Cleaning equipment

Abstract

The utility model provides cleaning equipment. The cleaning equipment comprises a main machine body, driving wheels and an obstacle crossing mechanism. The main machine body is provided with a front side wall, and the front side wall is provided with at least two receding grooves formed in the circumferential direction at intervals. The driving wheels are arranged at the bottom of the main body and used for driving the main body to move; the obstacle crossing mechanism is arranged on the main machine body, the obstacle crossing mechanism comprises a driving part and at least two supporting legs, the driving part is used for driving the at least two supporting legs to move, and the avoiding grooves are used for allowing the corresponding supporting legs to penetrate through; the supporting feet have an obstacle crossing state, in the obstacle crossing state, each supporting foot penetrates through the corresponding receding groove, the tail end of each supporting foot is located outside the main machine body, and the driving component is used for driving the tail end of each supporting foot 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] This application relates to the field of cleaning, and more particularly to a cleaning device. Background Technology

[0002] Taking robotic vacuum cleaners as an example, in related technologies, robotic vacuum cleaners have difficulty crossing relatively low obstacles such as thresholds and steps, which limits their working range, affects the overall cleaning effect of the environment, and results in a poor user experience. Utility Model Content

[0003] In view of this, the embodiments of this application aim to provide a cleaning device with strong obstacle-crossing ability to expand the cleaning range and improve the user experience.

[0004] This application provides a cleaning device, including:

[0005] The main body has a front sidewall, the front sidewall having at least two clearance grooves arranged circumferentially at intervals;

[0006] Drive wheels are located at the bottom of the main body and are used to drive the main body to move;

[0007] An obstacle-crossing mechanism is provided on the main body. The obstacle-crossing mechanism includes a driving component and at least two legs. The driving component is used to drive the at least two legs to move. The clearance groove is used for the corresponding legs to pass through.

[0008] The support leg has an obstacle-crossing state. In the obstacle-crossing state, the support leg passes through the corresponding avoidance groove, and the end of the support leg is located outside the main body. The driving component is used to drive the end of the support leg to move downward.

[0009] In some embodiments, the foot also has a non-obstacle-crossing state, in which the entire foot is retracted into the main body, or the end of the foot is located outside the main body and the driving component is also used to drive the end of the foot to move upward.

[0010] The driving component is used to drive the foot to switch between the obstacle crossing state and the non-obstacle crossing state.

[0011] In some embodiments, when moving from the non-obstacle-crossing state to the obstacle-crossing state, the ground clearance of the outrigger extending from the initial position of the clearance slot is not lower than the designed obstacle-crossing height of the main body.

[0012] In some embodiments, during the obstacle-crossing state, the distance between the end of the outrigger and the front sidewall first increases and then decreases as the outrigger moves downward.

[0013] In some embodiments, the drive component includes at least two motors and at least two transmission assemblies, one of the transmission assemblies being connected to the power output shaft of one of the motors and one of the support legs, and the other transmission assembly being connected to the power output shaft of another motor and another support leg.

[0014] In some embodiments, the drive component includes a motor and at least two transmission assemblies, one of which is connected to one of the legs and the other of which is connected to the other leg;

[0015] The motor has a first power output shaft and a second power output shaft on opposite sides along the axial direction, with one transmission component connected to the first power output shaft and the other transmission component connected to the second power output shaft; or, the drive component further includes a power distribution structure connected to the power output shaft of the motor and used to distribute the power of the power output shaft to the at least two transmission components.

[0016] In some embodiments, the transmission assembly includes a rotating wheel and a rocker arm, 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, wherein the rotating wheel, the rocker arm, and the support leg constitute a crank-rocker mechanism, and the rotating wheel can drive the support leg to move during rotation.

[0017] In some embodiments, one of the transmission components further includes a shaft and a one-way bearing, the one-way bearing being sleeved on the outer periphery of the shaft, at least a portion of the wheel being sleeved on the outer periphery of the one-way bearing, the shaft being used to drive the wheel to rotate synchronously in a first rotational direction via the one-way bearing, and to idle relative to the wheel in a second rotational direction.

[0018] In some embodiments, the cleaning device further includes at least one position detection element for generating a retraction detection signal in response to an event in which the end of the leg retracts into the interior of the main body.

[0019] In some embodiments, the main body includes a bottom surface, a circumferential surface, and a slope, the slope connecting the bottom surface and the circumferential surface, wherein the clearance groove extends along the height direction from the circumferential surface to the upper part of the slope.

[0020] In some embodiments, the cleaning device includes a rolling element that can roll relative to the main body. The rolling element has a first position in which, in the first position, in a plane orthographically projected perpendicular to the axis of the drive wheel, the rolling element protrudes from the front edge of the main body, and the height of the rolling element from the ground is greater than zero.

[0021] In the obstacle-crossing state, the rolling element is in the first position.

[0022] The cleaning device provided in this application embodiment, in obstacle-crossing mode, has its outriggers located on the outer side of the main body and moving downwards along the clearance groove of the main body. When the front of the cleaning device contacts or is about to contact an obstacle, the outriggers located on the outer side of the main body can abut against the top of the obstacle and move downwards relative to the main body under the drive of the drive component, giving the main body a tendency to move upwards relative to it. That is, the front of the main body can be raised, making it easier for the front of the main body to overcome the obstacle and, driven by the drive wheel, overcome the obstacle, thereby improving the obstacle-crossing ability of the cleaning device. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a cleaning device in one embodiment of this application;

[0024] Figure 2 for Figure 1 Internal partial view including the legs;

[0025] Figure 3 for Figure 1 The internal partial view includes the scrollbar;

[0026] Figure 4 This is a schematic diagram of a cleaning device installed on the ground in one embodiment of this application;

[0027] Figure 5 for Figure 4 A schematic diagram of the cleaning equipment in the process of overcoming obstacles;

[0028] Figure 6 This is a schematic diagram of the internal partial structure of the cleaning equipment in the first embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the internal partial structure of the cleaning equipment in the second embodiment of this application;

[0030] Figure 8 for Figure 6 A schematic diagram of the structure, including the support legs and rolling elements;

[0031] Figure 9 for Figure 6 A schematic diagram of the structure, including the legs;

[0032] Figure 10 for Figure 6 A cross-sectional view of the structure, including the legs;

[0033] Figure 11 for Figure 6 A schematic diagram of the structure, including the legs, from another perspective;

[0034] Figure 12 for Figure 6 A schematic diagram of the structure, including the rolling elements;

[0035] Figure 13 for Figure 12 A schematic diagram of the structure from another perspective, with the rolling element in the first position;

[0036] Figure 14 for Figure 12 A schematic diagram of the middle structure from another perspective, with the rolling element in the second position;

[0037] Figure 15 for Figure 12 A schematic diagram of the structure from another perspective, with the rolling elements in other positions.

[0038] Explanation of reference numerals in the attached figures

[0039] 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

[0040] 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.

[0041] The specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0042] In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate that the objects have the sameness or relationship. It should be understood that the directional descriptions "above," "below," "outside," and "inside" refer to the orientation under normal use conditions, while "left" and "right" refer to the left and right directions shown in the corresponding diagrams, which may or may not be the left and right directions under normal use conditions.

[0043] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. "A plurality of" means two or more.

[0044] Please see Figure 1 This application provides a cleaning device 1000, including a main body 10, drive wheels 20, and an obstacle-crossing mechanism 30. The cleaning device 1000 is not limited to any particular form, including but not limited to a sweeping robot, a mopping robot, etc. The drive wheels 20 are located at the bottom of the main body 10 and are used to drive the main body 10 to move.

[0045] For example, in one embodiment, the number of drive wheels 20 is at least two, and the two drive wheels 20 are coaxially disposed at the bottom of the main body 10 for driving the main body 10 to move along a predetermined route.

[0046] The cleaning device 1000 operates on a support surface, such as the ground. For example, the cleaning device 1000 also includes cleaning components (not shown), such as a rag, a side brush, etc. The cleaning components clean the ground as the main body 10 moves. It is 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 may be obstacles on the ground that hinder the movement of the cleaning device 1000, the stronger the obstacle-crossing ability of the cleaning device 1000, the more it can get rid of the obstacles and the larger its working range.

[0047] Please see Figure 1 and Figure 4 The main body 10 has a front sidewall 101, which has at least two clearance slots 101a arranged circumferentially. An obstacle-crossing mechanism 30 is disposed on the main body 10. The obstacle-crossing mechanism 30 includes a drive component 31 and at least two support legs 32. The drive component 31 drives the movement of the at least two support legs 32. The clearance slots 101a are for the corresponding support legs 32 to pass through. The number of support legs 32 can be two, three, or more, and correspondingly, the number of clearance slots 101a can be two, three, or more. This specification uses two support legs as an example for explanation.

[0048] The support leg 32 includes an obstacle-crossing state. In the obstacle-crossing state, the support leg 32 passes through the clearance groove 101a, and the end of the support leg 32 is located outside the main body 10. The drive component 31 is used to drive the end of the support leg 32 to move downward.

[0049] In other words, in obstacle-crossing mode, the end of the support leg 32 is located on the outside of the main body 10 and moves downward along the clearance groove 101a of the main body 10. When the front of the cleaning device 1000 contacts or is about to contact an obstacle, the support leg 32 located on the outside of the main body 10 can abut against the top of the obstacle and move downward relative to the main body 10 under the drive of the drive component 31, so that the main body 10 has a tendency to move upward relative to the main body, that is, the front side of the main body 10 can be raised, making it easier for the front side of the main body 10 to cross the obstacle, and cross the obstacle under the drive of the drive wheel 20, thereby improving the obstacle-crossing ability of the cleaning device 1000.

[0050] Understandably, multiple support legs 32 are spaced circumferentially on the front side wall 101. In obstacle-crossing mode, multiple support legs 32 can abut against the top of the obstacle, so that the main body 10 has more stable support during the lifting process and has higher work reliability.

[0051] Please see Figure 4 The end of the support leg 32 is at its first height relative to the main body 10, at which point the end of the support leg 32 just touches the obstacle; please refer to Figure 5 The 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.

[0052] 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.

[0053] It should be noted that the end of the support leg 32 can always extend out of the clearance groove 101a and be located outside the main body 10, or it can be retracted to the inside of the main body 10. For example, in some embodiments, the support leg 32 also includes a non-obstacle-crossing state. In the non-obstacle-crossing state, the support leg 32 no longer has a tendency to raise the front of the main body 10. In the non-obstacle-crossing state, the entire support leg 32 can be retracted into the main body 10, or the end of the support leg 32 can be located outside the main body 10 and the driving component 31 can also be used to drive the end of the support leg 32 to move upward. That is, the driving component 31 is used to drive the support leg 32 to switch between the obstacle-crossing state and the non-obstacle-crossing state.

[0054] The fact that the support leg 32 is retracted into the main body 10 means that the support leg 32 will not extend beyond the main body 10. When the cleaning device 1000 needs the obstacle-crossing mechanism 30 to assist in crossing obstacles, the support leg 32 switches to the obstacle-crossing state. When the cleaning device 1000 does not need to use the obstacle-crossing mechanism 30, the support leg 32 switches to the non-obstacle-crossing state. In this way, in the non-obstacle-crossing state, the main body 10 protects the support leg 32 and also enhances the overall aesthetics of the cleaning device 1000.

[0055] Understandably, in non-obstacle-crossing mode, the front of the main body 10 can be lowered until it returns to its original position to reduce the vertical space occupied by the cleaning device 1000. At this time, the cleaning device 1000 has good passability and can pass through some relatively low spaces, such as under sofas or beds.

[0056] In some embodiments, when moving from a non-obstacle-crossing state to an obstacle-crossing state, the initial ground clearance of the outrigger 32 extending from the clearance slot 101a is not lower than the designed obstacle-crossing height of the main body 10. The aforementioned designed obstacle-crossing height refers to the highest obstacle height that the cleaning equipment 1000 is designed to overcome during the design phase. The ground clearance of the outrigger 32 when extended is not less than the designed obstacle-crossing height, ensuring that the outrigger 32 is not significantly obstructed by obstacles and can extend smoothly. This facilitates the normal operation of the obstacle-crossing mechanism 30 and improves the reliability of the cleaning equipment 1000.

[0057] For example, in one embodiment, the obstacle-crossing height of the main body 10 is designed to be 30 mm, so the height of the bracket from the ground at its initial position extending from the clearance groove 101a is not less than 30 mm. In the working environment where the cleaning equipment 1000 is located, common obstacles include carpets, thresholds, steps, etc., and the height of these obstacles is generally less than 30 mm. With the assistance of the obstacle-crossing mechanism 30, the cleaning equipment 1000 can overcome these obstacles, thereby reaching various areas on the ground, expanding its working range and improving the user experience.

[0058] Of course, the obstacle clearance height of the main body 10 can also be 20mm, 25mm, etc.

[0059] In some embodiments, the main body 10 has a bottom surface 10a, see [link to relevant documentation]. Figure 5 and Figure 11 , Figure 11 The dotted line in the figure represents the movement trajectory of the end of the support leg 32. The lowest point of the movement trajectory of the end of the support leg 32 outside the main body 10 is below the height of the bottom surface 10a. That is, during the movement, the height of the end of the support leg 32 can reach the area below the bottom surface 10a, thereby making the maximum height of the front side of the main body 10 higher, which is beneficial to improving its obstacle crossing ability.

[0060] It is understandable that the ends of the support legs 32 have different height positions relative to the clearance groove 101a, so their movement trajectory 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, an arc, or a broken line.

[0061] In some embodiments, during obstacle crossing, the distance between the end of the support leg 32 and the front sidewall 101 first increases and then decreases as the support leg 32 moves downward. That is, during obstacle crossing, as the support leg 32 moves downward, the end of the support leg 32 first moves away from the front sidewall 101 and then moves closer to the front sidewall 101. The end of the support leg 32 is displaced along the front-rear direction of the main body 10. Since the end of the support leg 32 abuts against the obstacle, the end of the support is subjected to the frictional force exerted by the obstacle, which reacts on the main body 10. This is beneficial for the front side of the main body 10 to move closer to the obstacle during the lifting process, reducing the risk that the support leg 32 may disengage from the obstacle due to the tilt of the main body 10 relative to the horizontal plane, so that the main body 10 can smoothly cross the obstacle.

[0062] In one embodiment, the cleaning device 1000 includes a rubber sleeve that is fitted over the end of the support leg 32 to enhance the friction between the end of the support leg 32 and the obstacle.

[0063] For reference Figure 7 The driving methods for multiple support feet 32 ​​include, but are not limited to, the following two.

[0064] In some embodiments, the drive component 31 includes at least two motors and at least two transmission components. One transmission component connects the power output shaft of one motor to a support leg, and the other transmission component connects the power output shaft of another motor to another support leg. That is, each support leg 32 is driven by a separate motor and transmission component, controlling the movement state of each support leg 32 independently. This driving method is more flexible; by controlling the speed or start / stop of each motor, all support legs 32 can be in the same movement state at the same time, enabling synchronized movement. For example, in obstacle-crossing mode, each support leg 32 can abut against the obstacle.

[0065] Secondly, in some embodiments, the drive component 31 includes a motor and at least two transmission components, one of which is connected to one support leg 32, and the other is connected to another support leg 32. That is, multiple support legs 32 are connected to the same motor, and the power output by the motor is distributed and transmitted to multiple support legs 32 through the various transmission components. This drive method has lower cost and occupies less space.

[0066] The connection method between the motor and each transmission component includes: the motor has a first power output shaft and a second power output shaft on opposite sides along the axial direction, with one transmission component connected to the first power output shaft and the other transmission component connected to the second power output shaft; or, please refer to [link to relevant documentation]. Figure 7 The drive component also includes a power distribution structure 90, which is connected to the power output shaft of the motor 3111 and is used to distribute the power of the power output shaft to at least two transmission components.

[0067] In one embodiment, for example, the power distribution structure includes 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 components to transmit power. The intermediate gear 91 also meshes with the intermediate gear shaft 92, which transmits power to another transmission component.

[0068] In some embodiments, the transmission component in any of the above-described driving methods includes a rotating wheel 312 and a rocker arm 313. One end of the support leg 32 is eccentrically connected to the rotating wheel 312 and the two can rotate relative to each other. The rocker arm 313 is rotatably connected to the support leg 32. The rotating wheel 312, the rocker arm 313, and the support leg 32 constitute a crank-rocker mechanism.

[0069] The crank-rocker mechanism is a four-bar linkage. The rotating wheel 312 can drive the support leg 32 to move during rotation. The line connecting the rotation center of the rotating wheel 312 to the connection center between the support leg 32 and the rotating wheel 312 forms the crank, the rocker arm 313 forms the rocker arm, the line connecting the center of the rotating wheel 312 to the connection center between the rocker arm 313 and the main body 10 forms the frame, and the line connecting the connection center between the support leg 32 and the rocker arm 313 to the connection center between the support leg 32 and the rotating wheel 312 forms the fourth link in the four-bar linkage.

[0070] In the crank-connecting rod mechanism, the crank rotates cyclically, driving the rocker arm to swing. The end of the support leg 32 moves along a predetermined trajectory, switching the support leg 32 between an obstacle-crossing state and a non-obstacle-crossing state. In the obstacle-crossing state, the end of the support leg 32 moves downward. This structure is simple, reliable, and meets design requirements.

[0071] In this embodiment, the distance from the rotation center of the rotating wheel 312 to the connection center between the support leg 32 and the rotating wheel 312 is x1; the distance from the connection center between the rocker arm 313 and the support leg 32 to the connection center between the rocker arm 313 and the main body 10 is x2; the distance from the center of the rotating wheel 312 to the connection center between the rocker arm 313 and the main body 10 is x3; and the distance from the connection center between the support leg 32 and the rocker arm 313 to the connection center between the support leg 32 and the rotating wheel 312 is x4. Here, x1 is the minimum value, and the sum of the maximum value among x2, x3, and x4 and x1 is the first value; the sum of the other two values ​​among x2, x3, and x4 is the second value. The first value is not greater than the second value, thus forming a crank-connecting rod mechanism, where the crank rotates cyclically to drive reciprocating oscillation.

[0072] For example, please refer to Figure 11 The extension direction of the support leg 32 is inclined downward at the end near the end of the support leg 32, and the extension direction of the support leg 32 is roughly in the shape of an arc. This shape is conducive to optimizing the movement trajectory of the end of the support leg 32 and quickly switching between obstacle crossing and non-obstacle crossing states.

[0073] It should be noted that the drive component 31 is not limited to the crank mechanism described above. For example, it can also be a four-bar linkage with a double crank, or other mechanism forms such as a guide rail slider.

[0074] It should be noted that the switching methods of the support leg 32 between obstacle-crossing and non-obstacle-crossing states include, but are not limited to, the following two.

[0075] In some embodiments, the wheel 312 can rotate at least 360° in the same direction. As the rotation angle of the wheel 312 changes, the movement state of the support leg 32 also changes, thereby enabling the support leg 32 to switch between obstacle-crossing and non-obstacle-crossing states. This method is simple and quick. Figure 11 As shown, the wheel 312 can rotate in the direction shown in v1 in the figure. It can be understood that in some embodiments, the wheel 312 rotates continuously, and the height position of the end of the support leg 32 alternates between rising and falling. The support leg 32 cycles between the obstacle-crossing state and the non-obstacle-crossing state, that is, it can switch from the obstacle-crossing state to the non-obstacle-crossing state, and it can switch from the non-obstacle-crossing state to the obstacle-crossing state.

[0076] Secondly, in some embodiments, the rotating wheel 312 can rotate in opposite directions. When the rotating wheel 312 rotates in the first rotation direction, it can drive the support leg 32 from a non-obstacle-crossing state to an obstacle-crossing state. When the rotating wheel 312 rotates in the second rotation direction, it can drive the support leg 32 into a non-obstacle-crossing state. That is, when the rotating wheel 312 starts to rotate in the second rotation direction, the support leg 32 starts to move upward until it retracts into the main body 10. The first and second rotation directions are opposite. This method is stable, reliable, and highly versatile.

[0077] For example, in one embodiment, the leg 32 can switch its state in either a first manner or a second manner.

[0078] In some embodiments, the crank-connecting rod mechanisms in the two transmission components are initially in the same state, and the power transmitted by the power distribution structure 90 causes the two crank-connecting rod mechanisms to rotate synchronously.

[0079] In some embodiments, please refer to Figure 7 and Figure 10 A transmission assembly also includes 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, and at least a portion of the rotating wheel 312 is sleeved on the outer periphery of the one-way bearing 80. The rotating shaft 31121 is used to drive the rotating wheel 312 to rotate synchronously in a first rotational direction through the one-way bearing 80, and to idle relative to the rotating wheel 312 in a second rotational direction.

[0080] Understandably, when power is input in the first direction of rotation, both drive components 31's wheels 312 rotate, and both support legs 32 switch to obstacle-crossing mode. Wheels 312 continue to rotate until the support leg 32 corresponding to the drive component 31 with the one-way bearing 80 switches to the non-obstacle-crossing mode. At this point, the power input mechanism 311 inputs power in the second direction of rotation, and the wheel 312 with the one-way bearing 80 loses power connection, leaving its corresponding support leg 32 in the non-obstacle-crossing mode, while the other support leg 32 switches to the non-obstacle-crossing mode. Thus, even if the two support legs 32 are not initially in the same position, the synchronization rate can be improved through adjustment by the drive components 31.

[0081] In some embodiments, please refer to Figure 6 The transmission assembly also includes a power gear 3112 and at least one transmission gear 3113. In one transmission assembly, the power gear 3112 is coaxially connected to the rotating wheel 312. The power output shaft of the motor 3111 drives the power gear 3112 to rotate through at least one transmission gear 3113, thereby driving the rotating wheel 312 to rotate. In this embodiment, the power of the transmission assembly is adjusted by controlling the start, stop, and forward / reverse rotation of the motor 3111. Gear transmission occupies little space and has high transmission efficiency.

[0082] In some embodiments, the cleaning device 1000 includes a walking drive device for driving the drive wheel 20 to rotate. The power transmission path of the walking drive device is independent of the power transmission path of the obstacle-crossing mechanism 30. That is, the movement of the cleaning device 1000 and the switching of the outrigger 32 to the obstacle-crossing state can be performed independently. This facilitates the cleaning device 1000's control over the obstacle-crossing mechanism 30, allowing for more accurate control of the main body 10's posture.

[0083] For example, in one embodiment, the cleaning device 1000 includes a control device, which is electrically connected to a walking drive device and a power output device. On flat ground, the control device instructs the walking drive device to move the cleaning device 1000. When encountering an obstacle, the control device instructs the walking drive device to stop the movement of the cleaning device 1000 and instructs the power output device to switch the support leg 32 to the obstacle-crossing state. Then, during the downward movement of the support leg 32, the control device instructs the walking drive device to drive the cleaning device 1000 to move to cross the obstacle.

[0084] In some embodiments, please refer to Figure 6 The cleaning device 1000 also includes a position detection element 50, which generates a retraction detection signal in response to an event in which the end of the foot 32 retracts into the interior of the main body 10. The retraction detection signal is generated when the foot 32 switches to a non-obstacle-crossing state to hold the foot 32 in the current state.

[0085] The position detection component 50 may take the form of, but is not limited to, photoelectric switches, displacement sensors, etc.

[0086] For example, in one embodiment, please refer to Figure 8 and Figure 11 The rotating wheel 312 has a contact part 3121. The contact part 3121 moves in a circular motion as the rotating wheel 312 rotates. In the non-obstacle-crossing state, the contact part 3121 moves to the position detection member 50, causing it to generate a retraction detection signal. In other words, the current angular position of the contact part 3121 indicates that the support leg 32 is in the non-obstacle-crossing state.

[0087] Of course, the retraction detection signal can also be triggered by other methods, depending on the specific form of the position detection element 50.

[0088] In some embodiments, please refer to Figure 4 The cleaning equipment 1000 also includes a collision plate 60, which is disposed on the front side of the main body 10. The collision plate 60 has a clearance notch 60b corresponding to the clearance groove 101a, which is used for the support leg 32 to pass through.

[0089] When the cleaning equipment 1000 collides with an obstacle, the front collision plate 60 can absorb the collision energy to a certain extent, thereby protecting the cleaning equipment 1000. The avoidance notch 60b of the collision plate 60 makes it difficult to obstruct the movement of the support leg 32. The collision plate 60 is detachably connected to the main body 10, which facilitates the individual maintenance and replacement of the collision plate 60.

[0090] For example, the connection between the collision plate 60 and the main body 10 is non-rigid, meaning that the collision plate 60 has a certain degree of floating relative to the main body 10. This allows the collision plate 60 to move sufficiently to be detected when the cleaning device 1000 collides with an obstacle. Consequently, the sensor connected to the collision plate 60 in the cleaning device 1000 detects the collision activity and generates a corresponding signal, allowing the cleaning device 1000 to determine the next action to be performed based on the signal. The support leg 32 can be concealed within the main body 10 via the avoidance notch 60b, and will not significantly affect the collision plate 60 or the sensor triggering the collision activity signal.

[0091] In some embodiments, please refer to Figure 1 and Figure 4 The main body 10 includes a bottom surface 10a, a circumferential surface 10b, and a slope 10c. The slope 10c connects the bottom surface 10a and the circumferential surface 10b. The clearance groove 101a extends from the circumferential surface 10b to the upper part of the slope 10c along the height direction.

[0092] The aforementioned slope 10c refers to a surface with a certain slope. That is to say, the slope 10c is inclined relative to the horizontal plane, forming a certain size of oblique angle structure around the main body 10. Thus, when the cleaning equipment 1000 encounters obstacles during operation, there are three situations.

[0093] In the first scenario, the main body 10 of the cleaning device 1000 can pass over obstacles without having to come into contact with them. The approach angle of the tangent line drawn from the foremost point of the main body 10 to the front wheel of the cleaning device 1000, and the angle between this tangent line and the horizontal plane, is defined as the approach angle of the cleaning device 1000. The departure angle of the tangent line drawn from the rearmost point of the main body 10 to the rear wheel of the cleaning device 1000, and the angle between this tangent line and the horizontal plane, is defined as the departure angle of the cleaning device 1000. The slope 10c undoubtedly increases both the approach and departure angles of the cleaning device 1000. For example, when the cleaning device 1000 passes over obstacles such as slopes, potholes, or protrusions, the main body 1000 is almost never caught by the obstacle, causing the drive wheels 20 to become suspended in the air; the cleaning device 1000 can easily pass over the obstacles.

[0094] In the second scenario, the main body 10 of the cleaning device 1000 will abut against an obstacle. For example, when the cleaning device 1000 passes over obstacles such as steps or thresholds, the ramp 10c will abut against the edge of the obstacle, causing the resistance exerted by the obstacle on the cleaning device 1000 to be in an upward oblique direction. Under the action of the drive wheel 20, the front of the main body 10 lifts up, and the main body 10 moves forward onto the obstacle, allowing the cleaning device 1000 to move over the obstacle. Therefore, the ramp 10c can guide the main body 10 over obstacles, thereby improving the obstacle-crossing ability of the cleaning device 1000.

[0095] In the third scenario, the support leg 32 switches to obstacle-crossing mode and moves downwards until it contacts the obstacle, raising the front of the main body 10. The drive wheel 20 then drives the main body 10 over the obstacle. Due to the slope 10c, the main body 10 can easily overcome the obstacle. In this scenario, the obstacle-crossing capability of the cleaning device 1000 is significantly improved.

[0096] In some embodiments, please refer to Figure 3 The cleaning device 1000 also includes a rolling element 40, which is rotatable relative to the main body 10. The rolling element 40 has a first position (see reference). Figure 14 As shown by the dashed line m1, in 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 from the ground is greater than zero. The cleaning device 1000 includes an obstacle-crossing state. In the obstacle-crossing state, the ends of the support legs 32 and the rolling element 40 both extend from the front side of the front wall 101 of the main body 10, that is, the ends of the support legs 32 are located outside the main body 10. The drive component 31 is used to drive the ends of the support legs 32 to move downward, and the rolling element 40 is in the first position m1.

[0097] When the cleaning device 1000 approaches an obstacle, the rolling element 40 will contact the obstacle first. When the cleaning device 1000 moves on the ground, the drive wheel 20 generates a frictional force f1 with the ground. In some embodiments, there is also a frictional force f2 on the steering wheel. The traction force F generated by the drive wheel 20 allows the main body 10 to move forward. Since the rolling element 40 is located at the foremost side of the main body 10 and its height from the ground is greater than zero, when the rolling element 40 abuts against the obstacle, the obstacle exerts a resistance f3 on the main body 10 through the rolling element 40. The point of application of the resistance f3 is a certain distance from the ground. The drive wheel 20 continuously outputs power, and the main body 10 will be subjected to torque, thus causing a tendency to lift up.

[0098] The support legs 32 located on the outer side of the main body 10 can abut against the top of the obstacle and move downward relative to the main body 10 under the drive of the drive component 31, giving the main body 10 a tendency to move upward relative to it. The front side of the main body 10 rolls into contact with the obstacle through the rolling element 40, greatly reducing the friction between the two. Under the action of torque and / or the abutment of the support legs 32, the front side of the main body 10 can be lifted, making it easier for the front side of the main body 10 to overcome the obstacle and, driven by the drive wheel 20, overcome the obstacle, thereby improving the obstacle-crossing ability of the cleaning equipment 1000.

[0099] It should be noted that when the cleaning equipment 1000 overcomes an obstacle in obstacle-crossing mode, it can raise its head by generating torque through contact between the rolling element 40 and the obstacle, or by lifting the front of the main body 10 through the support leg 32 of the obstacle-crossing mechanism 30, or by lifting the front of the main body 10 through the support leg 32 of the obstacle-crossing mechanism 30 to overcome the obstacle while simultaneously contacting the obstacle through the rolling element 40. In this case, the rolling element 40 mainly serves to reduce friction.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] In some embodiments, please refer to Figure 1 and Figure 3 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, at 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.

[0104] Understandably, when the cleaning equipment 1000 needs the assistance of the rolling element 40 to cross obstacles, the rolling element 40 is in the first position m1 to enhance its obstacle-crossing ability; when the cleaning equipment 1000 does not need to cross obstacles, the rolling element 40 is in the second position m2. In this way, when the rolling element 40 is in the second position m2, the main body 10 protects the rolling element 40 and also enhances the overall aesthetics of the cleaning equipment 1000.

[0105] In some embodiments, the cleaning device 1000 also includes a non-obstacle-crossing state in which the drive component 31 drives the support leg 32 and the rolling element 40 to retract into the interior of the main body 10.

[0106] In some embodiments, please refer to Figure 1 and Figure 4 The collision plate 60 is provided with a clearance opening 60a corresponding to the opening 101b. The clearance opening 60a is provided at the bottom end of the collision plate 60 and is used for the rolling element 40 to pass through.

[0107] In some embodiments, please refer to Figure 3 and Figure 6 The cleaning equipment 1000 also includes a push rod mechanism 70, which includes a drive assembly 71 and a push rod 72. A rolling element 40 is rotatably disposed at the end of the push rod 72. The drive assembly 71 drives the push rod 72 to move, causing the push rod 72 to move the rolling element 40 between a first position m1 and a second position m2. The push rod 72 has a simple and reliable structure and can transmit the load on the rolling element 40. The drive assembly 71 can cause the rolling element 40 to enter or exit the main body 10 according to the current operating conditions.

[0108] Of course, in other embodiments, the switching of the rolling element 40 between the first position m1 and the second position m2 can also be achieved through rotational motion or the like.

[0109] In some embodiments, the power transmission path of the walking drive device is independent of the power transmission path of the push rod mechanism 70. That is, the movement of the cleaning device 1000 and the movement of the push rod 72 can be performed independently. This is beneficial for the cleaning device 1000 to control the position of the rolling element 40, so as to control the posture of the main body 10 more accurately.

[0110] In some embodiments, the push rod 72 reciprocates linearly along the length of the push rod 72 under the action of the drive assembly 71, that is, the reciprocating motion of the push rod 72 enables the rolling element 40 to switch cyclically between the first position m1 and the second position m2.

[0111] In some embodiments, please refer to Figure 8 and Figure 12The drive assembly 71 includes a turntable structure 711 having a cam surface 711a. The end of the push rod 72 away from the rolling element 40 is in separable contact with the cam surface 711a. The cam surface 711a is used to convert the rotation of the turntable structure 711 into linear motion of the push rod 72.

[0112] For example, please refer to Figure 13 The turntable structure 711 can rotate in the direction shown in v2 in the figure.

[0113] In this embodiment, the push rod 72 and the cam surface 711a constitute a cam mechanism. The cam surface 711a acts as the driving member, and the push rod 72 acts as the driven member. The cam surface 711a rotates with the rotation of the turntable structure 711, pushing the push rod 72 outward toward the outside of the main body 10, so that the rolling member 40 can move to the first position m1. The cam mechanism has a strong load-bearing capacity, and the push rod 72 can withstand a large resistance from obstacles.

[0114] For example, the distance from various circumferential locations on the cam surface 711a to the rotation axis of the turntable 711 gradually increases or gradually decreases.

[0115] In one embodiment, for example, the end of the push rod 72 away from the rolling element 40 has an idler wheel. The idler wheel is in separable contact with the cam surface 711a. The idler wheel can significantly reduce the frictional loss between the push rod 72 and the cam surface 711a, and extend the service life of the cam mechanism.

[0116] 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, causing the end of the push rod 72 away from the rolling element 40 to abut against the cam surface 711a under the action of the elastic force. When the push rod 72 is pushed outward by the cam surface 711a toward the outside of the main body 10, the elastic member 712 undergoes elastic deformation and accumulates elastic potential energy. When the cam surface 711a enters the return state, the push rod 72 moves inward toward the inside of the main body 10 under the elastic action of the elastic member 712 to complete the reset, so that the rolling element 40 can move to the second position m2.

[0117] In one embodiment, for example, the elastic member 712 includes a compression spring that is sleeved on the push rod 72, or as shown below. Figure 6 As shown, compression springs are arranged on both sides of push rod 72 along the extension direction of push rod 72. One end of the compression spring is connected to the end of push rod 72 near the rolling element 40, and the other end is connected to the main body 10. When push rod 72 is pushed outward by cam surface 711a toward the outside of main body 10, compression spring is compressed.

[0118] For example, the turntable structure 711 can rotate continuously, in conjunction with the elastic force of the elastic member 712, so that the push rod 72 reciprocates; the turntable structure 711 can also rotate reciprocally, so that the push rod 72 reciprocates by changing the direction of rotation.

[0119] In some embodiments, please refer to Figure 12 and Figure 13 The outer peripheral surface of the turntable structure 711 has a notch 711b, which is connected to the cam surface 711a. When the push rod 72 drives the rolling element 40 to move to the first position m1, the end of the push rod 72 away from the rolling element 40 is located in the notch 711b. It can be understood that the push rod 72 extends partially into the turntable structure 711 through the notch 711b. That is to say, the notch 711b causes a slight structural interference between the push rod 72 and the turntable structure 711. Thus, the turntable structure 711 experiences greater rotational resistance, thereby maintaining this angular position. The rolling element 40 is also able to maintain the first position m1 and rest relatively stably against the obstacle.

[0120] For example, in one embodiment, the edge of the notch 711b has a rounded corner structure to reduce the force exerted by the turntable structure 711 on the end of the push rod 72 when it enters or leaves the notch 711b. When the power of the turntable structure 711 reaches a predetermined strength, it can overcome the resistance exerted by the push rod 72 and continue to rotate, thereby reducing the probability of the turntable structure 711 getting stuck.

[0121] In some embodiments, please refer to Figure 6 , Figure 8 , Figure 13 and Figure 14 The drive assembly 71 includes a first gear 714 and a second gear 715. The second gear 715 is coaxially arranged with the turntable structure 711. The first gear 714 drives the second gear 715 to rotate, thereby causing the second gear 715 to drive the turntable structure 711 to rotate. The second gear 715 can drive the turntable structure 711 to rotate through a coupling or lever, etc. In this embodiment, the gear transmission method occupies little space, has high transmission efficiency, and is easy to arrange.

[0122] The motion detection methods for the turntable structure 711 include, but are not limited to, the following two.

[0123] In some embodiments, the drive 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 element 40 being in a first position m1 and / or a second position m2. The control device is used to control the motor 3111 to stop power output according to the position detection signal.

[0124] 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.

[0125] 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.

[0126] In some embodiments, please refer to Figure 13 The outer periphery of the second gear 715 has a notch 715c, and the notch 715c has a first sidewall 715A and a second sidewall 715B on both sides along the circumferential direction. Exemplarily, the second sidewall 715B is located on the side of the notch 715c pointing in a first direction along the circumferential direction, the first sidewall 715A and the second sidewall 715B are disposed opposite each other along the circumferential direction, and a non-tooth portion 715b is provided between the first sidewall 715A and the tooth portion 715a in the first circumferential direction.

[0127] The turntable structure 711 has a stop protrusion 7111 that passes axially through a notch 715c. The drive assembly 71 further includes an elastic element 713, which applies a spring force to the stop protrusion 7111 to abut against the first sidewall 715A in a first circumferential direction. The turntable structure 711 is rotatable relative to the second gear 715, which, during rotation in the first direction, pushes the stop protrusion 7111 to rotate via the elastic element 713.

[0128] Please see Figure 14When the rolling element needs to extend, the first gear 714 rotates in the second direction, driving 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, causing the elastic element 713 to undergo elastic deformation. At this time, the stop protrusion 7111 separates from the first sidewall 715A. When the elastic deformation is large, the elastic element 713, as a force transmission element, can push the stop protrusion 7111 to rotate. The end of the push rod 72 drives the rolling element 40 to gradually extend outward. When the first gear 714 and the second gear 715 rotate to disengage, the rolling element 40 extends to its position. The push rod 72 restricts the rotation of the stop protrusion 7111. Under the elastic force of the elastic element 713, the second gear 715 reverses a small angle in the second direction, keeping the second gear 715 in contact with the first gear 714. Figure 14 The state shown moves to Figure 13 The state shown is in Figure 13 In the state shown, 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 it has disengaged from the first gear 714, and the first gear 714 will idle.

[0129] When the rolling element 40 needs to retract, Figure 13 In the indicated state, since the second gear 715 remains 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, it can immediately drive the second gear 715 to rotate in the second direction. After the second gear 715 rotates a small angle, the first sidewall 715A contacts the stop protrusion 7111. Subsequently, the first sidewall 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 retracts to its position. Under the action of the elastic element 13, the second gear 715 and the stop protrusion 7111 retract a small angle in the first direction, so that the second gear 715 and the first gear 714 remain in contact, i.e., from... Figure 13 The status shown has switched to Figure 14 The state shown is in Figure 14 In the state shown, even if the first gear 714 continues to rotate in the first direction, the second gear 715 will not rotate in the second direction because it has disengaged from the first gear 714, and the first gear 714 will idle.

[0130] In this embodiment, on the one hand, the second gear 715 indirectly drives the turntable structure 711 to rotate through the elastic element 713. The elastic element 713 can buffer the turntable structure 711 in response to the rotation of the second gear 715. The number of teeth of the meshing transmission of the teeth 715a of the second gear 715 has a certain tolerance, and the transmission accuracy requirement between the first gear 714 and the second gear 715 is low. On the other hand, when the second gear 715 rotates along the first direction until it disengages from the first gear 714, under the reaction force of the elastic element 713 and the rotation of the first gear 714, the second gear 715 can maintain a "semi-engaged" state with the first gear 714. That is to say, in this state, the first gear 714 does not drive the second gear 715 to rotate, but the two can still maintain contact. In this way, when the first gear 714 rotates in the opposite direction, it can quickly mesh with the second gear 715, thereby increasing the speed at which the turntable structure 711 responds to the rotation.

[0131] For example, in some embodiments, the main body 10 has a stop frame 1001 inside. 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 stop protrusion 7111, and the other end abuts against the stop frame 1001. At this time, the second gear 715 rotates, pushing the stop protrusion 7111 to cause the elastic element 713 to undergo elastic change. Under the reaction force of the elastic element 713 and the rotation of the first gear 714, the second gear 715 can maintain a "semi-engaged" 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 maintain contact. In this way, when the first gear 714 rotates in the forward direction, it can quickly engage with the second gear 715, increasing the speed at which the turntable structure 711 responds to rotation.

[0132] 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 leg 32 abutting against the second sidewall 715B and the other leg 32 abutting against the stop protrusion 7111. In other embodiments, the elastic element 713 includes a coil spring connecting the second gear 715 and the stop protrusion 7111.

[0133] 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.

[0134] 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.

[0135] As an optional embodiment, the transmission gear 3113 and the first gear 714 are coaxially arranged. After the first gear 714 drives the rolling element 40 to extend to the first position m1, the first gear 714 disengages from the tooth 715a, and the power connection between the second gear 715 and the second gear 715 is disconnected, maintaining the turntable structure 711 in the current position. Even if the power transmission structure causes the first gear 714 to continue rotating, the rolling element 40 will remain in the first position m1. The power of the power transmission structure can make the transmission gear 3113 in the drive component 31 continue to rotate, thereby achieving power decoupling between the drive component 31 and the drive assembly 71 and reducing the requirements for motion synchronization between the drive component 31 and the drive assembly 71.

[0136] 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.

[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 apparatus, characterized by, The utility model relates to a kind of obstacle-crossing robot, including: Main body, with front side wall, the front side wall has at least two escape slots arranged along the circumference interval; Driving wheel, set in the bottom of the main body, for driving the main body moves; Obstacle-crossing mechanism, set in the main body, the obstacle-crossing mechanism includes driving component and at least two support legs, the driving component is used to drive the at least two support legs movement, the escape slot is used for the corresponding support leg to pass through; The support leg has obstacle-crossing state, in the obstacle-crossing state, the support leg is worn in the corresponding escape slot, and the end of the support leg is located outside the main body, and the driving component is used to drive the end of the support leg downward movement.

2. The cleaning apparatus of claim 1, wherein, The support leg also has non-obstacle-crossing state, in the non-obstacle-crossing state, the whole support leg is retracted inside the main body, or the end of the support leg is located outside the main body and the driving component is also used to drive the end of the support leg upward movement; The driving component is used to drive the support leg to switch between the obstacle-crossing state and the non-obstacle-crossing state.

3. The cleaning apparatus of claim 2, wherein, In the case of movement from the non-obstacle-crossing state to the obstacle-crossing state, the initial position of the support leg from the escape slot is not less than the designed obstacle-crossing height of the main body.

4. The cleaning apparatus of claim 1, wherein, In the obstacle-crossing state, the distance between the end of the support leg and the front side wall increases first and then decreases during downward movement.

5. The cleaning apparatus according to any one of claims 1 to 4, characterized in that, The driving component includes at least two motors and at least two transmission assemblies, one of the transmission assemblies is connected to the power output shaft of one of the motors and one of the support legs, and the other transmission assembly is connected to the power output shaft of the other motor and the other support leg.

6. The cleaning apparatus of any one of claims 1-4, wherein, The driving component includes a motor and at least two transmission assemblies, one of the transmission assemblies is connected to one of the support legs, and the other transmission assembly is connected to the other support leg. The motor has a first power output shaft and a second power output shaft on 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 the driving component further includes a power distribution structure connected to the power output shaft of the motor and used to distribute the power of the power output shaft to the at least two transmission assemblies.

7. The cleaning apparatus of claim 6, wherein, The transmission assembly includes a rotating wheel and a rocker arm, one end of the support leg is eccentrically connected to the rotating wheel and can rotate relative to the rotating wheel, and the rocker arm is rotationally connected to the support leg, wherein the rotating wheel, the rocker arm, and the support leg form a crank rocker mechanism, and the rotating wheel can drive the support leg to move during rotation.

8. The cleaning apparatus of claim 7, wherein, One of the transmission assemblies further includes a rotating shaft and a one-way bearing, the one-way bearing is sleeved on the outer periphery of the rotating shaft, at least a part of the rotating wheel is sleeved on the outer periphery of the one-way bearing, and the rotating shaft is used to drive the rotating wheel to synchronously rotate in a first rotation direction through the one-way bearing and idle relative to the rotating wheel in a second rotation direction.

9. The cleaning apparatus of claim 1, wherein, The cleaning apparatus further comprises at least one position detecting member for generating a retracted position detecting signal in response to an event of the tip of the leg being retracted to the inside of the main body.

10. The cleaning apparatus of claim 1, wherein, The main body comprises a bottom surface, a circumferential surface, and a slope surface connecting the bottom surface and the circumferential surface, wherein the avoidance groove extends from the circumferential surface to the upper portion of the slope surface in the height direction.

11. The cleaning apparatus of claim 1, wherein, The cleaning apparatus comprises a rolling member which is rollable relative to the main body, the rolling member having a first position in which, in a planar orthographic projection perpendicular to the axis of the driving wheel, the rolling member protrudes from the front side edge of the main body, and the ground clearance of the rolling member is greater than zero. In the obstacle surmounting state, the rolling member is in the first position.

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