Cleaning equipment

Abstract

The utility model provides cleaning equipment. The cleaning equipment comprises a main machine body, a driving wheel, a rolling piece and an obstacle crossing mechanism. The main body has a front side wall; the driving wheels are arranged at the bottom of the main body and used for driving the main body to move; the rolling piece can roll relative to the main machine body; the obstacle crossing mechanism is arranged on the main machine body and comprises a driving component and supporting legs, and the driving component is used for driving the supporting legs to move. The cleaning equipment has an obstacle crossing state, in the obstacle crossing state, the tail ends of the supporting feet and the rolling pieces stretch out of the front side of the front side wall of the main machine body, and the driving parts are used for driving the tail ends of the supporting feet to move downwards. The cleaning equipment provided by the utility model has relatively high obstacle crossing capability, so that the cleaning range is expanded, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cleaning, in particular to a cleaning device. BACKGROUND

[0002] Taking a sweeping robot as an example, in the related art, the sweeping robot is difficult to cross when encountering a low obstacle such as a threshold or a step, and the working range is thus limited, which affects the overall cleaning effect of the environment and the user experience is poor. SUMMARY

[0003] Therefore, an embodiment of the present application aims to provide a cleaning device with strong obstacle crossing ability to expand the cleaning range and improve the user experience.

[0004] An embodiment of the present application provides a cleaning device, comprising:

[0005] a main body having a front side wall;

[0006] a driving wheel arranged at the bottom of the main body and configured to drive the main body to move;

[0007] a rolling member configured to roll relative to the main body;

[0008] an obstacle crossing mechanism arranged on the main body, the obstacle crossing mechanism comprising a driving component and a supporting leg, the driving component being configured to drive the supporting leg to move;

[0009] The cleaning device comprises an obstacle crossing state, in which the end of the supporting leg and the rolling member both extend forward of the front side wall of the main body, and the driving component is configured to drive the end of the supporting leg to move downward.

[0010] In some embodiments, in the obstacle crossing state, in a vertical projection on a plane perpendicular to the axial direction of the driving wheel, the maximum distance between the movement track of the end of the supporting leg and the front side wall is greater than the maximum distance between the rolling member and the front side wall.

[0011] In some embodiments, in the obstacle crossing state, the starting position of the downward movement of the end of the supporting leg is higher than the rolling member.

[0012] In some embodiments, in the obstacle crossing state, the rolling member is not lower than the lowest point of the movement track of the end of the supporting leg.

[0013] In some embodiments, the cleaning device further comprises a non-obstacle crossing state, in which the driving component drives the supporting leg to retract into the interior of the main body.

[0014] In some embodiments, the cleaning device further comprises a push rod mechanism, the push rod mechanism comprising a driving assembly and a push rod, the rolling member being rollably arranged at a distal end of the push rod.

[0015] The driving assembly is configured to drive the push rod to move, so as to drive the rolling member to extend out of a front side of the front side wall of the main body or retract into the main body.

[0016] In some embodiments, the cleaning device comprises a motor and a power transmission structure, the motor being configured to transmit power to the driving component and the driving assembly respectively through the power transmission structure.

[0017] In some embodiments, the power transmission structure comprises a driving shaft connected to a power output shaft of the motor, the driving component comprises a transmission gear, and the driving assembly comprises a first gear, the transmission gear and the first gear being arranged on the driving shaft.

[0018] In some embodiments, the driving assembly comprises a motor, a second gear coaxially arranged with the motor, and a rotating disc structure, the motor directly or indirectly driving the second gear to rotate, so as to drive the rotating disc structure to rotate through the second gear, the rotating disc structure having a cam surface, a distal end of the push rod being in separable contact with the cam surface, the cam surface being configured to convert rotation of the rotating disc structure into linear motion of the push rod.

[0019] In some embodiments, the driving assembly comprises an elastic member, the elastic member applying an elastic force to the push rod, so that an end of the distal end of the push rod is in contact with the cam surface under the action of the elastic force.

[0020] In some embodiments, an outer circumferential surface of the rotating disc has a notch, the notch being connected to the cam surface, and the end of the distal end of the push rod being located in the notch when the push rod drives the rolling member to extend out of the front side of the front side wall of the main body.

[0021] In some embodiments, the driving component comprises a motor, a power gear, a rotating wheel, and a rocker arm, the power gear being coaxially arranged with the rotating wheel, the motor directly or indirectly driving the power gear to rotate, so as to drive the rotating wheel to rotate through the power gear, one end of the foot being eccentrically connected to the rotating wheel and being rotatable relative to the rotating wheel, the rocker arm being rotatably connected to the foot, wherein the rotating wheel, the rocker arm, and the foot constitute a crank rocker mechanism, the rotating wheel being configured to drive the foot to move during rotation.

[0022] The cleaning device provided in the embodiments of the present application is close to the obstacle, and the rolling member first contacts the obstacle. When the cleaning device moves on the ground, the driving wheel generates friction force with the ground, and the traction force generated by the driving wheel enables the main body to move forward. Since the rolling member is arranged at the frontmost side of the main body, when the rolling member abuts against the obstacle, the obstacle exerts resistance on the main body through the rolling member. The driving wheel continuously outputs power, and the main body is subjected to the action of the moment, thus generating the tendency of lifting the head.

[0023] The supporting leg located at the outer side of the main body can abut against the upper side of the obstacle and move downward relative to the main body under the driving of the driving component, so that the main body has the tendency of moving upward. The front side of the main body is in rolling contact with the obstacle through the rolling member, and the friction force between the front side of the main body and the obstacle is greatly reduced. Under the action of the moment and / or the abutting action of the supporting leg, the front side of the main body can be lifted, so that the front side of the main body is more likely to go over the obstacle, and the driving wheel drives the main body to go over the obstacle, thereby improving the obstacle-crossing capability of the cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 FIG. 1 is a structural schematic diagram of a cleaning device in an embodiment of the present application;

[0025] Figure 2 FIG. 2 is a partial internal view of the cleaning device in FIG. 1; Figure 1

[0026] Figure 3 FIG. 3 is a partial internal view of the cleaning device in FIG. 1, including a rolling member; Figure 1

[0027] Figure 4 FIG. 4 is a schematic diagram of the cleaning device in FIG. 1 arranged on the ground;

[0028] Figure 5 FIG. 5 is a schematic diagram of the cleaning device in FIG. 1 in the process of crossing the obstacle; Figure 4

[0029] Figure 6 FIG. 6 is a partial internal structure schematic diagram of the cleaning device in a first embodiment of the present application;

[0030] Figure 7 FIG. 7 is a partial internal structure schematic diagram of the cleaning device in a second embodiment of the present application;

[0031] Figure 8 FIG. 8 is a partial structure schematic diagram of the cleaning device in FIG. 1, including a supporting leg and a rolling member; Figure 6

[0032] FIG. 9 is a partial structure schematic diagram of the cleaning device in FIG. 1, including a supporting leg; Figure 9 Figure 6

[0033] Figure 10 ​​​​​for Figure 6 A cross-sectional view of the structure, including the legs;

[0034] Figure 11 for Figure 6 A schematic diagram of the structure, including the legs, from another perspective;

[0035] Figure 12 for Figure 6 A schematic diagram of the structure, including the rolling elements;

[0036] Figure 13 for Figure 12 A schematic diagram of the structure from another perspective, with the rolling element in the first position;

[0037] Figure 14 for Figure 12 A schematic diagram of the middle structure from another perspective, with the rolling element in the second position;

[0038] Figure 15 for Figure 12 A schematic diagram of the structure from another perspective, with the rolling elements in other positions.

[0039] Explanation of reference numerals in the attached figures

[0040] 1000. Cleaning equipment; 10. Main body; 101. Front sidewall; 101a. Clearance groove; 101b. Opening; 10a. Bottom surface; 10b. Circumferential surface; 10c. Slope; 1001. Stop frame; 20. Drive wheel; 30. Obstacle crossing mechanism; 31. Drive component; 311. Power input mechanism; 3111. Motor; 3112. Power gear; 31121. Shaft; 3113. Transmission gear; 312. Rotary wheel; 3121. Contact part; 313. Rocker arm; 32. Support leg; 40. Rolling element; 50. Position detection element; 60. Collision plate; 60a, clearance opening; 60b, clearance notch; 70, push rod mechanism; 71, drive assembly; 711, turntable structure; 711a, cam surface; 711b, notch; 7111, stop protrusion; 712, elastic member; 713, elastic element; 714, first gear; 715, second gear; 715a, toothed part; 715b, non-toothed part; 715c, notch; 715A, first sidewall; 715B, second sidewall; 72, push rod; 80, one-way bearing; 90, power distribution structure; 91, intermediate gear; 92, intermediate gear shaft. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] In the specific embodiments, various specific technical features described can be combined in any suitable manner, for example, different embodiments and technical solutions can be formed by combination of different specific technical features, without contradiction. In order to avoid unnecessary repetition, various possible combinations of various specific technical features in the present application are not described again.

[0043] In the following description, the terms "first", "second", "third", etc. are only to distinguish different objects, and do not mean that there is the same or relationship between the objects. It should be understood that the positional description "upper", "lower", "outer", "inner" are the positions in the normal use state, and the "left" and "right" directions represent the left and right directions shown in the specific corresponding schematic diagram, which can be the left and right directions in the normal use state or can not be.

[0044] It should be noted that the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element defined by the sentence "including one" does not exclude the presence of another identical element in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0045] An embodiment of the present application provides a cleaning device 1000, please refer to Figure 1 The cleaning device 1000 includes a main body 10, a drive wheel 20, a rolling member 40 and an obstacle crossing mechanism 30. The form of the cleaning device 1000 is not limited, including but not limited to a sweeping robot, a mopping robot and the like. The drive wheel 20 is arranged at the bottom of the main body 10 and is used to drive the main body 10 to move.

[0046] Exemplarily, in an embodiment, the number of drive wheels 20 is at least two, and the two drive wheels 20 are coaxially arranged at the bottom of the main body 10 and are used to drive the main body 10 to move along a predetermined route.

[0047] The cleaning device 1000 works on a support surface, for example, a ground. Exemplarily, the cleaning device 1000 further includes a cleaning assembly, for example, a cloth, a side brush and the like, which cleans the ground along with the movement of the main body 10. It can be understood that the larger the working range of the cleaning device 1000, the better the overall cleaning effect on the environment, and the better the user experience. Since there can be obstacles on the ground, the cleaning device 1000 can move on the ground, and the stronger the obstacle crossing ability of the cleaning device 1000, the greater the working range of the cleaning device 1000.

[0048] Please refer to Figure 1 and Figure 4 The main body 10 has a front side wall 101, and the rolling member 40 is configured to roll relative to the main body 10. Please refer to Figure 2 The obstacle surmounting mechanism 30 is arranged on the main body 10, and the obstacle surmounting mechanism 30 comprises a driving component 31 and a supporting leg 32, and the driving component 31 is configured to drive the supporting leg 32 to move.

[0049] The cleaning device 1000 has an obstacle surmounting state, in which the end of the supporting leg 32 and the rolling member 40 are both protruded from the front side of the front side wall 101 of the main body 10, and the driving component 31 is configured to drive the end of the supporting leg 32 to move downward. In the obstacle surmounting state, the obstacle surmounting capability of the cleaning device 1000 is improved.

[0050] When the cleaning device 1000 approaches the obstacle, the rolling member 40 will first contact the obstacle. When the cleaning device 1000 moves on the ground, the driving wheel 20 generates a friction force f1 with the ground, and in some embodiments, the steering wheel also generates a friction force f2. The traction force F generated by the driving wheel 20 enables the main body 10 to move forward. Since the rolling member 40 is arranged at the most front side of the main body 10, when the rolling member 40 abuts against the obstacle, the obstacle exerts a resistance f3 on the main body 10 through the rolling member 40. The driving wheel 20 continues to output power, and the main body 10 is subjected to a moment, thus having a tendency to lift up.

[0051] The supporting leg 32 located on the outer side of the main body 10 can abut against the upper side of the obstacle and move downward relative to the main body 10 under the driving of the driving component 31, so that the main body 10 has a tendency to move upward. The front side of the main body 10 is in rolling contact with the obstacle through the rolling member 40, and the friction therebetween is greatly reduced. Under the action of the moment and / or the abutting of the supporting leg 32, the front side of the main body 10 can be lifted up, so that the front side of the main body 10 is more likely to surmount the obstacle, and the main body 10 can surmount the obstacle under the driving of the driving wheel 20, thereby improving the obstacle surmounting capability of the cleaning device 1000.

[0052] It should be noted that when the cleaning device 1000 surmounts the obstacle, it can lift up by generating a moment through the rolling member 40 contacting the obstacle, or it can lift up the front side of the main body 10 through the supporting leg 32 of the obstacle surmounting mechanism 30, or it can lift up the front side of the main body 10 through the supporting leg 32 of the obstacle surmounting mechanism 30 while contacting the obstacle through the rolling member 40, in which case the rolling member 40 mainly plays a role in reducing friction.

[0053] Please refer to Figure 4 The end of the supporting leg 32 is at a first height position relative to the main body 10, and at this time, the end of the supporting leg 32 just abuts against the obstacle; please refer to Figure 5The end of the support leg 32 is at a second height position relative to the main body 10. At this time, the front side of the main body 10 is raised, and the second height position is lower than the first height position. Under the action of the drive component 31, the support leg 32 moves from the first height position to the second height position, which lifts the front side of the main body 10 and increases the ground clearance of the front side of the main body 10, making it easier for it to climb over obstacles.

[0054] In one embodiment, the driving component 31 can also be used to drive the end of the support leg 32 to move upward, so that the end of the support leg 32 returns to its original height position after the obstacle-crossing state is released.

[0055] In one embodiment, for example, in the obstacle-crossing state, the rolling element 40 has a first position (refer to...). Figure 14 As shown by the dashed line m1, at the first position m1, in the orthographic projection on the plane perpendicular to the axis of the drive wheel 20, the rolling element 40 protrudes from the front edge of the main body 10, and the height of the rolling element 40 above the ground is greater than zero.

[0056] In some embodiments, please refer to Figure 4 In obstacle-crossing mode, the maximum distance between the movement trajectory of the end of the support leg 32 and the front sidewall 101, projected onto the plane perpendicular to the axis of the drive wheel 20, is greater than the maximum distance between the rolling element 40 and the front sidewall 101. Thus, on the one hand, the rolling element 40 will not significantly obstruct the support leg 32 from contacting the obstacle; on the other hand, because the end of the support leg 32 is in contact with the obstacle, as the front of the main body 10 is raised, the end of the support leg 32 tends to move backward relative to the obstacle. Since the maximum distance between the movement trajectory of the end of the support leg 32 and the front sidewall 101 is greater, the risk of the support leg 32 detaching from the obstacle is reduced, allowing the main body 10 to smoothly cross the obstacle.

[0057] In some embodiments, during obstacle crossing, the starting position of the downward movement of the end of the support leg 32 is higher than that of the rolling element 40. In this way, as the support leg 32 drives the front side of the main body 10 to rise, the rolling element 40 rolls in contact with the obstacle as much as possible, reducing friction between the main body 10 and the obstacle.

[0058] In some embodiments, please refer to Figure 4 and Figure 11 , Figure 11 The dotted line in the diagram represents the movement trajectory of the end of the support leg 32. In obstacle-crossing mode, the rolling element 40 is not lower than the lowest point of the movement trajectory of the end of the support leg 32. That is, when the main body 10 is raised to its maximum height by the support leg 32, the rolling element 40 is in a higher position than the end of the support leg 32. Thus, during the process of the support leg 32 driving the front side of the main body 10 to rise, the rolling element 40 will not significantly hinder the main body 10 from crossing obstacles, improving the reliability of the obstacle-crossing function of the cleaning equipment 1000.

[0059] It should be noted that the ends of the legs 32 can always extend out of the avoidance grooves 101a and be located outside the main body 10, or can be retracted to the inside of the main body 10. For example, in some embodiments, the cleaning device 1000 also has a non-obstacle-crossing state, in which the driving component 31 drives the legs 32 to retract to the inside of the main body 10. In the non-obstacle-crossing state, the legs 32 no longer have the tendency to lift the front side of the main body 10, and in the non-obstacle-crossing state, the legs 32 can be retracted entirely to the inside of the main body 10, or the ends of the legs 32 can be located outside the main body 10 and the driving component 31 drives the ends of the legs 32 to move upward.

[0060] The retraction of the legs 32 to the inside of the main body 10 described above means that the legs 32 do not extend outside the main body 10. When the cleaning device 1000 needs to use the obstacle-crossing mechanism 30 to cross obstacles, the state is switched to the obstacle-crossing state, and the legs 32 extend out. When the cleaning device 1000 does not need to use the obstacle-crossing mechanism 30, the state is switched to the non-obstacle-crossing state, and the legs 32 retract. In this way, in the non-obstacle-crossing state, the main body 10 protects the legs 32, and also enhances the overall aesthetics of the cleaning device 1000.

[0061] In some embodiments, in the case of movement from the non-obstacle-crossing state to the obstacle-crossing state, the ground clearance of the initial position of the legs 32 extending out of the avoidance grooves 101a is not less than the designed obstacle-crossing height of the main body 10. The designed obstacle-crossing height described above refers to the highest obstacle height that the cleaning device 1000 can cross in the design stage. The ground clearance of the legs 32 extending out is not less than the designed obstacle-crossing height, so that the legs 32 are basically not blocked when extending out, and can extend out smoothly, which is conducive to the normal operation of the obstacle-crossing mechanism 30 and improves the reliability of the cleaning device 1000.

[0062] For example, in an embodiment, the designed obstacle-crossing height of the main body 10 is 30 mm (millimeters), and the ground clearance of the initial position of the legs from the avoidance grooves 101a is not less than 30 mm. In the working environment of the cleaning device 1000, common obstacles include carpets, door sills, steps, etc., and the heights of these obstacles are basically 30 mm or less. The cleaning device 1000 can cross these obstacles with the assistance of the obstacle-crossing mechanism 30, thereby reaching various areas on the ground, having a larger working range, and improving the user experience.

[0063] Of course, the designed obstacle-crossing height of the main body 10 can also be 20 mm, 25 mm, etc.

[0064] In some embodiments, the main body 10 has a bottom surface 10a, please refer to Figure 5 and Figure 11 , Figure 11The dashed line in the figure represents the trajectory of the end of the leg 32, and the lowest point of the trajectory of the end of the leg 32 outside the main body 10 is lower than the height position of the bottom surface 10a. That is, during the movement of the leg 32, the height position of the end of the leg 32 can reach the area below the bottom surface 10a, so that the limit height of the front side of the main body 10 is higher, which is beneficial to improve the obstacle crossing ability of the main body 10.

[0065] It can be understood that the end of the leg 32 has different height positions relative to the escape groove 101a, and the trajectory of the end of the leg 32 has a length component along the height direction of the main body 10, but the specific shape is not limited, for example, it can be a straight line type, an arc line type, or a broken line type, etc.

[0066] In some embodiments, during the obstacle crossing state, the distance between the end of the leg 32 and the front side wall 101 increases first and then decreases during the downward movement of the end of the leg 32. That is, during the obstacle crossing state, the end of the leg 32 moves downward, and the end of the leg 32 first moves away from the front side wall 101 and then moves close to the front side wall 101, and the end of the leg 32 is displaced along the front-rear direction of the main body 10. Since the end of the leg 32 abuts against the obstacle, the end of the leg 32 is subjected to the friction force applied by the obstacle, which is opposite to the main body 10, which is beneficial to the front side of the main body 10 during the lifting process. The closer to the obstacle, the lower the risk of the main body 10 tilting relative to the horizontal plane to cause the leg 32 to disengage from the obstacle, so that the main body 10 can smoothly cross the obstacle.

[0067] For example, in an embodiment, the cleaning device 1000 includes a rubber sleeve, which is sleeved on the end of the leg 32, and can enhance the friction between the end of the leg 32 and the obstacle.

[0068] In some embodiments, referring to Figure 3 and Figure 6 , the cleaning device 1000 further includes a push rod mechanism 70, which includes a driving assembly 71 and a push rod 72, and the rolling member 40 is rollably arranged at the end of the push rod 72. The driving assembly 71 is used to drive the push rod 72 to move, so that the push rod 72 drives the rolling member 40 to extend out of the front side of the front side wall 101 of the main body 10 or retract into the inside of the main body 10. The push rod 72 is simple and reliable in structure, and can transmit the load received by the rolling member 40. The driving assembly 71 can make the rolling member 40 enter or extend out of the main body 10 according to the current working condition.

[0069] It can be understood that in the non-obstacle crossing state, the rolling member 40 is retracted into the inside of the main body 10, so that in the non-obstacle crossing state, the main body 10 protects the rolling member 40, and also enhances the overall aesthetics of the cleaning device 1000.

[0070] Exemplarily, in one embodiment, the front sidewall 101 has an opening 101b. The rolling element 40 also has a second position (see reference). Figure 14 As shown by the dashed line m2, in the second position m2, the rolling element 40 retracts into the main body 10 through the opening 101b. The opening 101b allows the rolling element 40 to smoothly enter and exit the main body 10. When the rolling element 40 is in the second position, it is in a non-obstacle-crossing state.

[0071] In some embodiments, please refer to Figure 6 and Figure 7 The cleaning equipment 1000 includes a motor 3111 and a power transmission structure. The motor 3111 transmits power to the drive component 31 and the drive assembly 71 through the power transmission structure. In other words, the power for the drive component 31 and the drive assembly 71 comes from the same motor 3111. The forward and reverse rotation or start and stop of the motor 3111 can adjust the movement state of the rolling element 40 and the support leg 32. This design structure is relatively compact, saves installation space, and is conducive to its placement within the main body 10.

[0072] Of course, the drive component 31 and the drive assembly 71 can also be connected to separate motors to achieve independent control of the rolling element 40 and the support leg 32.

[0073] In some embodiments, the power transmission structure includes a drive shaft connected to the power output shaft of the motor 3111, the drive component 31 includes a transmission gear 3113, and the drive assembly 71 includes a first gear 714. Both the transmission gear 3113 and the first gear 714 are mounted on the drive shaft. That is, the transmission gear 3113 and the first gear 714 are coaxially arranged, which has high transmission efficiency while further saving installation space.

[0074] In some embodiments, please refer to Figure 6 and Figure 13 The drive assembly 71 includes a motor 3111, a second gear 715 coaxially arranged, and a turntable structure 711. The motor 3111 directly or indirectly drives the second gear 715 to rotate, so as to drive the turntable structure 711 to rotate through the second gear 715.

[0075] For example, please refer to Figure 13 The turntable structure 711 can rotate in the direction shown in v2 in the figure.

[0076] For example, in one embodiment, the motor 3111 drives the first gear 714 to rotate, and the first gear 714 meshes with the second gear 715 to achieve the motor 3111 indirectly driving the second gear 715 to rotate.

[0077] The rotating disc structure 711 has a cam surface 711a, and the end of the push rod 72 away from the rolling member 40 is in separable contact with the cam surface 711a, and the cam surface 711a is used to convert the rotation of the rotating disc structure 711 into the linear motion of the push rod 72.

[0078] In this embodiment, the push rod 72 and the cam surface 711a constitute a cam mechanism, the cam surface 711a is the driving part, the push rod 72 is the driven part, the cam surface 711a rotates with the rotation of the rotating disc structure 711, and the push rod 72 is pushed out towards the outside of the main body 10, so that the rolling member 40 can move to the first position m1. The cam mechanism has strong carrying capacity, and the push rod 72 can withstand greater resistance exerted by the obstacle.

[0079] For example, in an embodiment, the end of the push rod 72 away from the rolling member 40 has a idler gear, which is in separable contact with the cam surface 711a, and can greatly reduce the friction loss between the push rod 72 and the cam surface 711a.

[0080] In some embodiments, please refer to Figure 6 and Figure 15 The drive assembly 71 includes an elastic member 712, which applies an elastic force to the push rod 72, so that the end of the end of the push rod 72 away from the rolling member 40 is in contact with the cam surface 711a under the action of the elastic force. When the push rod 72 is pushed out by the cam surface 711a towards the outside of the main body 10, the elastic member 712 is elastically deformed, and the elastic potential energy is accumulated. When the cam surface 711a enters the return state, the push rod 72 moves towards the inside of the main body 10 under the elastic action of the elastic member 712, to complete the reset, so that the rolling member 40 can move to the second position m2 and retract into the main body 10.

[0081] For example, in an embodiment, the elastic member 712 includes a compression spring, which is sleeved on the push rod 72, or as shown in Figure 6 , the compression spring is arranged on both sides of the push rod 72 along the extension direction of the push rod 72. One end of the compression spring is connected to the end of the push rod 72 close to the rolling member 40, and the other end is connected to the main body 10. When the push rod 72 is pushed out by the cam surface 711a towards the outside of the main body 10, the compression spring is compressed.

[0082] For example, the rotating disc structure 711 can be continuously rotated, and the elastic force of the elastic member 712 is used to make the push rod 72 reciprocate; or the rotating disc structure 711 can be reciprocated, and the reciprocating direction is changed to make the push rod 72 reciprocate.

[0083] In some embodiments, please refer to Figure 12 and Figure 13The outer circumferential surface of the rotating disc structure 711 has a notch 711b connected with the cam surface 711a. When the push rod 72 drives the rolling member 40 to extend out of the front side of the front side wall 101 of the main body 10, the end of the end of the push rod 72 away from the rolling member 40 is located in the notch 711b. It can be understood that the push rod 72 partially extends into the rotating disc structure 711 through the notch 711b, that is, the notch 711b causes slight structural interference between the push rod 72 and the rotating disc structure 711, so that the rotating disc structure 711 is subjected to greater rotational resistance, thereby being maintained at this angular position, and the rolling member 40 is also maintained at the first position m1 and stably abuts against the obstacle.

[0084] Exemplarily, in an embodiment, the edge of the notch 711b has a rounded structure, which is used to reduce the force applied by the rotating disc structure 711 to the end of the push rod 72 when the end enters or leaves the notch 711b. When the power of the rotating disc structure 711 reaches a certain intensity, the rotating disc structure 711 can overcome the resistance of the push rod 72 and continue to rotate, so as to reduce the probability of the rotating disc structure 711 being stuck.

[0085] Some embodiments, please refer to Figure 6 , Figure 8 , Figure 13 and Figure 14 The driving assembly 71 includes a first gear 714 and a second gear 715. The second gear 715 is coaxially arranged with the rotating disc structure 711. The first gear 714 is used to drive the second gear 715 to rotate, so that the second gear 715 drives the rotating disc structure 711 to rotate. The second gear 715 can drive the rotating disc structure 711 to rotate through a shaft coupling or a lever and the like. In this embodiment, the gear transmission occupies a small space and has high transmission efficiency, and is convenient to arrange.

[0086] The movement detection mode of the rotating disc structure 711 includes but is not limited to the following two modes.

[0087] Firstly, in some embodiments, the driving assembly 71 further includes a motor 3111, a position detection device and a control device. The motor 3111 is used to directly or indirectly drive the first gear 714 to rotate. The position detection device is used to generate a position detection signal in response to the rolling member 40 being at the first position m1 and / or the second position m2. The control device is used to control the motor 3111 to stop power output according to the position detection signal.

[0088] It can be understood that when the position detection signal is generated, it indicates that the rolling member 40 has completed switching between the first position m1 and the second position m2. At this time, the motor 3111 stops power output, and the rotating disc structure 711 also stops rotating, thereby maintaining the rolling member 40 at the first position m1 and / or the second position m2. This detection mode is more accurate and the response is also more rapid.

[0089] The position detection device is not limited to any type, including but not limited to photoelectric switches, displacement sensors, limit switches, etc.

[0090] Secondly, in some embodiments, please refer to Figure 13 and Figure 14 The outer periphery of the second gear 715 includes a toothed portion 715a and a non-toothed portion 715b. The first gear 714 is used to mesh with the toothed portion 715a for transmission. The first gear 714 can alternately rotate forward and reverse to drive the second gear 715 to rotate in the corresponding transmission direction through the toothed portion 715a. When the rolling element 40 is located at the first position m1 and / or the second position m2, the first gear 714 disengages from the toothed portion 715a, and the first gear 714 and the second gear 715 can rotate relative to each other.

[0091] Understandably, when the first gear 714 disengages from the tooth 715a, the first gear 714 can continue to rotate, while the power connection between the first gear 714 and the second gear 715 is disconnected, and the turntable 711 stops rotating, thus maintaining the turntable structure 711 in its current position. The rolling element 40 is also maintained in the first position m1 and / or the second position m2. Since the second gear 715 has a non-toothed portion 715b, when the first gear 714 rotates for a sufficiently long time, the first gear 714 will disengage from the tooth 715a. Therefore, the control device can determine whether the rolling element 40 has completed the switch between the first position m1 and the second position m2 by judging the rotation time of the first gear 714. This detection method can be accomplished through the timing function of the control device without the need for additional sensors, resulting in lower cost and a simple and reliable structure.

[0092] For example, the rotation time T of the first gear 714 is calculated. in The rolling element 40 can be retracted into the main body 10, placing it in the second position m2. During operation, the rotation time T of the first gear 714 is not less than the calculated time T. in It can be assumed that the rolling element 40 has switched to the second position m2; the rotation time T of the first gear 714 is calculated. out The rolling element 40 can be extended outside the main body 10 and placed in the first position m1. During operation, the rotation time T of the first gear 714 is not less than the calculated time T. out Therefore, it can be assumed that the scroll bar 40 has been switched to the first position m1.

[0093] In some embodiments, please refer to Figure 13, the outer periphery of the second gear 715 has a notch 715c, the notch 715c has a first side wall 715A and a second side wall 715B on two sides in the circumferential direction. Exemplarily, the second side wall 715B is located on one side of the notch 715c in a first direction in the circumferential direction, and the first side wall 715A is arranged opposite to the second side wall 715B in the circumferential direction. In the first direction in the circumferential direction, the first side wall 715A and the tooth portion 715a have a non-tooth portion 715b.

[0094] The rotating disc structure 711 has a stop protrusion 7111 penetrating through the notch 715c in the axial direction, and the drive assembly 71 further comprises an elastic element 713 for applying an elastic force to the stop protrusion 7111 to abut the stop protrusion 7111 against the first side wall 715A in the first direction in the circumferential direction. The rotating disc structure 711 is rotatable relative to the second gear 715, and the second gear 715 drives the stop protrusion 7111 to rotate by the elastic element 713 during rotation in the first direction.

[0095] Please refer to Figure 14 , when the rolling member needs to be extended, the first gear 714 rotates in the second direction, the first gear 714 drives the second gear 715 to rotate in the first direction, the second gear 715 applies a force to the elastic element 713 in the first direction, so that the elastic element 713 is elastically deformed. At this time, the stop protrusion 7111 is separated from the first side wall 715A, and when the elastic deformation is large, the elastic element 713 can drive the stop protrusion 7111 to rotate as a force transmission element. The end of the push rod 72 drives the rolling member 40 to gradually extend outward. When the first gear 714 and the second gear 715 rotate to disengage, the rolling member 40 is extended to the position, the push rod 72 limits the rotation of the stop protrusion 7111, and under the elastic force of the elastic element 713, the second gear 715 reverses in the second direction by a small angle, so that the second gear 715 keeps in contact with the first gear 714, and moves from the state shown in Figure 14 to the state shown in Figure 13 , and in the state shown in Figure 13 At this time, even if the first gear 714 continues to rotate in the second direction, the second gear 715 will not rotate in the first direction because the second gear 715 has disengaged from the first gear 714, and the first gear 714 idles.

[0096] When the rolling member 40 needs to be retracted, in the state shown in Figure 13In the state shown, since the second gear 715 is in contact with the first gear 714 under the action of the elastic element 713, when the first gear 714 rotates in the first direction, the second gear 715 can be immediately driven to rotate in the second direction. After the second gear 715 rotates by a small angle, the first side wall 715A contacts the stop protrusion 7111. Thereafter, the first side wall 715A pushes the stop protrusion 7111 to rotate. When the first gear 714 and the second gear 715 rotate to disengage, the rolling element 40 is retracted in place. Under the action of the elastic element 713, the second gear 715 and the stop protrusion 7111 are retracted by a small angle in the first direction, so that the second gear 715 and the first gear 714 remain in contact, that is, from the state shown in FIG. 7A to the state shown in FIG. 7B. Figure 13 Switching from the state shown in FIG. 7B to the state shown in FIG. 7C, in the state shown in FIG. 7C, Figure 14 Switching from the state shown in FIG. 7C to the state shown in FIG. 7D, in the state shown in FIG. 7D, Figure 14 In the state shown, at this time, even if the first gear 714 continues to rotate in the first direction, since the second gear 715 has disengaged from the first gear 714, the second gear 715 will not rotate in the second direction, and the first gear 714 will idle.

[0097] In this embodiment, on the one hand, the second gear 715 indirectly pushes the rotating disc structure 711 to rotate through the elastic element 713. The elastic element 713 can buffer the rotating disc structure 711 in response to the rotation of the second gear 715. The number of teeth of the second gear 715 engaged in transmission has a certain fault tolerance, and the transmission accuracy between the first gear 714 and the second gear 715 is relatively low. On the other hand, when the second gear 715 rotates in the first direction until it disengages from the first gear 714, under the action of the elastic element 713 and the rotation of the first gear 714, the second gear 715 can maintain a "half-clutch" state with the first gear 714. That is, in this state, the first gear 714 does not drive the second gear 715 to rotate, but the two can still remain in contact. In this way, when the first gear 714 reversely rotates, it can quickly engage with the second gear 715, thereby improving the speed of the rotating disc structure 711 in response to rotation.

[0098] In some embodiments, the inner portion of the main body 10 has a stopper 1001. When the second gear 715 rotates in the second direction until it disengages from the first gear 714, one end of the elastic element 713 is connected to the stopper protrusion 7111, and the other end abuts against the stopper 1001. At this time, the second gear 715 rotates and pushes the stopper protrusion 7111 to cause the elastic element 713 to elastically change. Under the action of the elastic force of the elastic element 713 and the rotation of the first gear 714, the second gear 715 can maintain a "half-clutch" state with the first gear 714. That is, in this state, the first gear 714 does not drive the second gear 715 to rotate, but the two gears can still be in contact. In this way, when the first gear 714 rotates in the forward direction, it can quickly engage with the second gear 715, thereby improving the speed of the rotating disc structure 711 in response to rotation.

[0099] The form of the elastic element 713 is not limited. For example, in some embodiments, the elastic element 713 includes a torsion spring having two legs 32, one of which abuts against the second side wall 715B and the other of which abuts against the stopper protrusion 7111. In other embodiments, the elastic element 713 includes a coil spring connected between the second gear 715 and the stopper protrusion 7111.

[0100] As an optional embodiment, the transmission gear 3113 and the first gear 714 are coaxially arranged. After the first gear 714 drives the rolling member 40 to extend to the first position m1, the first gear 714 disengages from the tooth portion 715a, and the power connection between the second gear 715 and the second gear 715 is disconnected, thereby maintaining the rotating disc structure 711 at the current position. Even if the power transmission structure continues to rotate the first gear 714, the rolling member 40 will be maintained at the first position m1, and the power transmission structure can continue to rotate the transmission gear 3113 in the driving component 31, thereby achieving power decoupling between the driving component 31 and the driving assembly 71, and reducing the requirement for synchronization of the movement of the driving component 31 and the driving assembly 71.

[0101] In some embodiments, please refer to Figure 6 and Figure 8 The driving component 31 includes a motor 3111, a power gear 3112, a rotating wheel 312, and a rocker arm 313. The power gear 3112 is coaxially arranged with the rotating wheel 312. The motor 3111 directly or indirectly drives the power gear 3112 to rotate, so as to drive the rotating wheel 312 to rotate through the power gear 3112.

[0102] For example, in an embodiment, the motor 3111 drives the transmission gear 3113 to rotate, and the transmission gear 3113 engages with the power gear 3112 to drive, so as to indirectly drive the power gear 3112 to rotate by the motor 3111.

[0103] One end of the foot 32 is eccentrically connected with the rotating wheel 312 and the two can rotate relative to each other, the rocker arm 313 is rotationally connected with the foot 32, the rotating wheel 312, the rocker arm 313 and the foot 32 constitute a crank rocker mechanism.

[0104] The crank rocker mechanism is a four-bar linkage mechanism, the connecting line from the center of rotation of the rotating wheel 312 to the connecting center of the foot 32 and the rotating wheel 312 constitutes a crank, the rocker arm 313 constitutes a rocker, the connecting line from the center of the rotating wheel 312 to the connecting center of the rocker arm 313 and the main body 10 constitutes a frame, and the connecting line from the connecting center of the foot 32 and the rocker arm 313 to the connecting center of the foot 32 and the rotating wheel 312 constitutes the fourth connecting rod in the four-bar linkage.

[0105] The power input mechanism 311 is used to drive the rotating wheel 312 to rotate, and the rotating wheel 312 drives the foot 32 to move in the process of rotation. In the crank rocker mechanism, the crank rotates cyclically, drives the rocker to swing, and the end of the foot 32 moves along a predetermined trajectory, so that the foot 32 switches between the obstacle crossing state and the non-obstacle crossing state, and in the obstacle crossing state, the end of the foot 32 moves downward. Such a structure is simple and reliable, and meets the design requirements.

[0106] In this embodiment, the distance from the center of rotation of the rotating wheel 312 to the connecting center of the foot 32 and the rotating wheel 312 is x1, the distance from the connecting center of the rocker arm 313 and the foot 32 to the connecting center of the rocker arm 313 and the main body 10 is x2, the distance from the center of the rotating wheel 312 to the connecting center of the rocker arm 313 and the main body 10 is x3, and the distance from the connecting center of the foot 32 and the rocker arm 313 to the connecting center of the foot 32 and the rotating wheel 312 is x4. Among them, the value of x1 is the minimum value, and the value of the maximum value of x2, x3 and x4 added to x1 is the first value; the value of the sum of the remaining two of x2, x3 and x4 is the second value, and the first value is not greater than the second value, so as to constitute the crank rocker mechanism, and the crank rotates cyclically to drive the reciprocating swing.

[0107] For example, referring to Figure 11 , the extension direction of the foot 32 is inclined downward at one end close to the end of the foot 32, and the extension direction of the foot 32 is generally arc-shaped. Such a shape is beneficial to optimize the motion trajectory of the end of the foot 32 and quickly switch between the obstacle crossing state and the non-obstacle crossing state.

[0108] It should be noted that the driving component 31 is not limited to the form of the crank rocker mechanism described above, for example, it can also be a double-crank four-bar linkage form, or other mechanism forms such as guide rail and sliding block.

[0109] The switching mode of the foot 32 between the obstacle crossing state and the non-obstacle crossing state includes but is not limited to the following two modes.

[0110] In a first kind, in some embodiments, the rotating wheel 312 can rotate at least 360° in the same direction, as the rotating angle of the rotating wheel 312 changes, the motion state of the supporting leg 32 also changes to realize the switching of the supporting leg 32 between the obstacle crossing state and the non-obstacle crossing state, which is simple and fast, for example, as shown in FIG. 3, the rotating wheel 312 rotates in the direction indicated by v1 in the figure. It can be understood that, in some embodiments, the rotating wheel 312 continuously rotates, the end of the supporting leg 32 alternately rises and falls, and the supporting leg 32 is switched between the obstacle crossing state and the non-obstacle crossing state, that is, it can be switched from the obstacle crossing state to the non-obstacle crossing state, and also can be switched from the non-obstacle crossing state to the obstacle crossing state. Figure 11

[0111] In a second kind, in some embodiments, the rotating wheel 312 can rotate reversely, when the rotating wheel 312 rotates in a first rotating direction, it can drive the supporting leg 32 to switch from the non-obstacle crossing state to the obstacle crossing state, and when the rotating wheel 312 rotates in a second rotating direction, it can drive the supporting leg 32 to be in the non-obstacle crossing state, that is, when the rotating wheel 312 starts to rotate in the second rotating direction, the supporting leg 32 starts to move upward until it is retracted into the main body 10. The first rotating direction and the second rotating direction are opposite. Such a mode is stable and reliable, and has strong versatility.

[0112] Exemplarily, in an embodiment, the supporting leg 32 can switch the state by the first kind or the second kind.

[0113] In some embodiments, the cleaning device 1000 comprises a walking driving device, the walking driving device is used to drive the driving wheel 20 to rotate, wherein the power transmission path of the walking driving device and the power transmission path of the obstacle crossing mechanism 30 are independent of each other. That is to say, the movement of the cleaning device 1000 and the switching of the supporting leg 32 to the obstacle crossing state can be independently executed, which is beneficial to the control of the cleaning device 1000 on the obstacle crossing mechanism 30, so as to more accurately control the posture of the main body 10.

[0114] In some embodiments, the power transmission path of the walking driving device and the power transmission path of the push rod mechanism 70 are independent of each other. That is to say, the movement of the cleaning device 1000 and the movement of the push rod 72 can be independently executed, which is beneficial to the control of the cleaning device 1000 on the position of the rolling member 40, so as to more accurately control the posture of the main body 10.

[0115] ​Exemplarily, in an embodiment, the cleaning device 1000 comprises a control device connected with the walking driving device and the motor 3111. On a flat ground, the control device instructs the walking driving device to move the cleaning device 1000, and when encountering an obstacle, the control device instructs the walking driving device to pause the movement of the cleaning device 1000 and instructs the motor 3111 to switch the supporting leg 32 to the obstacle-crossing state, or, during the process of the supporting leg 32 moving downward, instructs the walking driving device to drive the cleaning device 1000 to move to cross the obstacle.

[0116] In some embodiments, referring to Figure 6 , the cleaning device 1000 further comprises a position detection member 50 for generating a retraction-to-position detection signal in response to the event that the end of the supporting leg 32 is retracted to the inside of the main body 10. When the supporting leg 32 is switched to the non-obstacle-crossing state, the retraction-to-position detection signal is generated to keep the supporting leg 32 in the current state.

[0117] The form of the position detection member 50 includes but is not limited to a photoelectric switch, a displacement sensor, etc.

[0118] Exemplarily, in an embodiment, referring to Figure 8 and Figure 11 , the rotating wheel 312 has a contact portion 3121 that moves in a circular motion with the rotation of the rotating wheel 312. In the non-obstacle-crossing state, the contact portion 3121 moves to the position detection member 50 to make it generate the retraction-to-position detection signal, that is, the current angular position of the contact portion 3121 indicates that the supporting leg 32 is in the non-obstacle-crossing state.

[0119] Of course, the retraction-to-position detection signal can also be triggered in other ways, depending on the specific form of the position detection member 50.

[0120] In some embodiments, referring to Figure 1 , the front side wall 101 has at least two circumferentially spaced apart avoiding grooves 101a, and the number of the supporting legs 32 is at least two, and the avoiding grooves 101a are used for the corresponding supporting legs 32 to pass through. It can be understood that a plurality of supporting legs 32 are circumferentially spaced apart on the front side wall 101, and in the obstacle-crossing state, the plurality of supporting legs 32 can all abut against the top of the obstacle, so that the main body 10 has more stable support during the lifting process, and the working reliability is higher.

[0121] Referring to Figure 7 , the driving mode of the plurality of supporting legs 32 includes but is not limited to the following two modes.

[0122] The first, in some embodiments, the driving component 31 comprises at least two motors and at least two transmission assemblies, one of the transmission assemblies is connected to the power output shaft of one motor and one leg, the other transmission assembly is connected to the power output shaft of the other motor and the other leg. That is, each leg 32 is driven by a separate motor and transmission assembly, respectively controlling the motion state of each leg 32, such a driving mode is more flexible, by controlling the speed or start-stop of each motor, each leg 32 can be in the same motion state at the same time, so that each leg 32 moves synchronously, for example, in the obstacle crossing state, each leg 32 can abut on the obstacle.

[0123] The second, in some embodiments, the driving component 31 comprises a motor and at least two transmission assemblies, one of the transmission assemblies is connected to one leg 32, and the other transmission assembly is connected to the other leg 32. That is, a plurality of legs 32 are connected to the same motor, and the power output by the motor is dispersed and transmitted to the plurality of legs 32 through the transmission assemblies. Such a driving mode has lower cost and occupies less space.

[0124] The connection mode of the motor and each transmission assembly includes that the motor has a first power output shaft and a second power output shaft on the opposite sides in the axial direction, one of the transmission assemblies is connected to the first power output shaft, and the other transmission assembly is connected to the second power output shaft; or, referring to Figure 7 , the driving component further comprises a power distribution structure 90 connected to the power output shaft of the motor 3111 and used for distributing the power of the power output shaft to the at least two transmission assemblies.

[0125] Exemplarily, in an embodiment, the power distribution structure comprises an intermediate gear 91 and an intermediate gear shaft 92, the motor 3111 drives the intermediate gear 91 to rotate, the intermediate gear 91 is coaxially connected to one of the transmission assemblies to transmit power, and the intermediate gear 91 is also engaged with the intermediate gear shaft 92, which transmits power to the other transmission assembly.

[0126] In some embodiments, the crank-rocker mechanisms in the two transmission assemblies have the same initial state, and the power transmitted by the power distribution structure 90 makes the two crank-rocker mechanisms rotate synchronously.

[0127] In some embodiments, referring to Figure 7 and Figure 10 , one of the transmission assemblies further comprises a rotating shaft 31121 and a one-way bearing 80, the one-way bearing 80 is sleeved on the outer periphery of the rotating shaft 31121, at least a part of the rotating wheel 312 is sleeved on the outer periphery of the one-way bearing 80, the rotating shaft 31121 is used for driving the rotating wheel 312 to rotate synchronously in the first rotation direction through the one-way bearing 80, and idling in the second rotation direction relative to the rotating wheel 312.

[0128] It can be understood that, when the power in the first rotation direction is input, the rotating wheels 312 of the two driving components 31 are rotated, the two legs 32 are switched to the obstacle crossing state, the rotating wheels 312 continue to rotate until the leg 32 corresponding to the driving component 31 provided with the one-way bearing 80 is switched to the non-obstacle crossing state, at this time, the power input mechanism 311 inputs the power in the second rotation direction, the rotating wheel 312 provided with the one-way bearing 80 loses the power connection, the corresponding leg 32 remains in the non-obstacle crossing state, and the other leg 32 is switched to the non-obstacle crossing state. In this way, even if the two legs 32 are not in the same position in the initial state, the synchronization rate can be improved under the adjustment of the driving component 31.

[0129] In some embodiments, referring to Figure 4 , the cleaning device 1000 further comprises a collision plate 60, the collision plate 60 is arranged on the front side of the main body 10, the collision plate 60 is provided with a avoiding gap 60b corresponding to the avoiding slot 101a, the avoiding gap 60b is used for the leg 32 to pass through. The collision plate 60 is provided with an avoiding opening 60a corresponding to the opening 101b, the avoiding opening 60a is arranged at the bottom end of the collision plate 60, and the avoiding opening 60a is used for the rolling piece 40 to pass through.

[0130] The collision plate 60 is a kind of detachable component connected with the main body 10, when the cleaning device 1000 collides with the obstacle, the collision plate 60 located on the front side can absorb the collision energy to a certain extent, thereby protecting the cleaning device 1000. The avoiding gap 60b of the collision plate 60 makes the movement of the leg 32 and the rolling piece 40 difficult to be hindered. The detachable connection between the collision plate 60 and the main body 10 facilitates the maintenance and replacement of the collision plate 60 alone.

[0131] Exemplarily, the connection between the collision plate 60 and the main body 10 is a non-rigid connection, that is, the collision plate 60 has a certain floating property relative to the main body 10, which makes the collision plate 60 move to a sufficient extent to be detected when the cleaning device 1000 collides with the obstacle, thereby making the sensor connected with the collision plate 60 in the cleaning device 1000 detect the collision activity and generate a corresponding signal, facilitating the cleaning device 1000 to judge the next required action according to the signal. The rolling piece 40 and the leg 32 can be hidden in the main body 10 through the avoiding gap 60b, and basically will not affect the collision activity signal triggered by the collision plate 60 and the sensor.

[0132] In some embodiments, referring to Figure 1 and Figure 4The main body 10 includes a bottom surface 10a, a circumferential surface 10b, and a slope surface 10c connecting the bottom surface 10a and the circumferential surface 10b, wherein the avoidance groove 101a extends from the circumferential surface 10b to the upper part of the slope surface 10c in the height direction, and the rolling member 40 is located below the junction of the circumferential surface 10b and the slope surface 10c in the first position m1.

[0133] The slope surface 10c mentioned above refers to a surface with a certain slope, that is, the slope surface 10c is arranged inclined to the horizontal plane, forming a certain size of inclined angle structure on the circumferential side of the main body 10, so that when the cleaning device 1000 encounters an obstacle during operation, the following three cases are included.

[0134] The first case is that the main body 10 of the cleaning device 1000 does not need to abut against the obstacle to pass over. The angle between the tangent line from the frontmost endpoint on the main body 10 to the front wheel of the cleaning device 1000 and the horizontal plane is the approach angle of the cleaning device 1000, and the angle between the tangent line from the rearmost endpoint on the main body 10 to the rear wheel of the cleaning device 1000 and the horizontal plane is the departure angle of the cleaning device 1000. The slope surface 10c undoubtedly increases the approach angle and the departure angle of the cleaning device 1000. Exemplarily, when the cleaning device 1000 passes through obstacles such as slopes, potholes, or protrusions, the cleaning device 1000 is almost not in a situation that the main body 10 is supported by the obstacle, causing the driving wheel 20 to be suspended, and the cleaning device 1000 can easily pass over the obstacle.

[0135] The second case is that the main body 10 of the cleaning device 1000 will abut against the obstacle. Exemplarily, when the cleaning device 1000 passes through obstacles such as steps or door sills, the slope surface 10c will abut against the edge of the obstacle, so that the direction of the resistance exerted by the obstacle on the cleaning device 1000 is along the oblique upward direction, and under the action of the driving wheel 20, the front side of the main body 10 is lifted up, the main body 10 is tilted forward over the obstacle, and then the cleaning device 1000 can move over the obstacle. As can be seen, the slope surface 10c can guide the main body 10 to pass over the obstacle, thereby improving the obstacle passing ability of the cleaning device 1000.

[0136] The third case is that the cleaning device 1000 switches to the obstacle passing state, the supporting leg 32 is extended and moves downward until it abuts against the obstacle and lifts up the front side of the main body 10, and at the same time, the rolling member 40 is extended to the first position m1, and the driving wheel 20 drives the main body 10 to pass over the obstacle. Due to the arrangement of the slope surface 10c, it is easier for the main body 10 to pass over the obstacle. In this case, the obstacle passing ability of the cleaning device 1000 is greatly improved.

[0137] In the description of this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine different embodiments or examples described in this application, as well as features of different embodiments or examples.

[0138] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A cleaning device, characterized in that, include: The main body has a front sidewall; Drive wheels are located at the bottom of the main body and are used to drive the main body to move; The rolling element can roll relative to the main body; An obstacle-crossing mechanism is provided on the main body. The obstacle-crossing mechanism includes a driving component and a support leg. The driving component is used to drive the support leg to move. The cleaning device has an obstacle-crossing state. In the obstacle-crossing state, the ends of the support legs and the rolling elements extend from the front side of the front side wall of the main body. The driving component is used to drive the ends of the support legs to move downward.

2. The cleaning equipment according to claim 1, characterized in that, In the obstacle-crossing state, when projected onto a plane perpendicular to the axis of the drive wheel, the maximum distance between the movement trajectory of the end of the support leg and the front sidewall is greater than the maximum distance between the rolling element and the front sidewall.

3. The cleaning equipment according to claim 1, characterized in that, In the obstacle-crossing state, the starting position of the downward movement of the end of the support leg is higher than that of the rolling element.

4. The cleaning equipment according to claim 1, characterized in that, In the obstacle-crossing state, the rolling element is not lower than the lowest point of the movement trajectory of the end of the support leg.

5. The cleaning equipment according to claim 1, characterized in that, The cleaning device also has a non-obstacle-crossing state, in which the drive component drives the support legs to retract into the interior of the main body.

6. The cleaning equipment according to any one of claims 1-5, characterized in that, The cleaning device further includes a push rod mechanism, which includes a drive assembly and a push rod, with the rolling element rotatably disposed at the end of the push rod; The drive assembly is used to drive the push rod to move, so that the push rod drives the rolling element to extend out of the front side of the front wall of the main body or retract into the interior of the main body.

7. The cleaning equipment according to claim 6, characterized in that, The cleaning equipment includes a motor and a power transmission structure, wherein the motor transmits power to the drive component and the drive assembly through the power transmission structure.

8. The cleaning equipment according to claim 7, characterized in that, The power transmission structure includes a drive shaft connected to the power output shaft of the motor, the drive component includes a transmission gear, and the drive assembly includes a first gear. Both the transmission gear and the first gear are mounted on the drive shaft.

9. The cleaning equipment according to claim 6, characterized in that, The drive assembly includes a motor, a second gear coaxially arranged, and a turntable structure. The motor directly or indirectly drives the second gear to rotate, thereby driving the turntable structure to rotate. The turntable structure has a cam surface, and the end of the push rod away from the rolling element is in separable contact with the cam surface. The cam surface is used to convert the rotation of the turntable structure into the linear motion of the push rod.

10. The cleaning equipment according to claim 9, characterized in that, The drive assembly includes an elastic member that applies an elastic force to the push rod, causing the end of the push rod away from the rolling element to abut against the cam surface under the action of the elastic force.

11. The cleaning equipment according to claim 9, characterized in that, The outer peripheral surface of the turntable has a notch, which is connected to the cam surface. When the push rod drives the rolling element to extend out of the front side of the front wall of the main body, the end of the push rod away from the rolling element is located in the notch.

12. The cleaning equipment according to any one of claims 1-5, characterized in that, The driving component includes a motor, a drive gear, a rotating wheel, and a rocker arm. The drive gear is coaxially arranged with the rotating wheel. The motor directly or indirectly drives the drive gear to rotate, thereby driving the rotating wheel to rotate. One end of the support leg is eccentrically connected to the rotating wheel, and the two can rotate relative to each other. The rocker arm is rotatably connected to the support leg. The rotating wheel, the rocker arm, and the support leg constitute a crank-rocker mechanism. The rotating wheel is used to drive the support leg to move during rotation.

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