Walking wheel mechanism and cleaning equipment

Abstract

The utility model relates to the technical field of cleaning equipment, in particular to a walking wheel mechanism and cleaning equipment. The walking wheel mechanism comprises a walking wheel assembly, a cam and a driving assembly, the driving assembly is fixedly connected with a first shell of the cleaning equipment, and the driving assembly is in driving connection with the cam; the cam abuts against the walking wheel assembly, the walking wheel assembly is connected with a second shell of the cleaning equipment in a sliding mode, and the sliding direction is the height direction.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a walking wheel mechanism and a cleaning equipment. Background Art

[0002] In order to maintain balance and normal operation during the movement of cleaning equipment, the bottom of the cleaning equipment cannot be too far from the ground; however, in special scenarios, the distance between the bottom and the ground may be too close, which in turn affects the operation of the cleaning equipment; for example, when encountering an obstacle, the bottom is too low, resulting in failure to overcome the obstacle; when encountering deep water, the bottom is too low, causing the accumulated water to enter the interior of the cleaning equipment, causing damage to the cleaning equipment. Utility Model Content

[0003] In response to the above-mentioned problems in the prior art, this application designs a walking wheel mechanism. Specifically, a cam is used to drive the walking wheel assembly to slide relative to the second shell, thereby changing the height difference between the walking wheel assembly and the second shell, and thereby changing the distance between the cleaning equipment body and the ground.

[0004] In order to solve the above problems, the present application provides a walking wheel mechanism, including a walking wheel assembly, a cam and a driving assembly.

[0005] The driving assembly is fixedly connected to the first housing of the cleaning device, and the driving assembly is drivingly connected to the cam;

[0006] The cam abuts against the travel wheel assembly, and the travel wheel assembly is slidably connected to the second shell of the cleaning device, and the sliding direction is the height direction.

[0007] Preferably, the drive assembly includes a drive unit and a transmission shaft, the drive unit is fixedly connected to the first housing, the drive unit is drivingly connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the first housing through a bearing structure;

[0008] The cam is fixedly connected to the transmission shaft.

[0009] Preferably, the travel wheel assembly comprises an abutting pressure plate, a sliding sleeve, a travel wheel mounting seat and a travel wheel, and the travel wheel is mounted on the travel wheel mounting seat;

[0010] The sliding sleeve is slidably connected to the second housing, and the sliding sleeve is connected to the walking wheel mounting seat;

[0011] The cam abuts against the abutting pressure plate, and the abutting pressure plate is fixed on the sliding sleeve.

[0012] Preferably, the walking wheel assembly further includes an elastic member, one end of the elastic member is connected to the abutting pressure plate, and the other end of the elastic member is connected to the second shell.

[0013] Preferably, an inclined surface and a horizontal surface are provided on the abutting pressure plate, the inclined surface is arranged adjacent to the horizontal surface, and the inclined surface is higher than the horizontal surface.

[0014] Preferably, an abutting pulley is provided on the cam, and the cam abuts against the abutting pressure plate through the abutting pulley.

[0015] Preferably, the cam includes a distal end away from the transmission shaft and a proximal end close to the transmission shaft, and the abutting pulley is provided on the distal end.

[0016] Preferably, the cam abuts against the abutting plate through a curvature surface of the cam.

[0017] Preferably, a universal shaft is provided on the walking wheel mounting seat, and a shaft mounting hole is provided in the sliding sleeve;

[0018] The walking wheel mounting seat is rotatably connected to the sliding sleeve through the universal shaft and the shaft mounting hole.

[0019] Preferably, an anti-dropping clamping structure is provided in the shaft mounting hole, and the shaft mounting hole is sleeved outside the universal shaft;

[0020] The anti-dropping clamping structure is clamped to the universal shaft.

[0021] On the other hand, the present application also provides a cleaning device, which includes the above-mentioned walking wheel mechanism, a first shell and a second shell.

[0022] Due to the above technical solution, the walking wheel mechanism described in this application has the following beneficial effects:

[0023] By fixedly connecting the driving assembly to the first shell, the cam abutting the walking wheel assembly, and the walking wheel assembly slidingly connected to the second shell in the height direction, the cam can be rotated under the drive of the driving assembly, and the walking wheel assembly can slide relative to the second shell under the action of the abutting force, thereby changing the height difference between the walking wheel assembly and the second shell, and then changing the distance between the cleaning device body and the ground, so as to meet the needs of different working scenarios of the cleaning device, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning device.

[0024] By setting a cam and a drive assembly, the height difference between the walking wheel assembly and the second shell can be changed, avoiding the use of complex structures such as a screw, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment, and reducing the manufacturing cost of the walking wheel mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solution of this application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are merely some embodiments of this application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0026] Figure 1 This is a schematic diagram of the structure of the walking wheel mechanism provided in an embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of the structure of the drive assembly in the walking wheel mechanism provided in an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of the assembly of the bearing bracket in the traveling wheel mechanism provided in an embodiment of the present application;

[0029] Figure 4 This is a schematic structural diagram of a traveling wheel assembly in a traveling wheel mechanism provided in an embodiment of the present application;

[0030] Figure 5 This is a schematic diagram of the abutment plate structure in the walking wheel mechanism provided in an embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the cam structure in the traveling wheel mechanism provided in an embodiment of the present application;

[0032] Figure 7 This is a schematic diagram of the cam structure in the traveling wheel mechanism provided in another embodiment of the present application;

[0033] Figure 8 This is a cross-sectional view of the assembly of the sliding sleeve and the traveling wheel mounting seat in the traveling wheel mechanism provided in an embodiment of the present application.

[0034] Among them, 1-travel wheel assembly, 11-abutment pressure plate, 111-inclined surface, 112-horizontal surface, 12-sliding sleeve, 121-rotating shaft mounting hole, 122-anti-slip clamping structure, 13-travel wheel mounting seat, 131-universal shaft, 14-travel wheel, 15-elastic member, 2-cam, 21-abutment pulley, 22-sliding wheel shaft, 3-drive assembly, 31-drive unit, 32-transmission shaft, 33-bearing assembly, 34-coupling, 4-first housing, 41-servo mounting housing, 42-bearing bracket, 5-second housing. DETAILED DESCRIPTION

[0035] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] References to "one embodiment" or "embodiment" herein refer to specific features, structures, or characteristics that may be included in at least one implementation of the present application. Throughout the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "top," and "bottom," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features referred to. Thus, a feature designated "first" or "second" may explicitly or implicitly include one or more of the features. Furthermore, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that such terms are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0037] Combine Figure 1 , introducing a walking wheel mechanism provided in an embodiment of the present application, the mechanism includes a walking wheel assembly 1, a cam 2 and a driving assembly 3, the driving assembly 3 is fixedly connected to the first shell 4 of the cleaning device, and the driving assembly 3 is drivingly connected to the cam 2; the cam 2 abuts against the walking wheel assembly 1, and the walking wheel assembly 1 is slidingly connected to the second shell 5 of the cleaning device, and the sliding direction is the height direction.

[0038] In an embodiment of the present application, the walking wheel assembly 1 is always in contact with the ground, and the walking wheel assembly 1 is used to drive the cleaning equipment to move; the cam 2 is used to drive the walking wheel assembly 1 to slide relative to the second shell 5 under the drive of the driving assembly 3; the driving assembly 3 is used to drive the cam 2 to rotate.

[0039] In the specific embodiment of the present application, the first shell 4 and the second shell 5 respectively refer to two different shell structures; preferably, the first shell 4 can be detachably connected to the second shell 5.

[0040] In another preferred embodiment of the present application, the first shell 4 is fixedly connected to the second shell 5; preferably, the first shell 4 and the second shell 5 are integrally formed.

[0041] In another specific embodiment of the present application, when the first shell 4 and the second shell 5 are integrally formed, it can be understood that the first shell 4 and the second shell 5 respectively refer to two different parts of the same shell.

[0042] In a specific embodiment of the present application, the first shell 4 and the second shell 5 are both shells at the bottom of the cleaning device, and the cleaning device body moves relative to the ground with the movement of the second shell 5; specifically, when the second shell 5 moves in the direction away from the walking wheel assembly 1, the cleaning device body moves in the direction away from the ground; when the second shell 5 moves in the direction close to the walking wheel assembly 1, the cleaning device moves in the direction close to the ground.

[0043] In an embodiment of the present application, by fixedly connecting the driving component 3 to the first shell 4, the cam 2 abuts against the walking wheel component 1, and the walking wheel component 1 is slidably connected to the second shell 5 in the height direction, the cam 2 can be rotated under the drive of the driving component 3, so that the walking wheel component 1 slides relative to the second shell 5 under the action of the abutment force; the height difference between the walking wheel component 1 and the second shell 5 is changed, and then the distance between the cleaning equipment body and the ground is changed to meet the needs of different working scenarios of the cleaning equipment, that is, the flexibility of the walking wheel mechanism is improved, and the working flexibility of the cleaning equipment is improved.

[0044] In an embodiment of the present application, the height difference between the walking wheel assembly 1 and the second shell 5 can be changed by setting a cam 2 and a driving assembly 3, thereby avoiding the use of complex structures such as a lead screw, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment, and reducing the manufacturing cost of the walking wheel mechanism.

[0045] refer to Figure 1-2 In an embodiment of the present application, the drive assembly 3 includes a drive unit 31 and a transmission shaft 32. The drive unit 31 is fixedly connected to the first housing 4. The drive unit 31 is drivingly connected to one end of the transmission shaft 32, and the other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure; the cam 2 is fixedly connected to the transmission shaft 32.

[0046] In an embodiment of the present application, the drive unit 31 is used to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is used to drive the cam 2 to move under the drive of the drive unit 31; the other end of the transmission shaft 32 is connected to the first shell 4 through a bearing structure, indicating that the transmission shaft 32 can rotate relative to the first shell 4; specifically, the transmission shaft 32 is arranged in the horizontal direction, the cam 2 is installed on the transmission shaft 32, and a matching bearing assembly 33 is respectively provided on both sides of the cam 2; specifically, the bearing assembly 33 includes two retaining springs and a bearing.

[0047] In an embodiment of the present application, the driving component 3 is configured as a driving unit 31 and a transmission shaft 32 to drive the cam 2 to rotate, and the driving of the cam 2 is achieved with a simple structure, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.

[0048] In a specific embodiment of the present application, the driving unit 31 is drivingly connected to the transmission shaft 32 via a coupling 34 .

[0049] In a specific embodiment of the present application, the drive unit 31 can be a servo, which can accurately control the drive position or angle; preferably, the drive angle can be set to 0°, and the height difference between the walking wheel assembly 1 and the second shell 5 is minimized; the drive angle can be set to 90°, and the height difference between the walking wheel assembly 1 and the second shell 5 is maximized.

[0050] In the specific embodiment of the present application, the first housing 4 includes a steering gear mounting housing 41 , and the steering gear is fixed on the steering gear mounting housing 41 .

[0051] In another specific embodiment of the present application, the cam 2 can be made into a camshaft. In this case, the driving unit 31 can directly drive the cam 2 to rotate.

[0052] refer to Figure 3 In a specific embodiment of the present application, the first housing 4 further includes a bearing bracket 42, and the other end of the transmission shaft 32 is connected to the bearing bracket 42 through a bearing structure; preferably, the bearing bracket 42 is provided with a placement space for protecting the cam 2.

[0053] In another specific embodiment of the present application, the driving unit 31 may also be a driving motor.

[0054] refer to Figure 4 In the embodiment of the present application, the walking wheel assembly 1 includes an abutting pressure plate 11, a sliding sleeve 12, a walking wheel mounting seat 13 and a walking wheel 14, and the walking wheel 14 is mounted on the walking wheel mounting seat 13; the sliding sleeve 12 is slidingly connected to the second shell 5, and the sliding sleeve 12 is connected to the walking wheel mounting seat 13; the cam 2 abuts against the abutting pressure plate 11, and the abutting pressure plate 11 is fixed on the sliding sleeve 12.

[0055] In the embodiment of the present application, the abutting pressure plate 11 is used to transmit the abutting force of the cam 2 to the sliding sleeve 12 , so that the sliding sleeve 12 slides relative to the second housing 5 .

[0056] In a specific embodiment of the present application, the height of the cam 2 above the ground is higher than the height of the abutting pressure plate 11 above the ground. When the height of the cam 2 above the ground is higher than the height of the abutting pressure plate 11 above the ground, and the cam 2 presses the abutting pressure plate 11 downward toward the ground, the sliding sleeve 12 slides relative to the second shell 5, and the walking wheel assembly 1 moves relative to the direction away from the second shell 5, and then the cleaning device body moves away from the ground, lifting the cleaning device.

[0057] In a specific embodiment of the present application, one of the sliding sleeve 12 and the second shell 5 is provided with a sliding block, and the other is provided with a sliding groove, and the sliding block and the sliding groove are cooperatively connected; specifically, a sliding block can be provided on the sliding sleeve 12, and a sliding groove can be provided on the second shell 5; or a sliding block can be provided on the second shell 5, and a sliding groove can be provided on the sliding sleeve 12.

[0058] In the specific embodiment of the present application, the abutting pressing plate 11 and the sliding sleeve 12 are integrally formed.

[0059] In a specific embodiment of the present application, the traveling wheel mounting seat 13 can rotate relative to the sliding sleeve 12, and in this case the traveling wheel 14 is a universal wheel.

[0060] In another specific embodiment of the present application, the sliding sleeve 12 can also be fixedly connected to the travel wheel mounting seat 13, and in this case the travel wheel 14 is a directional wheel.

[0061] In an embodiment of the present application, an abutting pressure plate 11 and a sliding sleeve 12 are provided in the walking wheel assembly 1, the cam 2 abuts against the abutting pressure plate 11, and the sliding sleeve 12 is slidably connected to the second shell 5, so that the height difference between the walking wheel assembly 1 and the second shell 5 can be changed with a simple structure, thereby avoiding the use of complex structures such as a lead screw, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment, and reducing the manufacturing cost of the walking wheel mechanism.

[0062] In the embodiment of the present application, the travel wheel assembly 1 further includes an elastic member 15 , one end of the elastic member 15 is fixedly connected to the abutting pressure plate 11 , and the other end of the elastic member 15 is fixedly connected to the second housing 5 .

[0063] In the embodiment of the present application, the elastic member 15 is used to provide a rebound force when the walking wheel assembly 1 moves close to the first housing 4 .

[0064] In an embodiment of the present application, an elastic member 15 is provided in the walking wheel assembly 1 to provide a rebound force when the walking wheel assembly 1 moves close to the first shell 4, thereby preventing the cleaning device from falling back solely due to its own gravity, avoiding mechanical loss during its own falling process, and improving the reliability of the walking wheel mechanism and the reliability of the cleaning device.

[0065] refer to Figure 5 In the embodiment of the present application, an inclined surface 111 and a horizontal surface 112 are provided on the abutting pressure plate 11 . The inclined surface 111 is adjacent to the horizontal surface 112 , and the inclined surface 111 is higher than the horizontal surface 112 .

[0066] In a specific embodiment of the present application, when the cam 2 abuts the inclined surface 111, the height difference between the walking wheel assembly 1 and the second shell 5 is a first height difference; when the cam 2 abuts the horizontal surface 112, the height difference between the walking wheel assembly 1 and the second shell 5 is a second height difference; it can be foreseen that the first height difference is smaller than the second height difference; since the walking wheel assembly 1 is always in contact with the ground, if the height of the walking wheel assembly 1 from the ground is set to zero, then the first height difference and the second height difference can both be equivalent to the height of the bottom of the cleaning device from the ground; that is, when the cam 2 abuts the inclined surface 111, the height of the bottom of the cleaning device from the ground is smaller than the height of the bottom of the cleaning device from the ground when the cam 2 abuts the horizontal surface 112.

[0067] In a specific embodiment of the present application, the inclined surface 111 may be an inclined plane or an inclined arc surface.

[0068] In the embodiment of the present application, an inclined surface 111 is provided to utilize the height difference between the inclined surface 111 and the horizontal surface 112 to affect the change in the height difference between the walking wheel assembly 1 and the second shell 5, thereby avoiding the change in the height difference relying solely on the change in the curvature of the cam 2 itself. It can also reduce the impact of errors in the height difference change caused by wear of the cam 2, thereby improving the reliability of the walking wheel mechanism and thereby improving the reliability of the cleaning equipment.

[0069] refer to Figure 6 In the embodiment of the present application, an abutting pulley 21 is provided on the cam 2 , and the cam 2 abuts against the abutting pressure plate 11 through the abutting pulley 21 .

[0070] In an embodiment of the present application, an abutment pulley 21 is provided to reduce the friction during the rotation of the cam 2, reduce the loss on the surface of the cam 2, and thereby improve the reliability of the cleaning equipment; in addition, the provision of the abutment pulley 21 can also reduce the driving force that drives the cam 2 to move on the abutment pressure plate 11.

[0071] In the specific embodiment of the present application, the abutting pulley 21 is installed on the cam 2 through the sliding wheel shaft 22.

[0072] In the embodiment of the present application, the cam 2 includes a distal end away from the transmission shaft 32 and a proximal end close to the transmission shaft 32 , and the abutting pulley 21 is disposed on the distal end.

[0073] In a specific embodiment of the present application, the distal end of the cam 2 is an abutment plane. When the abutment pulley 21 moves to a preset position, the cam 2 abuts against the horizontal plane 112 through the abutment plane. By setting the abutment plane at the distal end, the cam 2 can be self-locked when driven to a preset angle, thereby avoiding continuous driving force output and reducing energy loss of the cleaning equipment.

[0074] refer to Figure 7 In another specific embodiment of the present application, the cam 2 abuts against the abutting plate 11 through the curvature surface of the cam 2 .

[0075] In another specific embodiment of the present application, the curvature surface of the cam 2 directly abuts against the abutting plate 11, thereby reducing the size of the walking wheel mechanism and shortening the lever arm, thereby reducing the load on the driving unit.

[0076] In another specific embodiment of the present application, when the cam 2 abuts against the abutting plate 11 through the curvature surface of the cam 2 , the abutting plate 11 may have only a horizontal surface 112 , further reducing the size of the traveling wheel mechanism.

[0077] In another specific embodiment of the present application, when the cam 2 abuts against the abutment plate 11 through the curvature surface of the cam 2, the abutment plate 11 has and only has a horizontal surface 112, and the distal end of the cam 2 abuts against the abutment plate 11, the height difference between the walking wheel assembly 1 and the second shell 5 is the third height difference; when the cam 2 abuts against the abutment plate 11 through the curvature surface of the cam 2, the abutment plate 11 has and only has a horizontal surface 112, and the proximal end of the cam 2 abuts against the abutment plate 11, the height difference between the walking wheel assembly 1 and the second shell 5 is the fourth height difference; the third height difference is greater than the fourth height difference.

[0078] In another specific embodiment of the present application, when the cam 2 abuts against the abutting plate 11 through the curvature surface of the cam 2 , the abutting plate 11 may also be provided with an inclined surface 111 and a horizontal surface 112 .

[0079] refer to Figure 8 In the embodiment of the present application, a universal shaft 131 is provided on the walking wheel mounting seat 13, and a shaft mounting hole 121 is provided in the sliding sleeve 12; the walking wheel mounting seat 13 is rotatably connected to the sliding sleeve 12 through the universal shaft 131 and the shaft mounting hole 121.

[0080] In a specific embodiment of the present application, the shaft mounting hole 121 is arranged along the height direction.

[0081] In an embodiment of the present application, the walking wheel mounting seat 13 is rotatably connected to the sliding sleeve 12 through the universal shaft 131 and the shaft mounting hole 121, so that the walking wheel 14 can rotate relative to the first shell 4, thereby realizing the universal rotation of the walking wheel 14, improving the reliability of the walking wheel mechanism, and improving the mobility of the cleaning equipment.

[0082] In a specific embodiment of the present application, the sliding sleeve 12 includes a sliding part and a fixed part, and the height of the sliding part relative to the ground is higher than the height of the fixed part relative to the ground; the sliding part is fixedly connected to the fixed part through a fastener, and the fixed part is used to connect to the walking wheel mounting seat 13; preferably, the fastener is a screw.

[0083] In a specific embodiment of the present application, the fixing portion includes a shaft mounting hole 121 and at least one fixing hole, and the sliding portion is fixed to the fixing portion through the at least one fixing hole.

[0084] In the embodiment of the present application, an anti-dropout clamping structure 122 is provided in the shaft mounting hole 121 , and the shaft mounting hole 121 is sleeved outside the universal shaft 131 ; the anti-dropout clamping structure 122 is clamped to the universal shaft 131 .

[0085] In the embodiment of the present application, an anti-disengagement clamping structure 122 is provided in the shaft mounting hole 121 to prevent the universal shaft 131 from being disconnected from the shaft mounting hole 121, thereby improving the reliability of the walking wheel mechanism and the reliability of the cleaning equipment.

[0086] The following describes the specific working principle of the walking wheel mechanism in the embodiment of the present application:

[0087] Normal working state of the cleaning equipment: when the driving angle of the driving unit 31 (servo) is the first preset angle, when the abutment pulley 21 abuts against the abutment pressure plate 11, the abutment pulley 21 on the distal end of the cam 2 abuts against the inclined surface 111 of the abutment pressure plate 11; when the curvature surface of the cam 2 directly abuts against the abutment pressure plate 11 and the abutment pressure plate 11 has only a horizontal surface 112, the proximal end of the cam 2 abuts against the abutment pressure plate 11; at this time, the height difference between the walking wheel assembly 1 and the second shell 5 is minimized, so that the cleaning equipment can maintain balance and work normally; preferably, the first preset angle is 0°.

[0088] The bottom of the cleaning equipment is in a raised state: when the driving angle of the driving unit 31 (servo) is the second preset angle, when the abutment pulley 21 abuts against the abutment pressure plate 11, the abutment plane of the distal end of the cam 2 abuts against the horizontal plane 112 of the abutment pressure plate 11; when the curvature surface of the cam 2 directly abuts against the abutment pressure plate 11 and the abutment pressure plate 11 has only the horizontal plane 112, the distal end of the cam 2 abuts against the abutment pressure plate 11; at this time, the height difference between the walking wheel assembly 1 and the second shell 5 is the largest, so as to facilitate the cleaning equipment to overcome obstacles or other scenarios where the bottom needs to be raised; preferably, the second preset angle is 90°; specifically, from the normal working state to the bottom raised state, the cam 2 presses the abutment pressure plate 11 downward toward the ground.

[0089] In addition, when the driving angle of the drive unit 31 (servo) is a third preset angle, the height difference between the walking wheel assembly 1 and the second shell 5 can be adjusted. The third preset angle is between the first preset angle and the second preset angle, so that the cleaning equipment can lift the bottom to different heights based on different driving angles of the drive unit 31; preferably, 0°<the third preset angle<90°.

[0090] The walking wheel mechanism in the embodiment of the present application has the following beneficial effects:

[0091] By fixedly connecting the driving assembly 3 with the first shell 4, the cam 2 abutting against the walking wheel assembly 1, and the walking wheel assembly 1 and the second shell 5 slidingly connected in the height direction, the cam 2 can be rotated under the drive of the driving assembly 3, so that under the action of the abutting force, the walking wheel assembly 1 slides relative to the second shell 5 to change the height difference between the walking wheel assembly 1 and the second shell 5, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning equipment.

[0092] By setting the cam 2 and the drive assembly 3, the height difference between the walking wheel assembly 1 and the second shell 5 can be changed, avoiding the use of complex structures such as a screw, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment, and reducing the manufacturing cost of the walking wheel mechanism.

[0093] An embodiment of the present application further provides a cleaning device, which includes the walking wheel mechanism, the first shell 4 and the second shell 5 in the embodiment of the present application.

[0094] In a specific embodiment of the present application, the cleaning device may be a cleaning device such as a sweeper or a sweeping robot.

[0095] The above description has fully disclosed the specific embodiments of this application. It should be noted that any changes made by those skilled in the art to the specific embodiments of this application do not depart from the scope of the claims of this application. Accordingly, the scope of the claims of this application is not limited to the above specific embodiments.

Claims

1. A walking wheel mechanism, characterized in that: Including travel wheel assembly, cam and drive assembly, The driving assembly is fixedly connected to the first housing of the cleaning device, and the driving assembly is drivingly connected to the cam; The cam abuts against the travel wheel assembly, and the travel wheel assembly is slidably connected to the second shell of the cleaning device, and the sliding direction is the height direction.

2. The traveling wheel mechanism according to claim 1, characterized in that: The drive assembly includes a drive unit and a transmission shaft, wherein the drive unit is fixedly connected to the first housing, the drive unit is drivingly connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the first housing via a bearing structure; The cam is fixedly connected to the transmission shaft.

3. The traveling wheel mechanism according to claim 2, characterized in that: The travel wheel assembly includes an abutting pressure plate, a sliding sleeve, a travel wheel mounting seat, and a travel wheel, and the travel wheel is mounted on the travel wheel mounting seat; The sliding sleeve is slidably connected to the second housing, and the sliding sleeve is connected to the walking wheel mounting seat; The cam abuts against the abutting pressure plate, and the abutting pressure plate is fixed on the sliding sleeve.

4. The traveling wheel mechanism according to claim 3, characterized in that: The walking wheel assembly further includes an elastic member, one end of which is connected to the abutting pressure plate, and the other end of which is connected to the second shell.

5. The traveling wheel mechanism according to claim 3, characterized in that: An inclined surface and a horizontal surface are provided on the contact pressing plate. The inclined surface is adjacent to the horizontal surface and is higher than the horizontal surface.

6. The traveling wheel mechanism according to claim 5, characterized in that: The cam is provided with an abutting pulley, and the cam abuts against the abutting pressure plate through the abutting pulley.

7. The traveling wheel mechanism according to claim 6, characterized in that: The cam includes a distal end away from the transmission shaft and a proximal end close to the transmission shaft, and the abutting pulley is arranged on the distal end.

8. The traveling wheel mechanism according to claim 3, characterized in that: The cam abuts against the abutting plate through a curvature surface of the cam.

9. The traveling wheel mechanism according to claim 3, characterized in that: The walking wheel mounting seat is provided with a universal shaft, and the sliding sleeve is provided with a shaft mounting hole; The walking wheel mounting seat is rotatably connected to the sliding sleeve through the universal shaft and the shaft mounting hole.

10. The traveling wheel mechanism according to claim 9, characterized in that: An anti-dropping clamping structure is provided in the shaft mounting hole, and the shaft mounting hole is sleeved outside the universal shaft; The anti-dropping clamping structure is clamped to the universal shaft.

11. A cleaning device, characterized in that: It comprises the walking wheel mechanism according to any one of claims 1 to 10, a first shell and a second shell.

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