Obstacle crossing mechanism, driving device and cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and discloses an obstacle crossing mechanism, a driving device and a cleaning robot. The obstacle crossing mechanism comprises a base, a rotating piece and a driving assembly, the base is used for being connected with walking equipment, the driving assembly can drive the rotating piece to rotate in the first direction and the second direction, and obstacle crossing supporting legs are arranged on the rotating piece; when rotating in the first direction, the rotating part can drive the obstacle crossing supporting legs to rotate so as to support the walking equipment and walk through the obstacle crossing supporting legs, and when rotating in the second direction, the rotating part can jack up a chassis of the walking equipment. The driving device comprises a walking frame and the obstacle crossing device. The cleaning robot comprises the driving device. Based on the obstacle crossing mechanism provided by the utility model, the obstacle crossing mechanism can be arranged on the cleaning robot, so that the cleaning robot can be driven by the obstacle crossing mechanism to cross obstacles or walk in special scenes such as a long wool carpet, and the application range of the cleaning robot is widened.

Description

Technical Field

[0001] The utility model relates to the field of cleaning equipment, in particular to an obstacle crossing mechanism, a driving device and a cleaning robot. Background Art

[0002] Cleaning robots are smart home appliances that, leveraging artificial intelligence, can automatically clean floors in any room. They typically sweep and vacuum, collecting debris into their own trash collection bins to complete the cleaning process. However, many areas of the home, such as kitchens and bathrooms, have high steps. Due to the limitations of the steps between rooms, current cleaning robots are typically limited to cleaning a single room. Furthermore, the height of the robot's chassis limits its ability to navigate certain areas, such as long-pile carpets, resulting in limitations in the use of current cleaning robots. Utility Model Content

[0003] In order to solve the technical problem that current cleaning robots are restricted by the steps between different rooms and special scenes such as long-haired carpets, resulting in limitations in use, the utility model provides an obstacle crossing mechanism, a driving device and a cleaning robot.

[0004] The utility model provides an obstacle crossing mechanism, comprising a base, a rotating member rotatably arranged on the base, and a driving assembly for driving the rotating member to rotate, wherein the base is used to be connected to a walking device, and the driving assembly can drive the rotating member to rotate along a first direction and a second direction, and the rotating member is provided with obstacle crossing legs and is configured as follows:

[0005] When the rotating member rotates along the first direction, it can drive the obstacle-crossing legs to rotate to support the walking device and allow the walking device to walk through the obstacle-crossing legs. When the rotating member rotates along the second direction, it can lift the chassis of the walking device.

[0006] Optionally, the obstacle crossing leg includes a first arm and a second arm that are hingedly connected, the end of the first arm away from the second arm is connected to the rotating member, the second arm can swing within a certain range relative to the first arm, and the end of the second arm away from the first arm is rotatably provided with an obstacle crossing wheel.

[0007] Optionally, the obstacle-crossing leg further includes a first driving member and a first transmission member, the first transmission member is disposed in the first arm and the second arm, and the first driving member can drive the obstacle-crossing wheel to rotate through the first transmission member.

[0008] Optionally, the hinged position of the first support arm and the second support arm is located above the running wheel of the driving device.

[0009] Optionally, a top plate is movably connected to the base, and the top plate is used to be connected to the chassis of the walking equipment. A sliding shaft is provided on the top plate, and the rotating member can push the sliding shaft to move in the vertical direction during the rotation along the second direction.

[0010] Optionally, the rotating member includes a cam rotatably arranged on the base, and the outer periphery of the cam forms a contact surface abutting against the sliding shaft.

[0011] Optionally, the cam includes a rotating wheel rotatably arranged on the base and a protrusion arranged on the periphery of the rotating wheel, a first supporting position is formed between the protrusion and the rotating wheel, and a second supporting position is formed on the periphery of the protrusion.

[0012] Optionally, the driving method of the driving assembly enables any position between the first supporting position and the second supporting position to support the top plate.

[0013] Optionally, an extension shell is provided on the base, and the driving assembly includes a second driving member and a second transmission member provided in the extension shell, and the second driving member can drive the rotating member to rotate through the second transmission member.

[0014] The utility model also provides a driving device, comprising:

[0015] A walking frame, used to connect with the walking equipment, and the walking frame is rotatably provided with walking wheels;

[0016] In the above-mentioned obstacle crossing mechanism, the base of the obstacle crossing mechanism is arranged on one side of the walking frame.

[0017] Optionally, a rotating shaft is provided on the walking frame, the walking wheel is rotatably arranged on the rotating shaft, the rotating shaft extends into the base, and the rotating member is rotatably arranged on the outer periphery of the rotating shaft.

[0018] Optionally, the obstacle-crossing legs include obstacle-crossing wheels, and the walking wheels are connected to the obstacle-crossing wheels via a first transmission member.

[0019] The utility model also provides a cleaning robot, comprising the above-mentioned driving device.

[0020] The technical solution provided by the embodiment of the utility model has the following advantages compared with the prior art:

[0021] Based on the obstacle crossing mechanism provided by the present invention, the obstacle crossing mechanism can be set on the cleaning robot. When the cleaning robot walks on a flat ground, the obstacle crossing mechanism does not work or the chassis of the cleaning robot is supported at a certain height by the obstacle crossing mechanism. When encountering an obstacle such as a step and needing to be crossed, the driving assembly drives the rotating member to rotate in a first direction, and the obstacle crossing legs follow the rotating member to rotate and extend downward from the walking device to support the walking device, and the obstacle crossing legs drive the walking device forward. At this time, the traveling end of the walking device is slightly lifted to cross obstacles such as steps, and after the walking wheels walk over the obstacle, the rotating member drives the obstacle crossing legs to continue rotating in the first direction to avoid the obstacle. After the walking wheels cross the obstacle, the driving assembly drives the rotating member to rotate in the second direction to reset the obstacle crossing legs, so that the walking device can cross the obstacle. When encountering special scenes such as long-haired carpets, the driving assembly can drive the rotating member to rotate in the second direction, so that the rotating member lifts the chassis of the cleaning robot during the rotation process, thereby increasing the distance between the chassis of the cleaning robot and the ground, so that the cleaning robot can walk on special scenes such as long-haired carpets, thereby increasing the range of use of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention.

[0023] In order to more clearly illustrate the implementation mode of the utility model or the technical solution in the prior art, the drawings required for use in the implementation mode or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 This is a schematic structural diagram of the driving device according to an embodiment of the present utility model;

[0025] Figure 2 This is a cross-sectional view of the driving device according to an embodiment of the present utility model;

[0026] Figure 3 This is a schematic structural diagram of the top plate according to an embodiment of the present utility model;

[0027] Figure 4 This is a schematic structural diagram of the cleaning robot according to an embodiment of the present utility model;

[0028] Figure 5 This is a schematic structural diagram of the obstacle-crossing legs of the cleaning robot according to an embodiment of the present utility model when they are in an extended state;

[0029] Figure 6This is a structural schematic diagram of the cleaning robot when the first support position supports the sliding shaft according to an embodiment of the present utility model;

[0030] Figure 7 This is a structural schematic diagram of the cleaning robot when the second support position supports the sliding shaft in an embodiment of the utility model.

[0031] Description of Reference Numerals

[0032] 1. Base; 11. Extended housing; 12. Bottom plate; 2. Rotating member; 21. Cam; 211. Rotating wheel; 212. Protrusion; 213. First support position; 214. Second support position; 215. Rotating cover; 3. Driving assembly; 31. Second driving member; 311. Driving motor; 3111. Worm; 32. Second transmission member; 321. First lifting gear; 3211. Turbine; 322. Second lifting gear; 3221. Second lifting synchronous gear; 323. Third lifting gear; 3231. Third lifting synchronous gear; 324. Fourth lifting gear; 325. Fifth lifting gear; 326. Sixth lifting gear; 3261. Sixth lifting synchronous gear; 4. Obstacle crossing leg; 41. First arm; 42. Second arm; 43. Obstacle crossing wheel; 431. Driving gear; 44. First transmission member; 441. First obstacle crossing gear; 442. Second obstacle crossing gear; 443. Third obstacle crossing gear; 444. Fourth synchronous obstacle crossing gear; 445. Fifth obstacle crossing gear; 446. Sixth obstacle crossing gear; 5. Top plate; 51. Sliding shaft; 6. Traveling frame; 61. Traveling wheel; 62. Rotating shaft; 7. Fuselage; 71. Universal wheel. DETAILED DESCRIPTION

[0033] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0034] The following description sets forth many specific details to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the implementation methods in the specification are only part of the implementation methods of the present invention, not all of the implementation methods.

[0035] Combine Figure 1 and Figure 2As shown, the obstacle crossing mechanism provided by the embodiment of the present invention includes a base 1, a rotating member 2 rotatably arranged on the base 1, and a driving assembly 3 for driving the rotating member 2 to rotate, wherein the base 1 is used to connect with the walking device, that is, the base 1 is arranged on the driving device of the walking device or on the walking device, and the connection method between the base 1 and the driving device of the walking device or the walking device is not restricted, for example, a clamping or bolt connection method can be adopted, etc., which can be selected according to actual needs. The driving assembly 3 can drive the rotating member 2 to rotate along a first direction and a second direction, wherein the first direction is opposite to the second direction, that is, the first direction can be clockwise or counterclockwise, and correspondingly, the second direction can be counterclockwise or clockwise. Obstacle crossing legs 4 are provided on the rotating member 2, and the rotating member 2 can drive the obstacle crossing legs 4 to rotate. And it is configured as follows: Figure 5 As shown, when the rotating member 2 rotates along the first direction, it can drive the obstacle-crossing legs 4 to rotate to support the walking device and walk through the obstacle-crossing legs 4, as shown in FIG. Figure 7 As shown, when the rotating member 2 rotates along the second direction, it can lift the chassis of the walking equipment.

[0036] Based on the obstacle crossing mechanism provided by the present invention, the obstacle crossing mechanism can be set on the cleaning robot. When the cleaning robot walks on a flat ground, the obstacle crossing mechanism does not work or the chassis of the cleaning robot is supported at a certain height by the obstacle crossing mechanism. When encountering obstacles such as steps that need to be crossed, the driving component 3 drives the rotating part 2 to rotate along the first direction, and the obstacle crossing legs 4 follow the rotating part 2 to rotate and extend the walking device downward to support the walking device, and drive the walking device forward through the obstacle crossing legs 4. At this time, the traveling end of the walking device is slightly lifted to cross obstacles such as steps, and when the walking wheel 61 walks behind the obstacle , the rotating part 2 drives the obstacle-crossing legs 4 to continue to rotate in the first direction to avoid the obstacle. After the walking wheel 61 passes the obstacle, the driving component 3 drives the rotating part 2 to rotate in the second direction to reset the obstacle-crossing legs 4, so that the walking device can cross the obstacle. When encountering special scenes such as long-haired carpets, the driving component 3 can drive the rotating part 2 to rotate in the second direction, so that the rotating part 2 can lift the chassis of the cleaning robot during the rotation process, increase the distance between the chassis of the cleaning robot and the ground, so that the cleaning robot can walk on special scenes such as long-haired carpets, and increase the use range of the cleaning robot.

[0037] Among them, the cleaning robot can be a sweeping robot, a sweeping and mopping robot, a mopping robot, a floor washing robot, etc.

[0038] In some embodiments, combined Figure 1 and Figure 2As shown, the obstacle-crossing leg 4 comprises a hinged first arm 41 and a second arm 42. The end of the first arm 41 remote from the second arm 42 is connected to the rotating member 2, enabling the rotating member 2 to drive the first arm 41 to rotate, which in turn drives the second arm 42 to rotate. The second arm 42 is capable of swinging within a certain range relative to the first arm 41. The end of the second arm 42 remote from the first arm 41 is rotatably provided with an obstacle-crossing wheel 43. Furthermore, the first and second arms 41, 42 are normally positioned on the running side of the running wheel 61, and the second arm 42 forms a predetermined angle with the first arm 41 under the action of an elastic member. The elastic member can be a spring, for example, with one end of the spring connected to the first arm 41 and the other end connected to the second arm 42. This spring applies a force in the second direction to the second arm 42, preventing the second arm 42 from contacting the ground during normal use.

[0039] Under this design, when performing obstacle surmounting operations, the driving assembly 3 drives the rotating member 2 to rotate along the first direction, and then drives the first arm 41 to rotate along the first direction through the rotating member 2, and the first arm 41 drives the second arm 42 to rotate along the first direction. At this time, after the obstacle surmounting wheel 43 on the second arm 42 contacts the ground, as the first arm 41 rotates, the position of the second arm 42 remains unchanged, so as to change the angle between the second arm 42 and the first arm 41. When the angle between the second arm 42 and the first arm 41 is restricted and cannot continue to change (wherein, the restriction of the rotation range of the first arm 41 and the second arm 42 can be achieved by a limit plate, and this restriction method is a conventional technology and is not described in detail here), as the first arm 41 rotates, as Figure 5 As shown, the first arm 41 will continue to drive the second arm 42 to rotate to support the walking device. At this time, the walking wheels 61 of the walking device will leave the ground, and the obstacle-crossing wheels 43 will drive the walking device to move.

[0040] When the walking wheel 61 of the walking device moves to the top behind the obstacle, the driving assembly 3 continues to drive the rotating part 2 to rotate along the first direction until the height of the obstacle-crossing wheel 43 is above the walking wheel 61. The walking wheel 61 continues to drive the walking device to move so that the walking device crosses the obstacle, completing the obstacle-crossing process of the walking device.

[0041] The obstacle-crossing legs 4 of this design have a simple structure and do not affect the normal use of the walking equipment in the non-obstacle-crossing state. When overcoming obstacles, the obstacle-crossing legs 4 travel through the obstacle-crossing wheels 43 to ensure the obstacle-crossing effect.

[0042] In some embodiments, as Figure 1As shown, a sliding hole is further provided on the first arm 41, and the end of the hinge shaft of the first arm 41 and the second arm 42 is passed through the sliding hole. When the angle between the first arm 41 and the second arm 42 changes, the hinge shaft of the first arm 41 and the second arm 42 can slide in the sliding hole to avoid jamming between components.

[0043] In some embodiments, as Figure 2 As shown, the obstacle crossing leg 4 further includes a first driving member and a first transmission member 44 . The first transmission member 44 is disposed in the first support arm 41 and the second support arm 42 . The first driving member can drive the obstacle crossing wheel 43 to rotate through the first transmission member 44 .

[0044] This design utilizes a first drive member and a first transmission member 44 to facilitate the placement of the first drive member, resulting in a more compact overall structure. For example, the first drive member may be positioned outside or inside the obstacle-crossing leg 4, driving the obstacle-crossing wheel 43 via the first transmission member 44. Another example is the first drive member being the driving structure of the running wheel 61, whereby the driving structure of the running wheel 61 drives both the running wheel 61 and the obstacle-crossing wheel 43, reducing the cost of the drive structure.

[0045] It can be seen that the driving mode of the obstacle-crossing wheel 43 is not restricted and can be selected according to actual needs.

[0046] In some embodiments, the hinged position between the first support arm 41 and the second support arm 42 is located above the running wheel 61 of the driving device.

[0047] With this design, after the walking device has cleared an obstacle, the obstacle-clearing leg 4 is positioned on the back side of the travel direction of the running wheel 61. To ensure that the walking device can still clear the next obstacle upon encountering it and meet obstacle-clearing requirements, the obstacle-clearing leg 4 must be reset. At this point, the drive assembly 3 can drive the rotating member 2 to rotate in the second direction until the obstacle-clearing wheel 43 contacts the ground. At this point, the drive assembly 3 drives the rotating member 2 to continue rotating in the second direction. During this process, the angle between the first arm 41 and the second arm 42 changes, causing them to fold until the first arm 41 drives the second arm 42 to move to the travel side of the running wheel 61. The second arm 42 can then be reset under the action of the elastic member. Furthermore, because the first and second arms 41, 42 are hinged above the running wheel 61, they can remain above the lowest end of the running wheel 61, preventing them from lifting the walking device during the reset process. Furthermore, during the resetting process of the first arm 41 and the second arm 42 , the first arm 41 and the second arm 42 can be folded, and the rotating member 2 will not lift up the chassis of the walking device during the rotation process.

[0048] In some embodiments, as Figure 3 As shown, a top plate 5 is movably connected to the base 1. The movably connected means that the top plate 5 can at least move in the vertical direction relative to the base 1. The top plate 5 is used to connect to the chassis of the walking device, and can then drive the chassis of the walking device to move synchronously through the top plate 5. The walking device here can be a cleaning robot, etc., that is, the top plate 5 is used to connect to the chassis of the cleaning robot. The top plate 5 is provided with a sliding shaft 51, which can rotate relative to the top plate 5. During the rotation of the rotating member 2 in the second direction, the sliding shaft 51 can be pushed to move in the vertical direction, thereby driving the top plate 5 and the chassis of the walking device to move in the vertical direction.

[0049] In this design, the top plate 5 abuts against the rotating member 2 via the sliding shaft 51 , which can reduce the contact area between the top plate 5 and the rotating member 2 , make the sliding fit smoother, and increase the convenience of adjustment.

[0050] In some embodiments, as Figure 1 As shown, the rotating member 2 includes a cam 21 rotatably disposed on the base 1 , and the outer periphery of the cam 21 forms a contact surface that abuts against the sliding shaft 51 .

[0051] Under this design, under normal conditions, the sliding shaft 51 contacts the non-protrusion 212 of the cam 21, thereby supporting the sliding shaft 51 and the chassis of the walking device at a certain height through the non-protrusion 212 of the cam 21. In special situations such as when using a long-haired carpet, the drive assembly 3 can be used to rotate the cam 21. During the rotation of the cam 21, the protrusion 212 of the cam 21 contacts the sliding shaft 51, thereby driving the sliding shaft 51 upward, and then the sliding shaft 51 drives the chassis of the walking device upward. This simple structure and convenient operation.

[0052] In some embodiments, combined Figure 1 、 Figure 6 and Figure 7 As shown, the cam 21 includes a rotating wheel 211 rotatably disposed on the base 1 and a protrusion 212 disposed on the periphery of the rotating wheel 211 . A first support position 213 is formed between the protrusion 212 and the rotating wheel 211 , and a second support position 214 is formed on the periphery of the protrusion 212 .

[0053] A groove structure is formed between the rotating wheel 211 and the protrusion 212, and the first support position 213 is formed at the position of the groove structure. Under normal conditions, Figure 6 As shown, the protrusion 212 is located at the top of the rotating wheel 211 (with a certain angle to the vertical direction). The second support position 214 is formed on the protrusion 212. When encountering special scenes such as long-haired carpets, Figure 7As shown, the driving assembly 3 drives the rotating wheel 211 to rotate along the second direction. During this process, the sliding shaft 51 gradually abuts against the protrusion 212 until the second support position 214 of the protrusion 212 supports the sliding shaft 51, and then drives the sliding shaft 51, the top plate 5 and the chassis of the mobile device to move upward through the protrusion 212.

[0054] On the contrary, the driving rod assembly drives the rotating wheel 211 to rotate along the first direction until the sliding shaft 51 is located at the first supporting position 213, and the chassis of the mobile device is reset.

[0055] The cam 21 in this design can be supported at the first support position 213 under normal conditions to ensure the support effect, and the first support position 213 between the protrusion 212 and the rotating wheel 211 facilitates the accurate positioning of the sliding shaft 51 when the chassis of the mobile device is reset.

[0056] In some embodiments, the driving method of the driving assembly 3 enables any position between the first supporting position 213 and the second supporting position 214 to support the top plate 5 .

[0057] Under this design, when the driving component 3 drives the cam 21 to rotate along the second direction, the driving component 3 can drive the cam 21 to flip to different angles, so that different positions of the cam 21 support the sliding shaft 51, and then drive the chassis to different heights through the sliding shaft 51 and the top plate 5, thereby realizing infinite lifting of the chassis.

[0058] In some embodiments, the protrusion 212 and the rotating wheel 211 have an arc-shaped transition.

[0059] With this design, the convenience of the sliding shaft 51 moving to the first supporting position 213 or leaving the first supporting position 213 can be increased, making the adjustment process smoother.

[0060] In some embodiments, combined Figure 1 and Figure 2 As shown, an extension shell 11 is provided on the base 1 , and the driving assembly 3 includes a second driving member 31 and a second transmission member 32 provided in the extension shell 11 . The second driving member 31 can drive the rotating member 2 to rotate through the second transmission member 32 .

[0061] In this design, the second driving member 31 can be supported in a suitable position by the second transmission member 32, the internal space of the mobile device can be reasonably utilized, the extra space occupied by the second driving member 31 can be reduced, and the overall structure can be more compact.

[0062] In some embodiments, continue with reference to Figure 1 and Figure 2The second driving member 31 includes a driving motor 311 disposed within the extension housing 11. The output shaft of the driving motor 311 is disposed perpendicular to the rotating shaft 62 of the rotating member 2. The output shaft of the driving motor 311 is provided with a worm 3111, so that the driving motor 311 can drive the worm 3111 to rotate synchronously. The second transmission member 32 includes a second gear set. The head gear of the second gear set is provided with a turbine 3211 that matches the worm 3111, thereby enabling the rotation of the worm 3111 to drive the multiple gears on the second gear set to rotate sequentially. The terminal gear of the second gear set is engaged with the driven gear on the rotating member 2, thereby enabling the driven gear to rotate through the second gear set, thereby driving the rotating member 2 to rotate.

[0063] Under this design, the transmission method of the turbine 3211 and the worm 3111 combined with the second gear set has a high transmission ratio, and the arrangement of the second gear set can change the transmission path, making the design position of the drive motor 311 more flexible and the overall structure of the drive device more compact.

[0064] It is understandable that the output shaft of the drive motor 311 can also be set parallel to the direction of the rotating shaft 62 of the rotating part 2. For example, the drive motor 311 can be set on the side of the rotating part 2, and the driven gear of the rotating part 2 can be directly driven by the drive motor 311 to rotate, or the drive motor 311 can drive the driven gear to rotate through multiple gear transmissions. These are not restrictive and can be designed according to actual needs.

[0065] In some embodiments, as Figure 2As shown, the second gear group includes a first lifting gear 321, a second lifting gear 322, a third lifting gear 323, a fourth lifting gear 324, a fifth lifting gear 325 and a sixth lifting gear 326 designed to rotate in the extension shell 11, wherein the turbine 3211 is coaxially arranged with the first lifting gear 321 and can rotate synchronously, the second lifting gear 322 is meshed with the first lifting gear 321, and a second lifting synchronous gear 3221 is coaxially arranged on the second lifting gear 322, the second lifting synchronous gear 3221 and the second lifting gear 322 can rotate synchronously, and the diameter of the second lifting synchronous gear 3221 is smaller than the diameter of the second lifting gear 322, the third lifting gear 323 is meshed with the second lifting synchronous gear 3221, and the third lifting gear 323 is meshed with the second lifting synchronous gear 3221. A third lifting synchronization gear 3231 is coaxially provided on the upper portion, and the third lifting synchronization gear 3231 can rotate synchronously with the third lifting gear 323, and the diameter of the third lifting synchronization gear 3231 is smaller than the diameter of the third lifting gear 323, the fourth lifting gear 324 is meshed with the third lifting synchronization gear 3231, the fifth lifting gear 325 is meshed with the fourth lifting gear 324, the sixth lifting gear 326 is meshed with the fifth lifting gear 325, and a sixth lifting synchronization gear 3261 is coaxially provided on the sixth lifting gear 326, the sixth lifting synchronization gear 3261 can rotate synchronously with the sixth lifting gear 326, and the diameter of the sixth lifting synchronization gear 3261 is smaller than the diameter of the sixth lifting gear 326, and the sixth lifting synchronization gear 3261 is meshed with the driven gear.

[0066] The second gear set under this design method can realize power transmission, ensuring that the drive motor 311 can drive the driven gear to rotate, and can have a certain transmission distance in the direction perpendicular to the output shaft of the drive motor 311, so that the drive motor 311 and the driven gear can be not in the same vertical plane, further increasing the installation flexibility of the drive motor 311.

[0067] It is understandable that the above embodiment only illustrates one embodiment of the second gear set, and the structure of the second gear set can be improved according to actual needs. It only needs to ensure that the drive motor 311 can drive the transmission gear to rotate through the second gear set.

[0068] In some embodiments, combined Figure 1 and Figure 2As shown, the base 1 is provided with a bottom plate 12, a driven gear is rotatably mounted on the bottom plate 12, a rotating wheel 211 is disposed on the side of the driven gear facing away from the bottom plate 12, and the rotating wheel 211 and the driven gear are connected by bolts to ensure synchronous rotation of the rotating wheel 211 and the driven gear. The first arm 41 and the rotating wheel 211 are also connected by bolts to ensure synchronous rotation of the first arm 41 and the rotating wheel 211. The rotating member 2 also includes a rotating cover 215 for connecting the rotating wheel 211 and the protrusion 212. The rotating cover 215 is rotatably mounted on the outer periphery of the bottom plate 12 to ensure smoother rotation.

[0069] In some embodiments, the rotating cover 215 is a non-circular structure, and correspondingly, the rotating wheel 211 and the driven gear are also non-circular structures. The first arm 41 is connected to the connection position between the rotating wheel 211 and the protrusion 212, and is opposite to the position of the first support position 213, making the overall structure more compact.

[0070] Combine Figure 1 and Figure 2 As shown, the present invention also provides a driving device, which includes a walking frame 6 and the above-mentioned obstacle crossing mechanism. The walking frame 6 is used to connect with the walking equipment. The walking frame 6 is rotatably provided with a walking wheel 61, wherein the interior of the walking wheel 61 is provided with a driving structure for driving the walking wheel 61 to rotate. The driving method of this walking wheel 61 is conventional technology and is not described in detail here. The base 1 of the obstacle crossing mechanism is set on one side of the walking frame 6. The obstacle crossing mechanism here includes all the technical features of the above-mentioned obstacle crossing mechanism.

[0071] The driving device under this design can, on the basis of driving the walking device to move, realize the lifting and obstacle crossing of the walking device chassis, thereby increasing the scope of use of the walking device.

[0072] In some embodiments, a rotating shaft 62 is provided on the walking frame 6 , the walking wheel 61 is rotatably provided on the rotating shaft 62 , the rotating shaft 62 extends into the base 1 , and the rotating member 2 is rotatably provided on the periphery of the rotating shaft 62 .

[0073] In this design, the rotating member 2 and the traveling wheel 61 are coaxially arranged and can both rotate relative to the rotating shaft 62, thereby reducing the number of rotating shafts 62 and making the overall structure more compact.

[0074] In some embodiments, the obstacle overcoming leg 4 includes an obstacle overcoming wheel 43 , and the running wheel 61 is transmission-connected to the obstacle overcoming wheel 43 via a first transmission member 44 .

[0075] In this design, the obstacle-crossing wheels 43 are driven to move by the traveling wheels 61, which can reduce the cost of the driving structure.

[0076] In some embodiments, as Figure 2As shown, the first transmission member 44 includes a first obstacle overcoming gear 441, a second obstacle overcoming gear 442, a third obstacle overcoming gear 443, a fourth obstacle overcoming gear, a fifth obstacle overcoming gear 445, and a sixth obstacle overcoming gear 446. The rotating shaft of the running wheel 61 is sleeved on the outer periphery of the rotating shaft 62, and the rotating shaft extends into the base 1. The rotating member 2 is rotatably sleeved on the outer periphery of the rotating shaft to prevent the rotating shaft from affecting the normal operation of the rotating member 2. The rotating shaft extends into the first support arm 41 and is connected to the first obstacle overcoming gear 441 to drive the first obstacle overcoming gear 441 to rotate. The first obstacle overcoming gear 441 is meshed with the second obstacle overcoming gear 442, and the second obstacle overcoming gear 442 is meshed with the third obstacle overcoming gear 443. The first obstacle overcoming gear 441, the second obstacle overcoming gear 442, and the third obstacle overcoming gear 443 are all disposed within the first support arm 41. The fourth obstacle overcoming gear is located at the hinge between the first arm 41 and the second arm 42. A fourth synchronous obstacle overcoming gear 444 is coaxially arranged on the fourth obstacle overcoming gear, rotating synchronously with the fourth synchronous gear. The third obstacle overcoming gear 443 meshes with the fourth obstacle overcoming gear. The fifth obstacle overcoming gear 445 and the sixth obstacle overcoming gear 446 are both located within the second arm 42. The fifth obstacle overcoming gear 445 meshes with the fourth synchronous obstacle overcoming gear 444, the sixth obstacle overcoming gear 446 meshes with the fifth obstacle overcoming gear 445, and the sixth obstacle overcoming gear 446 meshes with the drive gear 431 of the obstacle overcoming wheel 43.

[0077] The first transmission member 44 in this design can realize power transmission, ensuring that the driving wheel can drive the obstacle-crossing wheel 43 to rotate, thereby reducing the cost of the driving structure.

[0078] It is understandable that the above embodiment only illustrates one embodiment of the first transmission member 44. The structural form of the first transmission member 44 can be improved according to actual needs. It is only necessary to ensure that the driving wheel can drive the obstacle crossing wheel 43 to rotate through the first transmission member 44.

[0079] Combine Figures 4 to 7 As shown, the present invention further provides a cleaning robot including the aforementioned drive device. Specifically, the cleaning robot includes a body 7, on which the drive device is disposed. A traveling frame 6 and a base 1 are both disposed on the body 7, and a top plate 5 is connected to the chassis of the body 7. The drive device herein includes all the technical features of the aforementioned drive device, and further includes all the technical features of the aforementioned obstacle crossing mechanism.

[0080] In some embodiments, the cleaning robot further includes universal wheels 71, which, together with the running wheels 61, control the movement of the cleaning robot. The universal wheels 71 of the cleaning robot are independently driven and can move up and down relative to the body 7. During use, when the body 7 is raised, the universal wheels 71 move downward to ensure that the universal wheels 71 and the running wheels 61 can still cooperate to drive the body 7 to move.

[0081] In some embodiments, the cleaning robot can raise the chassis to different heights by controlling the rotation of the rotating member 2 to rotate at different angles, thereby achieving stepless lifting of the chassis. Specifically, the driving method of the driving assembly 3 enables any position between the first support position 213 and the second support position 214 to support the top plate 5.

[0082] Under this design, when the driving component 3 drives the cam 21 to rotate, the driving component 3 can drive the cam 21 to flip to different angles, so that the different positions of the cam 21 support the top plate 5, and then drive the chassis to different heights through the top plate 5, thereby realizing the infinite lifting of the chassis.

[0083] In some embodiments, the cleaning robot can control the rotation angle of the rotating part 2 according to the working time of the driving motor 311, thereby achieving flexible control of the lifting height and realizing stepless lifting of the chassis.

[0084] In other embodiments, a code disk can be added to the drive motor 311, or a motor with controllable rotation angle such as a brushless motor can be used as the drive motor 311. By controlling the rotation angle of the motor, the rotation angle of the rotating member 2 can be controlled to achieve lifting height control, thereby achieving stepless lifting of the chassis. Alternatively, a sensor can be provided on the rotating member 2 or the top plate 5 to detect the rotation position of the rotating member 2 or the rising position of the top plate 5 in real time, and feedback can be given to the drive motor controller to achieve flexible adjustment of the lifting height and stepless lifting of the chassis. Of course, the above embodiments are only exemplary, and the specific stepless lifting of the chassis can also be achieved in other ways. As long as the lifting height can be flexibly adjusted, the chassis can be lifted to any position, and the present invention does not limit this.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0086] The foregoing description is intended only to provide specific embodiments of the present invention, intended to enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments described herein, but rather to conform to the broadest scope consistent with the principles and novel features of the present invention described herein.

Claims

1. An obstacle crossing mechanism, characterized in that: The invention comprises a base (1), a rotating member (2) rotatably arranged on the base (1), and a driving assembly (3) for driving the rotating member (2) to rotate, wherein the base (1) is used to be connected to a walking device, and the driving assembly (3) can drive the rotating member (2) to rotate along a first direction and a second direction, and the rotating member (2) is provided with an obstacle-crossing support leg (4) and is configured as follows: When the rotating member (2) rotates along the first direction, it can drive the obstacle-crossing legs (4) to rotate so as to support the walking device and allow the walking device to walk via the obstacle-crossing legs (4); and when the rotating member (2) rotates along the second direction, it can lift the chassis of the walking device.

2. The obstacle crossing mechanism according to claim 1, characterized in that: The obstacle crossing leg (4) comprises a first arm (41) and a second arm (42) which are hingedly connected. An end of the first arm (41) away from the second arm (42) is connected to the rotating member (2). The second arm (42) can swing within a certain range relative to the first arm (41). An end of the second arm (42) away from the first arm (41) is rotatably provided with an obstacle crossing wheel (43).

3. The obstacle crossing mechanism according to claim 2, characterized in that: The obstacle crossing support leg (4) further comprises a first driving member and a first transmission member (44), wherein the first transmission member (44) is arranged in the first support arm (41) and the second support arm (42), and the first driving member can drive the obstacle crossing wheel (43) to rotate via the first transmission member (44).

4. The obstacle crossing mechanism according to claim 2, characterized in that: The hinged position of the first support arm (41) and the second support arm (42) is located above the running wheel (61) of the driving device.

5. The obstacle crossing mechanism according to claim 1, characterized in that: A top plate (5) is movably connected to the base (1), and the top plate (5) is used to be connected to the chassis of the walking device. A sliding shaft (51) is provided on the top plate (5), and the rotating member (2) can push the sliding shaft (51) to move in the vertical direction during the rotation along the second direction.

6. The obstacle crossing mechanism according to claim 5, characterized in that: The rotating member (2) includes a cam (21) rotatably arranged on the base (1), and the outer periphery of the cam (21) forms a contact surface that abuts against the sliding shaft (51).

7. The obstacle crossing mechanism according to claim 6, characterized in that: The cam (21) comprises a rotating wheel (211) rotatably arranged on the base (1) and a protrusion (212) arranged on the periphery of the rotating wheel (211); a first support position (213) is formed between the protrusion (212) and the rotating wheel (211); and a second support position (214) is formed on the periphery of the protrusion (212).

8. The obstacle crossing mechanism according to claim 7, characterized in that: The driving method of the driving assembly (3) enables any position between the first supporting position (213) and the second supporting position (214) to support the top plate (5).

9. The obstacle crossing mechanism according to claim 1, characterized in that: An extension shell (11) is provided on the base (1), and the drive assembly (3) includes a second drive member (31) and a second transmission member (32) arranged in the extension shell (11), and the second drive member (31) can drive the rotating member (2) to rotate through the second transmission member (32).

10. A driving device, characterized in that: include: A walking frame (6) is used to connect to the walking equipment, and the walking frame (6) is rotatably provided with a walking wheel (61); The obstacle surmounting mechanism according to any one of claims 1 to 9, wherein the base (1) of the obstacle surmounting mechanism is arranged on one side of the walking frame (6).

11. The driving device according to claim 10, characterized in that: A rotating shaft (62) is provided on the walking frame (6), the walking wheel (61) is rotatably arranged on the rotating shaft (62), the rotating shaft (62) extends into the base (1), and the rotating member (2) is rotatably arranged on the periphery of the rotating shaft (62).

12. The driving device according to claim 11, characterized in that The obstacle-crossing support leg (4) includes an obstacle-crossing wheel (43), and the running wheel (61) is transmission-connected to the obstacle-crossing wheel (43) via a first transmission member (44).

13. A cleaning robot, characterized in that: Comprising a drive device according to any one of claims 10 to 12.

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