Obstacle crossing mechanism, moving wheel device and cleaning robot

Abstract

The utility model provides an obstacle crossing mechanism, a moving wheel device and a cleaning robot. The obstacle crossing mechanism comprises an obstacle crossing assembly and a driving assembly, the obstacle crossing assembly is rotationally connected to the moving wheel shell, the rotating direction of the obstacle crossing assembly is the same as that of the walking wheel, and the rotating center of the obstacle crossing assembly is arranged on the side, facing the preset walking direction, of the rotating center of the walking wheel. The driving assembly drives the obstacle crossing assembly to rotate when the obstacle enters the rotating path of the obstacle crossing assembly, so that the obstacle crossing assembly abuts against the obstacle and drives the walking wheels to cross the obstacle. The driving assembly stops driving after the walking wheels cross the obstacle, so that the obstacle crossing assembly stops rotating. Due to the fact that the obstacle crossing assembly stops rotating when the cleaning robot normally walks and after the walking wheels cross the obstacle, the situation that the obstacle crossing assembly continuously rotates is avoided, the probability that the obstacle crossing assembly hooks foreign matter and brings the foreign matter into the machine body is reduced, the probability that the obstacle crossing assembly is stuck and stuck is reduced, and the probability that the obstacle crossing mechanism is abnormal is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to an obstacle crossing mechanism, a moving wheel device, and a cleaning robot. Background Art

[0002] A floor cleaning robot is used to clean the floor. Multiple moving wheel devices are provided on the bottom of the floor cleaning robot, and the floor cleaning robot moves on the floor via the moving wheel devices. The moving wheel devices include a moving wheel housing, a drive mechanism, a travel gear, and a travel wheel. The drive mechanism is disposed within the moving wheel housing, and the travel gear is rotatably connected to the moving wheel housing. The travel gear is in transmission connection with the drive mechanism, and the travel wheel is coaxially fixed to the travel gear. The drive mechanism is used to drive the travel gear to rotate, so that the travel gear drives the travel wheel to rotate, causing the travel wheel to roll on the floor, thereby allowing the floor cleaning robot to move along the floor.

[0003] When the moving wheel device encounters a high obstacle, the running wheels of the moving wheel device will idle or get stuck, causing the floor cleaning robot to be unable to move normally. Therefore, the moving wheel device is generally required to have an obstacle overcoming function. Specifically, an obstacle overcoming mechanism is set on one side of the running wheel's moving direction. When the moving wheel device encounters an obstacle, the obstacle overcoming mechanism is used to overcome the obstacle.

[0004] In related technologies, the obstacle-crossing mechanism includes a linkage mechanism and an obstacle-crossing gear. The travel gear is connected to the obstacle-crossing gear through the linkage mechanism, allowing the travel gear and the obstacle-crossing gear to rotate synchronously. When the moving wheel device encounters an obstacle, the obstacle-crossing gear presses against the obstacle and rotates, allowing the obstacle-crossing gear to assist the travel wheel in crossing the obstacle.

[0005] However, because the obstacle clearance gear rotates synchronously with the travel gear, which in turn rotates synchronously with the travel wheels, the obstacle clearance gear and the travel wheels rotate synchronously. This means that the obstacle clearance gear rotates continuously during movement. This continuous rotation makes it more likely for the obstacle clearance gear to snag foreign objects and drag them into the floor cleaning robot's interior, causing the obstacle clearance gear to become stuck or even jammed, resulting in a higher probability of malfunction in the obstacle clearance mechanism. Furthermore, because the obstacle clearance gear rotates synchronously with the travel wheels, if the obstacle clearance gear exhibits the aforementioned rotational anomaly, the travel wheels will also exhibit rotational anomalies, resulting in a higher probability of malfunction in the travel wheels. Utility Model Content

[0006] The purpose of the present disclosure is to overcome the deficiencies in the prior art and to provide an obstacle crossing mechanism, a moving wheel device and a cleaning robot.

[0007] The purpose of this disclosure is achieved through the following technical solutions:

[0008] An obstacle crossing mechanism, comprising:

[0009] An obstacle climbing assembly, rotatably connected to the moving wheel housing, wherein the rotation direction of the obstacle climbing assembly is the same as the rotation direction of the traveling wheel, and the rotation center of the obstacle climbing assembly is arranged on the side of the rotation center of the traveling wheel facing the preset traveling direction; and

[0010] The drive assembly is used to drive the obstacle overcoming assembly to rotate when an obstacle enters the rotation path of the obstacle overcoming assembly, so that the obstacle overcoming assembly is pressed against the obstacle and drives the running wheels to cross the obstacle; the drive assembly is also used to stop driving after the running wheels cross the obstacle, so that the obstacle overcoming assembly stops rotating.

[0011] In some embodiments, the obstacle overcoming mechanism further includes a clutch assembly, which is connected to the drive assembly and the obstacle overcoming assembly respectively when the obstacle enters the rotation path of the obstacle overcoming assembly, so that the drive assembly, the clutch assembly and the obstacle overcoming assembly are sequentially connected in transmission, thereby causing the obstacle overcoming assembly to rotate; the clutch assembly is separated from the obstacle overcoming assembly and / or the drive assembly after the walking wheel passes the obstacle, causing the obstacle overcoming assembly to stop rotating.

[0012] In some embodiments, the obstacle surmounting mechanism further includes a trigger assembly, and the trigger assembly is used to control the clutch assembly to transmit power or cut off power.

[0013] In some embodiments, the clutch assembly is installed on the obstacle crossing assembly, the clutch assembly is connected to the drive assembly when the obstacle enters the rotation path of the obstacle crossing assembly, and the clutch assembly is separated from the drive assembly after the walking wheel passes the obstacle.

[0014] In some embodiments, the obstacle-crossing assembly includes a connecting shaft and an obstacle-crossing member, wherein the connecting shaft is rotatably connected to the moving wheel housing, and the obstacle-crossing member is fixedly connected to the connecting shaft;

[0015] The driving assembly is used to drive the obstacle crossing assembly to rotate when the obstacle enters the rotation path of the obstacle crossing assembly, so that the obstacle crossing member presses against the obstacle and drives the running wheel to cross the obstacle.

[0016] In some embodiments, the obstacle-crossing component has a plurality of pressing portions, which are arranged along a circumferential array of the obstacle-crossing component. The pressing portions are used to press against the obstacle when the obstacle enters the rotation path of the obstacle-crossing component and drive the walking wheel to cross the obstacle.

[0017] In some embodiments, each pressing portion is provided with a pressing arc-shaped convex surface on a side facing its rotation direction, and the pressing arc-shaped convex surface is used to press against the obstacle.

[0018] In some embodiments, the clutch assembly is mounted on the connecting shaft, and the clutch assembly is connected to the drive assembly when the obstacle enters the rotation path of the obstacle crossing assembly, so that the obstacle crossing member is pressed against the obstacle and drives the walking wheel to cross the obstacle; the clutch assembly is separated from the drive assembly after the walking wheel crosses the obstacle.

[0019] In some embodiments, the clutch assembly includes a clutch member and an elastic member, wherein the clutch member is movably connected to the connecting shaft in the axial direction of the connecting shaft, the clutch member is fixedly connected to the connecting shaft in the circumferential direction of the connecting shaft, and the elastic member is connected to the clutch member;

[0020] The elastic member is elastically reset when the obstacle enters the rotation path of the obstacle-crossing component, thereby driving the clutch member to be connected with the driving component in transmission, so that the driving component, the clutch member, the connecting shaft and the obstacle-crossing component are sequentially connected in transmission. When the walking wheel passes over the obstacle, the clutch member is separated from the driving component, so that the obstacle-crossing component stops rotating and the elastic member is deformed.

[0021] In some embodiments, the obstacle crossing mechanism further comprises a trigger assembly, wherein the trigger assembly is configured to abut against the clutch member to separate the clutch member from the driving assembly, and to cause the clutch member to drive the elastic member to deform;

[0022] The trigger assembly separates from the clutch when the obstacle enters the rotation path of the obstacle-crossing assembly, causing the elastic member to elastically reset and drive the clutch to be connected to the drive assembly. The trigger assembly resets and abuts against the clutch again after the walking wheel passes the obstacle.

[0023] In some embodiments, the trigger assembly is further configured to limit rotation of the clutch member after abutting against the clutch member.

[0024] In some embodiments, the obstacle-pressing member has two pressing portions, and the two pressing portions are arranged in a circumferential array along the obstacle-pressing member;

[0025] The clutch member has two symmetrically arranged transmission parts, and the trigger assembly is connected to one of the transmission parts so that the trigger assembly limits the rotation of the clutch member; when the trigger assembly is connected to each of the transmission parts, the obstacle-pressing member is used to be completely accommodated in the moving wheel housing.

[0026] In some embodiments, the clutch member has a transmission portion, the trigger assembly is provided with a limiting slot, and the inner wall of the limiting slot is used to connect with the transmission portion.

[0027] In some embodiments, the clutch member is provided with a push-in bevel on a side facing the drive assembly, the push-in bevel being used to abut against the trigger assembly, the push-in bevel being inclined relative to the axial direction of the connecting shaft, so that the trigger assembly gradually pushes the clutch member to separate from the drive assembly after the traveling wheel passes over the obstacle; and / or,

[0028] A pushing slope is provided on the side of the trigger assembly facing away from the drive assembly, and the pushing slope is used to abut against the clutch member. The pushing slope is inclined to the axial direction of the connecting shaft, so that the trigger assembly gradually pushes the clutch member to separate from the drive assembly after the walking wheel passes the obstacle.

[0029] In some embodiments, a connecting groove is provided on a side of the driving assembly adjacent to the clutch member, and the clutch member has a transmission portion, which is used to connect to the connecting groove when the obstacle enters the rotation path of the obstacle crossing assembly, so that the clutch member and the driving assembly are connected in transmission; the transmission portion is used to disengage from the connecting groove when the walking wheel passes over the obstacle.

[0030] In some embodiments, there is a fault-tolerant gap between the transmission portion and the peripheral wall of the connecting groove.

[0031] In some embodiments, the clutch assembly further includes a guide member fixedly connected to the connecting shaft, and the guide member is used to guide the movement of the clutch member on the connecting shaft.

[0032] In some embodiments, the drive assembly is configured to be in transmission connection with a travel gear.

[0033] A moving wheel device, comprising the obstacle crossing mechanism described in any one of the above embodiments, the moving wheel device further comprising a moving wheel housing and a travel assembly, the travel assembly comprising a running wheel, the running wheel being rotatably connected to the moving wheel housing, the obstacle crossing assembly being rotatably connected to the moving wheel housing, the rotation direction of the obstacle crossing assembly being the same as the rotation direction of the running wheel, and the rotation center of the obstacle crossing assembly being arranged on a side of the rotation center of the running wheel facing the preset travel direction;

[0034] The driving assembly drives the obstacle crossing assembly to rotate when the obstacle enters the rotation path of the obstacle crossing assembly, so that the obstacle crossing assembly is pressed against the obstacle and drives the running wheels to cross the obstacle. The obstacle crossing assembly stops rotating after the running wheels cross the obstacle.

[0035] In some embodiments, the traveling assembly further includes a traveling gear, which is coaxially arranged and fixedly connected to the traveling wheel, and the traveling gear is transmission-connected to the driving assembly.

[0036] In some embodiments, the linear speed of the periphery of the obstacle surmounting assembly is less than or equal to the linear speed of the periphery of the running wheel.

[0037] A cleaning robot comprises the moving wheel device described in any one of the above embodiments.

[0038] Compared with the prior art, the present disclosure has at least the following advantages:

[0039] 1. When the cleaning robot is walking normally, the drive assembly will not drive the obstacle crossing assembly to rotate, and the obstacle crossing assembly stops rotating. When an obstacle enters the rotation path of the obstacle crossing assembly, the drive assembly drives the obstacle crossing assembly to rotate, so that the rotating obstacle crossing assembly presses against the obstacle. As the obstacle crossing assembly rotates, the obstacle crossing assembly will provide assistance to the walking wheels, so that the walking wheels pass over the obstacle. After the walking wheels pass over the obstacle, the drive assembly stops driving the obstacle crossing assembly, so that the obstacle crossing assembly stops rotating. In this way, since the obstacle crossing assembly stops rotating when the cleaning robot is walking normally and after the walking wheels pass over the obstacle, the situation where the obstacle crossing assembly continues to rotate is avoided, the probability of the obstacle crossing assembly hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle crossing assembly getting stuck or stuck is reduced, and the probability of the obstacle crossing mechanism malfunctioning is reduced.

[0040] 2. Since the probability of the obstacle crossing mechanism malfunctioning is low, even if the obstacle crossing component rotates synchronously with the running wheels, the probability of the running wheels malfunctioning is also low. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 This is a schematic structural diagram of a moving wheel device according to an embodiment;

[0043] Figure 2 for Figure 1 A schematic diagram of a partial structure of the moving wheel device shown;

[0044] Figure 3 for Figure 1 A schematic structural diagram of the obstacle crossing mechanism of the mobile wheel device shown;

[0045] Figure 4 for Figure 3 A schematic diagram of the partial structure of the obstacle crossing mechanism shown;

[0046] Figure 5 for Figure 4 An enlarged schematic diagram of the obstacle crossing mechanism at position A is shown;

[0047] Figure 6 for Figure 3 Another partial structural diagram of the obstacle crossing mechanism shown;

[0048] Figure 7 for Figure 3 Another partial structural diagram of the obstacle crossing mechanism shown;

[0049] Figure 8 for Figure 3 The schematic diagram of the structure of the obstacle crossing mechanism shown in another perspective;

[0050] Figure 9 Schematic diagram of the structure of a moving wheel device according to another embodiment;

[0051] Figure 10 Schematic diagram of the structure of a moving wheel device in another embodiment.

[0052] Figure numerals: 10, obstacle crossing mechanism; 100, obstacle crossing assembly; 110, connecting shaft; 120, obstacle crossing member; 121, pressing portion; 1211, pressing arc-shaped convex surface; 200, driving assembly; 201, connecting groove; 210, distance sensor; 220, controller; 230, first in-position sensor; 240, second in-position sensor; 300, clutch assembly; 310, clutch member; 311, main body; 312, pushed portion; 313, transmission portion; 314, fault-tolerant gap; 315, pushed inclined surface; 320, elastic member; 330, guide member; 331, guide hole; 400, trigger assembly; 401, limit groove; 402, pushing inclined surface; 410, separation swing arm;

[0053] 20. Moving wheel housing; 30. Travel assembly; 510. Travel wheel; 520. Travel gear;

[0054] 40. Transmission assembly; 610. Input gear; 620. Output gear. DETAILED DESCRIPTION

[0055] To facilitate understanding of the present disclosure, a more comprehensive description of the present disclosure will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present disclosure. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure.

[0056] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. The terms used herein in the specification of this disclosure are intended only to describe specific embodiments and are not intended to limit this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] In order to better understand the technical solutions and beneficial effects of the present disclosure, the present disclosure is further described in detail below with reference to specific embodiments:

[0059] Example 1:

[0060] like Figure 1 and Figure 2 As shown, the obstacle climbing mechanism 10 of the disclosed embodiment includes an obstacle climbing assembly 100 and a drive assembly 200. The obstacle climbing assembly 100 is rotatably connected to the moving wheel housing 20. At least during rotation, the obstacle climbing assembly 100 extends beyond the bottom of the moving wheel housing 20. The direction of rotation of the obstacle climbing assembly 100 is designed to be the same as the direction of rotation of the running wheels 510, so that the obstacle climbing assembly 100 can provide a force to the running wheels 510 in a predetermined direction of travel. The center of rotation of the obstacle climbing assembly 100 is designed to be located on the side of the center of rotation of the running wheels 510 that faces the predetermined direction of travel, so that the obstacle climbing assembly 100 can press against the obstacle before the running wheels 510 come into contact with the obstacle. The drive assembly 200 is used to drive the obstacle-crossing assembly 100 to rotate when an obstacle enters its rotational path. Specifically, when the obstacle and the obstacle-crossing assembly 100's rotational path coincide, the drive assembly 200 drives the obstacle-crossing assembly 100 to rotate, causing the obstacle-crossing assembly 100 to press against the obstacle. At this point, since the obstacle-crossing assembly 100 rotates in the same direction as the running wheels 510, the obstacle-crossing assembly 100 provides a force to the running wheels 510 in a predetermined direction, enabling the obstacle-crossing assembly 100 to drive the running wheels 510 over the obstacle. The drive assembly 200 is also used to stop driving the running wheels 510 after they have passed the obstacle, causing the obstacle-crossing assembly 100 to stop rotating.

[0061] like Figure 1 and Figure 2As shown, in this embodiment, when the cleaning robot is moving normally, the drive assembly 200 does not drive the obstacle-crossing assembly 100 to rotate, and the obstacle-crossing assembly 100 stops rotating. That is, when there is no obstacle lifting the cleaning robot's body, the drive assembly 200 does not drive the obstacle-crossing assembly 100 to rotate. When the cleaning robot encounters an obstacle, the obstacle will lift the front end of the body, causing the body to rise. When the obstacle enters the rotation path of the obstacle-crossing assembly 100, the drive assembly 200 drives the obstacle-crossing assembly 100 to rotate, causing the rotating obstacle-crossing assembly 100 to press against the obstacle. As the obstacle-crossing assembly 100 rotates, the obstacle-crossing assembly 100 provides power to the running wheels 510, allowing the running wheels 510 to cross the obstacle. After the running wheels 510 have passed the obstacle, the drive assembly 200 stops driving the obstacle-crossing assembly 100, causing the obstacle-crossing assembly 100 to stop rotating.

[0062] It is understood that the preset walking direction can be the forward direction, backward direction, leftward translation direction, rightward translation direction or other walking directions of the machine body. The obstacle can be an obstacle with a certain height such as a step or a steel pipe.

[0063] It should be emphasized that the drive assembly 200 is used to drive the obstacle surmounting assembly 100 to rotate when an obstacle enters the obstacle surmounting assembly 100's rotation path. This does not limit the drive assembly 200 to only starting to drive the obstacle surmounting assembly 100 when an obstacle enters the obstacle surmounting assembly 100's rotation path. For example, in some embodiments, the drive assembly 200 starts to drive the obstacle surmounting assembly 100 when an obstacle enters the obstacle surmounting assembly 100's rotation path. In other embodiments, the drive assembly 200 starts to drive the obstacle surmounting assembly 100 when an obstacle lifts the machine body.

[0064] Similarly, the drive assembly 200 is also configured to stop driving after the running wheels 510 pass over an obstacle, and this does not limit the drive assembly 200 to stopping driving immediately after the running wheels 510 pass over an obstacle. For example, in some embodiments, the drive assembly 200 can stop driving immediately after the running wheels 510 pass over an obstacle, so that the obstacle-crossing assembly 100 stops rotating immediately after the running wheels 510 pass over the obstacle. The drive assembly 200 can also stop driving immediately after the machine body completely passes over the obstacle, so that the obstacle-crossing assembly 100 stops rotating after the machine body completely passes over the obstacle.

[0065] In the obstacle-crossing mechanism 10 described above, when the cleaning robot is moving normally, the drive assembly 200 does not drive the obstacle-crossing assembly 100 to rotate, and the obstacle-crossing assembly 100 stops rotating. If an obstacle enters the obstacle-crossing assembly 100's rotation path, the drive assembly 200 drives the obstacle-crossing assembly 100 to rotate, causing the rotating obstacle-crossing assembly 100 to press against the obstacle. As the obstacle-crossing assembly 100 rotates, the obstacle-crossing assembly 100 provides assistance to the running wheels 510, allowing the running wheels 510 to overcome the obstacle. After the running wheels 510 have overcome the obstacle, the drive assembly 200 stops driving the obstacle-crossing assembly 100, causing the obstacle-crossing assembly 100 to stop rotating. In this way, since the obstacle crossing component 100 stops rotating when the cleaning robot is walking normally and after the walking wheels pass over an obstacle, the situation of continuous rotation of the obstacle crossing component 100 is avoided, the probability of the obstacle crossing component 100 hooking foreign objects and bringing them into the body is reduced, the probability of the obstacle crossing component 100 getting stuck or stuck is reduced, and the probability of abnormality of the obstacle crossing mechanism 10 is reduced.

[0066] Furthermore, since the probability of the obstacle overcoming mechanism 10 being abnormal is low, even if the obstacle overcoming component 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0067] like Figure 2 As shown, in some embodiments, the driving component 200 is used to be connected to the traveling gear 520 for transmission, so that the traveling gear 520 drives the driving component 200 to move. Since the traveling gear 520 drives the traveling wheel 510 to move, the obstacle crossing component 100 and the traveling wheel 510 share power, thereby reducing the energy consumption of the cleaning robot.

[0068] Example 2:

[0069] The difference between this embodiment and embodiment 1 is that this embodiment further optimizes the structure of the obstacle crossing mechanism 10 disclosed herein.

[0070] like Figure 3 As shown, the obstacle overcoming mechanism 10 of this embodiment further includes a clutch assembly 300. When an obstacle enters the rotation path of the obstacle overcoming assembly 100, the clutch assembly 300 connects to the drive assembly 200 and the obstacle overcoming assembly 100, respectively, thereby sequentially connecting the drive assembly 200, the clutch assembly 300, and the obstacle overcoming assembly 100, thereby causing the obstacle overcoming assembly 100 to rotate. After the running wheels 510 have passed the obstacle, the clutch assembly 300 disengages from the obstacle overcoming assembly 100 and / or the drive assembly 200. That is, after the running wheels 510 have passed the obstacle, the clutch assembly 300 disengages from at least one of the obstacle overcoming assembly 100 and the drive assembly 200, thereby cutting off the power source of the obstacle overcoming assembly 100 and causing the obstacle overcoming assembly 100 to stop rotating.

[0071] like Figure 3As shown, in this embodiment, the clutch assembly 300 has a transmission state and a disconnection state. When the clutch assembly 300 is in the transmission state, the drive assembly 200 drives the obstacle overcomer assembly 100 to rotate via the clutch assembly 300. When the clutch assembly 300 is in the disconnection state, the clutch assembly 300 disconnects the transmission connection between the drive assembly 200 and the obstacle overcomer assembly 100. The clutch assembly 300 provides the obstacle overcomer assembly 100 with rotational power, while the clutch assembly 300 disconnects the power source of the obstacle overcomer assembly 100, making the obstacle overcomer assembly 100 more convenient to control.

[0072] like Figure 4 As shown, in some embodiments, the obstacle surmounting mechanism 10 further includes a trigger assembly 400, which is used to control the clutch assembly 300 to transmit or cut off power. In this embodiment, the trigger assembly 400 is actuated or controlled to connect the drive assembly 200 to the obstacle surmounting assembly 100 via the clutch assembly 300, or to disconnect the transmission connection between the drive assembly 200 and the obstacle surmounting assembly 100, thereby achieving control of the clutch assembly 300.

[0073] like Figure 3 As shown, in some embodiments, the clutch assembly 300 is mounted on the obstacle climbing assembly 100. When an obstacle enters the obstacle climbing assembly 100's rotation path, the clutch assembly 300 connects with the drive assembly 200, causing the drive assembly 200, the clutch assembly 300, and the obstacle climbing assembly 100 to sequentially connect, thereby causing the obstacle climbing assembly 100 to rotate. After the running wheels 510 clear the obstacle, the clutch assembly 300 disengages from the drive assembly 200, causing the obstacle climbing assembly 100 to stop rotating. In this embodiment, mounting the clutch assembly 300 on the obstacle climbing assembly 100 prevents the clutch assembly 300 from falling during switching, ensuring that the clutch assembly 300 can function properly.

[0074] Of course, the clutch assembly 300 is not limited to being installed on the obstacle crossing assembly 100. For example, in some other embodiments, the clutch assembly 300 is installed on the drive assembly 200. When the obstacle enters the rotation path of the obstacle crossing assembly 100, the clutch assembly 300 is connected to the obstacle crossing assembly 100, so that the drive assembly 200, the clutch assembly 300 and the obstacle crossing assembly 100 are sequentially connected in transmission. The clutch assembly 300 is separated from the obstacle crossing assembly 100 after the walking wheel 510 passes the obstacle.

[0075] like Figure 3As shown, in some embodiments, the obstacle surmounting assembly 100 includes a connecting shaft 110 and an obstacle-pressing member 120. The connecting shaft 110 is rotatably connected to the moving wheel housing 20, and the obstacle-pressing member 120 is fixedly connected to the connecting shaft 110. The driving assembly 200 is configured to drive the obstacle surmounting assembly 100 to rotate when an obstacle enters the rotation path of the obstacle surmounting assembly 100, so that the obstacle-pressing member 120 presses against the obstacle and drives the running wheels 510 to surmount the obstacle. The driving assembly 200 is configured to stop driving the running wheels 510 after they have surmounted the obstacle, causing the obstacle-pressing member 120 to stop rotating after the running wheels 510 have surmounted the obstacle. In this embodiment, the obstacle-pressing and overcoming component 120 is a component that directly presses against the obstacle. The obstacle-pressing and overcoming component 120 is connected to the connecting shaft 110 so that the obstacle-pressing and overcoming component 120 can maintain a certain distance from the moving wheel housing 20, so that a certain installation space can be formed between the obstacle-pressing and overcoming component 120 and the moving wheel housing 20, which is convenient for installing other parts and improves the assembly convenience of the obstacle-surmounting mechanism 10.

[0076] like Figure 3 As shown, in some embodiments, the obstacle-crossing member 120 includes a plurality of pressing portions 121 arranged in an array along the circumference of the obstacle-crossing member 120. The pressing portions 121 are used to press against the obstacle when it enters the rotation path of the obstacle-crossing assembly 100, thereby driving the running wheels 510 to cross the obstacle. In this embodiment, when the pressing portions 121 press against the obstacle, they extend outside the moving wheel housing 20.

[0077] like Figure 2 and Figure 3 As shown, in some embodiments, each pressing portion 121 is provided with a pressing arc-shaped convex surface 1211 on the side facing its rotational direction. The pressing arc-shaped convex surface 1211 is used to press against an obstacle. In this embodiment, the pressing arc-shaped convex surface 1211 is used to contact the obstacle. Since the pressing arc-shaped convex surface 1211 is a curved surface, the pressing portion 121 is prevented from hooking or getting stuck on the obstacle, thereby ensuring that the pressing portion 121 can assist the walking wheel 510 in navigating the obstacle. Furthermore, since the pressing arc-shaped convex surface 1211 is a curved surface, the pressing portion 120 can better conform to obstacles of different shapes and angles, such as door sills and slide rails, making it easier to traverse these obstacles. It also allows the pressing portion 120 to better disperse impact forces, reducing the risk of the pressing portion 120 becoming stuck or damaged while also effectively minimizing friction and collision with the obstacle, thereby reducing noise generation.

[0078] like Figure 3As shown in the figure, in some embodiments, the clutch assembly 300 is mounted on the connecting shaft 110, and the clutch assembly 300 is connected with the driving assembly 200 when the obstacle enters the rotating path of the obstacle-crossing assembly 100, so that the driving assembly 200, the clutch assembly 300, the connecting shaft 110 and the pressure-resisting obstacle-crossing member 120 are sequentially connected in transmission, and then the pressure-resisting obstacle-crossing member 120 rotates, and then the pressure-resisting obstacle-crossing member 120 is pressed on the obstacle and drives the walking wheel 510 to cross the obstacle. After the walking wheel 510 crosses the obstacle, the clutch assembly 300 is separated from the driving assembly 200 to cut off the power of the connecting shaft 110 of the obstacle-crossing assembly 100, so that the connecting shaft 110 and the pressure-resisting obstacle-crossing member 120 stop rotating.

[0079] As shown in the figure, Figure 3 In this embodiment, the clutch assembly 300 is mounted on the connecting shaft 110, which avoids the problem of falling of the clutch assembly 300 during switching, and ensures that the clutch assembly 300 can work normally.

[0080] Of course, the clutch assembly 300 is not limited to being mounted on the connecting shaft 110, for example, in some other embodiments, the clutch assembly 300 is mounted on the driving assembly 200.

[0081] As shown in the figure, Figure 3 In some embodiments, the clutch assembly 300 includes a clutch member 310 and an elastic member 320, the clutch member 310 is movably connected with the connecting shaft 110 in the axial direction of the connecting shaft 110, and the clutch member 310 is fixedly connected with the connecting shaft 110 in the circumferential direction of the connecting shaft 110. That is, the clutch member 310 moves along the axial direction of the connecting shaft 110, but cannot rotate relative to the connecting shaft 110.

[0082] As shown in the figure, Figure 3 Further, the elastic member 320 is connected with the clutch member 310, and the elastic member 320 is used to drive the clutch member 310 to be connected in transmission with the driving assembly 200. Specifically, the elastic member 320 elastically resets when the obstacle enters the rotating path of the obstacle-crossing assembly 100, so as to drive the clutch member 310 to be connected in transmission with the driving assembly 200, so that the driving assembly 200, the clutch member 310, the connecting shaft 110 and the pressure-resisting obstacle-crossing member 120 are sequentially connected in transmission, and then the pressure-resisting obstacle-crossing member 120 rotates. When the walking wheel 510 crosses the obstacle, the clutch member 310 is separated from the driving assembly 200, so that the obstacle-crossing assembly 100 stops rotating, and the elastic member 320 deforms.

[0083] As shown in the figure, Figure 3As shown, in this embodiment, when the running wheels 510 are overcoming an obstacle or during normal travel, the elastic member 320 separates from the drive assembly 200, stopping the obstacle overcoming assembly 100 and causing the elastic member 320 to deform, allowing the elastic member 320 to accumulate force. When an obstacle enters the rotation path of the obstacle overcoming assembly 100, the elastic member 320 elastically resets, driving the clutch 310 into a transmission connection with the drive assembly 200. This sequentially connects the drive assembly 200, the clutch 310, the connecting shaft 110, and the obstacle overcoming member 120, causing the obstacle overcoming member 120 to rotate. In this way, the elastic reset force of the elastic member 320 drives the clutch 310 into a transmission connection with the drive assembly 200, enabling the clutch 310 and drive assembly 200 to be connected without external force. This improves the convenience of the transmission connection between the clutch 310 and the drive assembly 200 while reducing the complexity of the obstacle overcoming mechanism 10.

[0084] It can be understood that the deformation of the elastic member 320 can be compression or extension.

[0085] like Figure 3 As shown, in some embodiments, the clutch member 310 is sleeved on the connecting shaft 110 , so that the connection area between the clutch member 310 and the connecting shaft 110 is larger, thereby improving the position stability of the clutch member 310 .

[0086] like Figure 3 As shown, in some embodiments, the connecting shaft 110 is provided with a rotation-stopping plane, and the clutch member 310 is provided with an anti-rotation plane, and the anti-rotation plane is connected to the rotation-stopping plane. In this embodiment, the anti-rotation plane is continuously connected to the rotation-stopping plane to prevent the clutch member 310 from rotating relative to the connecting shaft 110.

[0087] like Figure 4 As shown, in some embodiments, the obstacle crossing mechanism 10 further includes a trigger assembly 400, which abuts against the clutch member 310 to separate the clutch member 310 from the drive assembly 200, and causes the clutch member 310 to drive the elastic member 320 to deform, so that the elastic member 320 accumulates force.

[0088] like Figure 4As shown, further, when an obstacle enters the rotation path of the obstacle surmounting assembly 100, the trigger assembly 400 disengages from the clutch 310, causing the elastic member 320 to elastically reset. The elastic force of the elastic member 320 drives the clutch 310 to be transmission-connected with the drive assembly 200, thereby sequentially connecting the drive assembly 200, the clutch 310, the connecting shaft 110, and the obstacle-surmounting member 120. This causes the obstacle-surmounting member 120 to rotate and assist the running wheels 510 in surmounting the obstacle. After the running wheels 510 have cleared the obstacle, the trigger assembly 400 resets and re-engages with the clutch 310, causing the clutch 310 to separate from the drive assembly 200 again. The clutch 310 then causes the elastic member 320 to deform again, causing the elastic member 320 to accumulate force again.

[0089] like Figure 4 As shown, in this embodiment, when the trigger assembly 400 is used to abut the clutch member 310, the clutch member 310 is separated from the drive assembly 200, making it impossible for the drive assembly 200 to drive the obstacle overcoming assembly 100 to rotate. When the trigger assembly 400 is separated from the clutch member 310, the trigger assembly 400 triggers the obstacle overcoming assembly 100, causing it to rotate. This allows the clutch assembly 300 to transmit power to the obstacle overcoming assembly 100 or cut off the power to the obstacle overcoming assembly 100, thereby allowing the obstacle overcoming assembly 100 to rotate when an obstacle enters its rotation path and stop rotating after the running wheels 510 have cleared the obstacle.

[0090] Of course, in other embodiments, the obstacle surmounting assembly 100 can be powered when the trigger assembly 400 abuts the clutch 310. Specifically, the obstacle surmounting mechanism 10 further includes a trigger assembly 400. When an obstacle enters the rotational path of the obstacle surmounting assembly 100, the trigger assembly 400 abuts the clutch 310, pushing the clutch 310 into transmission connection with the drive assembly 200 and deforming the elastic member 320. After the running wheels 510 clear the obstacle, the trigger assembly 400 disengages from the clutch 310, allowing the elastic member 320 to elastically reset. The elastic force of the elastic member 320 then drives the clutch 310 to separate from the drive assembly 200, disconnecting the power to the obstacle surmounting assembly 100.

[0091] like Figure 4 and Figure 5As shown in some embodiments, the clutch 310 is provided with a push-tilted surface 315, which is arranged towards the driving assembly 200 and is used to abut against the trigger assembly 400 and is tilted relative to the axial direction of the connecting shaft 110, so that the trigger assembly 400 gradually pushes the clutch 310 to separate from the driving assembly 200 after the machine body passes over the obstacle, reducing the impact force on the clutch 310 and the trigger assembly 400 and prolonging the service life of the clutch 310 and the trigger assembly 400. Moreover, since the push-tilted surface 315 is tilted relative to the axial direction of the connecting shaft 110, the distance between one end of the push-tilted surface 315 and the clutch 310 is large, which is beneficial for the trigger assembly 400 to enter the predetermined position and contact the push-tilted surface 315, reducing the alignment difficulty of the trigger assembly 400 and the clutch 310.

[0092] As shown in some embodiments, Figure 4 and Figure 5 As shown in some embodiments, the trigger assembly 400 is provided with a push-tilted surface 402, which is arranged away from the driving assembly 200 and is used to abut against the clutch 310 and is tilted relative to the axial direction of the connecting shaft 110, so that the trigger assembly 400 gradually pushes the clutch 310 to separate from the driving assembly 200 after the machine body passes over the obstacle, reducing the impact force on the clutch 310 and the trigger assembly 400 and prolonging the service life of the clutch 310 and the trigger assembly 400. Moreover, since the push-tilted surface 402 is tilted relative to the axial direction of the connecting shaft 110, the distance between one end of the push-tilted surface 402 and the clutch 310 is large, which is beneficial for the trigger assembly 400 to enter the predetermined position and contact the clutch 310, reducing the alignment difficulty of the trigger assembly 400 and the clutch 310.

[0093] As shown in some embodiments, Figure 4 and Figure 5 Further, the push-tilted surface 315 and the push-tilted surface 402 are connected, which increases the contact area of the trigger assembly 400 and the clutch 310 and slows down the wear of the trigger assembly 400 and the clutch 310.

[0094] As shown in some embodiments, Figure 4 In some embodiments, the trigger assembly 400 is rotationally connected to the moving wheel housing 20, so that the position of the trigger assembly 400 is kept on the moving wheel housing 20, improving the convenience of the trigger assembly 400 to act.

[0095] As shown in some embodiments, Figure 4 In some embodiments, the two ends of the elastic member 320 are respectively connected to the connecting shaft 110 and the clutch 310, so that the elastic member 320 can drive the clutch 310 to connect with the driving assembly 200.

[0096] As shown in some embodiments, Figure 4As shown, in some embodiments, the elastic member 320 is sleeved on the connecting shaft 110, so that the elastic member 320 is limited on the connecting shaft 110, ensuring that the elastic member 320 drives the clutch member 310 along a predetermined path, that is, avoiding the elastic member 320 from deviating from the predetermined path, ensuring that the elastic member 320 can drive the clutch member 310 normally.

[0097] like Figure 4 As shown, in some embodiments, a connecting slot 201 is defined on one side of the drive assembly 200 adjacent to the clutch 310. The clutch 310 includes a transmission portion 313. The transmission portion 313 is configured to connect to the connecting slot 201 when an obstacle enters the rotational path of the obstacle surmounting assembly 100, establishing a transmission connection between the clutch 310 and the drive assembly 200. The transmission portion 313 is configured to disengage from the connecting slot 201 when the running wheels 510 pass over the obstacle. In this embodiment, when an obstacle enters the rotational path of the obstacle surmounting assembly 100, the transmission portion 313 engages the connection, causing the transmission portion 313 to rotate with the drive assembly 200, thereby establishing a transmission connection between the clutch 310 and the drive assembly 200.

[0098] Of course, the position of the connecting slot 201 is not limited. For example, in other embodiments, the connection position of the connecting slot 201 is swapped with the connection position of the transmission part 313, that is, the connecting slot 201 is opened in the clutch 310, and the transmission part 313 is arranged on the side of the driving component 200 adjacent to the clutch 310.

[0099] like Figure 3 and Figure 4 As shown, in some embodiments, there are multiple connecting slots 201, and the multiple connecting slots 201 are spaced apart along the circumference of the drive assembly 200. In this embodiment, due to the multiple connecting slots 201, there are more connecting slots 201 for the transmission part 313 to be inserted into, ensuring that the transmission part 313 can be smoothly inserted into the connecting slots 201 when moving toward the drive assembly 200, thereby ensuring smooth transmission connection between the transmission part 313 and the drive assembly 200.

[0100] like Figure 3 and Figure 4 As shown, in some embodiments, there are multiple transmission parts 313, and the multiple transmission parts 313 are arranged at intervals along the circumference of the clutch member 310. In this embodiment, the multiple transmission parts 313 are connected to the drive assembly 200 through transmission, and the force of the drive assembly 200 is distributed to the multiple transmission parts 313, thereby reducing the stress of each transmission part 313, extending the service life of the transmission parts 313, and further extending the service life of the clutch member 310.

[0101] like Figure 3 and Figure 4As shown, in some embodiments, there is a tolerance gap 314 between the transmission part 313 and the peripheral wall of the connecting groove 201, which reduces the alignment accuracy requirements of the transmission part 313 and the connecting groove 201, making it easier to insert the transmission part 313 into the connecting groove 201, ensuring the smoothness of the connection between the transmission part 313 and the drive assembly 200.

[0102] like Figure 4 As shown, in some embodiments, the clutch member 310 includes a main body 311, a pushed portion 312 and a transmission portion 313. The main body 311 is connected to the connecting shaft 110. The main body 311 is movably connected to the connecting shaft 110 in the axial direction of the connecting shaft 110, that is, the main body 311 can move along the axial direction of the connecting shaft 110. The main body 311 is fixedly connected to the connecting shaft 110 in the circumferential direction of the connecting shaft 110, that is, the main body 311 cannot rotate relative to the connecting shaft 110. The pushed portion 312 is fixedly connected to the main body 311, so that the pushed portion 312 moves synchronously with the main body 311. The transmission portion 313 is fixedly connected to the side of the main body 311 adjacent to the drive assembly 200, so that the transmission portion 313, the pushed portion 312 and the main body 311 move synchronously.

[0103] like Figure 4 and Figure 5 As shown, the trigger assembly 400 is further configured to abut the pushed portion 312, separating the transmission portion 313 from the drive assembly 200, thereby cutting off the power to the obstacle surmounting assembly 100 and causing the clutch 310 to deform the elastic member 320, thereby accumulating force in the elastic member 320 so that the elastic member 320 can subsequently be used to push the clutch 310 into connection with the drive assembly 200. When an obstacle enters the rotational path of the obstacle surmounting assembly 100, the trigger assembly 400 separates from the pushed portion 312, causing the elastic member 320 to elastically reset and drive the transmission portion 313 into transmission connection with the drive assembly 200. After the running wheels 510 have cleared the obstacle, the trigger assembly 400 resets and again abuts the pushed portion 312, separating the transmission portion 313 from the drive assembly 200, again cutting off the power to the obstacle surmounting assembly 100 and causing the clutch 310 to deform the elastic member 320 again, thereby accumulating force in the elastic member 320 again. In this embodiment, the trigger assembly 400 cooperates with the pushed portion 312 to switch the clutch assembly 300 between the transmission state and the disconnection state, thereby achieving control of the clutch assembly 300.

[0104] It should be emphasized that the transmission part 313 can be directly fixedly connected to the main body 311, or it can be fixedly connected to the main body 311 through an intermediate piece. For example, in some embodiments, the transmission part 313 is fixedly connected to the side of the pushed part 312 adjacent to the driving component 200, so that the transmission part 313 is fixedly connected to the main body 311 through the pushed part 312.

[0105] It is understandable that the elastic member 320 can be installed on the connecting shaft 110, any position of the clutch member 310, the moving wheel housing 20 or any other position, but it is necessary to ensure that the elastic member 320 can be used to drive the clutch member 310 to be connected to the drive assembly 200.

[0106] Of course, the clutch 310 is not limited to being connected to the drive assembly 200 via the transmission portion 313. For example, in other embodiments, the clutch 310 is engaged with the drive assembly 200, and the elastic member 320 is used to drive the clutch 310 into engagement with the drive assembly 200. Specifically, the elastic member 320 elastically resets when an obstacle enters the rotation path of the obstacle surmounting assembly 100, driving the clutch 310 into engagement with the drive assembly 200. This sequentially connects the drive assembly 200, the clutch 310, the connecting shaft 110, and the obstacle-pressing member 120, thereby causing the obstacle-pressing member 120 to rotate. When the running wheels 510 clear the obstacle, the clutch 310 disengages from the drive assembly 200, causing the obstacle-surmounting assembly 100 to stop rotating and the elastic member 320 to deform.

[0107] like Figure 4 As shown, in some embodiments, the driving assembly 200 is rotatably connected to the connecting shaft 110, so that the structure of the obstacle surmounting mechanism 10 is more compact.

[0108] like Figure 6 As shown, in some embodiments, the clutch assembly 300 also includes a guide member 330, which is fixedly connected to the connecting shaft 110. The guide member 330 is used to guide the movement of the clutch member 310 on the connecting shaft 110, thereby improving the movement accuracy of the clutch member 310 and ensuring that the clutch member 310 is smoothly connected to the drive assembly 200.

[0109] like Figure 6 As shown, the guide member 330 further defines a guide hole 331, and the clutch member 310 includes a transmission portion 313, which is slidably connected to the guide hole 331. In this embodiment, the transmission portion 313 is configured to slidably connect to the inner wall of the guide hole 331, so that the inner wall of the guide hole 331 guides the transmission portion 313, thereby preventing the transmission portion 313 from accidentally shifting when approaching the drive assembly 200, further improving the smooth connection between the transmission portion 313 and the drive assembly 200. In addition, because the transmission portion 313 is slidably connected to the guide hole 331, the guide member 330 covers at least a portion of the transmission portion 313, thereby protecting the transmission portion 313 and increasing the strength of the transmission portion 313. This reduces the risk of the transmission portion 313 breaking, reduces the failure rate of the clutch member 310, and further extends the service life of the clutch member 310.

[0110] It can be understood that, since the clutch 310, the connecting shaft 110 and the obstacle-pressing member 120 are synchronous in the rotation direction, when the trigger assembly 400 abuts against the pushed part 312, if the obstacle-pressing member 120 is accidentally pushed, the pushed part 312 of the clutch 310 will be separated from the trigger assembly 400, and then the driving assembly 200, the clutch 310, the connecting shaft 110 and the obstacle-pressing member 120 will be sequentially connected in transmission.

[0111] As shown in Figure 7 , in order to avoid the above technical problems, in some embodiments, the trigger assembly 400 is further used to limit the rotation of the clutch 310 after abutting against the clutch 310. In the present embodiment, after the trigger assembly 400 abuts against the clutch 310, if an external force acts on the obstacle-pressing member 120, since the trigger assembly 400 prevents the rotation of the clutch 310, the clutch 310, the connecting shaft 110 and the obstacle-pressing member 120 will not rotate, avoiding the situation that the clutch 310 is accidentally separated from the trigger assembly 400, and then avoiding the problem that the driving assembly 200 and the obstacle-pressing assembly 100 are connected in transmission due to the accident.

[0112] As shown in Figure 7 and Figure 8 , in some embodiments, the obstacle-pressing member 120 has two obstacle-pressing parts 121 which are arranged along the circumference of the obstacle-pressing member 120. The clutch 310 has two symmetrically arranged transmission parts 313, and the trigger assembly 400 is connected with one of the transmission parts 313, so that the trigger assembly 400 limits the rotation of the clutch 310. When the trigger assembly 400 is connected with each transmission part 313, the obstacle-pressing member 120 is used to be completely accommodated in the mobile wheel housing 20.

[0113] As shown in 7 and Figure 8 , in the present embodiment, since the two transmission parts 313 are symmetrically arranged, and the trigger assembly 400 is connected with one of the transmission parts 313, when the trigger assembly 400 is connected with any one of the transmission parts 313, the obstacle-pressing member 120 can be hidden in the mobile wheel housing 20, avoiding the obstacle-pressing member 120 from contacting with foreign matters during normal walking, improving the neatness of the obstacle-pressing member 120, and avoiding the obstacle-pressing member 120 from generating resistance to the normal walking of the walking wheel 510, reducing the energy consumption of the cleaning robot.

[0114] It can be understood that, in other embodiments, the number of the obstacle-pressing parts 121 is not limited to two, and the number of the obstacle-pressing parts 121 can also be one, three, four, five or other numbers.

[0115] As shown in Figure 7As shown in some embodiments, the clutch 310 has a transmission part 313, and the trigger assembly 400 is provided with a limiting slot 401, the inner wall of which is used to connect with the transmission part 313. In this embodiment, when the trigger assembly 400 is connected with the transmission part 313, the transmission part 313 is limited in the limiting slot 401, so that the trigger assembly 400 limits the rotation of the transmission part 313, so that the clutch 310, the connecting shaft 110 and the obstacle-pressing member 120 cannot rotate, avoiding the situation that the clutch 310 is accidentally separated from the trigger assembly 400, and further avoiding the problem that the driving assembly 200 and the obstacle assembly 100 are accidentally connected in transmission.

[0116] It can be understood that the limiting slot 401 can be an arc-shaped slot, a square slot or other existing limiting slot 401.

[0117] As shown in some embodiments, the trigger assembly 400 includes a separation swing arm 410, a height sensor, a control element and a trigger motor. The separation swing arm 410 is rotationally connected to the mobile wheel housing 20, and is used to abut against the clutch 310 to separate the clutch 310 from the driving assembly 200 and make the clutch 310 drive the elastic member 320 to deform so as to store energy. Figure 7 Further, the height sensor is installed at the bottom of the machine body, the control element is installed on the mobile wheel housing 20 and is in communication connection with the height sensor, and the trigger motor is installed on the mobile wheel housing 20 and is in communication connection with the control element. In this embodiment, when the detection value of the height sensor reaches a preset value, at this time the obstacle lifts the machine body to a certain height, the control element controls the trigger motor to rotate forward, so that the trigger motor drives the separation swing arm to swing and separate from the clutch. When the detection value of the height sensor is less than the preset value, at this time the machine body completely passes over the obstacle, the control element controls the trigger motor to rotate reversely, so that the separation swing arm is reset and abuts against the clutch.

[0118] It should be noted that the detection method of the height sensor and the signal transmission method among the height sensor, the control element and the trigger motor belong to the prior art, which will not be described here.

[0119] Embodiment 3:

[0120] The difference between this embodiment and the embodiment 2 is that the driving assembly 200 of this embodiment is different from the driving assembly 200 of the embodiment 2.

[0121] As shown in some embodiments, the trigger assembly 400 includes a separation swing arm 410, a height sensor, a control element and a trigger motor. The separation swing arm 410 is rotationally connected to the mobile wheel housing 20, and is used to abut against the clutch 310 to separate the clutch 310 from the driving assembly 200 and make the clutch 310 drive the elastic member 320 to deform so as to store energy.

[0122] Figure 9 ​As shown, the drive assembly 200 of this embodiment includes a distance sensor 210, a controller 220, and a drive motor. The distance sensor 210 is used to be installed at the bottom of the body. The distance sensor 210 is used to detect the height of the location. The controller is in communication with the distance sensor 210. The controller 220 is installed in the moving wheel housing 20. The drive motor is installed in the moving wheel housing 20. The drive motor is in communication with the controller 220. The power output end of the drive motor is connected to the obstacle surmounting assembly 100. In this embodiment, when the cleaning robot encounters an obstacle of a certain height, the detection value of the distance sensor 210 reaches a preset value. At this time, the controller 220 controls the drive motor to start, so that the drive motor drives the obstacle surmounting assembly 100 to rotate. After the cleaning robot completely crosses the obstacle, the detection value of the distance sensor 210 becomes less than the preset value. At this time, the controller 220 controls the drive motor to stop, so that the obstacle surmounting assembly 100 stops rotating. In this way, through the cooperation of the distance sensor, control and drive motor, the obstacle surmounting assembly 100 rotates when an obstacle enters the rotation path of the obstacle surmounting assembly 100, and the obstacle surmounting assembly 100 stops rotating after the running wheels 510 pass the obstacle.

[0123] It should be noted that the detection method of the distance sensor and the signal transmission method between the distance sensor, the controller and the drive motor belong to the existing technology and will not be described in detail here.

[0124] Example 4:

[0125] like Figure 10 As shown, the difference between this embodiment and embodiments 2 and 3 is that the driving assembly 200 of this embodiment is different from the driving assemblies 200 of embodiments 2 and 3.

[0126] like Figure 10As shown, the drive assembly 200 of this embodiment includes a first position sensor 230, a second position sensor 240, a controller 220, and a drive motor. The first position sensor 230 and the second position sensor 240 are both intended to be mounted on the bottom of the machine body. The first position sensor 230 is located on the side of the obstacle surmounting assembly 100 facing the preset travel direction and is used to detect whether an obstacle is in place. The second position sensor 240 is located on the side of the obstacle surmounting assembly 100 facing away from the preset travel direction and is used to detect whether an obstacle is in place. The controller 220 is communicatively connected to the first position sensor 230 and the second position sensor 240, respectively. The controller 220 is mounted on the moving wheel housing 20, and the drive motor is mounted on the moving wheel housing 20. The drive motor is communicatively connected to the controller 220, and the power output end of the drive motor 220 is connected to the obstacle surmounting assembly 100. In this embodiment, when the first in-position sensor 230 detects an obstacle, indicating that the obstacle is about to enter the obstacle surmounting assembly 100's rotation path, the controller 220 controls the drive motor to start, causing the drive motor to drive the obstacle surmounting assembly 100 to rotate. After the cleaning robot has completely passed the obstacle, the second in-position sensor 240 detects the obstacle, and the controller 220 controls the drive motor to stop, causing the obstacle surmounting assembly 100 to stop rotating. In this way, through the coordination of the first in-position sensor 230, the second in-position sensor 240, the controller 220, and the drive motor, the obstacle surmounting assembly 100 rotates when an obstacle enters its rotation path and stops rotating after the running wheels 510 pass the obstacle.

[0127] It should be noted that the detection method of the first in-position sensor, the detection method of the second in-position sensor, and the signal transmission method between the first in-position sensor, the second in-position sensor, the controller and the drive motor belong to the existing technology and are not described in detail here.

[0128] Example 5:

[0129] like Figure 1 and Figure 2As shown, the mobile wheel device provided by the embodiments of the present disclosure comprises the obstacle-crossing mechanism 10 of any of the above embodiments. The mobile wheel device further comprises a mobile wheel housing 20 and a traveling assembly 30. The traveling assembly 30 comprises a traveling wheel 510 rotatably connected to the mobile wheel housing 20. The obstacle-crossing assembly 100 is rotatably connected to the mobile wheel housing 20. The rotation direction of the obstacle-crossing assembly 100 is the same as that of the traveling wheel 510. The rotation center of the obstacle-crossing assembly 100 is arranged on the side of the rotation center of the traveling wheel 510 facing the preset traveling direction, i.e., the rotation center of the obstacle-crossing assembly 100 is arranged on the side of the rotation center of the traveling wheel 510 facing the moving direction of the machine body. The driving assembly 200 drives the obstacle-crossing assembly 100 to rotate when an obstacle enters the rotation path of the obstacle-crossing assembly 100, so that the obstacle-crossing assembly 100 is pressed against the obstacle and drives the traveling wheel 510 to cross the obstacle. The obstacle-crossing assembly 100 stops rotating after the traveling wheel 510 crosses the obstacle.

[0130] The mobile wheel device described above. When the cleaning robot normally travels, the driving assembly 200 does not drive the obstacle-crossing assembly 100 to rotate, and at this time the obstacle-crossing assembly 100 stops rotating. When an obstacle enters the rotation path of the obstacle-crossing assembly 100, the driving assembly 200 drives the obstacle-crossing assembly 100 to rotate, so that the rotating obstacle-crossing assembly 100 is pressed against the obstacle. With the rotation of the obstacle-crossing assembly 100, the obstacle-crossing assembly 100 will provide assistance to the travel of the traveling wheel 510, so that the traveling wheel 510 crosses the obstacle. After the traveling wheel 510 crosses the obstacle, the driving assembly 200 stops driving the obstacle-crossing assembly 100, so that the obstacle-crossing assembly 100 stops rotating. In this way, since the obstacle-crossing assembly 100 stops rotating when the cleaning robot normally travels and after the traveling wheel crosses the obstacle, the situation of the obstacle-crossing assembly 100 continuously rotating is avoided, the probability of the obstacle-crossing assembly 100 hooking foreign matter and bringing it into the machine body is reduced, the probability of the obstacle-crossing assembly 100 jamming or being stuck is reduced, and the probability of the obstacle-crossing mechanism 10 being abnormal is reduced.

[0131] Further, since the probability of the obstacle-crossing mechanism 10 being abnormal is low, even if the obstacle-crossing assembly 100 rotates synchronously with the traveling wheel 510, the probability of the traveling wheel 510 being abnormal is also low.

[0132] As shown in Figure 1 and Figure 2 In some embodiments, the traveling assembly 30 further comprises a traveling gear 520 coaxially arranged and fixedly connected with the traveling wheel 510. The traveling gear 520 is in transmission connection with the driving assembly 200, so that the traveling gear 520 drives the driving assembly 200 to move. Since the traveling gear 520 drives the traveling wheel 510 to move, the obstacle-crossing assembly 100 shares power with the traveling wheel 510, and the energy consumption of the cleaning robot is reduced.

[0133] As shown in Figure 1 and Figure 2 As shown, in some embodiments, the moving wheel device further includes a transmission assembly 40 , and the traveling gear 520 is transmission-connected to the driving assembly 200 via the transmission assembly 40 , so that the traveling gear 520 is transmission-connected to the driving assembly 200 .

[0134] like Figure 2 As shown, in some embodiments, the transmission assembly 40 includes an input gear 610 and an output gear 620 that are meshed with each other. The input gear 610 is coaxially arranged and fixedly connected to the traveling gear 520. The driving assembly 200 is a gear structure, and the driving assembly 200 is meshed with the output gear 620.

[0135] like Figure 2 As shown, in some embodiments, the linear speed of the periphery of the obstacle climbing assembly 100 is less than or equal to the linear speed of the periphery of the running wheels 510. In this embodiment, the linear speed of the periphery of the obstacle climbing assembly 100 is less than or equal to the linear speed of the periphery of the running wheels 510, so that the traveling speed of the obstacle climbing assembly 100 is less than or equal to the traveling speed of the running wheels 510. This prevents the traveling speed of the running wheels 510 from being unable to keep up with the traveling speed of the obstacle climbing assembly 100, thereby avoiding the problem of the running wheels 510 getting stuck relative to the obstacle climbing assembly 100, improving the obstacle climbing performance of the running wheels 510, and reducing stress concentration on the running wheels 510, thereby extending the service life of the running wheels 510.

[0136] Example 6:

[0137] An embodiment of the present disclosure provides a cleaning robot, comprising a moving wheel device according to any of the above embodiments.

[0138] In the aforementioned cleaning robot, during normal operation, the drive assembly 200 does not rotate the obstacle-crossing assembly 100; instead, the obstacle-crossing assembly 100 stops rotating. If an obstacle enters the obstacle-crossing assembly 100's rotation path, the drive assembly 200 drives the obstacle-crossing assembly 100 to rotate, pressing the rotating obstacle-crossing assembly 100 against the obstacle. As the obstacle-crossing assembly 100 rotates, it provides assistance to the running wheels 510, enabling them to overcome the obstacle. After the running wheels 510 overcome the obstacle, the drive assembly 200 stops driving the obstacle-crossing assembly 100, causing it to stop rotating. This prevents the obstacle-crossing assembly 100 from rotating during normal operation and after the running wheels have overcome an obstacle. This reduces the chances of the obstacle-crossing assembly 100 snagging on foreign objects and dragging them into the robot, the chances of the obstacle-crossing assembly 100 becoming stuck or jammed, and the chances of the obstacle-crossing mechanism 10 malfunctioning.

[0139] Furthermore, since the probability of the obstacle overcoming mechanism 10 being abnormal is low, even if the obstacle overcoming component 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0140] Compared with the prior art, the present disclosure has at least the following advantages:

[0141] 1. During normal robot movement, the drive assembly 200 does not rotate the obstacle-crossing assembly 100; instead, the obstacle-crossing assembly 100 stops rotating. If an obstacle enters the robot's rotation path, the drive assembly 200 drives the obstacle-crossing assembly 100 to rotate, pressing the rotating obstacle-crossing assembly 100 against the obstacle. As the obstacle-crossing assembly 100 rotates, it assists the running wheels 510, enabling them to clear the obstacle. After the running wheels 510 clear the obstacle, the drive assembly 200 stops driving the obstacle-crossing assembly 100, causing it to stop rotating. This prevents the obstacle-crossing assembly 100 from rotating during normal robot movement and after the running wheels clear an obstacle. This reduces the chances of the obstacle-crossing assembly 100 snagging on foreign objects and dragging them into the robot body, the chances of the obstacle-crossing assembly 100 becoming stuck or jammed, and the chances of the obstacle-crossing mechanism 10 malfunctioning.

[0142] 2. Since the probability of the obstacle overcoming mechanism 10 being abnormal is low, even if the obstacle overcoming component 100 and the running wheel 510 rotate synchronously, the probability of the running wheel 510 being abnormal is also low.

[0143] The above-described embodiments merely represent several implementation methods of the present disclosure. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the scope of the present disclosure, all of which fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the disclosed patent shall be determined by the appended claims.

Claims

1. An obstacle crossing mechanism, characterized in that: include: An obstacle crossing component (100) is used to be rotatably connected to the moving wheel housing (20), and the rotation direction of the obstacle crossing component (100) is used to be the same as the rotation direction of the walking wheel (510), and the rotation center of the obstacle crossing component (100) is used to be arranged on the side of the rotation center of the walking wheel (510) facing the preset walking direction; as well as The driving assembly (200) is used to drive the obstacle-crossing assembly (100) to rotate when an obstacle enters the rotation path of the obstacle-crossing assembly (100), so that the obstacle-crossing assembly (100) is pressed against the obstacle and drives the running wheel (510) to cross the obstacle; the driving assembly (200) is also used to stop driving after the running wheel (510) crosses the obstacle, so that the obstacle-crossing assembly (100) stops rotating; The obstacle surmounting mechanism further comprises a clutch assembly (300), wherein when the obstacle enters the rotation path of the obstacle surmounting assembly (100), the clutch assembly (300) is connected to the drive assembly (200) and the obstacle surmounting assembly (100) respectively, so that the drive assembly (200), the clutch assembly (300) and the obstacle surmounting assembly (100) are sequentially connected in transmission, thereby causing the obstacle surmounting assembly (100) to rotate; after the walking wheel (510) passes over the obstacle, the clutch assembly (300) is separated from the obstacle surmounting assembly (100) and / or the drive assembly (200), so that the obstacle surmounting assembly (100) stops rotating.

2. The obstacle crossing mechanism according to claim 1, characterized in that: The obstacle-crossing mechanism further comprises a trigger assembly (400), and the trigger assembly (400) is used to control the clutch assembly (300) to transmit power or cut off power.

3. The obstacle crossing mechanism according to claim 1, characterized in that: The clutch assembly (300) is mounted on the obstacle-crossing assembly (100), the clutch assembly (300) is connected to the drive assembly (200) when the obstacle enters the rotation path of the obstacle-crossing assembly (100), and the clutch assembly (300) is separated from the drive assembly (200) after the running wheel (510) crosses the obstacle.

4. The obstacle crossing mechanism according to claim 1, characterized in that: The obstacle-crossing assembly (100) comprises a connecting shaft (110) and a pressing obstacle-crossing member (120), wherein the connecting shaft (110) is used for being rotatably connected to the moving wheel housing (20), and the pressing obstacle-crossing member (120) is fixedly connected to the connecting shaft (110); The driving assembly (200) is used to drive the obstacle crossing assembly (100) to rotate when the obstacle enters the rotation path of the obstacle crossing assembly (100), so that the obstacle crossing member (120) presses against the obstacle and drives the running wheel (510) to cross the obstacle.

5. The obstacle crossing mechanism according to claim 4, characterized in that: The obstacle-crossing component (120) has a plurality of pressing portions (121), which are arranged in a circumferential array along the obstacle-crossing component (120). The pressing portions (121) are used to press against the obstacle when the obstacle enters the rotation path of the obstacle-crossing component (100), and to drive the walking wheel (510) to cross the obstacle.

6. The obstacle crossing mechanism according to claim 5, characterized in that: Each pressing portion (121) is provided with a pressing arc-shaped convex surface (1211) on a side facing its rotation direction, and the pressing arc-shaped convex surface (1211) is used to press against the obstacle.

7. The obstacle crossing mechanism according to claim 4, characterized in that: The clutch assembly (300) is mounted on the connecting shaft (110). When the obstacle enters the rotation path of the obstacle-crossing assembly (100), the clutch assembly (300) is connected to the driving assembly (200), so that the obstacle-crossing member (120) presses against the obstacle and drives the running wheel (510) to cross the obstacle. The clutch assembly (300) is separated from the driving assembly (200) after the running wheel (510) crosses the obstacle.

8. The obstacle crossing mechanism according to claim 4, characterized in that: The clutch assembly (300) includes a clutch member (310) and an elastic member (320), wherein the clutch member (310) is movably connected to the connecting shaft (110) in the axial direction of the connecting shaft (110), the clutch member (310) is fixedly connected to the connecting shaft (110) in the circumferential direction of the connecting shaft (110), and the elastic member (320) is connected to the clutch member (310); The elastic member (320) elastically resets when the obstacle enters the rotation path of the obstacle-crossing component (100), thereby driving the clutch member (310) to be transmission-connected with the drive component (200), so that the drive component (200), the clutch member (310), the connecting shaft (110) and the obstacle-crossing component (120) are sequentially transmission-connected. When the walking wheel (510) crosses the obstacle, the clutch member (310) is separated from the drive component (200), so that the obstacle-crossing component (100) stops rotating and the elastic member (320) is deformed.

9. The obstacle crossing mechanism according to claim 8, characterized in that: The obstacle crossing mechanism further comprises a trigger assembly (400), wherein the trigger assembly (400) is used to abut against the clutch member (310), so as to separate the clutch member (310) from the driving assembly (200), and to cause the clutch member (310) to drive the elastic member (320) to deform; The trigger assembly (400) is separated from the clutch member (310) when the obstacle enters the rotation path of the obstacle-crossing assembly (100), causing the elastic member (320) to elastically reset and drive the clutch member (310) to be transmission-connected with the drive assembly (200). After the running wheel (510) passes over the obstacle, the trigger assembly (400) is reset and abuts against the clutch member (310) again.

10. The obstacle surmounting mechanism according to claim 9, characterized in that: The trigger assembly (400) is also used to limit the rotation of the clutch member (310) after abutting against the clutch member (310).

11. The obstacle surmounting mechanism according to claim 10, characterized in that: The obstruction-crossing component (120) has two obstructing portions (121), and the two obstructing portions (121) are arranged in a circumferential array along the obstruction-crossing component (120); The clutch member (310) has two symmetrically arranged transmission parts (313), and the trigger assembly (400) is connected to one of the transmission parts (313), so that the trigger assembly (400) restricts the rotation of the clutch member (310); when the trigger assembly (400) is connected to each of the transmission parts (313), the obstacle-pressing member (120) is used to be completely accommodated in the moving wheel housing (20).

12. The obstacle surmounting mechanism according to claim 10, characterized in that: The clutch member (310) has a transmission part (313), and the trigger assembly (400) is provided with a limiting groove (401), wherein the inner wall of the limiting groove (401) is used for connecting with the transmission part (313).

13. The obstacle surmounting mechanism according to claim 9, characterized in that: The clutch member (310) is provided with a push inclined surface (315) on a side facing the drive assembly (200), the push inclined surface (315) being used to abut against the trigger assembly (400), the push inclined surface (315) being inclined with respect to the axial direction of the connecting shaft (110), so that the trigger assembly (400) gradually pushes the clutch member (310) to separate from the drive assembly (200) after the traveling wheel (510) passes over the obstacle; and / or, A push bevel (402) is provided on a side of the trigger assembly (400) facing away from the drive assembly (200), and the push bevel (402) is used to abut against the clutch member (310). The push bevel (402) is inclined with respect to the axial direction of the connecting shaft (110), so that the trigger assembly (400) gradually pushes the clutch member (310) to separate from the drive assembly (200) after the walking wheel (510) passes over the obstacle.

14. The obstacle surmounting mechanism according to claim 8, characterized in that: A connecting groove (201) is provided on a side of the driving assembly (200) adjacent to the clutch member (310). The clutch member (310) has a transmission portion (313). The transmission portion (313) is used to connect to the connecting groove (201) when the obstacle enters the rotation path of the obstacle-crossing assembly (100), thereby connecting the clutch member (310) to the driving assembly (200). The transmission portion (313) is used to disengage from the connecting groove (201) when the walking wheel (510) crosses the obstacle.

15. The obstacle surmounting mechanism according to claim 14, characterized in that: There is a fault-tolerant gap (314) between the transmission portion (313) and the peripheral wall of the connecting groove (201).

16. The obstacle surmounting mechanism according to claim 8, characterized in that: The clutch assembly (300) further includes a guide member (330), wherein the guide member (330) is fixedly connected to the connecting shaft (110), and the guide member (330) is used to guide the movement of the clutch member (310) on the connecting shaft (110).

17. The obstacle surmounting mechanism according to claim 1, characterized in that: The driving assembly (200) is used for transmission connection with the traveling gear (520).

18. A moving wheel device, characterized in that: An obstacle surmounting mechanism (10) according to any one of claims 1 to 17, wherein the moving wheel device further comprises a moving wheel housing (20) and a traveling assembly (30), wherein the traveling assembly (30) comprises a walking wheel (510), wherein the walking wheel (510) is rotatably connected to the moving wheel housing (20), and the obstacle surmounting assembly (100) is rotatably connected to the moving wheel housing (20), wherein the direction of rotation of the obstacle surmounting assembly (100) is the same as the direction of rotation of the walking wheel (510), and the center of rotation of the obstacle surmounting assembly (100) is arranged on a side of the center of rotation of the walking wheel (510) facing the preset traveling direction; The driving assembly (200) drives the obstacle-crossing assembly (100) to rotate when the obstacle enters the rotation path of the obstacle-crossing assembly (100), so that the obstacle-crossing assembly (100) is pressed against the obstacle and drives the running wheels (510) to cross the obstacle. The obstacle-crossing assembly (100) stops rotating after the running wheels (510) cross the obstacle.

19. The moving wheel device according to claim 18, characterized in that: The traveling assembly (30) further comprises a traveling gear (520), wherein the traveling gear (520) is coaxially arranged and fixedly connected to the traveling wheel (510), and the traveling gear (520) is transmission-connected to the driving assembly (200).

20. The moving wheel device according to claim 18 or 19, characterized in that: The linear speed of the periphery of the obstacle crossing component (100) is less than or equal to the linear speed of the periphery of the running wheel (510).

21. A cleaning robot, characterized in that: A moving wheel device comprising the moving wheel device according to any one of claims 18 to 20.

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