robot according to claim 1, characterized in that: When the obstacle overcoming wheel is in the supporting position, along the traveling direction of the fuselage, the obstacle overcoming wheel has a first front end, the driving wheel has a second front end, and the first front end is located at the rear side of the second front end.

13. The cleaning robot according to claim 6, characterized in that: The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the support unit can move relative to the fuselage to drive the obstacle-crossing wheel to switch from the supporting position to the avoidance position, so that the fuselage can cross the obstacle under the drive wheel. The cleaning robot further includes a limiting structure, wherein the limiting structure includes a first pin shaft and a first arc-shaped groove; One of the first pin and the first arc-shaped slot is provided on the side wall of the support unit facing the bracket, and the other is provided on the side wall of the bracket facing the support unit; wherein the first pin extends into the first arc-shaped slot, and the first arc-shaped slot extends along the swinging direction of the support unit, and the first pin can move along the extending direction of the first arc-shaped slot as the support unit swings; The first arc-shaped groove has a first end face and a second end face in the extension direction, and the two end faces of the first arc-shaped groove are used to limit the maximum swing stroke of the obstacle overcoming wheel; wherein, when the first pin shaft abuts against the first end face, the obstacle overcoming wheel is located in the storage position; when the first pin shaft abuts against the second end face, the obstacle overcoming wheel is located in the avoidance position.

14. The cleaning robot according to claim 13, characterized in that: Also included is a second driving structure, the second driving structure being used to drive the supporting unit to swing relative to the bracket; Furthermore, it further comprises an in-position detection element for detecting that the obstacle-crossing wheel is switched to the supporting position; When the in-position detection element detects that the obstacle overcoming wheel is in the supporting position, the second driving structure stops driving the supporting unit to swing relative to the bracket, so that the obstacle overcoming wheel remains in the supporting position and can drive the fuselage to move.

15. The cleaning robot according to claim 1, characterized in that The traveling component also includes a bracket, which is arranged on the fuselage, and the driving wheel is arranged on the bracket. The cleaning robot also includes a locking mechanism, which has a locked state and an unlocked state. In the locked state, the locking mechanism locks the bracket on the fuselage, and the driving wheel cannot float up and down relative to the fuselage; in the unlocked state, the driving wheel can float up and down relative to the fuselage; when the obstacle-crossing wheel is in the supporting position, the locking mechanism is in a locked state; when the obstacle-crossing wheel is in the storage position, the locking mechanism is in an unlocked state.

16. The cleaning robot according to claim 15, characterized in that: The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the obstacle-crossing wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle. During the process of the obstacle-crossing wheel switching from the supporting position to the avoiding position, the locking mechanism remains in the locked state.

17. The cleaning robot according to claim 15, characterized in that: The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the obstacle-crossing wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle. When the obstacle-crossing wheel is in the avoidance position, the locking mechanism is in an unlocked state.

18. The cleaning robot according to claim 9, characterized in that: The support unit is arranged between the bracket and the fuselage, the first end of the support unit is rotatably arranged on the bracket, and the second end of the support unit is connected to the obstacle-crossing wheel, driving the first end to rotate relative to the bracket to drive the second end to swing relative to the bracket.

19. The cleaning robot according to claim 15, characterized in that: The first end of the support unit is rotatably provided on the bracket, the locking mechanism includes a second pin and a second arcuate groove, the second arcuate groove is provided on the side wall of the first end, the second pin is provided on the body, and the second pin extends into the second arcuate groove; wherein, The second arc-shaped groove extends along the swing direction of the support unit, and the second arc-shaped groove includes a limiting groove section and a first notch section provided on one end of the groove section, and the groove section is connected to the first notch section; When the second pin shaft moves along the extending direction of the groove section as the first end portion rotates, the second pin shaft abuts against the top wall of the groove section along the height direction of the fuselage, so that the locking mechanism is in a locked state; When the obstacle-crossing wheel is in the storage position, the second pin shaft can be disengaged from the second arc-shaped groove through the first notch section, so that the bracket can float up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

20. The cleaning robot according to claim 19, characterized in that The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the obstacle-crossing wheel swings from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle. The other end of the second arc-shaped groove is a second notch; When the obstacle-crossing wheel is in the avoidance position, the second pin shaft can be disengaged from the second arc-shaped groove through the second notch, so that the driving wheel floats up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

21. The cleaning robot according to claim 20, characterized in that: The bracket can float up and down relative to the body to drive the traveling assembly to float up and down relative to the body; when the cleaning robot leaves the cleaning surface, the bracket floats downward relative to the body to an extreme position, which serves as the first position; when the cleaning robot abuts against the cleaning surface, the bracket floats upward relative to the body to an extreme position under the action of the gravity of the body, which serves as the second position; When the locking mechanism is in the locked state, it is used to lock the bracket in the second position; When the obstacle-crossing wheel is in the stowed position, in the second position, the second pin is located in the first notch section; and in the first position, in the height direction of the fuselage, the second pin is located outside the first notch section; When the obstacle crossing wheel is in the avoidance position, in the second position, the second pin shaft is in the second notch section, and in the first position, in the height direction of the fuselage, the second pin shaft is outside the second notch section.

22. The cleaning robot according to claim 6, characterized in that: When the obstacle-crossing wheel is in the supporting position, the bracket can float up and down relative to the fuselage, so that the driving wheel can float up and down relative to the fuselage.

23. The cleaning robot according to claim 17, characterized in that After the cleaning robot finishes overcoming the obstacle, the universal wheel contacts the cleaning surface, the tail wheel is separated from the cleaning surface, the obstacle-overcoming wheel remains in the avoidance position, and the body moves on the cleaning surface driven by the driving wheel.

24. The cleaning robot according to claim 1, characterized in that The universal wheel assembly includes a mounting seat and a universal wheel provided on the mounting seat; The chassis has a limiting cavity, which has a fixed height in the height direction of the fuselage and has a top wall and a bottom wall; the mounting seat is embedded in the limiting cavity; at least one second elastic member, one end of the second elastic member being disposed on the top wall and the other end being disposed on the mounting seat; When the universal wheel assembly is in a non-falling state, the mounting seat remains in contact with the bottom wall under the action of the compression of the second elastic member, and the elastic force generated by the compression is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly; There is a floating gap between the mounting seat and the top wall. When the universal wheel assembly is in a falling state, the mounting seat compresses the second elastic member to float toward the top wall due to the impact force of the cleaning surface during the falling state.

25. The cleaning robot according to claim 24, characterized in that: It also includes a limiting frame provided on the chassis, wherein the limiting frame and the chassis form the limiting cavity; The limiting frame is arranged on the upper surface of the chassis and is located in the inner cavity of the fuselage; the top wall of the limiting cavity is arranged on the limiting frame, and the bottom wall is arranged on the chassis.

26. The cleaning robot according to claim 25, characterized in that The mounting seat includes a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame; The universal wheel assembly further includes a rotating shaft, the bottom of the rotating shaft is connected to the universal wheel, and the top of the rotating shaft is arranged in the first groove; In the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward; There is a floating gap between the top of the first groove and the top wall; or, a relief hole is opened in the top wall, and when the mounting seat floats upward, the first groove can pass through the relief hole; The outer wall of the mounting frame is provided with an outer edge that protrudes horizontally outwards, and in the height direction of the fuselage, the top of the mounting frame is higher than the outer edge; The outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the second elastic member is located in the floating cavity, with one end connected to the top wall and the other end connected to the outer edge; When the universal wheel assembly is in a non-falling state, the outer edge maintains contact with the bottom wall.

27. The cleaning robot according to claim 1, characterized in that The universal wheel assembly includes a mounting seat and a universal wheel provided on the mounting seat; The chassis of the fuselage has a limiting cavity, the height of the limiting cavity is fixed in the height direction of the fuselage, and the limiting cavity has a top wall and a bottom wall, the bottom wall is provided with an upwardly protruding portion, and the mounting seat is embedded in the limiting cavity; at least one second elastic member, one end of the second elastic member being disposed on the bottom wall and the other end being disposed on the mounting seat; When the universal wheel assembly is in a non-falling state, the mounting seat is kept in contact with the protrusion under the action of the stretch of the second elastic member, and along the height direction of the fuselage, the surface of the mounting seat that is used to abut the protrusion is located above the protrusion, and the elastic force generated by the stretch is greater than or equal to the gravity of the fuselage acting on the universal wheel assembly; There is a floating gap between the mounting seat and the top wall. When the universal wheel assembly is in a falling state, the mounting seat stretches the second elastic member to float toward the top wall due to the impact force of the cleaning surface during the falling state.

28. The cleaning robot according to claim 27, characterized in that: It also includes a limiting frame provided on the chassis, wherein the limiting frame and the chassis form the limiting cavity; The limiting frame is arranged on the upper surface of the chassis and is located in the inner cavity of the fuselage; the top wall of the limiting cavity is arranged on the limiting frame, and the bottom wall is arranged on the chassis.

29. The cleaning robot according to claim 27, characterized in that The mounting seat includes a mounting frame, and a first groove recessed upward is provided on the bottom of the mounting frame; The universal wheel assembly further includes a rotating shaft, the bottom of the rotating shaft is connected to the universal wheel, and the top of the rotating shaft is arranged in the first groove; In the falling state, the top of the rotating shaft abuts against the bottom of the first groove to drive the mounting seat to float upward; There is a floating gap between the top of the first groove and the top wall; or, a relief hole is opened in the top wall, and when the mounting seat floats upward, the first groove can pass through the relief hole; The outer wall of the mounting frame is provided with an outer edge that protrudes horizontally outward, and the top of the mounting frame is higher than the outer edge in the height direction of the fuselage; the outer edge is located in the limiting cavity, and a floating cavity is formed between the outer edge and the top wall; the second elastic member is located in the floating cavity, with one end connected to the top wall and the other end connected to the outer edge; When the universal wheel assembly is in a non-falling state, the outer edge maintains contact with the protrusion.

30. The cleaning robot according to claim 26 or 29, characterized in that: The bottom of the limiting frame is provided with a second groove which is recessed upwards; The limiting frame is sleeved on the outside of the mounting frame through the second groove, and the floating cavity is formed between the groove bottom and the outer edge of the second groove.

31. The cleaning robot according to claim 26 or 29, characterized in that: There are at least two second elastic members, at least two outer edges, and the at least two outer edges are evenly distributed around the outer wall of the mounting frame, and the elastic force of the second elastic member supported by each outer edge is the same; Alternatively, there are at least two second elastic members, the outer edge is annular and surrounds the outer wall of the mounting frame, and the elastic force of the second elastic member is evenly distributed on the outer edge.

32. The cleaning robot according to claim 31, characterized in that A first guide post is provided on the outer edge, a second guide post is provided on the top wall, two ends of the second elastic member are respectively sleeved on the first guide post and the second guide post, and a floating gap is provided between the first guide post and the second guide post.

33. The cleaning robot according to claim 26 or 29, characterized in that: The universal wheel assembly further includes a shaft sleeve, which is fixed to the chassis and sleeved on the outside of the rotating shaft. A limit piece is provided on the top of the rotating shaft. When the shaft is not in a falling state, the limit piece abuts against the top of the shaft sleeve, and when the shaft is in a falling state, the limit piece is disengaged from the abutment. In the height direction of the fuselage, the length of the shaft sleeve is smaller than the length of the rotating shaft, so that the rotating shaft has a floating gap when moving up and down relative to the shaft sleeve.

34. The cleaning robot according to claim 1, characterized in that A buffer layer is provided on the side of the chassis facing the cleaning surface to buffer the abutment friction between the chassis and obstacles when the obstacle-crossing wheels at the supporting position drive the fuselage to move.

35. The cleaning robot according to claim 1, characterized in that The diameter of the obstacle-crossing wheel is smaller than the radius of the driving wheel.

36. The cleaning robot according to claim 1, characterized in that The self-rotation of the obstacle-crossing wheel and the self-rotation of the driving wheel adopt the same driving mechanism.

37. The cleaning robot according to claim 1, characterized in that The first rotation axis of the obstacle-crossing wheel is parallel to the second rotation axis of the driving wheel.

38. The cleaning robot according to claim 1, characterized in that Along the forward direction of the fuselage, there is a height difference between the cleaning surface located on the rear side of the obstacle and the upper surface of the obstacle; After the driving wheel passes over the obstacle, the rear end of the fuselage abuts against the upper surface of the obstacle, and the driving wheel is separated from the cleaning surface behind the obstacle, the obstacle-crossing wheel in the supporting position is used to drive the fuselage to move until the rear end of the fuselage is separated from the upper surface of the obstacle.

39. The cleaning robot according to claim 4, characterized in that Along the forward direction of the fuselage, there is a height difference between the cleaning surface located on the rear side of the obstacle and the upper surface of the obstacle; After the driving wheel passes over the obstacle, the rear end of the fuselage abuts against the upper surface of the obstacle, and the driving wheel is separated from the cleaning surface behind the obstacle, the support unit is in a state of swinging from the avoidance position to the storage position, so that the obstacle-crossing wheel abuts against the cleaning surface during the swinging process, driving the fuselage to move until the rear end of the fuselage is separated from the upper surface of the obstacle.

40. The cleaning robot according to claim 1, characterized in that When it is necessary to overcome an obstacle, the driving wheels stop rotating, so that the fuselage stops moving; After the body stops moving, the obstacle-crossing wheels are switched to a supporting position to drive the body to move on the cleaning surface.

41. The cleaning robot according to any one of claims 2, 4 and 6, characterized in that: The support unit includes a second support member and a third support member; the second support member can rotate relative to the fuselage around the first rotation axis; The third support member is disposed on the second support member away from the first rotation axis, the first end of the third support member is rotatably connected to the second support member, the obstacle overcoming wheel is rotatably disposed on the second end of the third support member, and the second rotation axis of the third support member relative to the second support member does not coincide with the second rotation axis; The end of the second support member used to connect to the third support member also has an abutment portion. When the second support member rotates around the first rotation axis, the abutment portion abuts against the third support member, so as to drive the third support member to swing around the first rotation axis based on the extrusion force exerted by the abutment portion on the third support member.

42. The cleaning robot according to claim 41, characterized in that The second support member is sleeved on the driving wheel shaft of the driving wheel.

43. The cleaning robot according to claim 41, characterized in that The first rotation axis overlaps with the rotation axis of the drive wheel.

44. The cleaning robot according to claim 41, characterized in that A first elastic member is further provided between the second support member and the third support member, one end of the first elastic member is fixed on the second support member, and the other end is fixed on the third support member. The first elastic member has a tendency to keep the abutting portion of the second support member in abutment with the third support member.

45. The cleaning robot according to claim 41, characterized in that The second support member has an accommodating notch, the first end of the third support member is rotatably connected to one side of the accommodating notch, and the side wall of the side of the accommodating notch connected to the first end forms the abutting portion; When the third supporting member is subjected to a pressing force that causes the third supporting member to move away from the abutting portion, the third supporting member moves into the accommodating notch.

46. The cleaning robot according to claim 45, characterized in that The spatial size of the accommodating gap is larger than the spatial size of the third support member and the obstacle-crossing wheel, so as to ensure that the third support member and the obstacle-crossing wheel can be fully accommodated in the accommodating gap.

47. The cleaning robot according to claim 41, characterized in that The cleaning robot further includes a first driving structure and a first transmission mechanism, wherein the first driving structure is used to drive the driving wheel to rotate and the obstacle-crossing wheel to rotate; The first transmission mechanism includes a driving gear, a driven gear and an intermediate transmission gear, and the driving gear and the driven gear are meshed and connected through the intermediate transmission gear; The driving wheel is provided with a driving wheel shaft, and the driving wheel shaft is passed through the driving wheel and the driving gear to drive the driving wheel and the driving gear to rotate. The driving gear drives the driven gear to rotate through the intermediate transmission gear. The obstacle overcoming wheel is provided with a driven wheel shaft, and the driven wheel shaft is passed through the obstacle overcoming wheel and the driven gear. The driven gear drives the obstacle overcoming wheel to rotate through the driven wheel shaft.

48. The cleaning robot according to claim 47, characterized in that A cavity is formed in the supporting unit, and the first transmission mechanism is arranged in the cavity.

49. The cleaning robot according to claim 47, characterized in that The intermediate transmission gear includes a third intermediate transmission gear, which includes a first gear portion and a second gear portion arranged coaxially, with a common shaft of the first gear portion and the second gear portion serving as a third intermediate wheel shaft, and the first gear portion drives the second gear portion to rotate via the third intermediate wheel shaft; The driving gear and the first gear portion are meshed with each other, and the driven gear and the second gear portion are meshed with each other; or, the intermediate transmission gear further includes a first intermediate transmission gear and a second intermediate transmission gear, the driving gear, the first intermediate transmission gear and the first gear portion are meshed with each other, and the driven gear, the second intermediate transmission gear and the second gear portion are meshed with each other.

50. The cleaning robot according to claim 49, characterized in that The second support member is provided with a fixed shaft, the fixed shaft is arranged away from the first rotation axis, the third support member is provided with a shaft sleeve, the third support member is sleeved on the fixed shaft through the shaft sleeve, and the fixed shaft can rotate relative to the shaft sleeve; or the third support member is provided with a fixed shaft, the second support member is provided with a shaft sleeve, the shaft sleeve is arranged away from the first rotation axis, and the third support member is sleeved on the fixed shaft through the shaft sleeve, The fixed shaft can rotate relative to the shaft sleeve; The third intermediate wheel shaft is a hollow structure. The fixed shaft and the shaft sleeve are passed through the third intermediate wheel shaft, and the fixed shaft and the shaft sleeve can rotate relative to the third intermediate wheel shaft.

51. The cleaning robot according to claim 49, characterized in that A first elastic member is further provided between the second support member and the third support member, one end of the first elastic member is fixed to the second support member, and the other end is fixed to the third support member, and the first elastic member has a tendency to keep the abutting portion of the second support member in abutment with the third support member; The first elastic member is a torsion spring, which is sleeved on the outside of the third intermediate wheel shaft and located in the gap between the first gear part and the second gear part.

52. The cleaning robot according to claim 41, characterized in that When the obstacle crossing wheel is in the stowed position, along the height direction of the fuselage, the obstacle crossing wheel and / or the third support member are located on the side of the chassis facing the cleaning surface, and a first height of the obstacle crossing wheel and / or the third support member is greater than or equal to a second height of the chassis; the first height refers to the height between the lowest point of the obstacle crossing wheel and / or the third support member and the cleaning surface, and the second height refers to the height between the lowest point of the chassis and the cleaning surface; Alternatively, when the obstacle crossing wheel is in the storage position, the obstacle crossing wheel and / or the third support member are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the third support member can be switched from the storage position to the support position through the opening.

53. The cleaning robot according to claim 41, characterized in that When the obstacle overcoming wheel is in the avoidance position, along the height direction of the fuselage, the obstacle overcoming wheel and / or the third support member are located on the side of the chassis facing the cleaning surface, and a third height of the obstacle overcoming wheel and / or the third support member is greater than or equal to the second height of the chassis; the third height refers to the height between the lowest point of the obstacle overcoming wheel and / or the third support member and the cleaning surface when in the avoidance position, and the second height is the height between the lowest point of the chassis and the cleaning surface; Alternatively, when the obstacle crossing wheel is in the avoidance position, the obstacle crossing wheel and / or the third support member are all stored on the side of the chassis away from the cleaning surface along the height direction of the fuselage, and a first opening is provided on the chassis so that the obstacle crossing wheel and / or the third support member can be switched from the storage position to the support position through the opening.

54. The cleaning robot according to claim 6 or 19, characterized in that: The cleaning robot further includes a second driving structure and a second transmission mechanism, wherein the second transmission mechanism includes a ring gear, and the ring gear is fixed to the first end of the support unit to drive the support unit to swing relative to the bracket; The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the support unit can move relative to the fuselage to drive the obstacle-crossing wheel to switch from the supporting position to the avoidance position, so that the fuselage can cross the obstacle under the drive wheel. The cleaning robot further includes a limiting structure, wherein the limiting structure includes a first pin shaft and a first arc-shaped groove; One of the first pin and the first arc-shaped groove is provided on the side wall of the gear ring facing the bracket, and the other is provided on the side wall of the bracket facing the gear ring; wherein the first pin extends into the first arc-shaped groove, and the first arc-shaped groove extends along the swinging direction of the support unit, and the first pin can move along the extending direction of the first arc-shaped groove as the support unit swings; The first arc-shaped groove has a first end face and a second end face in the extension direction, and the two end faces of the first arc-shaped groove are used to limit the maximum swing stroke of the obstacle overcoming wheel; wherein, when the first pin shaft abuts against the first end face, the obstacle overcoming wheel is located in the storage position; when the first pin shaft abuts against the second end face, the obstacle overcoming wheel is located in the avoidance position.

55. A cleaning robot, characterized in that: The machine comprises a body and a travel assembly; a chassis is provided on the side of the body facing the cleaning surface; along the forward direction of the body, the body has a front end, a middle part and a rear end; a driving wheel is provided on the side of the middle part facing the cleaning surface; The traveling assembly includes a bracket, a driving wheel, a support unit, and an obstacle-crossing wheel; the bracket is arranged on the fuselage, and the driving wheel is arranged on the bracket; the bracket can float up and down relative to the fuselage, so that the driving wheel floats up and down relative to the fuselage; The obstacle-crossing wheel has a supporting position and a stowed position; wherein, in the supporting position, the obstacle-crossing wheel abuts against the cleaning surface and supports the front end of the fuselage to be lifted, and the fuselage moves on the cleaning surface driven by the obstacle-crossing wheel until the driving wheel abuts against the obstacle to be crossed, so that the fuselage passes over the obstacle driven by the driving wheel, and in the process of the fuselage moving driven by the obstacle-crossing wheel, the height of the chassis passing over the obstacle is greater than or equal to the height of the obstacle; in the stowed position, the obstacle-crossing wheel cancels the support that causes the front end of the fuselage to be lifted; The cleaning robot also includes a locking mechanism, which has a locked state and an unlocked state. In the locked state, the locking mechanism locks the bracket to the body, and the driving wheel cannot float up and down relative to the body; in the unlocked state, the driving wheel can float up and down relative to the body; when the obstacle-crossing wheel is in the supporting position, the locking mechanism is in the locked state; when the obstacle-crossing wheel is in the storage position, the locking mechanism is in the unlocked state.

56. The cleaning robot according to claim 55, characterized in that The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the obstacle-crossing wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle. During the process of the obstacle-crossing wheel switching from the supporting position to the avoiding position, the locking mechanism remains in the locked state.

57. The cleaning robot according to claim 55, characterized in that The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the obstacle-crossing wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle. When the obstacle-crossing wheel is in the avoidance position, the locking mechanism is in an unlocked state.

58. The cleaning robot according to claim 55 or 56, characterized in that: The bracket can float up and down relative to the body to drive the traveling assembly to float up and down relative to the body; when the cleaning robot leaves the cleaning surface, the bracket floats downward relative to the body to an extreme position, which serves as the first position; when the cleaning robot abuts against the cleaning surface, the bracket floats upward relative to the body to an extreme position under the action of the gravity of the body, which serves as the second position; When the locking mechanism is in the locked state, it is used to lock the bracket in the second position.

59. The cleaning robot according to claim 55, characterized in that The support unit is arranged between the bracket and the fuselage, the first end of the support unit is rotatably arranged on the bracket, and the second end of the support unit is connected to the obstacle-crossing wheel, driving the first end to rotate relative to the bracket to drive the second end to swing relative to the bracket.

60. The cleaning robot according to claim 59, characterized in that The locking mechanism includes a second pin and a second arc-shaped groove, the second arc-shaped groove is provided on the side wall of the first end portion, the second pin is provided on the fuselage, and the second pin extends into the second arc-shaped groove; wherein, The second arc-shaped groove extends along the swing direction of the support unit, and the second arc-shaped groove includes a limiting groove section and a first notch section provided on one end of the groove section, and the groove section is connected to the first notch section; When the second pin moves along the extending direction of the groove segment as the first end portion rotates, the second pin abuts against the top wall of the groove segment along the height direction of the fuselage, and the locking mechanism is in a locked state; When the obstacle-crossing wheel is in the storage position, the second pin shaft can be disengaged from the second arc-shaped groove through the first notch section, so that the traveling assembly floats up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

61. The cleaning robot according to claim 60, characterized in that The obstacle-crossing wheel also has an avoidance position. When the obstacle-crossing wheel in the supporting position abuts against an obstacle to be crossed, the obstacle-crossing wheel switches from the supporting position to the avoidance position, so that the fuselage, driven by the driving wheel, crosses the obstacle. The other end of the second arc-shaped groove is a second notch; When the obstacle-crossing wheel is in the avoidance position, the second pin shaft can be disengaged from the second arc-shaped groove through the second notch, so that the traveling assembly floats up and down relative to the fuselage, and the locking mechanism is in an unlocked state.

62. The cleaning robot according to claim 60, characterized in that When the cleaning robot is separated from the cleaning surface, the bracket floats downward relative to the body. When the cleaning robot abuts the cleaning surface, the bracket floats upward relative to the body under the action of the gravity of the body. The extreme position of the bracket floating downward is used as the first position, and the extreme position of the bracket floating upward is used as the second position. When the locking mechanism is in the locked state, it is used to lock the bracket in the second position; When the obstacle crossing wheel is in the stowed position, in the second position, the second pin shaft is in the first notch section; in the first position, in the height direction of the fuselage, the second pin shaft is outside the first notch section.

63. The cleaning robot according to claim 61, characterized in that When the cleaning robot is separated from the cleaning surface, the bracket floats downward relative to the body. When the cleaning robot abuts the cleaning surface, the bracket floats upward relative to the body under the action of the gravity of the body. The extreme position of the bracket floating downward is used as the first position, and the extreme position of the bracket floating upward is used as the second position. When the locking mechanism is in the locked state, it is used to lock the bracket in the second position; When the obstacle crossing wheel is in the avoidance position, in the second position, the second pin shaft is in the first notch section; in the first position, in the height direction of the fuselage, the second pin shaft is outside the first notch section.

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