Walking wheel mechanism and cleaning equipment

Abstract

The utility model belongs to the technical field of cleaning equipment, and particularly relates to a walking wheel mechanism and cleaning equipment. The walking wheel mechanism is installed on an equipment body, the walking wheel mechanism comprises a walking wheel assembly and a power assembly, the walking wheel assembly is rotatably connected with the equipment body, and the power assembly can selectively stretch out and draw back, can abut against the walking wheel assembly or the equipment body and can slide relative to the walking wheel assembly or the equipment body. According to the walking wheel mechanism, the effect of increasing the obstacle crossing height can be achieved, and the obstacle crossing height, the escape capacity and the adaptability to different road surfaces of equipment provided with the walking wheel mechanism can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning equipment, and particularly relates to a walking wheel mechanism and a cleaning equipment. BACKGROUND

[0002] The cleaning equipment is a common intelligent cleaning appliance, such as a robot vacuum cleaner, an automatic sweeper, etc. The obstacle crossing ability of the cleaning equipment is crucial for the cleaning equipment, and the obstacle crossing height limits the working range and the operation reliability of the cleaning equipment.

[0003] At present, the solution to the obstacle crossing problem mainly relies on a software strategy, and the obstacle crossing function is realized by adjusting the angle and the speed of the cleaning equipment approaching the obstacle. The solution is limited by the physical limitations such as the ground clearance of the cleaning equipment, and the effect is limited. SUMMARY

[0004] The present application provides a walking wheel mechanism and a cleaning equipment to improve the obstacle crossing ability of the cleaning equipment.

[0005] In the first aspect of the present application, a walking wheel mechanism is provided, which is installed on a device body and comprises: a walking wheel assembly rotatably connected to the device body; and a power assembly capable of being selectively extended and retracted, capable of abutting the walking wheel assembly, the device body or the device body sliding, and capable of sliding relative to the walking wheel assembly.

[0006] In some embodiments, the power assembly is provided with an extendable and retractable output shaft, the walking wheel assembly or the device body is provided with a sliding groove, and the output shaft of the power assembly is slidingly connected in the sliding groove.

[0007] In some embodiments, the end of the output shaft of the power assembly is arc-shaped, or the end of the output shaft of the power assembly is connected with a rotatable contact wheel.

[0008] In some embodiments, at least one of the opposite two side walls of the sliding groove is provided with a guide portion, and the output shaft of the power assembly is provided with a guide protrusion which is slidingly connected with the guide portion.

[0009] In some embodiments, the power assembly is fixedly connected to the device body or the walking wheel assembly, or the power assembly is pivotally connected to the device body or the walking wheel assembly.

[0010] In some embodiments, the walking wheel assembly comprises a support and a walking wheel mounted on the support; the support comprises a main wheel portion and a free portion, the main wheel portion is closer to the walking wheel than the free portion; the main wheel portion and the free portion are divided by the walking wheel ground contact normal axis, and the free portion is closer to the advancing direction of the device body than the main wheel portion; wherein the free portion of the support is rotationally connected with the device body; the output shaft of the power assembly can selectively abut against the support, or the power assembly is fixedly connected or pivotally connected with the support.

[0011] In some embodiments, a spring is further included, one end of the spring is fixed on the free portion of the support, and the other end is fixed on the device body.

[0012] In some embodiments, the free portion and the device body are both provided with hook portions, the two ends of the spring are respectively hooked on the two hook portions, and the hooking directions of the two hook portions are opposite.

[0013] In some embodiments, at least part of the output shaft of the power assembly penetrates the spring.

[0014] In the second aspect of the present application, the present application further provides a cleaning device, which comprises a device body and the above-mentioned walking wheel mechanism mounted on the device body.

[0015] In some embodiments, the device body is provided with an upper limiting portion and a lower limiting portion for limiting the upper limit position and the lower limit position of the walking wheel assembly, respectively.

[0016] The cleaning device provided by the present application, since the walking wheel mechanism mounted on the device body comprises a walking wheel assembly and a power assembly, the power assembly can be selectively applied, can abut against the walking wheel assembly or the power assembly, and can slide relative to the walking wheel assembly or the power assembly, therefore, by controlling the output shaft of the power assembly to extend, the walking wheel assembly can be driven to rotate relative to the device body, so that the walking wheel assembly is lifted or lowered relative to the device body, since the walking wheel assembly is always in contact with the ground during driving, the corresponding walking wheel assembly also maintains ground contact during lifting or lowering relative to the device body, therefore, the lifting or lowering of the walking wheel assembly relative to the device body is manifested in the device as a change in the ground clearance of the device body, when the ground clearance of the device body increases, the components below the device body can be higher than the obstacles, so that the device does not interfere with the obstacles during obstacle crossing, thereby achieving the effect of increasing the obstacle crossing height, which can increase the obstacle crossing height, the escape ability, and the adaptability to different road surfaces of the device provided with the walking wheel mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0018] Figure 1 A structural schematic diagram of the walking wheel mechanism 100a in the lifting state of the walking wheel assembly in an embodiment of the present application is shown.

[0019] Figure 2 A structural schematic diagram of the walking wheel mechanism 100a in the lowering state of the walking wheel assembly in an embodiment of the present application is shown.

[0020] Figure 3 A structural schematic diagram of the walking power device in the walking wheel mechanism 100a of Figure 1 and Figure 2 is shown.

[0021] Figure 4 An assembly structure diagram of the walking power device and the spring in the walking wheel mechanism 100a of Figure 1 and Figure 2 is shown.

[0022] Figure 5 An exploded view of the power assembly and the flexible connecting piece in the walking wheel mechanism 100a of Figure 1 and Figure 2 is shown.

[0023] Figure 6 A schematic diagram of the obstacle crossing process of the cleaning device in one or more embodiments of the present application is shown.

[0024] Figure 7 A schematic diagram of the obstacle crossing process of the cleaning device in some other embodiments of the present application is shown.

[0025] Figure 8 A structural schematic diagram of the walking wheel mechanism 100b in the lifting state of the walking wheel assembly in an embodiment of the present application is shown.

[0026] Figure 9 A structural schematic diagram of the walking wheel mechanism 100b in the lowering state of the walking wheel assembly in an embodiment of the present application is shown.

[0027] Figure 10 A structural schematic diagram of the power assembly in Figure 8 and Figure 9 is shown.

[0028] Figure 11 A structural schematic diagram of the power assembly in Figure 8 andFigure 9 Structure diagram of the flexible connecting member in

[0029] Figure 12 Structure diagram of the power element in Figure 10

[0030] Figure 13 Structure diagram of another power element

[0031] Figure 14 Structure diagram of the free part of the support member

[0032] Figure 15 Structure diagram of the walking wheel mechanism with the tensioning member

[0033] Figure 16 Structure diagram of the walking wheel mechanism with the steering member

[0034] Figure 17 Structure diagram of the walking wheel mechanism 100c in the raised state of the walking wheel assembly

[0035] Figure 18 Structure diagram of the walking wheel mechanism 100c in the lowered state of the walking wheel assembly

[0036] Figure 19 Assembly diagram of the first end of the flexible connecting member and the first end of the spring in the walking wheel mechanism 100c with the power assembly

[0037] Figure 20 Assembly diagram of the second end of the flexible connecting member and the second end of the spring in the walking wheel mechanism 100c with the walking wheel assembly

[0038] Figure 21 Structure diagram of the walking wheel mechanism 100d in the lowered state of the walking wheel assembly Figure 23

[0039] Structure diagram of the walking wheel mechanism 100d in the raised state of the walking wheel assembly Figure 22 Figure 24 Structure diagram of the power assembly in

[0040] Figure 25 Figures 21-24 Assembly diagram of the power assembly in

[0041] Figure 26 Figures 21-24 ​​​​​

[0042] Figure 27 Fig. 6 shows another assembly structure diagram of the power assembly and the walking wheel assembly in the walking wheel mechanism 100d;

[0043] Figure 28 Fig. 7 shows a structure diagram of the walking wheel mechanism 100e in an embodiment of the present application in a state where the walking wheel assembly is lowered;

[0044] Figure 29 Fig. 8 shows a structure diagram of the walking wheel mechanism 100e in an embodiment of the present application in a state where the walking wheel assembly is lifted;

[0045] Figure 30 Fig. 9 shows a structure diagram of the walking wheel assembly in the cleaning device Figure 28 Fig. 10 shows a structure diagram of the walking wheel assembly in the cleaning device Figure 29 Fig. 11 shows a structure diagram of the power assembly in the cleaning device

[0046] Figure 31 Fig. 12 shows a structure diagram of the power assembly in the cleaning device Figure 28 Fig. 13 shows a structure diagram of the power assembly in the cleaning device Figure 29 Fig. 14 shows a structure diagram of the cleaning device in some embodiments of the present application;

[0047] Figure 32 Fig. 15 shows a structure diagram of the cleaning device in some embodiments of the present application; DETAILED DESCRIPTION

[0048] In order to make the skilled in the art to which the present application belongs more clearly understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without creative labor shall fall within the scope of protection of the present application.

[0049] When the cleaning device encounters an obstacle during automatic driving, the cleaning device needs to avoid the obstacle or cross over the obstacle. The obstacle crossing height limits the working range and operation reliability of the cleaning device. The solution to the obstacle crossing problem in the related art relies on software strategy to solve the problem, and the obstacle crossing function is realized by adjusting the angle and speed of the cleaning device approaching the obstacle. The solution is limited by the physical limitations such as the ground clearance of the cleaning device, and the effect is limited.

[0050] In order to improve the obstacle crossing ability of the cleaning device from a physical point of view, one or more embodiments of the present application provide a walking wheel lifting mechanism and a cleaning device. By actively lifting the device body, the ground clearance is increased, the components below the device are higher than the obstacle, and the part of the device that does not interfere with the obstacle during the obstacle crossing process is realized, thereby achieving the effect of increasing the obstacle crossing height. The present application will be described in detail below in conjunction with specific embodiments and drawings.

[0051] The embodiment of the present application provides a walking wheel lifting mechanism, which is named as a walking wheel mechanism 100a in the embodiment for distinguishing from another embodiment. The walking wheel mechanism 100a is installed on a device body 300 of an automated device with barrier crossing function requirement, and can realize the function of lifting the walking wheel 12 relative to the device body 300, so that the ground clearance of the device body 300 is increased, and the barrier crossing height is improved. The walking wheel mechanism 100a can be applied to cleaning devices such as a sweeping robot and an automatic sweeper, and can also be applied to other automated driving devices with barrier crossing function requirement, such as an automatic food delivery robot and a delivery sorting robot. The walking wheel mechanism 100a can be a driving wheel lifting mechanism or a driven wheel lifting mechanism. The walking wheel 12 can be a driving wheel or a driven wheel, and the walking wheel 12 includes but is not limited to a roller, a track wheel and a Mecanum wheel.

[0052] In each of the following embodiments, if the walking wheel 12 in the walking wheel mechanism 100a is configured to be driven by a driving device, it can be understood that the walking wheel mechanism 100a is a driving wheel lifting mechanism, the walking wheel assembly 10 is a driving wheel assembly, and the walking wheel 12 is a driving wheel.

[0053] Please refer to Figure 1 and Figure 2 , which show the overall structure of the walking wheel mechanism 100a. The walking wheel mechanism 100a includes a walking wheel assembly 10, a power assembly 20 and a flexible connecting piece 30. The walking wheel assembly 10 is rotatably connected to the device body 300, and the walking wheel assembly 10 can be a driving wheel assembly providing driving power for device walking, or a driven wheel assembly following the rotation of the driving wheel, which is not limited by the present application. The power assembly 20 is also installed on the device body 300, and is used to provide driving force when the walking wheel assembly 10 is lifted relative to the device body 300. The flexible connecting piece 30 is used to transmit the power of the power assembly 20 and act on the walking wheel assembly 10, so that the walking wheel assembly 10 rotates relative to the base 310 to realize the lifting function relative to the device body 300. The power assembly 20 and the flexible connecting piece 30 can only drive the corresponding walking wheel assembly 10 to swing and lift, or can simultaneously drive two walking wheel assemblies 10 to swing and lift, which is not limited by the present application.

[0054] When the walking wheel assembly 10 is a driving wheel assembly for providing power for the device to walk, the driving wheel assembly is used to provide power for the device to walk. The power assembly 20 is also mounted to the device body 300 for providing driving force for the driving wheel assembly to lift or lower relative to the device body 300. The flexible connecting member 30 is used to transmit the power of the power assembly 20 and act on the driving wheel assembly to rotate the driving wheel assembly relative to the device body 300 to realize the lifting or lowering function relative to the device body 300. Two driving wheel assemblies are usually required for the device to walk, and the power assembly 20 and the flexible connecting member 30 can drive only the corresponding driving wheel assembly to swing and lift, or can drive both driving wheel assemblies to swing and lift, which is not limited by the present application. Since the relative rotation of the driving wheel assembly and the driving of the driving wheel assembly itself are driven by different drivers, the driving action and the relative rotation action of the driving wheel assembly do not interfere with each other and can be performed at the same time.

[0055] Since the walking wheel assembly 10 is always in contact with the ground d during driving, when the corresponding walking wheel assembly 10 is a driving wheel assembly, the driving wheel assembly is also always in contact with the ground d during lifting or lowering relative to the device body 300. Therefore, the lifting or lowering of the walking wheel assembly 10 relative to the device body 300 in the device is that the ground clearance of the device body 300 changes. When the ground clearance of the device body 300 increases, the components below the device body 300 can be higher than the obstacle c, so that the device does not interfere with the obstacle c during obstacle crossing, thereby achieving the effect of increasing the obstacle crossing height, and the obstacle crossing height, the escape ability, and the adaptability to different road surfaces of the device provided with the walking wheel mechanism 100a can be improved.

[0056] In some embodiments, the power assembly 20 outputs rotating power. Please refer to Figure 1 and Figure 2 The power assembly 20 includes a power element 21 and a rotating disc 22. The power element 21 can be a steering engine or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.), and the power element 21 is used to drive the rotating disc 22 to rotate in two opposite directions, such as clockwise and counterclockwise. The rotating disc 22 is fixedly connected with the output shaft 211 of the power element 21, and the rotating disc 22 can also be a part protruding from the output shaft 211 of the power element 21, and the specific structure is not limited by the present application.

[0057] The flexible connecting member 30 is arranged between the walking wheel assembly 10 and the rotating disc 22. One end of the flexible connecting member 30 can be fixed to the walking wheel assembly 10 and the other end can be fixed to the rotating disc 22, so as to transmit the rotating power of the power element 21. Alternatively, the flexible connecting member 30 can be connected to one of the walking wheel assembly 10 and the rotating disc 22 and wound around the other one, so as to change the spatial position of the free portion b of the walking wheel assembly 10. During the rotation of the rotating disc 22, the length of the flexible connecting member 30 exposed between the walking wheel assembly 10 and the rotating disc 22 changes, so that the walking wheel assembly 10 rotates relative to the equipment body 300 to realize the lifting function relative to the equipment body 300.

[0058] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotating disc 22 to rotate, i.e., the effective length of the flexible connecting member 30 changes. When the rotating disc 22 rotates in a first direction (e.g., clockwise), the length of the flexible connecting member 30 exposed between the walking wheel assembly 10 and the rotating disc 22 decreases, so that the flexible connecting member 30 is tightened. When the flexible connecting member 30 is tightened, it can transmit force. When the flexible connecting member 30 is tightened, it can pull the walking wheel assembly 10, so that the walking wheel assembly 10 rotates relative to the equipment body 300 to lift. When the rotating disc 22 rotates in a second direction opposite to the first direction (e.g., counterclockwise), the length of the flexible connecting member 30 exposed between the walking wheel assembly 10 and the rotating disc 22 increases, so that the flexible connecting member 30 is loosened. The walking wheel assembly 10 can rotate in the opposite direction relative to the equipment body 300 under the action of gravity and / or a return spring. Of course, in other embodiments, the power element 21 can change the action position of the flexible connecting member 30 by driving the rotating disc 22 to rotate. In this process, the flexible connecting member 30 is always tightened.

[0059] Exemplarily, the walking wheel assembly 10 comprises a support member, which is rotationally connected to the equipment body 300 and comprises a main wheel portion a and a free portion b. The main wheel portion a is closer to the driving wheel relative to the free portion b. The flexible connecting member is connected between the free portion b of the support member and the power assembly 20, so as to drive the support member to rotate relative to the equipment body 300 under the driving of the power assembly 20.

[0060] Exemplarily, the support member can be a support frame or a walking power device 11. The walking power device 11 can also be named as a transmission device.

[0061] It can be understood that when the walking wheel 12 is a driving wheel, the support frame is a walking power device 11; when the walking wheel 12 is a driven wheel, the support frame is a support frame, which serves as a support.

[0062] Exemplarily, the walking wheel assembly 10 is rotatably mounted on the device body 300; the walking wheel assembly 10 comprises a driving device and a driven driving wheel; the walking wheel assembly 10 is rotatably arranged on the device body 300.

[0063] Please refer to Figure 1 and Figure 2 In some embodiments, the extension line of the direction of the pulling force exerted by the flexible connecting member 30 on the walking power device 11 does not pass through the rotation axis 61 of the walking wheel assembly 10 relative to the device body 300, so that the pulling force can generate a downward / outward torque on the walking wheel assembly 10, so as to force the walking power device 11 to swing outward with the axis of the rotation axis 61 as the center.

[0064] In some embodiments, the rotation angle of the power element 21 during the lifting or lowering of the walking wheel assembly 10 is not more than 360 degrees. Specifically, the rotation angle of the rotation disc 22 during the rotation of the walking wheel assembly 10 is not more than 360 degrees. That is, the one-way rotation of the rotation disc 22 during the lifting or lowering of the walking wheel assembly 10 is not more than one turn, so as to reduce the total length of the flexible connecting member 30 when it is loosened, avoid the flexible connecting member 30 from being detached from the rotation disc 22 after being loosened, or interfering with or being hooked on the surrounding components due to being too long, so as to cause the flexible connecting member 30 to be unable to be normally tightened or be pulled off. In some embodiments, the rotation angle of the rotation disc 22 during the lifting or lowering of the walking wheel assembly 10 is 0-300 degrees, such as 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 300°, etc.

[0065] In some embodiments, the rotation angle of the power element 21 during the lifting or lowering of the walking wheel assembly 10 is not more than 720 degrees. Specifically, the rotation angle of the rotation disc 22 during the rotation of the walking wheel assembly 10 is not more than 720 degrees. That is, the one-way rotation of the rotation disc 22 during the lifting or lowering of the walking wheel assembly 10 is not more than two turns. The rotation angle of the rotation disc 22 during the lifting or lowering of the walking wheel assembly 10 is, for example, 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 360°, 400°, 450°, 500°, 550°, 600°, 650°, 700°, 720°, etc.

[0066] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotation disc 22 to rotate.

[0067] Please refer to Figure 3Fig. 1 shows a schematic diagram of a walking power device 11 in some embodiments. The walking wheel assembly 10 includes a driving device 112, a walking power device 11, and a driven walking wheel 12, the driving device 112 drives the walking wheel 12 to rotate through the walking power device 11, thereby driving the entire cleaning device to walk. The walking power device 11 includes a main wheel part a and a free part b, the main wheel part a is closer to the walking wheel 12 relative to the free part b. The main wheel part a of the walking power device 11 has an overlapping area with the walking wheel 12, for directly transmitting the walking driving torque to the walking wheel 12. The free part b has a non-overlapping area with the walking wheel 12, realizing the connection and fixation of the walking power device 11 and the surrounding structure.

[0068] The flexible connecting piece 30 is connected between the power assembly 20 and the free part b of the walking power device 11, which can be that both ends of the flexible connecting piece 30 are connected to the power assembly 20 and the free part b of the walking power device 11, or the flexible connecting piece 30 is connected to the power assembly 20 and wound on the free part b of the walking power device 11, so as to change the spatial position of the free part b of the walking power device 11. The flexible connecting piece 30 drives the walking power device 11 to rotate relative to the device body 300 under the driving of the power assembly 20, so that the walking wheel assembly 10 is lifted relative to the device body 300.

[0069] In order to reduce the situation that the flexible connecting piece 30 is hooked by foreign matter or is difficult to be retracted when it is in a loose state, in some embodiments, a tensioning mechanism is arranged at the connection between the flexible connecting piece 30 and the rotating disc 22. The tensioning mechanism is used to provide a tensioning force, and the tensioning mechanism includes but is not limited to an elastic piece, which can be a spring or a clockwork. For example, the tensioning mechanism is a torsion spring, which can keep the flexible connecting piece 30 taut in real time, so that the flexible connecting piece 30 will not be in danger of being pulled out of the rotating disc 22. In some embodiments, a clockwork can also be used to keep the flexible connecting piece 30 taut in real time.

[0070] It should be understood that the flexible connecting piece 30 in the present application is not limited to be entirely flexible. The flexible connecting piece 30 can be a flexible cable such as a steel wire rope or a nylon rope; or a combination structure of a flexible cable and a rigid connecting piece, such as a combination structure of a flexible cable and a pull rod. That is, the flexible connecting piece 30 is at least partially flexible, and the flexible structure is used as a power transmission medium, which can solve the problem of spatial arrangement of the walking wheel mechanism 100a to a certain extent, and through some fixed pulley structures, the power assembly 20 (such as a motor, a cylinder, etc.) can be arranged at any position of the device body 300, thereby realizing optimal space utilization.

[0071] Please refer to Figure 1 and Figure 2, shows the working principle of the flexible connection 30 of the walking wheel mechanism 100a in some embodiments. The flexible connection 30 adopts a pull cable, one end of which is fixed in the cable hanging point on the walking wheel assembly 10, and the other end is fixed in the rotating disc 22. The pull cable extends in a straight line as a whole and is not wound on any reversing structure in the middle. The rotating angle of the rotating disc 22 during rotation does not exceed 360 degrees, which means that the pull cable will not be wound on the rotating disc 22 for a full circle. This non-winding mode can reduce problems such as cable knotting and cable loosening process being hooked by foreign matter compared with the scheme of winding and unwinding the cable.

[0072] In some embodiments, the rotating disc 22 is coaxially arranged with the output shaft 211 of the power element 21, and the connection of the flexible connection 30 with the rotating disc 22 is arranged eccentrically with respect to the rotating shaft of the rotating disc 22, as shown in Figure 5 Alternatively, the connection of the flexible connection 30 with the rotating disc 22 is coaxially arranged with respect to the rotating shaft of the rotating disc 22, and the rotating disc 22 is arranged eccentrically with respect to the output shaft 211 of the power element 21. That is, during the rotation of the rotating disc 22, the spatial position of the connection of the flexible connection 30 with the rotating disc 22 will change with the rotation of the rotating disc 22, and in combination with the fact that the flexible connection 30 extends in a straight line as a whole, so that the spatial posture of the flexible connection 30 changes during the rotation of the rotating disc 22. The flexible connection 30 is always tensioned during the rotation of the rotating disc 22. Due to the change of the spatial position of the end of the flexible connection 30 connected with the rotating disc 22, the spatial position of the end of the flexible connection 30 connected with the walking wheel assembly 10 will also change accordingly under the condition that the length of the flexible connection 30 remains unchanged, so that the walking power device 11 is forced to swing outward with the axis of the rotating shaft 61 as the center.

[0073] Since the flexible connection 30 is always tensioned during the rotation of the rotating disc 22, that is, the effective length of the flexible connection 30 remains unchanged. Correspondingly, the rotating angle of the rotating disc 22 during the lifting or lowering process of the walking wheel assembly 10 is 0-90 degrees, such as 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, 85°, etc. When the rotating angle of the rotating disc 22 exceeds 90 degrees, for example, 150 degrees, the spatial posture of the flexible connection 30 at this time is basically the same as that when the rotating angle of the rotating disc 22 is 30 degrees. Therefore, by setting the rotating angle of the rotating disc 22 during the lifting or lowering process of the walking wheel assembly 10 to be 0-90 degrees, on the one hand, the flexible connection 30 can form different spatial postures; on the other hand, the maximum rotating angle of the rotating disc 22 is only 90 degrees, which can shorten the time for the walking wheel assembly 10 to switch between the lifting and lowering states compared with the scheme of winding and unwinding the flexible connection 30 for a full circle or multiple circles, thereby improving the obstacle crossing efficiency.

[0074] For the convenience of the connection between the flexible connecting member 30 and the rotating disc 22, the rotating disc 22 is provided in a split structure, at least including two detachable parts, in which the connection between the flexible connecting member 30 and the rotating disc 22 is fixed. Please refer to Figure 5 , which shows an exploded view of the power assembly 20 in some embodiments, the rotating disc 22 includes a transmission disc 221, an inner fixing disc 222 and an outer fixing disc 223 connected in sequence, the transmission disc 221 is fixedly connected with the output shaft 211 of the power element 21, and the transmission disc 221, the inner fixing disc 222 and the outer fixing disc 223 are sequentially stacked and connected into one body through threaded fasteners. The connection between the flexible connecting member 30 and the rotating disc 22 is located between the inner fixing disc 222 and the outer fixing disc 223, for example, one end of the flexible connecting member 30 is fixed on a pin shaft, and the pin shaft is fixed through the pin hole opened on the edge of the inner fixing disc 222 and the outer fixing disc 223, as shown in Figure 5 . The gap between the inner fixing disc 222 and the outer fixing disc 223 is for the movement of the flexible connecting member 30, and in the process of rotating the rotating disc 22, the flexible connecting member 30 will not be wound on the pin shaft, but will change the spatial posture with the change of the position of the pin shaft.

[0075] Please refer to Figure 3 , which shows a structural schematic diagram of the walking wheel assembly 10 in some embodiments. The walking wheel assembly 10 is a driving wheel assembly for providing the walking power of the device, and the walking wheel assembly 10 includes a walking power device 11 and a walking wheel 12 driven thereby. The walking power device 11 can only include a power device, or can include a power device and a speed reduction mechanism. The walking power device 11 includes a main wheel part a and a free part b, and the main wheel part a is closer to the walking wheel 12 relative to the free part b. The main wheel part a of the walking power device 11 has an overlapping area with the walking wheel 12, for directly transmitting torque to the walking wheel 12. The free part b has a non-overlapping area with the walking wheel 12, realizing the connection and fixation of the walking power device 11 with the surrounding structure.

[0076] In some embodiments, the main wheel part a and the free part b are divided by the ground contact normal axis of the walking wheel 12. In other embodiments, the division line of the main wheel part a and the free part b can also be determined as the outer contour line of the walking wheel 12. In some embodiments, the free part b is closer to the advancing direction of the device body 300 than the main wheel part a, so that the specific form of the increase of the device ground clearance can be the overall lifting of the device body 300, the increase of the ground clearance, or the lifting of the front end of the device body 300, the increase of the ground clearance.

[0077] Since the free part b of the walking power device 11 is away from the walking wheel 12, please refer to Figure 1 , Figure 2 and Figure 3In some embodiments, the connection between the walking wheel assembly 10 and the peripheral components is arranged at the free portion b. That is, the free portion b of the walking power device 11 is rotationally connected to the device body 300, and the flexible connecting member 30 is also connected to the free portion b of the walking power device 11.

[0078] The device body 300 can be a one-piece structure or a split structure. Please refer to Figure 4 In some embodiments, the device body 200 is provided with a base 310 for mounting the walking wheel assembly 10 and the power assembly 20. The cleaning components, the guide wheels and other components of the cleaning device can also be mounted on the base 310. The walking power device 11 of the walking wheel assembly 10 is rotationally connected to the base 310.

[0079] When the walking wheel assembly 10 is a driving wheel assembly, the connection between the driving wheel assembly and the peripheral components is arranged at the free portion b. That is, the free portion b of the walking power device 11 is rotationally connected to the device body 300, and the flexible connecting member 30 is also connected to the free portion b of the walking power device 11. The device body 300 can be a one-piece structure or a split structure. Please refer to Figure 4 In some embodiments, the device body 300 is provided with a base 310 for mounting the driving wheel assembly and the power assembly 20. The cleaning components, the driven wheels and other components of the cleaning device can also be mounted on the base 310. The walking power device 11 of the driving wheel assembly is rotationally connected to the base 310, and the driving device 112 of the driving wheel assembly and the driving wheel are connected to the walking power device 11.

[0080] Please refer to Figure 3 In some embodiments, the walking wheel assembly 10 further comprises a wheel cover 113 connected to the side of the box shell of the walking power device 11. The wheel cover 113 is spacedly sleeved on the walking wheel 12 and can provide a mounting base for the bearing of the walking wheel 12. In some embodiments, the wheel cover 113 can be integrally formed with the box shell of the walking power device 11.

[0081] In order to facilitate the connection between the walking wheel assembly 10 and the peripheral components, in some embodiments, the free portion b of the walking power device 11 is provided with a mounting shaft seat 60 rotationally connected to the device body 300 (or the base 310 when the base 310 is present), and the walking power device 11 rotates around the rotation shaft 61 of the mounting shaft seat 60. In some embodiments, the free portion b of the walking power device 11 is provided with a hanging point portion 80, and the flexible connecting member 30 is connected to the hanging point portion 80.

[0082] Since the mounting shaft seat 60 is located at the free portion b of the walking power device 11, the distance between the rotation shaft 61 of the mounting shaft seat 60 and the grounding point of the driving wheel is large, and the device ground clearance can be significantly increased by rotating the walking power device 11 by a small angle.

[0083] Please see Figure 4 In some embodiments, the shaft 61 of the mounting seat 60 is different from the axis of the drive device 112, thereby placing the mounting seat 60 and the drive device 112 in different positions. This avoids the drive wheel assembly from being too large in the axial direction of its shaft 61 due to the coaxial arrangement of the shaft 61 of the mounting seat 60 and the drive device 112, thus facilitating the arrangement of the mounting seat 60 and the drive device 112.

[0084] Please see Figure 4 In some embodiments, the mounting base 60 is located on the lower side of the free portion b, and the axis of the drive device 112 is located above the rotating shaft 61 of the mounting base 60, so that the drive device 112 is located in a relatively higher position in the device body 300 compared to the rotating shaft 61 of the drive wheel assembly, preventing the drive device 112 from being exposed when the device body 300 is lifted to overcome obstacles.

[0085] The flexible connector 30 is connected to the free portion b of the walking power unit 11. Similarly, the distance between the attachment point of the flexible connector 30 on the free portion b and the grounding point of the walking wheel 12 is relatively large, resulting in a larger power arm and thus reducing the requirement for the output power of the power assembly 20. The flexible connector 30 can be directly connected to the free portion b of the walking power unit 11. In some embodiments, the free portion b of the walking power unit 11 may also have an attachment point 80, to which the flexible connector 30 is connected. In some embodiments, the attachment point 80 is located on the upper side of the free portion b, so that the flexible connector 30 is located in a relatively upper area inside the equipment body 300, preventing the flexible connector 30 from falling off the equipment body 300 and contacting the ground when it is in the loosened state.

[0086] The power assembly 20 is the actuator that enables obstacle crossing. The power assembly 20 can output rotational or kinetic power; that is, the power assembly 20 can include power components 21 such as motors and servo motors, or telescopic power components 21 such as cylinders and electric telescopic rods. This application does not impose any limitations.

[0087] In some embodiments, the power unit 20 outputs rotational power. See also Figure 1 and Figure 2 The power assembly 20 includes a power element 21. The power element 21 can be a servo motor or a motor (not limited to brushed motors, brushless motors, stepper motors, etc.). One end of the flexible connector 30 is fixed to the free portion b of the walking power unit 11, and the other end is connected to the output shaft 211 of the power element 21, such as... Figure 5 As shown, the flexible connector 30 is used to transmit the rotational power of the power element 21.

[0088] The power element 21 tightens or loosens the flexible connecting member 30 when it rotates, that is, the length of the flexible connecting member 30 exposed between the walking wheel assembly 10 and the rotating disc 22 changes, and the flexible connecting member 30 can transmit force when it is tightened. In some embodiments, the power element 21 can also change the working position of the flexible connecting member 30 when it rotates, and the flexible connecting member 30 is always tightened in this process.

[0089] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 when it rotates, and the walking power device 11 can be pulled when the flexible connecting member 30 is tightened, so that the driving wheel assembly rotates relative to the base 310 to lift or lower. The direction of the extension line of the pulling force exerted by the flexible connecting member 30 on the walking power device 11 does not pass through the rotating shaft 61 of the mounting shaft seat 60 of the driving wheel assembly, so that the pulling force can generate a downward / outward torque on the driving wheel assembly, so that the walking power device 11 is forced to swing outward with the axis of the rotating shaft 61 as the center.

[0090] Please refer to Figure 5 In some embodiments, the power assembly 20 further comprises a rotating disc 22 coaxially arranged with the output shaft 211 of the power element 21, and the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotating disc 22 to rotate. The rotating disc 22 is fixedly connected with the output shaft 211 of the power element 21, and the rotating disc 22 can also be a part protruding from the output shaft 211 of the power element 21, and the specific structure is not limited by the present application. The rotating angle of the power element 21 during the lifting or lowering of the walking wheel assembly 10 does not exceed 360 degrees or 720 degrees, and the rotating angle of the rotating disc 22 during the lifting or lowering of the driving wheel assembly also does not exceed 360 degrees or 720 degrees, so as to avoid the flexible connecting member 30 from being loosened and separated from the rotating disc 22, or interfering with the surrounding components due to being too long, or being hooked on the surrounding components to cause the flexible connecting member 30 to be unable to be normally tightened or be pulled off.

[0091] Please refer to Figure 4 In some embodiments, the walking wheel mechanism 100a further comprises a spring 70, one end of the spring 70 is fixed to the free part b of the walking power device 11, and the other end is fixed to the equipment body 300 such as the base 310, and the damping effect of the spring 70 can reduce the shock when the walking wheel 12 passes over uneven road surfaces. Similarly, in order to facilitate the installation of the spring 70, in some embodiments, the free part b of the walking power device 11 and the base 310 of the equipment body 300 are provided with hook portions 90, and the two ends of the spring 70 are respectively hooked on the two hook portions 90. In some embodiments, the hook portions 90 of the free part b of the walking power device 11 and the hook portions 90 of the equipment body 300 are oppositely arranged, that is, the directions of the hooking points of the spring 70 are opposite, so that the fixation of the spring 70 is more stable.

[0092] Please refer to Figure 1In some embodiments, the extension direction of the flexible connecting member 30 is substantially the same as the extension direction of the spring 70, which can be understood as parallel within the range of allowable installation errors, so that the extension direction of the flexible connecting member 30 is misaligned with the extension direction of the spring 70, for example, the included angle between the extension direction of the flexible connecting member 30 and the extension direction of the spring 70 is not more than 10 degrees. And the flexible connecting member 30 and the spring 70 both extend towards the opposite direction of the travel direction, so that the hook portion 90 of the device body 300, for example, the base 310, and the power assembly 20 are all located behind the free portion b of the walking power device 11, even if the obstacle surmounting posture of the device body 300 is that the front end is raised, the positions of the hook portion 90 of the device body 300, for example, the base 310, and the power assembly 20 are relatively rear, and the spatial positions thereof do not change greatly. And the positions of the hook portion 90 of the device body 300 and the power assembly 20 being relatively rear is more conducive to the front end of the device body 300 being raised and more conducive to obstacle surmounting, and prevents skidding.

[0093] In some embodiments, the spring 70 is always in a stretched state, that is, the spring 70 always generates a pulling force on the walking power device 11. In the case that the extension direction of the flexible connecting member 30 is substantially the same as the extension direction of the spring 70, the spring 70 can assist the flexible connecting member 30 to jointly pull the walking power device 11, so that the walking wheel assembly 10 rotates relative to the device body 300 to lift.

[0094] Please refer to Figure 4 In some embodiments, the mounting shaft seat 60 is arranged at the lower portion of the free portion b, and the hanging point portion 80 and the hook portion 90 are both arranged at the upper portion of the free portion b. The positions of the action points of the flexible connecting member 30 and the spring 70 on the free portion b are relatively high, so that the flexible connecting member 30 and the spring 70 can be arranged at relatively high positions in the device body 300, preventing the flexible connecting member 30 and the spring 70 from being exposed when the device body 300 is lifted to surmount obstacles.

[0095] Please refer to Figure 3 In some embodiments, the walking power device 11 includes a reduction box 111 and a driving device 112 mounted on the reduction box 111, and the rotation shaft 61 of the mounting shaft seat 60 is different from the shaft center of the driving device 112. Specifically, the shaft center of the driving device 112 is located above the rotation shaft 61 of the mounting shaft seat 60, so that the driving device 112 is arranged at a relatively high position in the device body 300 compared with the rotation shaft 61 of the walking wheel assembly 10, preventing the driving device 112 from being exposed when the device body 300 is lifted to surmount obstacles. Please refer to Figure 3 In some embodiments, the walking power device 11 further includes a wheel cover 113, the wheel cover 113 is connected with the side surface of the box shell of the reduction box 111, and the wheel cover 113 is spacedly sleeved on the walking wheel 12 to provide a mounting base for the bearing of the walking wheel 12. In some embodiments, the wheel cover 113 can be integrally formed with the box shell of the reduction box 111.

[0096] For example, the driving device comprises a driving motor, which can be a direct current motor or a servo motor, etc.

[0097] In order to prevent accidents caused by out-of-control power element 21, in some embodiments, the device body 300, for example, the base 310, is provided with an upper limit position and a lower limit position, respectively, for limiting the upper limit position and the lower limit position of the walking wheel assembly 10. The walking wheel assembly 10 swings between the upper limit position and the lower limit position. In the normal travel state, the walking wheel assembly 10 is close to the upper limit position and does not cross the upper limit position; in the obstacle crossing state, the walking wheel assembly 10 swings downward and is close to the lower limit position and does not cross the lower limit position.

[0098] The upper limit position and the lower limit position can be a mechanical limiting structure or an electronic limiting device. In some embodiments, the lower limit position of the mechanical structure is provided on the shell of the device body 300 to block the downward swing of the walking wheel assembly 10. The hook portion 90 of the base 310 of the device body 300 is fixed with a downwardly extending bolt with adjustable length as the upper mechanical limit of the walking wheel assembly 10 to block the upward swing of the walking wheel assembly 10. In other embodiments, the upper limit position and the lower limit position are both electronic devices, such as micro switches, travel switches, photoelectric sensors, etc. The walking wheel mechanism 100a further comprises a controller, when the walking wheel assembly 10 swings to the position triggering the electronic device, the electronic device feeds back a position signal to the controller, and the controller controls the power element 21 to stop rotating.

[0099] In some embodiments, the power element 21 controls the rotation angle and / or rotation speed of the rotating disc 22.

[0100] In some embodiments, in order to facilitate closed-loop control of the swing position of the walking wheel assembly 10, the power element 21 is a servo or motor integrated with an encoder, and the output shaft 211 of the servo or motor is connected to the rotating disc 22. The encoder can detect the actual rotation angle of the servo or motor. Correspondingly, the walking wheel mechanism 100a further comprises a controller, and the power element 21 and its encoder are electrically connected to the controller, and the rotation speed and / or rotation angle of the power element 21 are controlled by the controller in a closed loop. The power element 21 is drivingly connected to the rotating disc 22, so as to realize the control of the rotation angle and / or rotation speed of the rotating disc 22 by the power element 21.

[0101] Please refer to Figure 1 and Figure 2In some embodiments, the power element 21 is a steering engine, which has the advantage of integrating a reducer, a motor and a position encoder, and has a small overall space. The position encoder is used to provide feedback information for the motor position closed loop. However, considering that active lifting usually only needs two positions, i.e. the retracted position and the extended position, in some embodiments, the steering engine can be changed to a common brush or brushless motor, and the position closed loop control of the common motor can be realized by setting position detection elements at the upper and lower limit positions of the walking wheel assembly 10.

[0102] In some embodiments, the walking wheel mechanism 100a further comprises a sensor for detecting the rotation angle of the walking wheel assembly 10. The number and type of the sensor are not limited in this application, as long as it can detect the rotation angle of the walking wheel assembly 10. The sensor is electrically connected to the controller, and the sensor feeds back the detected rotation angle of the walking wheel assembly 10 to the controller. The controller can determine whether the power element 21 and / or the flexible connecting element 30 has failed according to the rotation angle of the walking wheel assembly 10 and the rotation angle of the power element 21.

[0103] Under normal circumstances, there is a certain mapping relationship between the rotation angle of the walking wheel assembly 10 and the rotation angle of the power element 21. If any of the actual rotation angle of the walking wheel assembly 10 and the actual rotation angle of the power element 21 does not meet the mapping relationship, it indicates that the power element 21 and / or the flexible connecting element 30 has failed. At this time, the controller can control the device carrying the walking wheel mechanism 100a to issue a prompt message, such as flashing of a fault light, popping up of a prompt box through a mobile phone APP, etc.

[0104] In some embodiments, the sensor includes a rotation sensor 40 arranged on the rotating shaft 61 of the walking wheel assembly 10, and / or a light sensor 50 arranged on the walking power device 11. That is, the walking wheel mechanism 100a can be provided with only the rotation sensor 40 or the light sensor 50, or can be provided with both the rotation sensor 40 and the light sensor 50.

[0105] Please refer to Figure 1 and Figure 2 , a light sensor 50 is installed outside the main wheel part a housing of the reduction box 111, which is used to determine whether the walking wheel 12 is successfully retracted into the slot of the device body 300 when it recovers from the raised state to the normal running state. The light sensor 50 triggers the in-place signal after detecting the change of light feeling of the retracted slot. Figure 3 Please refer to

[0106] When the sensor only includes the rotation sensor 40 arranged on the rotation shaft 61 of the walking wheel assembly 10, the rotation sensor 40 can detect the actual rotation angle of the walking wheel assembly 10. When the rudder or motor position feedback fails, such as the rudder is faulty or the flexible connecting member 30 is broken, etc., the controller can determine whether the walking wheel 12 is truly rotated to the normal walking position or fully extended to the position for realizing obstacle crossing through the feedback signal of the rotation sensor 40.

[0107] When the sensor only includes the light sensor 50 arranged on the walking power device 11, the light sensor 50 can detect whether the walking wheel 12 is successfully retracted into the slot. When the rudder or motor position feedback fails, such as the rudder is faulty or the flexible connecting member 30 is broken, etc., the controller can determine whether the walking wheel 12 is fully retracted and restored to the normal walking position through the feedback signal of the light sensor 50.

[0108] When the sensor includes both the rotation sensor 40 and the light sensor 50, when the rudder or motor position feedback fails, such as the rudder is faulty or the flexible connecting member 30 is broken, etc., the light sensor 50 and the rotation sensor 40 detect whether the walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the walking wheel assembly 10, and it can be determined whether the walking wheel 12 is truly restored to the normal walking position. Moreover, by comparing the information of the rotation angle of the power element 21 fed back by the encoder with the information of whether the walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the walking wheel assembly 10 detected by the light sensor 50 and the rotation sensor 40, it can also be determined whether the power element 21 or the flexible connecting member 30 is faulty. Moreover, the simultaneous arrangement of the rotation sensor 40 and the light sensor 50 is equivalent to a redundant arrangement, which on the one hand improves the detection accuracy, and on the other hand, when any one of the rotation sensor 40 and the light sensor 50 is faulty, it does not affect the normal use of the walking wheel mechanism 100a.

[0109] The working principle of the walking wheel mechanism 100a will be described below by taking a walking wheel mechanism 100a of an embodiment as an example. In this embodiment, the walking wheel mechanism 100a is applied to a sweeping robot, and the sweeping robot is provided with two walking wheel mechanisms 100a. The power assembly 20 and the flexible connecting member 30 in each walking wheel mechanism 100a drive the corresponding walking wheel assembly 10 to swing and lift, the walking wheel assembly 10 includes a driving device 112, a reducer and a walking wheel 12, the driving device 112 can be a driving motor, the flexible connecting member 30 is a cable, the power assembly 20 includes a rudder and a rotation disc 22, and the walking wheel assembly 10 is simultaneously provided with a rotation sensor 40 and a light sensor 50.

[0110] The position state of the walking wheel assembly 10 when the sweeping robot normally travels is as follows: Figure 1The other end of the cable is fixed in the cable hanging point on the deceleration box 111, and the other end is fixed in the inner fixing disc 222 and the outer fixing disc 223 of the rotating disc 22, and the cable is in an elongated state. One end of the spring 70 is fixed at the hook part 90 on the deceleration box 111, and the other end is fixed on the hook part 90 of the device body 300. The transmission disc 221, the inner fixing disc 222 and the outer fixing disc 223 are fixedly connected to the steering engine by screws.

[0111] When the cleaning robot detects that it needs to cross the obstacle during the travel, the steering engine rotates about 120 degrees, and the rotating disc 22 on the steering engine drives the cable to rotate about 120 degrees, and the cable is in a shortened state and is arranged in the gap between the inner fixing disc 222 and the outer fixing disc 223. The other end of the cable is connected to the cable hanging point, so that the walking wheel assembly 10 rotates downward around the rotating shaft 61 as a center, as shown in Figure 2 .

[0112] The walking wheel assemblies 10 on both sides of the cleaning robot rotate downward to the lower limit position at the same time, and the device body 300 of the cleaning robot is lifted to 4 cm above the ground d as a whole, as shown in Figure 6 . The walking acceleration provided by the walking wheel assembly 10 makes the front part of the cleaning robot tilt upward and move forward to cross the obstacle c, as shown in Figure 7 , so as to achieve the purpose of crossing the obstacle. The obstacle crossing height of the cleaning robot is increased from 20 mm to 32 mm or more.

[0113] A light sensor 50 is installed outside the main wheel part a of the shell of the deceleration box 111, which is used to determine whether the walking wheel 12 is successfully retracted into the slot of the bottom shell when the walking wheel 12 is restored to the normal travel state. A rotation sensor 40 is installed at the rotating shaft 61, which is used to detect and record the actual rotation angle of the walking wheel assembly 10. The steering engine is provided with an encoder, which can detect the actual rotation angle of the steering engine. When the steering engine position feedback fails, such as the steering engine fails or the cable breaks, whether the walking wheel 12 is truly restored to the normal walking position can be determined according to whether the walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the rotating shaft 61 detected by the light sensor 50 and the rotation sensor 40. Whether the steering engine or the cable fails can also be determined by comparing the steering engine rotation angle information fed back by the steering engine. The embodiment of the present application provides a cleaning device 1000, which can be a cleaning robot or an automatic cleaning robot. Please refer to Figure 6 , Figure 7 and Figure 32 , the cleaning device 1000 comprises a device body 300 and the walking wheel mechanism 100a of any one of the above embodiments. The walking wheel mechanism 100a is integrally installed in the device body 300, and the walking wheel 12 part of the walking wheel mechanism 100a protrudes from the device body 300 and contacts the ground d to drive the entire cleaning device 1000 to travel.

[0114] When the cleaning device 1000 is running normally (including forward, backward and turning), the driving force is provided by the walking wheel assembly 10. When the cleaning device 1000 detects that there is an obstacle c in front of it that cannot be crossed (which can be identified by an ultrasonic sensor, a mechanical vision system or the like arranged in front of the device body 300 to identify the position and size of the obstacle), or when the cleaning device 1000 is blocked and cannot run normally, it is determined that an obstacle is encountered. At this time, the controller controls the power assembly 20 to act on the walking wheel assembly 10 through the flexible connecting piece 30 to make the walking wheel assembly 10 rotate relative to the device body 300 to realize the lifting function relative to the device body 300.

[0115] Since the walking wheel assembly 10 is always in contact with the ground d during running, the lifting of the walking wheel assembly 10 relative to the device body 300 in the device is that the ground clearance of the device body 300 changes. When the ground clearance of the device body 300 increases, the components below the device body 300 can be higher than the obstacle c, so that there is no part of the device interfering with the obstacle c during the obstacle crossing, thereby achieving the effect of increasing the obstacle crossing height, which can improve the obstacle crossing height, the ability to escape from trouble and the adaptability to different road surfaces of the device provided with the walking wheel mechanism 100a.

[0116] Please refer to Figure 6 In some embodiments, when the controller determines that an obstacle c is encountered, the power assembly 20 drives the walking wheel assembly 10 to rotate relative to the device body 300 to extend, so that the device body 300 is lifted as a whole and is higher than the height of the obstacle c. The walking wheel assembly 10 drives the cleaning device 1000 to continue running, i.e. to cross the obstacle c.

[0117] Please refer to Figure 7 In some embodiments, when the controller determines that an obstacle c is encountered, the power assembly 20 drives the walking wheel assembly 10 to rotate relative to the device body 300 to extend, so that the front end of the device body 300 is raised and lifted and is higher than the height of the obstacle c. The walking wheel assembly 10 drives the cleaning device 1000 to accelerate running, i.e. to cross the obstacle c.

[0118] Based on the same design idea, the present application provides another walking wheel mechanism 100b. The walking wheel mechanism 100b is similar to the walking wheel mechanism 100a described above, and the walking wheel mechanism 100b also includes a walking wheel assembly 10, a power assembly 20 and a flexible connecting piece 30. The main difference is that the connection mode of the flexible connecting piece 30 in the walking wheel mechanism 100b with the power assembly 20 and the walking wheel assembly 10 is different. Now, by means of the drawings, the connection mode of the flexible connecting piece 30 in the walking wheel mechanism 100b with the power assembly 20 and the walking wheel assembly 10 is further described.

[0119] In combination Figure 8 And Figure 9 , Figure 8 And Figure 9 The overall structure of the walking wheel mechanism 100b is shown, which is installed on the equipment body 300, and includes a walking wheel assembly 10, a power assembly 20, and a flexible connecting piece 30. The walking wheel assembly 10 is rotatably connected to the equipment body 300, and can be a driving wheel assembly that provides walking power for the equipment, or a driven wheel assembly that follows the rotation of the driving wheel assembly. The application does not make any limitation. The power assembly 20 is also installed on the equipment body 300, and is used to provide driving force when the walking wheel assembly 10 is lifted relative to the equipment body 300. The flexible connecting piece 30 is used to transmit the power of the power assembly 20 and act on the walking wheel assembly 10, so that the walking wheel assembly 10 rotates relative to the base 310 to realize the lifting function relative to the equipment body 300. The power assembly 20 and the flexible connecting piece 30 can only drive the corresponding walking wheel assembly 10 to swing and lift, or can simultaneously drive both walking wheel assemblies 10 to swing and lift. The application does not make any limitation.

[0120] In combination Figures 8-10 The power assembly 20 is provided with a rotatable output shaft 25, which can rotate in two opposite directions, such as clockwise and counterclockwise. The power assembly 20 includes a power element 21, which can be a rudder or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.). The driving shaft of the power element 21 is configured as the output shaft 25 of the power assembly 20.

[0121] In combination Figures 8-11 The flexible connecting piece 30 is arranged between the walking wheel assembly 10 and the output shaft 25 of the power assembly 20. The flexible connecting piece 30 has a first end and a second end. The first end of the flexible connecting piece 30 is connected to the output shaft 25 of the power assembly 20 and can be wound on the output shaft 25 of the power assembly 20. The second end of the flexible connecting piece 30 is connected to the walking wheel assembly 10. By controlling the rotation of the output shaft 25 of the power assembly 20, the first end of the flexible connecting piece 30 is wound on the output shaft 25 of the power assembly 20, and the length of the flexible connecting piece 30 exposed between the walking wheel assembly 10 and the output shaft 25 of the power assembly 20 changes, so that the walking wheel assembly 10 rotates relative to the equipment body 300, and then realizes the lifting function of the walking wheel assembly 10 relative to the equipment body 300.

[0122] In combination Figure 8 And Figure 9In some embodiments, the power component 20 is controlled to rotate the power element 21, which in turn causes the first end of the flexible connecting member 30 to wind or unwind from the output shaft 25 of the power component 20, thereby tightening or loosening the flexible connecting member 30, i.e., the effective length of the flexible connecting member 30 changes. When the output shaft 25 of the power component 20 rotates in a first direction (e.g., clockwise), the length of the flexible connecting member 30 exposed between the walking wheel assembly 10 and the output shaft 25 of the power component 20 decreases, so that the flexible connecting member 30 is tightened and can transmit force when the flexible connecting member 30 is tightened. When the flexible connecting member 30 is tightened, the walking wheel assembly 10 can be pulled to rotate relative to the device body 300 to lift or lower the walking wheel assembly 10. When the output shaft 25 of the power component 20 rotates in a second direction opposite to the first direction (e.g., counterclockwise), the length of the flexible connecting member 30 exposed between the walking wheel assembly 10 and the rotating disc 22 increases, so that the flexible connecting member 30 is loosened, and the walking wheel assembly 10 can rotate in the opposite direction relative to the device body 300 under the action of gravity and / or a return spring. Compared with the walking wheel mechanism 100a, the walking wheel mechanism 100b can control the output shaft 25 of the power component 20 to rotate half a turn, one turn, or more than two turns according to the height of the obstacle to effectively cross the obstacle.

[0123] According to an embodiment of the present application, the output shaft 25 is provided with a mounting portion on the circumferential side, and the first end of the flexible connecting member 30 is connected to the mounting portion to assemble the flexible connecting member 30 to the circumferential side of the output shaft 25. The output shaft 25 of the power component 20 is controlled to rotate, which in turn causes the first end of the flexible connecting member 30 to wind around the circumferential side of the output shaft 25 of the power component 20.

[0124] In combination Figure 12 In some embodiments, the output shaft 25 is provided with a mounting groove 24 on the circumferential side, and the first end of the flexible connecting member 30 is connected in the mounting groove 24, and the mounting groove 24 is configured as the mounting portion. Compared with the walking wheel mechanism 100a, the technical solution of connecting the first end of the flexible connecting member 30 in the mounting groove 24 can lengthen the length of the flexible connecting member 30 between the walking wheel assembly 10 and the output shaft 25 of the power component 20, so that the power arm is larger, thereby reducing the requirement for the size of the output power of the power component 20.

[0125] In combination Figure 12 The end of the output shaft 25 away from the power element 21 (the outer end of the output shaft 25) is provided with an assembly opening 243 extending to the groove wall of the mounting groove 24 in the axial direction of the output shaft 25, i.e., the assembly opening 243 is arranged on the groove wall of the mounting groove 24 in the axial direction of the output shaft 25, so that the first end of the flexible connecting member 30 can be assembled into the mounting groove 24 of the output shaft 25 through the assembly opening 243.

[0126] In combinationFigure 11 and Figure 12 The middle of the end of the output shaft 25 away from the power element 21 (the axial outer end of the output shaft 25) is provided with a first hole body 241, and the outside of the end of the output shaft 25 away from the power element 21 (the axial outer end of the output shaft 25) is provided with a second hole body 242, which is arranged along the radial direction of the output shaft 25. The second hole body 242 and the first hole body 241 are communicated to form a mounting groove 24. The projection of the second hole body 242 along the radial direction of the output shaft 25 falls within the first hole body 241, that is, the opening size of the second hole body 242 is smaller than the size of the first hole body 241. The first end of the flexible connecting piece 30 is connected with a fixing piece 31, which is fitted in the first hole body 241. Because the opening size of the second hole body 242 is smaller than the size of the first hole body 241, the fixing piece 31 cannot be separated from the output shaft 25 through the second hole body 242. In combination with FIG. 3, the fixing piece 31 can be a columnar structure, the first hole body 241 is also a columnar structure with a diameter slightly larger than that of the fixing piece 31, the fixing piece 31 is fitted in the first hole body 241 in a clearance fit, and the second hole body 242 is a square structure with an opening size slightly larger than the diameter of the first end of the flexible connecting piece 30, so that the first end of the flexible connecting piece 30 can pass through the second hole body 242.

[0127] In combination with Figure 13 In another embodiment, the peripheral side of the output shaft 25 is connected with a fitting protrusion 26, and the first end of the flexible connecting piece 30 is connected with the fitting protrusion 26, so that the flexible connecting piece can be fitted on the peripheral side of the driving member. The fitting protrusion 26 can be integrally formed on the peripheral side of the output shaft 25, and the first end of the flexible connecting piece 30 can be tied or hung on the fitting protrusion 26, which is not limited in the present application.

[0128] In combination with Figure 10 The end of the output shaft 25 away from the power element 21 (the axial outer end of the output shaft 25) is connected with a limiting piece 23, and the first end of the flexible connecting piece 30 is wound on the driving shaft between the limiting piece 23 and the power element 21, so as to limit the winding position of the first end of the flexible connecting piece 30 on the output shaft 25, thereby avoiding the abnormal phenomenon caused by the failure of the flexible connecting piece 30 to be wound on the output shaft 25. The limiting piece 23 can be a plate-shaped structure, which can be detachably fitted on the axial outer end of the output shaft 25 by means of threads, clamping or the like, so as to facilitate the assembly of the first end of the flexible connecting piece 30 on the output shaft 25.

[0129] In combination with Figure 14 The second end of the flexible connecting piece 30 is connected with the free part b of the support piece, which is used to drive the support piece to rotate relative to the equipment body 300 under the driving of the power assembly 20, so as to realize the lifting function of the walking wheel assembly 10 relative to the equipment body 300, thereby effectively crossing obstacles.

[0130] In combination Figure 14 The outer periphery of the free portion b of the support is provided with a connecting shaft 62, and the second end of the flexible connecting member 30 is connected with a connecting shaft sleeve 32 which is rotatably sleeved on the connecting shaft 62. During the process of winding or unwinding the first end of the flexible connecting member 30 from or to the driving shaft of the power assembly 20, the connecting shaft sleeve 32 of the second end of the flexible connecting member 30 rotates around the connecting shaft 62 and drives the support to rotate relative to the device body 300. Two opposite mounting seats 63 are further connected to the outer periphery of the free portion b of the support, and the connecting shaft 62 is connected to the two mounting seats 63. The connecting shaft sleeve 32 of the second end of the flexible connecting member 30 is arranged between the two mounting seats 63 to limit the position of the connecting shaft sleeve 32, thereby avoiding interference between the flexible connecting member 30 and other components during the process of winding and unwinding. In another embodiment, the connection between the second end of the flexible connecting member 30 and the support can also refer to the connection between the flexible connecting member 30 and the support in the walking wheel mechanism 100a, and the present application is not limited thereto.

[0131] In the walking wheel mechanisms 100a and 100b described above, during the process of controlling the operation of the power assembly, the flexible connecting member 30 exposed between the power assembly and the walking wheel assembly 10 changes from being tight to being loose. During this process, the relaxed portion of the flexible connecting member 30 can interfere with the spring 70 or other components in the machine, causing failure. Based on this technical problem, the present application further improves the walking wheel mechanisms 100a and 100b to ensure that the relaxed portion of the flexible connecting member 30 does not interfere with the surrounding components when the spring is in the maximum contraction state, thereby avoiding the occurrence of failure.

[0132] In combination Figure 15 In an embodiment, the walking wheel mechanism 100 further comprises at least one tensioning member 320 connected to at least one of the device body 300 and the walking wheel assembly 10, and the flexible connecting member 30 is wound around the at least one tensioning member 320. During the process of controlling the operation of the power assembly 20, the flexible connecting member 30 is supported by the at least one tensioning member 320 to keep it on the preset path as much as possible and keep it taut between the power assembly 20 and the walking wheel assembly 10, thereby avoiding interference between the flexible connecting member 30 and the surrounding components and ensuring the normal operation of the cleaning device. The tensioning member 320 can be in the form of a wheel body rotatably connected to at least one of the device body 300 and the walking wheel assembly 10, so that the flexible connecting member 30 rolls and rubs against the tensioning member 320, thereby making the rotation of the flexible connecting member 30 smooth. The tensioning member 320 can be arranged at the first end of the flexible connecting member 30, or at the second end of the flexible connecting member 30, or at both the first end and the second end of the flexible connecting member 30, and the present application is not limited thereto.

[0133] In another embodiment, at least part of the flexible connecting member 30 is elastic, for example, the first end, the second end or / and the middle part of the flexible connecting member 30 is elastic. During the operation of the power assembly 20, the elastic part of the flexible connecting member 30 is deformed, so that the flexible connecting member 30 is kept tight between the power assembly 20 and the walking wheel assembly 10, thereby avoiding the interference of the flexible connecting member 30 with the surrounding components, and ensuring the normal operation of the cleaning equipment. The part of the flexible connecting member 30 can include an elastic component or be made of an elastic material, so that at least part of the flexible connecting member 30 is elastic.

[0134] It should be noted that, in the case that the walking wheel mechanism 100 further includes the tensioning member 320, at least part of the flexible connecting member 30 is also elastic, that is, through the support of the tensioning member 320 and the deformation of the elastic part of the flexible connecting member 30, the flexible connecting member 30 is kept tight between the power assembly 20 and the walking wheel assembly 10, thereby avoiding the interference of the flexible connecting member 30 with the surrounding components, and ensuring the normal operation of the cleaning equipment.

[0135] In the above-mentioned walking wheel mechanism 100a and the walking wheel mechanism 100b, in order to avoid the interference between the flexible connecting member 30 and the spring 70 during the process that the flexible connecting member 30 changes from being tight to being loose, the extension direction of the flexible connecting member 30 is arranged to be dislocated with the spring 70. For some compact models, there may not be enough space to arrange the extension direction of the flexible connecting member 30 to be dislocated with the spring 70. Based on this, the walking wheel mechanism 100a and the walking wheel mechanism 100b are further improved in the present application, so that the flexible connecting member 30 and the spring 70 can be arranged in the compact model.

[0136] In combination Figure 16 In an embodiment, the flexible connecting member 30 penetrates the spring 70, and during the process that the flexible connecting member 30 changes from being tight to being loose, the flexible connecting member 30 reciprocates inside the spring 70, so that the space inside the spring 70 can be utilized, thereby making the flexible connecting member 30 and the spring 70 be arranged in the compact model. The length of the flexible connecting member 30 needs to be greater than the length of the spring 70, so that at least one end of the flexible connecting member 30 can penetrate the spring 70. The hooking positions of the flexible connecting member 30 and the spring 70 on the free part b of the support member can be integrated at one place, so as to simplify the structure of the support member.

[0137] In combination Figure 16, the walking wheel mechanism 100 further comprises a steering member 330 connected to the device body 300, the steering member 330 is arranged outside the end of the spring 70, and the flexible connecting member 30 is arranged around the steering member 330, so that the part of the flexible connecting member 30 arranged in the spring 70 is always on the axis of the spring 70, to avoid the flexible connecting member 30 touching the spring 70 during movement, so that the flexible connecting member 30 can move smoothly, thereby driving the walking wheel assembly 10 to rotate relative to the device body 300, realizing the lifting function of the walking wheel assembly 10 relative to the device body 300. At the same time, the steering member 330 can also keep the flexible connecting member 30 in tension, to avoid the flexible connecting member 30 being interfered by the outside world due to relaxation. In an embodiment, the steering member 330 can be a columnar structure or a rotatable wheel body structure, which can be connected near the hook part 90 for connecting the spring 70.

[0138] In combination Figure 17 and Figure 18 In another embodiment, the present application provides a walking wheel mechanism 100c, similar to the walking wheel mechanism 100a and the walking wheel mechanism 100b described above, the walking wheel mechanism 100c also comprises a walking wheel assembly 10, a power assembly 20, a flexible connecting member 30 and a spring 70, the main difference is that the spring 70 in the walking wheel mechanism 100c connects the power assembly 20 and the walking wheel assembly 10, and the flexible connecting member 30 is arranged in the spring 70, so that the flexible connecting member 30 and the spring 70 can be arranged in a compact model. The specific details of the walking wheel mechanism 100c are further described by means of the drawings.

[0139] In combination Figure 17 and Figure 18 , Figure 17 and Figure 18The overall structure of the walking wheel mechanism 100c is shown, the walking wheel mechanism 100c is installed on the equipment body 300, and the walking wheel mechanism 100b includes a walking wheel assembly 10, a power assembly 20, a flexible connecting piece 30, and a spring 70. The walking wheel assembly 10 is rotatably connected to the equipment body 300, and the walking wheel assembly 10 can be a driving wheel assembly that provides walking power for the equipment, or a driven wheel assembly that follows the rotation of the driving wheel assembly. The present application does not make any limitation. The power assembly 20 is also installed on the equipment body 300, and is used to provide driving force when the walking wheel assembly 10 is lifted relative to the equipment body 300. The flexible connecting piece 30 is used to transmit the power of the power assembly 20 and act on the walking wheel assembly 10, so that the walking wheel assembly 10 rotates relative to the base 310 to realize the lifting function relative to the equipment body 300. The power assembly 20 and the flexible connecting piece 30 can only drive the corresponding walking wheel assembly 10 to swing and lift, or can simultaneously drive both walking wheel assemblies 10 to swing and lift. The present application does not make any limitation. The spring 70 is connected to the power assembly 20 and the walking wheel assembly 10. The damping effect of the spring 70 can reduce the shock when the walking wheel 12 passes through the uneven road. The flexible connecting piece 30 of the present application penetrates the spring 70, so that the flexible connecting piece 30 can move in the spring 70, and the flexible connecting piece is coaxial or close to coaxial with the spring, thereby only occupying the space occupied by the spring 70, so that the flexible connecting piece 30 and the spring 70 can be arranged in a compact model.

[0140] In combination Figure 19 , the power assembly 20 is provided with a rotatable output shaft 25, which can rotate in two opposite directions, for example, in the clockwise and counterclockwise directions. The power assembly 20 includes a power element 21, which can be a rudder or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.). The drive shaft of the power element 21 is configured as the output shaft 25 of the power assembly 20.

[0141] In combination Figure 19 , the flexible connecting piece 30 has a first end and a second end. The first end of the flexible connecting piece 30 is connected to the output shaft 25 of the power assembly 20. The connection between the two can refer to the connection between the first end of the flexible connecting piece 30 and the output shaft of the power assembly 20 in the walking wheel mechanism 100b. The present application does not make any limitation here.

[0142] In combination Figure 19 , the spring 70 has a first end and a second end. The first end of the spring 70 is hung on the output shaft 25 of the power assembly. The first end of the spring 70 can be provided with a first hanging ring 71, which is hung on the output shaft 25 of the power assembly 20. The first hanging ring 71 can slide on the output shaft 25 to adapt to the winding of the first end of the flexible connecting piece 30 on the output shaft 25 of the power assembly.

[0143] In combination Figure 20 A fixing shaft 64 is arranged on the free portion b of the walking power device 11, and the second end of the flexible connecting member 30 is connected to the fixing shaft 64. The connection between the second end of the flexible connecting member 30 and the fixing shaft 64 can refer to the connection between the first end of the flexible connecting member 30 and the output shaft 25 of the power assembly 20 in the walking wheel mechanism 100b, and the present application will not be described here.

[0144] In combination Figure 20 The second end of the spring 70 is provided with a second ring 72, and the second ring 72 is hung on a hook portion 90 of the free portion b of the walking power device 11. The hook portion 90 is integrated on the fixing shaft 64, so that the second end of the flexible connecting member 30 and the second end of the spring 70 are located at substantially the same position, so that the flexible connecting member 30 and the spring 70 are coaxial or close to coaxial, and the lifting function of the walking wheel assembly 10 relative to the equipment body 300 is driven by the flexible connecting member 30.

[0145] In order to solve the problem that the flexible connecting member 30 interferes with the spring 70 during the process of being tight to relaxed during the lifting of the walking wheel assembly relative to the equipment body, the present application provides a walking wheel mechanism 100d, which cancels the flexible connecting member and drives the walking wheel assembly to lift relative to the equipment body by the power assembly 20 with the telescopic function. The specific details of the walking wheel mechanism 100d will be further described by the drawings.

[0146] In combination Figures 21-24 21- Figure 24 The overall structure of the walking wheel mechanism 100d is shown, which is installed on the equipment body 300. The walking wheel mechanism 100d includes a walking wheel assembly 10 and a power assembly 20. The walking wheel assembly 10 is rotatably connected to the equipment body 300. The walking wheel assembly 10 can be a driving wheel assembly that provides walking power for the equipment, or a driven wheel assembly that rotates following the driving wheel. The present application does not limit the power assembly 20, which is also installed on the equipment body 300. The power assembly 20 can be selectively telescopic, and can abut against the walking wheel assembly 10 or the equipment body 300, and can slide relative to the walking wheel assembly 10 or the equipment body 300, so as to drive the walking wheel assembly 10 to rotate relative to the equipment body 300.

[0147] In combination Figures 21-24, the power assembly 20 is used to provide driving force when the walking wheel assembly 10 is lifted relative to the device body 300, the power assembly 20 can only drive the corresponding walking wheel assembly 10 to swing and lift, or can simultaneously drive two walking wheel assemblies 10 to swing and lift, which is not limited in the present application. The power assembly 20 is provided with an extendable output shaft 25, which can be extended or retracted, for example, extended downward or retracted upward. In combination with the output shaft 25, the power assembly 20 includes a power element 21, which can be a linear motor, a telescopic cylinder or the like having a linear reciprocating motion. The telescopic shaft of the power element 21 is configured as the output shaft 25 of the power assembly 20, and the output shaft 25 of the power assembly 20 abuts against and slides relative to the walking wheel assembly 10. When the device body 300 does not need to be lifted, the output shaft 25 of the power assembly 20 is not extended, the end of the output shaft 25 is not in contact or just in contact with the walking wheel assembly 10, and the length of the spring 70 is longer, in a stretched state, without affecting the damping effect of the spring 70. When the device body 300 needs to be lifted, the output shaft 25 of the power assembly 20 is controlled to extend and abut against and slide relative to the walking wheel assembly 10 to push the walking wheel assembly 10 to rotate relative to the device body 300, so that the walking wheel assembly 10 is lifted relative to the device body 300. Since the walking wheel assembly 10 is always in contact with the ground during driving, the corresponding walking wheel assembly 10 also maintains contact with the ground during lifting relative to the device body 300, so the lifting of the walking wheel assembly 10 relative to the device body 300 in the device is that the ground clearance of the device body 300 changes. When the ground clearance of the device body 300 increases, the components below the device body 300 can be higher than the obstacles, so that the device does not interfere with the obstacles during obstacle crossing, thereby achieving the effect of increasing the obstacle crossing height, which can improve the obstacle crossing height, the escape ability and the adaptability to different road surfaces of the device provided with the walking wheel mechanism. At this time, the length of the spring 70 is the shortest, which can be in a stretched state, a normal state or a slightly compressed state.

[0148] In combination with Figure 26 The top of the walking wheel assembly 10 is provided with a sliding groove 13, the length direction of the sliding groove 101 is perpendicular to the axial direction of the walking wheel 12, and the output shaft 25 of the power assembly 20 abuts in the sliding groove 13. The output shaft 25 of the power assembly 20 can slide in the sliding groove 13, the sliding direction of the output shaft 25 of the power assembly 20 can be limited by the sliding groove 13, so that the output shaft 25 of the power assembly 20 slides in a set direction, and the output shaft of the power assembly 20 deviates from the walking wheel assembly 10.

[0149] In combination with Figure 26In an embodiment, the top of the free part a of the walking wheel assembly 10 is provided with the above-mentioned sliding groove 13, so that the extension stroke of the power assembly 20 can be shorter. In another embodiment, the side of the free part a of the walking wheel assembly 10 can also be provided with the above-mentioned sliding groove 13, which is not limited in the present application.

[0150] In combination Figure 25 and Figure 26 In an embodiment, the end of the output shaft 25 of the power assembly 20 is connected with a rotatable contact wheel 27, so that the end of the output shaft 25 of the power assembly 20 is in sliding contact with the bottom of the sliding groove 13, reducing the friction therebetween and improving the smooth movement of the end of the output shaft 25 of the power assembly 20 in the sliding groove 13. In another embodiment, the end of the output shaft 25 of the power assembly 20 can be arc-shaped, such as spherical or hemispherical, so that the end of the output shaft 25 of the power assembly 20 is in point contact with the bottom of the sliding groove 13, reducing the contact area therebetween and improving the smooth movement of the end of the output shaft 25 of the power assembly 20 in the sliding groove 13.

[0151] In combination Figure 27 In another embodiment, at least one of the opposite side walls of the sliding groove 13 is provided with a guide part 14, and the output shaft 25 of the power assembly 20 is provided with a guide protrusion 27, which is in sliding connection with the guide part 14. The guide part 14 can be a groove structure or a hole structure, the length direction of the guide part 14 is consistent with the length direction of the sliding groove 13, and the guide protrusion 27 is in sliding connection with the corresponding guide part 14, so that the extension of the output shaft 25 of the power assembly 20 can drive the walking wheel assembly 10 to rotate relative to the equipment body 300, and the movement of the output shaft 25 of the power assembly 20 in the walking wheel assembly 10 can be guided and corrected.

[0152] In combination Figure 21 and Figure 23 In an embodiment, the power assembly 20 is fixedly connected to the equipment body 300. In combination Figure 22 and Figure 24 In another embodiment, the power assembly 20 is pivotally connected to the equipment body 300, so that the extension of the output shaft 25 of the power assembly 20 can drive the walking wheel assembly 10 to rotate relative to the equipment body 300.

[0153] In another embodiment, the power component 20 is connected to the walking wheel assembly 10. The output shaft 25 of the power component 20 abuts against the device body 300 and can slide relative to the device body 300. The extension and retraction of the output shaft 25 of the power component 20 can also be controlled to drive the walking wheel assembly 10 to rotate relative to the device body 300, causing the walking wheel assembly 10 to rise or fall relative to the device body 300. That is, reversing the connection between the power component 20, the device body 300, and the walking wheel assembly 10 also achieves the technical objective of raising or lowering the walking wheel assembly 10 relative to the device body 300.

[0154] Combination Figure 21 as well as Figure 23 In one embodiment, the assembly method of the spring 70 of the walking wheel mechanism 100d can refer to the assembly method of the spring 70 in the walking wheel mechanism 100a or 100b. One or more springs 70 can be provided, which will not be described in detail here.

[0155] Combination Figure 22 as well as Figure 24 In another embodiment, at least a portion of the output shaft of the power assembly 20 passes through the spring 70 to save space occupied by the power assembly 20 and the spring 70, making it suitable for arrangement in some space-constrained models. When it is not necessary to lift the equipment body 300, the spring 70 is arranged approximately vertically, the output shaft 25 of the power assembly 20 does not extend, and the end of the output shaft 25 does not contact or just contacts the wheel assembly 10. The spring 70 is at its shortest length and is in a compressed state, which does not affect the damping effect of the spring 70. When it is necessary to lift the equipment body 300, the output shaft 25 of the power assembly 20 extends and abuts against the wheel assembly 10, and slides relative to the wheel assembly 10. The power assembly 20 rotates relative to the equipment body 300 to drive the wheel assembly 10 to rotate relative to the equipment body 300, so that the wheel assembly 10 rises and falls relative to the equipment body 300. At this time, the spring 70 is arranged at an angle and is at its longest length, and can be in a slightly compressed state, a normal state, or a stretched state.

[0156] With at least a portion of the output shaft of the power assembly 20 passing through the spring 70, one end of the spring 70 can be connected to the power element 21 of the power assembly 20, and the other end of the spring 70 can be connected to the outer wall of the main wheel portion a. Furthermore, the spring 70 can be a non-standard spring; for example, the diameter of the spring 70 located on the power element 21 is smaller than the diameter of the spring 70 located on the main wheel portion a. The cross-section of the spring 70 located on the main wheel portion a can be circular, elliptical, or other shapes. That is, the clearance of the output shaft of the power assembly 20 is set within the spring 70, so that during the extension and retraction of the output shaft 25, the sliding of the end of the output shaft on the outer wall of the main wheel portion a will not touch the spring 70, ensuring the normal operation of the equipment.

[0157] To solve the problem that the flexible connecting member 30 interferes with the spring 70 during the process that the flexible connecting member 30 changes from being tight to being loose during the lifting of the walking wheel assembly relative to the device body, the application further provides a walking wheel mechanism 100e which cancels the above-mentioned flexible connecting member 30 and drives the walking wheel assembly 10 to lift relative to the device body 300 through the power assembly 20 with rotation function. The specific details of the walking wheel mechanism 100e are further described by means of the accompanying drawings.

[0158] In combination Figure 28 and Figure 29 , Figure 28 and Figure 29 The overall structure of the walking wheel mechanism 100e is shown, which is installed on the device body 300 and includes the walking wheel assembly 10 and the power assembly 20. The walking wheel assembly 10 is rotatably connected to the device body 300 and is provided with the driven part 15. The power assembly 20 is connected to the device body 300 and can drive the driven part 15 of the walking wheel assembly 10 to rotate the walking wheel assembly 10 relative to the device body 300 and extend the walking wheel assembly 10 relative to the device body 300.

[0159] In combination Figure 28 and Figure 29 The walking wheel assembly 10 can be a driving wheel assembly that provides walking power for the device or a driven wheel assembly that rotates following the driving wheel assembly, which is not limited by the application. The walking wheel assembly 10 is provided with the driven part 15. The power assembly 20 is also installed on the device body 300 and is used to provide driving force when the walking wheel assembly 10 lifts relative to the device body 300. The power assembly 20 can only drive the corresponding walking wheel assembly 10 to swing and lift, or can simultaneously drive two walking wheel assemblies 10 to swing and lift, which is not limited by the application. The power assembly 20 is provided with the transmission member 210, which is provided with the driving part 28 that can rotate synchronously with the transmission member 210. At least part of one of the driven part 15 and the driving part 28 has the push slot 29, and the other of the driven part 15 and the driving part 28 reciprocates in the push slot 29. In an embodiment, the transmission member 210 can be rotatably arranged, and in another embodiment, the transmission member 210 can be telescopically arranged to drive the driven part 15 of the walking wheel assembly 10, thereby rotating the walking wheel assembly 10 relative to the device body 300 and extending the walking wheel assembly 10 relative to the device body 300.

[0160] In combination Figure 30 and Figure 31In an embodiment, the walking wheel assembly 10 is provided with a pusher 16, which can be a rod-shaped structure or a block-shaped structure. The pusher 16 is configured as a driven part 15. The transmission member 210 is provided with a push groove 29, which is configured as a driving part 28. The support shaft reciprocates in the push groove 29.

[0161] In combination Figure 28 When the device body 300 does not need to be lifted, the transmission member 210 of the power assembly 20 does not rotate, and the pusher 16 of the walking wheel assembly 10 remains stationary in the push groove 29 of the transmission member 210. The pusher 16 is arranged in the top of the push groove 29. The pusher 16 can be in contact with or not in contact with the top of the push groove 29, so as to limit the pusher 16 in the top of the push groove 29.

[0162] In combination Figure 29 When the device body 300 needs to be lifted, the transmission member 210 of the power assembly 20 is controlled to rotate counterclockwise. The pusher 16 of the walking wheel assembly 10 abuts against the top of the push groove 29. Due to the rotation of the transmission member 210, the pusher 16 rotates together with the transmission member 210, so as to realize the extension of the walking wheel assembly 10 relative to the device body 300. Since the walking wheel assembly 10 is always in contact with the ground during driving, the corresponding walking wheel assembly 10 also keeps in contact with the ground during the lifting and lowering relative to the device body 300. Therefore, the lifting and lowering of the walking wheel assembly 10 relative to the device body 300 is manifested as the change of the ground clearance of the device body 300 in the device. When the ground clearance of the device body 300 increases, the components below the device body 300 are higher than the obstacles, so that the device does not interfere with the obstacles during the obstacle crossing, thereby realizing the effect of improving the obstacle crossing height, and improving the obstacle crossing height, the escape ability, and the adaptability to different road surfaces of the device provided with the walking wheel mechanism.

[0163] In some embodiments, the trajectory of the movement of the pusher 16 is arc-shaped. The trajectory of the movement of the pusher 16 is concentrically arranged with the rotation axis of the transmission member 210, and / or the trajectory of the movement of the pusher 16 is concentrically arranged with the connection rotation axis of the walking wheel assembly 10 relative to the device body 300.

[0164] In order to realize the controllable extension of the walking wheel assembly 10, at least part of the poking groove 29 on the transmission member 210 is arc-shaped, and the central angle of the arc-shaped part of the poking groove 29 can be less than or equal to 180°, and accordingly, the rotation angle of the controllable transmission member 210 is less than or equal to 180°. Preferably, the central angle of the arc-shaped part of the poking groove 29 on the rotating disc is between 90° and 150°, for example, 150°, 120° or 90°, which can be set according to the model of the cleaning equipment, and the present application does not limit it. At least part of the poking groove 29 is arc-shaped, which means that the whole poking groove 29 is arc-shaped to guide and limit the movement of the poking member 16 inside it. The poking groove 29 can also be fan-shaped and irregularly shaped, as long as it has enough space for the poking member 16 to rotate. In some embodiments, the poking groove 29 is a through-hole type groove, and in another embodiment, the poking groove 29 is a blind groove, as long as it can allow at least part of the poking member 16 to enter, and the present application does not limit it.

[0165] In combination Figure 30 In some embodiments, the power assembly 20 includes a power element 21, which can be a rudder or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.), and a transmission member 210 is connected to the driving shaft of the power element 21. The transmission member 210 can be disc-shaped, fan-shaped or square-shaped, etc. The transmission member 210 rotates synchronously with the driving shaft of the power element 21, and the poking groove 29 on the transmission member 210 is coaxial with the driving shaft of the power element 21. In some embodiments, the rotation axis of the transmission member 210 is not coaxial with the rotation axis of the walking wheel assembly 10 relative to the connection of the device body 300. In other embodiments, the rotation axis of the transmission member 210 is coaxial with the rotation axis of the walking wheel assembly 10 relative to the connection of the device body 300, which can be set according to the internal space of the device.

[0166] Consistent with the above walking wheel assembly, the walking wheel assembly 10 of the walking wheel mechanism 100e also includes a support member and a walking wheel 12 mounted on the support member, wherein the free part b of the support member is rotationally connected with the device body 300, and the poking member 16 is arranged on the free part b of the support member. In an embodiment, the poking member 16 can be integrally formed on the bottom of one side of the free part b of the support member, so as to avoid the occupation of the upper space of the walking wheel assembly 10 by the power assembly 20 and avoid interference with the spring 70.

[0167] Consistent with the above walking wheel assembly 100, the walking wheel mechanism 100e also includes a spring 70, and the assembly mode of the spring 70 can refer to the assembly mode of the spring 70 in the walking wheel mechanism 100a or 100b. There can be one or more than two springs 70, and the spring 70 is always in a stretched state, and the spring 70 always generates a pulling force on the walking wheel assembly 10.

[0168] When the cleaning device is lifted or flipped off the ground, the walking wheel assembly 10 presents a suspended extension due to the action of the spring 70, at this time the arc of the toggle slot 29 can limit the design, which only limits the minimum extension height of the walking wheel assembly.

[0169] In another embodiment, the toggle slot 29 is arranged on the walking wheel assembly 10, for example, arranged on the side of the free part b of the walking wheel assembly 10, the toggle slot 29 on the walking wheel assembly 10 is configured as the driven part 15, the toggle slot 29 and the center axis of the transmission member 210 are arranged concentrically, the toggle member 16 is arranged on the transmission member 210, the toggle member 16 and the center axis of the transmission member 210 are arranged eccentrically, the toggle member 16 is configured as the driving part 28, under the driving of the power assembly 20, the toggle member 16 on the transmission member 210 reciprocates in the toggle slot 29 on the walking wheel assembly. The driving part 28 and the driven part 15 in the above-mentioned walking wheel mechanism 100e are reversely arranged, and the extension of the walking wheel assembly 10 relative to the device body 300 can also be realized by controlling the rotation of the transmission member 210 of the power assembly 20, so that the ground clearance of the device body 300 changes, so that the part of the device does not interfere with the obstacle during the obstacle crossing, thereby realizing the effect of improving the obstacle crossing height, which can improve the obstacle crossing height, the escape ability and the adaptability to different road surfaces of the device provided with the walking wheel mechanism, which will not be repeated here.

[0170] The embodiment of the present application also provides a cleaning device, which comprises a device body 300 and the above-mentioned walking wheel mechanism.

[0171] Please refer to Figure 32 The embodiment of the present application also provides a cleaning device 1000, which comprises a device body 300 and a walking wheel mechanism, and the walking wheel mechanism comprises walking wheels, three walking wheels are arranged in a triangular shape at the bottom of the device body 300. Exemplarily, one of the walking wheels is a driven wheel and is located at the front side of the cleaning device 1000 in the advancing direction; the other two walking wheels are driving wheels and are located at the rear side of the cleaning device 1000 in the advancing direction, wherein the walking wheel mechanism in which the driving wheels are arranged is any one of the above-mentioned walking wheel mechanisms 100.

[0172] In the specific embodiments of the present application, the cleaning device can be a cleaning device such as a sweeping machine and a sweeping robot.

[0173] In the present application, unless specifically defined and limited otherwise, the "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "on", "above" and "under" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The "under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0174] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0175] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be broadly understood, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be internal connection of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0176] In addition, in the present application, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically defined.

[0177] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A walking wheel mechanism, characterized by, The device body is installed with: a walking wheel assembly rotatably connected to the device body; a power assembly selectively extendable and retractable, abutting against the walking wheel assembly or the device body, and slidable relative to the walking wheel assembly or the device body.

2. The walking wheel mechanism according to claim 1, characterized in that, The power assembly is provided with an extendable and retractable output shaft, and the walking wheel assembly or the device body is provided with a sliding groove, and the output shaft of the power assembly is slidably engaged in the sliding groove.

3. The walking wheel mechanism according to claim 2, characterized in that, The end of the output shaft of the power assembly is arc-shaped.

4. The walking wheel mechanism according to claim 2, characterized by The end of the output shaft of the power assembly is connected with a rotatable contact wheel.

5. The walking wheel mechanism according to any one of claims 2 to 4, characterized in that The power assembly is fixedly connected to the device body or the walking wheel assembly, or the power assembly is pivotally connected to the device body or the walking wheel assembly.

6. The walking wheel mechanism according to claim 5, wherein The walking wheel assembly comprises a support and a walking wheel installed on the support, and the support comprises a main wheel portion and a free portion, and the main wheel portion is closer to the walking wheel than the free portion. The free portion of the support is rotatably connected to the device body, and the output shaft selectively abuts against the support, or the power assembly is fixedly connected or pivotally connected to the support.

7. The walking wheel mechanism according to claim 6, characterized in that A spring is further provided, one end of the spring is fixed to the free portion of the support, and the other end of the spring is fixed to the device body.

8. The walking wheel mechanism according to claim 7, characterized in that The free portion and the device body are each provided with a hook portion, and the two ends of the spring are respectively hooked to the two hook portions.

9. The walking wheel mechanism of claim 7, wherein The power assembly at least partially penetrates the spring.

10. A cleaning apparatus, characterized by The cleaning device comprises a device body and the walking wheel mechanism according to any one of claims 1-9, and the walking wheel mechanism is installed on the device body.

11. The cleaning apparatus of claim 10, wherein, The device body is provided with an upper limiting portion and a lower limiting portion for limiting the upper limit position and the lower limit position of the walking wheel assembly, respectively.

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