Cleaning equipment capable of crossing obstacles

Abstract

The utility model relates to cleaning equipment capable of crossing obstacles. The cleaning apparatus includes: a housing; the obstacle crossing device comprises a telescopic mechanism and a grabbing mechanism; the telescopic mechanism is arranged on the shell, and at least part of the telescopic mechanism can extend out of the shell to cross an obstacle; the grabbing and attaching mechanism is connected with the telescopic mechanism and is telescopically arranged towards a surface to be cleaned; and when the grabbing and attaching mechanism grabs and attaches the to-be-cleaned surface, the grabbing and attaching mechanism can continue to stretch out so that the shell can be separated from the to-be-cleaned surface. According to the cleaning equipment, obstacle crossing can be completed, the moving range is expanded, and the intelligence of the cleaning equipment is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning equipment capable of crossing obstacles. BACKGROUND

[0002] The intelligent cleaning equipment can be used for cleaning ground, wall, glass window surface, etc. When cleaning, it often encounters obstacles and cannot continue cleaning, for example, when the window cleaning robot climbs along the window surface, it needs to be attached to the vertical facade.

[0003] In the related art, when the cleaning equipment is applied to the moving operation of the facade, it often cannot continue cleaning because it cannot cross the obstacles such as window frame, window inner corner, window outer corner, etc., resulting in limited moving range and the need for manual assistance for manual obstacle crossing, which causes insufficient intelligence of the cleaning equipment. CONTENT OF THE UTILITY MODEL

[0004] To solve or partially solve the problems in the related art, the present application provides a cleaning equipment capable of crossing obstacles, which can cross obstacles, expand the moving range, and enhance the intelligence of the cleaning equipment.

[0005] The present application provides a cleaning equipment capable of crossing obstacles, comprising:

[0006] a shell;

[0007] an obstacle crossing device comprising a telescopic mechanism and a grabbing mechanism; the telescopic mechanism is arranged in the shell and at least partially extends out of the shell to cross obstacles;

[0008] the grabbing mechanism is connected with the telescopic mechanism and is telescopically arranged towards the surface to be cleaned; when the grabbing mechanism grabs the surface to be cleaned, it can continue to extend to make the shell separate from the surface to be cleaned.

[0009] In an embodiment, the obstacle crossing device further comprises a steering mechanism connected with the telescopic mechanism and the grabbing mechanism, for driving the grabbing mechanism to steer so as to align the grabbing mechanism towards the surface to be cleaned.

[0010] In an embodiment, the grabbing mechanism comprises a grabbing rod and a suction cup fixed as one body; the grabbing rod is further connected with the steering mechanism, and the steering mechanism is used to drive the grabbing rod to steer so as to align the suction cup with the surface to be cleaned.

[0011] the grabbing rod is arranged to be extendable or retractable to drive the suction cup to contact or separate from the surface to be cleaned, and to be elongated when the suction cup is adsorbed to the surface to be cleaned so as to separate the shell from the surface to be cleaned.

[0012] In one embodiment, the shell comprises an attachment member arranged on a side of the shell facing the surface to be cleaned, for attaching to the surface to be cleaned, and releasing the attachment when the suction cup is adsorbed to the surface to be cleaned.

[0013] In one embodiment, the obstacle-surmounting device further comprises a swinging mechanism arranged on a side of the telescopic mechanism away from the gripping mechanism, for driving the telescopic mechanism to swing when the telescopic mechanism is extended from the shell, so as to surmount the obstacle.

[0014] In one embodiment, the telescopic mechanism and the gripping mechanism are arranged in at least two sets; at least two sets of the telescopic mechanism are arranged on the outer circumferential surface of the shell, and at least two sets of the gripping mechanism are respectively connected to the corresponding telescopic mechanism.

[0015] In one embodiment, the telescopic mechanism comprises a first driving member, a first sliding rail and a first telescopic component; the first sliding rail is arranged in a first preset direction and has an opening at one end; the first telescopic component is arranged in the first sliding rail and connected to the first driving member, and can be extended out of the opening or withdrawn from the opening along the first sliding rail under the driving of the first driving member.

[0016] The gripping mechanism is arranged at one end of the first telescopic component close to the opening, and the first telescopic component drives the gripping mechanism to move in the first preset direction so as to surmount the obstacle.

[0017] In one embodiment, the first telescopic component comprises a first sliding member and a second sliding member; the first sliding member is slidably arranged in the first sliding rail, and the second sliding member is slidably arranged in the first sliding member; the steering mechanism is rotatably arranged in the second sliding member.

[0018] In one embodiment, the telescopic mechanism comprises a second driving member, a second sliding rail and a second telescopic component; the second sliding rail is arranged in a second preset direction; the second driving member is arranged at one end of the second sliding rail; and one end of the second telescopic component is slidably arranged in the second sliding rail.

[0019] In one embodiment, the second telescopic component comprises a third sliding member and a fourth sliding member; the third sliding member is slidably arranged in the second sliding rail in the second preset direction; and the fourth sliding member is slidably arranged in the third sliding member in the first preset direction.

[0020] The steering mechanism is rotatably arranged in the fourth sliding member, and the gripping mechanism is rotatably connected to the steering mechanism.

[0021] In one embodiment, the third sliding member comprises a slider and a rotating member, the slider is arranged on the second sliding rail and is slidable along the second preset direction; the rotating member is rotatably connected to the slider.

[0022] The technical scheme provided in the application can have the following beneficial effects: the obstacle-surmounting cleaning device provided in the application comprises a shell, an obstacle-surmounting device and a gripping mechanism; the obstacle-surmounting device comprises a telescopic mechanism and the gripping mechanism; the telescopic mechanism is arranged on the shell and can be at least partially extended out of the shell to surmount an obstacle; the gripping mechanism is connected to the telescopic mechanism and is telescopically arranged towards a surface to be cleaned; when the gripping mechanism grips the surface to be cleaned, the gripping mechanism can continue to be extended to make the shell separate from the surface to be cleaned. The gripping mechanism is driven by the telescopic mechanism to surmount the obstacle and grip the surface to be cleaned on the other side of the obstacle; when the gripping mechanism continues to be extended, the shell separates from the surface to be cleaned; the telescopic mechanism is retracted, and since the gripping mechanism is fixed, the shell moves towards the gripping mechanism under the driving of the telescopic mechanism, thereby surmounting the obstacle.

[0023] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0025] Figure 1 is a structure schematic view of the obstacle-surmounting cleaning device attached to a surface to be cleaned according to an embodiment of the application;

[0026] Figure 2 is a structure schematic view of the obstacle-surmounting cleaning device according to an embodiment of the application;

[0027] Figure 3 is a structure schematic view of the obstacle-surmounting cleaning device in a retracted state of the obstacle-surmounting device according to an embodiment of the application;

[0028] Figure 4 is a structure schematic view of the obstacle-surmounting cleaning device in an extended state of the obstacle-surmounting device according to an embodiment of the application;

[0029] Figure 5 is a structure schematic view of the obstacle-surmounting cleaning device in an extended state of the obstacle-surmounting device according to an embodiment of the application; Figure 4 is a left view structure schematic view of the obstacle-surmounting device according to an embodiment of the application;

[0030] Figure 6 is a structure schematic view of the obstacle-surmounting cleaning device in an upward obstacle-surmounting state of the obstacle-surmounting device according to an embodiment of the application;

[0031] Figure 7 This is a structural schematic diagram of the obstacle-crossing state of the obstacle-crossing cleaning device that can cross obstacles to the right, as shown in the embodiments of this application;

[0032] Figure 8 This is a structural schematic diagram of the obstacle-crossing state of an obstacle-crossing cleaning device with an inner corner, as shown in another embodiment of this application;

[0033] Figure 9 This application Figure 8 An enlarged structural diagram of point T of the obstacle-crossing cleaning device is shown;

[0034] Figure 10 This is a schematic diagram of the cleaning device shown in another embodiment of this application;

[0035] Figure 11 This is a structural schematic diagram of the obstacle-crossing state of the outer corner of a cleaning device capable of crossing obstacles, as shown in another embodiment of this application.

[0036] Reference numerals: 10, Cleaning equipment; A, Surface to be cleaned; B, Obstacle; 11, Housing; 100, Obstacle-crossing device; 200, Telescopic mechanism; 210, First driving component; 220, First slide rail; 230, First telescopic assembly; 231, First sliding component; 232, Second sliding component; 240, Second driving component; 250, Second slide rail; 260, Second telescopic assembly; 261, Third sliding component; 2611, Slider; 2612, Rotating component; 262, Fourth sliding component; 300, Gripping mechanism; 310, Gripping rod; 320, Suction cup; 400, Steering mechanism; 500, Swinging mechanism; Z, First preset direction Z; Y, Gripping direction; X, Second preset direction. Detailed Implementation

[0037] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0038] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0039] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0040] Unless otherwise expressly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] The technical solutions of the embodiments of the present application are described in detail below with reference to the drawings.

[0042] Referring to Figure 1 , Figure 2 , Figure 5 , Figure 8 and Figure 9 , the present embodiment provides an obstacle-crossing cleaning device 10, which comprises a shell 11, an obstacle-crossing device 100 and a gripping mechanism 300; the obstacle-crossing mechanism comprises a telescopic mechanism 200 and a gripping mechanism 300; the telescopic mechanism 200 is arranged on the shell 11 and can be at least partially extended out of the shell 11 to cross the obstacle B; the gripping mechanism 300 is connected with the telescopic mechanism 200 and is telescopically arranged towards the surface A to be cleaned; when the gripping mechanism 300 grips the surface A to be cleaned, it can continue to be extended to make the shell 11 separate from the surface A to be cleaned.

[0043] Among them, the cleaning device 10 of the present embodiment is a window cleaning robot, but it can also be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc., which is not specifically limited.

[0044] Among them, the shell 11 of the cleaning device 10 can be rectangular, circular or irregular in shape, and can be made of plastic or metal, which is not specifically limited.

[0045] The telescopic mechanism 200 can be arranged on the outer circumferential surface of the shell 11, for example, on the side of the shell 11 away from the surface A to be cleaned, so as to avoid the cleaning device 10 from being hindered by the obstacle-surmounting mechanism during edge cleaning, improve the cleaning efficiency, and increase the height of the telescopic mechanism 200 relative to the surface A to be cleaned by using the thickness of the shell 11, which is beneficial to surmounting the obstacle B when the telescopic mechanism 200 is extended. However, the telescopic mechanism 200 can also be arranged on the inner wall of the shell 11 and extended from the opening of the shell 11 when needed.

[0046] When the telescopic mechanism 200 is extended and surmounts the obstacle B, the gripping mechanism 300 moves towards the surface A to be cleaned. After the gripping mechanism 300 grips the surface A to be cleaned, the telescopic mechanism 200 can continue to be extended. At this time, since one end has abutted against the surface A to be cleaned, the gripping mechanism 300 cannot move towards the surface A to be cleaned, and thus the telescopic mechanism 200 is lifted up, thereby driving the shell 11 to separate from the surface A to be cleaned. Therefore, when the telescopic mechanism 200 is retracted, the shell 11 is driven to move towards the gripping mechanism 300 due to the gripping mechanism 300 being fixed on the surface A to be cleaned, so as to surmount the obstacle B.

[0047] Since the shell 11 needs to separate from the surface A to be cleaned and surmount the obstacle, the stroke of the gripping mechanism 300 is at least greater than the thickness of the shell 11 in the gripping direction Y. The greater the stroke is, the thicker the obstacle B that can be surmounted is. The specific value of the stroke is not limited in the embodiment. The gripping direction Y can be the direction in which the gripping mechanism 300 moves towards the surface to be cleaned.

[0048] In the embodiment, the telescopic mechanism 200 drives the gripping mechanism 300 to surmount the obstacle B and grip the surface A to be cleaned on the other side of the obstacle B. After the gripping mechanism 300 is extended in the gripping direction Y to separate the shell 11 from the surface A to be cleaned, the telescopic mechanism 200 is retracted. Since the gripping mechanism 300 is fixed, the shell 11 is driven to move towards the gripping mechanism 300 by the telescopic mechanism 200, thereby surmounting the obstacle B and realizing the obstacle-surmounting of the cleaning device 10.

[0049] Reference Figures 3-5 In one of the embodiments, the obstacle-surmounting device 100 further comprises a turning mechanism 400 connected with the telescopic mechanism 200 and the gripping mechanism 300, respectively, for driving the gripping mechanism 300 to turn so as to align the gripping mechanism 300 with the surface A to be cleaned.

[0050] The gripping mechanism 300 can comprise an initial position and a gripping position. The initial position can be a state of being folded on the telescopic mechanism 200, and the gripping position can be a state of being unfolded outward from the telescopic mechanism 200. The turning mechanism 400 is used to drive the gripping mechanism 300 to turn from the initial position to the gripping position, so that the gripping mechanism 300 can be aligned with the surface A to be cleaned. The embodiment is beneficial to adjusting the orientation of the gripping mechanism 300 to make it align, and is also convenient for storing the gripping mechanism 300.

[0051] Reference Figure 4 and Figure 5 In one embodiment, the gripping mechanism 300 comprises a gripping rod 310 and a suction cup 320 fixed as a whole; the gripping rod 310 is further connected with a steering mechanism 400 for driving the gripping rod 310 to steer so as to align the suction cup 320 with the surface A to be cleaned; the gripping rod 310 is configured to extend or retract so as to drive the suction cup 320 to contact or separate from the surface A to be cleaned, and extend when the suction cup 320 is adsorbed to the surface A to be cleaned so as to separate the housing 11 from the surface A to be cleaned.

[0052] In this embodiment, the gripping rod 310 and the suction cup 320 can be integrally formed, or fixed as a whole by clamping, welding, bonding or other ways.

[0053] In this embodiment, one end of the gripping rod 310 can be connected with the suction cup 320, and the other end is movably connected with the steering mechanism 400; when the steering mechanism 400 drives the gripping rod 310 to steer, the gripping rod 310 can also extend or retract relative to the steering mechanism 400 so as to drive the suction cup 320 to move synchronously in the gripping direction Y, thereby contacting or separating from the surface A to be cleaned. When the suction cup 320 is adsorbed to the surface A to be cleaned, the gripping rod 310 can also continue to extend, so as to lift the housing 11 of the cleaning device 10. It should be noted that the shape of the suction cup 320 can be designed freely, such as circular, square, etc., and is not limited.

[0054] In one embodiment, the housing 11 comprises an attachment (not shown in the figure) arranged on the side of the housing 11 facing the surface A to be cleaned, for attaching to the surface A to be cleaned, and releasing the attachment force when the suction cup 320 is adsorbed to the surface A to be cleaned.

[0055] In this embodiment, the cleaning device 10 can be a window cleaning robot, which needs to move vertically to the ground when cleaning the outer surface such as glass window, so the attachment is needed to attach to the surface A to be cleaned to avoid falling.

[0056] In this embodiment, the attachment can be a suction cup, and the shape of the suction cup can be designed freely, such as circular, square, etc., and is not limited.

[0057] Before the suction cup 320 of the gripping mechanism 300 passes over the obstacle B and is adsorbed to the surface A to be cleaned outside the obstacle B, the housing 11 inside the obstacle B keeps attaching to the surface A to be cleaned by the attachment to avoid falling. When the suction cup 320 is adsorbed to the surface A to be cleaned outside, in order to separate the housing 11 from the surface A to be cleaned inside, the attachment force between the attachment and the surface A to be cleaned is released, so that when the gripping rod 310 extends, the housing 11 will move away from the surface A to be cleaned along with the gripping rod 310.

[0058] Reference Figure 4 、 Figure 6 and Figure 7 , in order to achieve the obstacle crossing of the cleaning device 10 in multiple directions and the stability and convenience of the obstacle crossing, in one embodiment, the obstacle crossing device 100 further comprises a swing mechanism 500, which is arranged on the side of the telescopic mechanism 200 away from the gripping mechanism 300, so as to drive the telescopic mechanism 200 to swing when the telescopic mechanism 200 is extended from the shell 11, so as to cross the obstacle B.

[0059] Among them, the telescopic mechanism 200 can include two ends, one end is connected with the gripping mechanism 300, and the other end is connected with the swing mechanism 500, and the gripping mechanism 300, the telescopic mechanism 200 and the swing mechanism 500 are arranged in sequence when the telescopic mechanism 200 is in the extended state. When the swing mechanism 500 drives the telescopic mechanism 200 to swing, the gripping mechanism 300 on the other side swings synchronously, and then can also cross the obstacle B, and can adsorb the cleaning surface A outside the obstacle B.

[0060] It can be understood that when the telescopic direction of the telescopic mechanism 200 and the direction of the gravity are the same or an acute angle, the torque received is small, for example, when the telescopic mechanism 200 extends in the vertical direction, the gripping mechanism 300 is more stable, if the telescopic mechanism 200 extends in the horizontal direction, at this time the gripping mechanism 300, the telescopic mechanism 200 and the shell 11 are arranged horizontally, and the shell 11 is subjected to the vertical gravity, the torque received by the telescopic mechanism 200 is larger, which is easy to cause damage, therefore, the swing mechanism 500 is arranged in the embodiment, so as to avoid that the obstacle crossing device 10 can only cross the obstacle in the telescopic direction of the telescopic mechanism 100, for example, the vertical direction, and also can cross the obstacle in other directions, for example, the horizontal direction, so as to realize the obstacle crossing of the cleaning device 10 in multiple directions and the stability and convenience of the obstacle crossing.

[0061] Reference Figure 1 and Figure 8 , in one embodiment, the telescopic mechanism 200 and the gripping mechanism 300 are provided as at least two sets; the at least two telescopic mechanisms 200 are arranged on the outer circumferential surface of the shell 11, and the at least two gripping mechanisms 300 are respectively connected to the corresponding telescopic mechanisms 200.

[0062] Among them, the two telescopic mechanisms 200 can be arranged on one side of the outer circumferential surface of the shell 11, for example, both are arranged on the top surface of the shell 11 away from the cleaning surface A, or one side surface; in other embodiments, the telescopic mechanism 200 can also be arranged on different sides, for example, one telescopic mechanism 200 is arranged on the top surface, and the other telescopic mechanism 200 is arranged on the side surface, which is not limited in the embodiment.

[0063] In one of the embodiments, the telescopic mechanism 200 and the gripping mechanism 300 are provided in four sets, two sets of telescopic mechanism 200 are arranged on the top surface of the shell 11, and the other two sets of telescopic mechanism 200 are arranged on the side surface of the shell 11, so that the telescopic mechanism 200 and the gripping mechanism 300 on the top surface can realize obstacle crossing in any direction on the plane, for example, up, down, left and right directions; and the telescopic mechanism 200 and the gripping mechanism 300 on the side surface can realize obstacle crossing between different planes, for example, crossing the inner corner or the outer corner obstacle B.

[0064] Taking the telescopic mechanism 200 and the gripping mechanism 300 arranged on the top surface of the shell 11 as an example, referring to Figures 3-5 In one of the embodiments, the telescopic mechanism 200 includes a first driving member 210, a first sliding rail 220 and a first telescopic assembly 230. The first sliding rail 220 is arranged along a first preset direction Z and has an opening at one end. The first telescopic assembly 230 is arranged in the first sliding rail 220 and connected with the first driving member 210, and can be driven by the first driving member 210 to extend out of the opening or retract into the opening along the first sliding rail 220. The gripping mechanism 300 is arranged at one end of the first telescopic assembly 230 close to the opening, and the first telescopic assembly 230 drives the gripping mechanism 300 to move along the first preset direction Z to cross the obstacle B.

[0065] The first driving member 210 can be a motor for driving the first telescopic assembly 230 to move on the first sliding rail 220. When the first telescopic assembly 230 extends out of the opening of the first sliding rail 220, the gripping mechanism 300 arranged on the first telescopic assembly 230 is driven to move synchronously, so that the gripping mechanism 300 can cross the obstacle B.

[0066] When the gripping mechanism 300 grips the obstacle B and lifts the shell 11, the first driving member 210 drives the first telescopic assembly 230 to retract. At this time, since the gripping mechanism 300 is fixed on the surface A to be cleaned, the shell 11 can move, and the shell 11 moves towards the gripping mechanism 300 due to the retraction of the first telescopic assembly 230, thereby crossing the obstacle B. After the shell 11 crosses the obstacle B, the gripping mechanism 300 can be shortened relative to the surface A to be cleaned, so that the shell 11 reattaches to the surface A to be cleaned, and then the gripping mechanism 300 can be separated from the surface A to be cleaned. The first telescopic assembly 230 continues to shorten and retracts into the opening, and works again when crossing the obstacle next time.

[0067] Referring to Figure 4 and Figure 5 In one of the embodiments, the first telescopic assembly 230 includes a first sliding member 231 and a second sliding member 232. The first sliding member 231 is slidably arranged on the first sliding rail 220, the second sliding member 232 is slidably arranged on the first sliding member 231, and the steering mechanism 400 is rotatably arranged on the second sliding member 232.

[0068] The first sliding member 231 can slide on the first sliding rail 220, so that the first telescopic assembly 230 as a whole slides on the first sliding rail 220. The first sliding member 231 can be a sliding rod provided with a groove or a track, and the second sliding member 232 is arranged on the groove or the track of the first sliding member 231 and can slide relative to the first sliding member 231.

[0069] For example, when the barrier crossing device 100 works, the first sliding member 231 is driven by the first driving member 210 to extend out of the opening of the first sliding rail 220, and the second sliding member 232 can extend out of the first sliding member 231, so as to increase the extension range of the first telescopic assembly 230 and enable the second sliding member 232 to be accommodated in the first sliding member 231, thereby reducing the occupied space of the first telescopic assembly 230.

[0070] The second sliding member 232 can include two ends, one end of which is slidably connected with the first sliding member 231, and the other end is rotatably connected with the steering mechanism 400. When the second sliding member 232 extends out, the steering mechanism 400 is driven to move synchronously, so as to drive the gripping mechanism 300 on the steering mechanism 400 to move, which is beneficial to realize the barrier crossing and gripping of the gripping mechanism 300 on the surface A to be cleaned.

[0071] In one embodiment, the barrier crossing device 100 can include five driving members, including the first driving member 210. For example, one driving member is configured as the first driving member 210 and is arranged on the first sliding rail 220 to drive the first sliding member 231 to move; one driving member is arranged on one end of the second sliding member 232 to drive the second sliding member 232 to slide on the first sliding member 231; one driving member is arranged on the steering mechanism 400 to drive the steering mechanism 400 to turn over; one driving member is arranged on the gripping mechanism 300 to drive the gripping mechanism 300 to contact or separate from the surface A to be cleaned; and one driving member is arranged on the swing mechanism 500 to drive the first telescopic assembly 230 to swing. The above driving members can be motors or other devices capable of outputting power, and the present embodiment is not limited in this regard.

[0072] The following will be described with reference to the accompanying drawings. Figures 8-11For example, the telescopic mechanism 200 and the gripping mechanism 300 are arranged on the side surface, in one embodiment, the telescopic mechanism 200 includes a second driving member 240, a second sliding rail 250 and a second telescopic assembly 260. The second sliding rail 250 is arranged along a second preset direction X. The second driving member 240 is arranged at one end of the second sliding rail 250. One end of the second telescopic assembly 260 is slidingly arranged in the second sliding rail 250. The second telescopic assembly 260 includes a third sliding member 261 and a fourth sliding member 262. The third sliding member 261 is slidingly arranged in the second sliding rail 250 along the second preset direction X. The fourth sliding member 262 is slidingly arranged in the third sliding member 261 along a first preset direction Z. The turning mechanism 400 is rotatably arranged in the fourth sliding member 262. The gripping mechanism 300 is rotatably connected to the turning mechanism 400.

[0073] The second driving member 240 is configured to drive the third sliding member 261 in the second telescopic assembly 260 to slide on the second sliding rail 250. The arrangement direction of the third sliding member 261 is at an angle with the second sliding rail 250. One end of the third sliding member 261 is arranged in the second sliding rail 250. The other end of the third sliding member 261 extends from the housing 11 and is slidingly connected to the fourth sliding member 262. The turning mechanism 400 and the gripping mechanism 300 connected to the fourth sliding member 262 can be gripped with the target position of the surface A to be cleaned. When the gripping mechanism 300 is gripped with the surface A to be cleaned, the second driving member 240 drives the housing 11 to move in the second preset direction X due to the fixed gripping mechanism 300. The translation of the housing 11 in multiple directions is achieved.

[0074] Reference Figure 9 And Figure 10 In one embodiment, the third sliding member 261 includes a sliding block 2611 and a rotating member 2612. The sliding block 2611 is arranged in the second sliding rail 250 and is slidingly arranged along the second preset direction X. The rotating member 2612 is rotatably connected to the sliding block 2611.

[0075] The rotating member 2612 can be a rotating rod provided with a groove or a track. The fourth sliding member 262 is slidingly arranged in the groove or the track of the rotating member 2612.

[0076] The sliding block 2611 slides on the second slide rail 250 in the second preset direction X to drive the synchronous movement of the rotating member 2612, and the rotating member 2612 can also rotate relative to the sliding block 2611 and the second slide rail 250. Since the second slide rail 250 and the shell 11 are fixed, when the rotating member 2612 rotates relative to the sliding block 2611, it is equivalent to rotating relative to the shell 11. Since the fourth sliding member 262, the steering mechanism 400 and the gripping mechanism 300 are all arranged on the third sliding member 261, when the rotating member 2612 rotates, the fourth sliding member 262, the steering mechanism 400 and the gripping mechanism 300 all rotate relative to the shell 11. Therefore, when the gripping mechanism 300 is gripped on the surface to be cleaned A, the rotation of the shell 11 relative to the surface to be cleaned A is realized.

[0077] In order to facilitate the understanding of the working principle of this embodiment, the following is an example of one of the application scenarios: the cleaning equipment 10 is a window cleaning robot, the obstacle crossing device 100 includes two sets of telescopic mechanisms 200 and gripping mechanisms 300, and the window includes a first glass surface, a second glass surface, and an inner corner or an outer corner formed between the first glass surface and the second glass surface. The first preset direction Z is the vertical direction, and the second preset direction X is the horizontal direction.

[0078] Reference Figures 8-10 When the cleaning equipment 10 completes the cleaning work of the first glass surface and needs to cross the obstacle of the inner corner to clean the second glass surface, the second driving member 240 drives the third sliding member 261 to move transversely on the second slide rail 250, and after alignment, the gripping mechanism 300 is gripped with the first glass surface through the steering mechanism 400. At this time, the gripping mechanism 300 can lift the shell 11 of the cleaning equipment 10 to separate it from the first glass surface; the rotating member 2612 is driven to rotate, and since the gripping mechanism 300 has been fixed with the first glass surface, the rotating member 2612 cannot rotate relative to the first glass surface, and the shell 11 will be rotated relative to the first glass surface under the torque of the rotating member 2612; the third sliding member 261 is driven to slide on the second slide rail 250, and since the gripping mechanism 300 has been fixed with the first glass surface, the third sliding member 261 cannot slide relative to the first glass surface, so that the shell 11 slides relative to the first glass surface under the driving force, thereby approaching the second glass surface. The second set of gripping mechanisms 300 can be aligned with the second glass surface through the rotation and sliding of the second set of second telescopic assemblies, so as to be gripped on the second glass surface. The gripping force of the first set of gripping mechanisms 300 on the first glass surface is released, and the rotation and sliding of the second set of telescopic assemblies are controlled. Since the second set of gripping mechanisms 300 have been fixed with the second glass surface at this time, they will drive the shell 11 to move in sliding and rotating manner, thereby adjusting the posture and adhering to the second glass surface to realize obstacle crossing.

[0079] It can be understood that when the obstacle surmounting device 100 comprises the swing mechanism 500, the second set of the gripping mechanisms 300 can be rotated to make the suction cups 320 face the second glass surface in the second preset direction X before the shell 11 is separated from the first glass surface, and then the gripping mechanisms 300 are driven to surmount the obstacle on the inner corner by the swing mechanism 500, and the gripping mechanisms 300 are controlled to extend and retract, so that the gripping mechanisms 300 are gripped on the second glass surface, thereby improving the stability of the obstacle surmounting device 100 and reducing the risk of falling of the cleaning equipment 10.

[0080] With reference to Figure 11 When the obstacle surmounting device 100 surmounts the outer corner, the first set of the gripping mechanisms 300 can be gripped on the first glass surface, the shell 11 is partially extended out of the edge of the first glass surface by relative sliding, so that the second set of the gripping mechanisms 300 can be gripped on the second glass surface, thereby realizing obstacle surmounting. Since the principle is the same as that of surmounting the inner corner, details are not repeated here.

[0081] In one of the embodiments, the obstacle surmounting device 100 can comprise six driving members, including the second driving member 240 described above. For example, one driving member is configured as the second driving member 240 and is arranged on the second sliding rail 250 to drive the sliding block 2611 of the third sliding member 261 to slide; one driving member is arranged on the sliding block 2611 to drive the rotating member 2612 of the third sliding member 261 to rotate; one driving member is arranged on one end of the fourth sliding member 262 close to the shell 11 to drive the fourth sliding member 262 to slide on the third sliding member 261; one driving member is arranged on the steering mechanism 400 to drive the steering mechanism 400 to flip; one driving member is arranged on the gripping mechanism 300 to drive the gripping mechanism 300 to contact or separate from the surface A to be cleaned; and one driving member is arranged on the swing mechanism 500 to drive the second extension and retraction assembly 260 to swing. Compared with another embodiment in which five driving members are arranged, one driving member is added in this embodiment to drive the rotating member 2612 of the third sliding member 261 to rotate, so that the gripping mechanism 300 can be steered in the horizontal plane, and the steering mechanism 400 can steer the gripping mechanism 300 in the vertical plane, thereby realizing that the suction cups 320 of the gripping mechanism 300 can be aligned in any direction. In addition, the driving members described above can be motors or other devices capable of outputting power, and the present embodiment is not limited in this regard.

[0082] It can be understood that, in the above embodiments, at least two sets of obstacle crossing devices 100 can be arranged on the top surface of the shell 11 to enable the cleaning device 10 to cross obstacles on the same plane, at least two sets of obstacle crossing devices 100 can be arranged on the side surface of the shell 11 to enable the cleaning device 10 to cross obstacles on different planes, the obstacle crossing devices 100 can also be detachably connected to the shell 11, and can be installed according to different cleaning surfaces, when comprehensive obstacle crossing is required, i.e., obstacle crossing is required on the same plane and different planes, at least four sets of obstacle crossing devices 100 can be installed at the same time, two sets of which are arranged on the top surface of the shell 11, and the other two sets of which are arranged on the side surface of the shell 11, which greatly improves the mobility of the cleaning device 10.

[0083] The solutions of the present application have been described in detail above with reference to the drawings. In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. It should also be known by those skilled in the art that the actions and modules involved in the specification are not necessarily required by the present application. In addition, it can be understood that the steps in the method of the embodiments of the present application can be adjusted, combined and reduced in sequence according to actual needs, and the modules in the device of the embodiments of the present application can be combined, divided and reduced according to actual needs.

[0084] The above has described various embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical application or improvement of technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. An obstacle-surmountable cleaning device, characterized in that, The application relates to a barrier-crossing cleaning device, comprising: a shell; a barrier-crossing device, comprising a telescopic mechanism and a gripping mechanism; the telescopic mechanism is arranged on the shell and can be at least partially extended out of the shell to cross over an obstacle; the gripping mechanism is connected with the telescopic mechanism and is telescopically arranged towards a surface to be cleaned; when the gripping mechanism grips the surface to be cleaned, the gripping mechanism can be continuously extended to make the shell separate from the surface to be cleaned.

2. The barrier-crossing cleaning device according to claim 1, wherein the barrier-crossing device further comprises a steering mechanism, which is respectively connected with the telescopic mechanism and the gripping mechanism and is used for driving the gripping mechanism to steer so as to align the gripping mechanism towards the surface to be cleaned.

3. The barrier-crossing cleaning device according to claim 2, wherein the gripping mechanism comprises a gripping rod and a suction disc which are fixed as a whole; the gripping rod is further connected with the steering mechanism, the steering mechanism is used for driving the gripping rod to steer so as to align the suction disc with the surface to be cleaned; the gripping rod is arranged to be extended or retracted, so as to drive the suction disc to contact or separate from the surface to be cleaned, and when the suction disc is adsorbed on the surface to be cleaned, the gripping rod is elongated to make the shell separate from the surface to be cleaned. the shell comprises an adhering member which is arranged on a side of the shell towards the surface to be cleaned and is used for adhering to the surface to be cleaned and releasing the adhesion when the suction disc is adsorbed on the surface to be cleaned.

4. The obstacle-surmounting cleaning device according to claim 3, characterized in that 5. The barrier-crossing cleaning device according to claim 4, wherein the barrier-crossing device further comprises a swinging mechanism which is arranged on a side of the telescopic mechanism away from the gripping mechanism and is used for driving the telescopic mechanism to swing when the telescopic mechanism is extended out of the shell, so as to cross over the obstacle. the telescopic mechanism and the gripping mechanism are arranged as at least two sets; at least two sets of the telescopic mechanism are arranged on the peripheral surface of the shell, and at least two sets of the gripping mechanism are respectively connected with the corresponding telescopic mechanism.

6. The obstacle-surmounting cleaning device of claim 2, wherein, 7. The barrier-crossing cleaning device according to any one of claims 2-6, wherein the telescopic mechanism comprises a first driving member, a first sliding rail and a first telescopic component; the first sliding rail is arranged along a first preset direction and has an opening at one end; the first telescopic component is arranged in the first sliding rail and is connected with the first driving member and can be extended out of the opening or retracted from the opening along the first sliding rail under the driving of the first driving member; the gripping mechanism is arranged on one end of the first telescopic component close to the opening, and the first telescopic component drives the gripping mechanism to move along the first preset direction to cross over the obstacle.

8. The barrier-crossing cleaning device according to claim 7, wherein the first telescopic component comprises a first sliding member and a second sliding member; the first sliding member is slidably arranged in the first sliding rail, the second sliding member is slidably arranged in the first sliding member, and the steering mechanism is rotatably arranged in the second sliding member.

9. The barrier-crossing cleaning device according to any one of claims 2-6, wherein ​ The telescopic mechanism comprises a second driving member, a second sliding rail and a second telescopic assembly, the second sliding rail is arranged along a second preset direction, the second driving member is arranged at one end of the second sliding rail, and one end of the second telescopic assembly is slidingly arranged in the second sliding rail; The second telescopic assembly comprises a third sliding member and a fourth sliding member, the third sliding member is slidingly arranged in the second sliding rail along the second preset direction, and the fourth sliding member is slidingly arranged in the third sliding member along a first preset direction; The turning mechanism is rotatably arranged in the fourth sliding member, and the gripping mechanism is rotatably connected to the turning mechanism.

10. The obstacle-surmounting cleaning device of claim 9, wherein, The third sliding member comprises a sliding block and a rotating member, the sliding block is arranged in the second sliding rail and can slide along the second preset direction; The rotating member is rotatably connected to the sliding block.

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