Universal wheel device and cleaning equipment

Abstract

The utility model provides a universal wheel device and cleaning equipment. The universal wheel device comprises trundles, a base assembly, a steering seat, a lifting assembly and a driving mechanism. The steering seat is rotatably arranged on the base assembly; the trundles are arranged at the bottom end of the lifting assembly, the lifting assembly is in rotation stopping fit with the steering base, the trundles are used for driving the steering base to rotate relative to the base assembly under the action of external force, and the lifting assembly can do lifting motion relative to the steering base; the driving mechanism is used for driving the lifting assembly to ascend and descend relative to the steering base and the base assembly. According to the universal wheel device and the cleaning equipment, the obstacle crossing ability of the cleaning equipment is improved through the lifting motion of the lifting assembly, and the user experience is improved.

Description

TECHNICAL FIELD

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

[0002] Taking a sweeping robot as an example, in the related art, the sweeping robot is provided with a driving wheel and a universal wheel, the driving wheel drives the sweeping robot to move, and the universal wheel assists the sweeping robot to turn, so that the sweeping robot travels according to a predetermined route. However, in the current sweeping robot, the sweeping robot is difficult to overcome when encountering a higher obstacle, and some ground areas cannot be cleaned, the cleaning ability is not strong, and the user experience is affected. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the embodiments of the present application expect to provide a universal wheel device and a cleaning device, which improve the obstacle surmounting ability of the cleaning device through the lifting movement of the lifting assembly, and improve the user experience.

[0004] The embodiments of the present application provide a universal wheel device, comprising:

[0005] A caster wheel;

[0006] A base assembly and a steering seat, the steering seat is rotatably arranged on the base assembly;

[0007] A lifting assembly, the caster wheel is arranged at the bottom end of the lifting assembly, the lifting assembly is rotationally matched with the steering seat, the caster wheel is used to drive the steering seat to rotate relative to the base assembly under the action of an external force, and the lifting assembly can lift relative to the steering seat;

[0008] A driving mechanism, used to drive the lifting assembly to lift relative to the steering seat and the base assembly.

[0009] In some embodiments, the base assembly comprises a base plate part, the base plate part has a mounting hole, the steering seat is rotatably arranged in the mounting hole, the lifting assembly comprises a mounting frame and a rod part, the caster wheel is rotatably arranged on the mounting frame, the steering seat has a through hole, and the top end of the rod part extends to the top side of the base plate part through the through hole.

[0010] In some embodiments, the steering seat comprises a shaft part, the shaft part is arranged in the mounting hole, and the outer circumferential surface of the shaft part has an annular groove; the universal wheel device comprises a limiting structure, the limiting structure is fixed relative to the base assembly, a part of the limiting structure extends into the annular groove, and the steering seat can rotate relative to the limiting structure.

[0011] In some embodiments, the limiting structure comprises a stop ring, the stop ring is arranged discontinuously at the beginning and the end to form a gap, and the gap is used for the shaft part to enter and exit the stop ring.

[0012] In some embodiments, the universal wheel device further comprises a bracket disposed on the top side of the base plate, the bracket is rotationally stopped by the base assembly, the top end of the rod is rotatably connected to the bracket, and the driving mechanism is configured to apply force to the bracket to drive the lifting assembly to move relative to the base assembly.

[0013] In some embodiments, the universal wheel device further comprises an elastic member, the bracket is supported by the elastic member, and the elastic member is elastically deformed along the lifting direction of the lifting assembly to allow the bracket to move along the lifting direction of the lifting assembly.

[0014] In some embodiments, the universal wheel device further comprises a guide bearing, the top end of the rod is rotatably connected to the bracket through the guide bearing.

[0015] In some embodiments, the base assembly further comprises a guide seat disposed on the top side of the base plate, the guide seat has a sliding groove extending along the lifting direction of the lifting assembly, and a portion of the bracket extends into the sliding groove and is in sliding cooperation with the sliding groove.

[0016] In some embodiments, the universal wheel device further comprises a rolling member rotatably disposed on the bracket, and the bracket is in rolling contact with the driving mechanism through the rolling member.

[0017] In some embodiments, the universal wheel device further comprises one or more mounting bearings, the mounting bearings are sleeved on the outer periphery of the steering seat, and the steering seat is rotatably mounted on the base assembly through the mounting bearings.

[0018] In some embodiments, the base assembly comprises a base plate, the base plate has a mounting hole, the top surface and / or the bottom surface of the base plate is provided with a receiving groove, the receiving groove is in communication with the mounting hole, and one or more mounting bearings are accommodated in the receiving groove.

[0019] In some embodiments, the receiving groove provided on the bottom surface of the base plate is a first receiving groove, the receiving groove provided on the top surface of the base plate is a second receiving groove, the inner diameter of the first receiving groove is greater than the inner diameter of the second receiving groove, the steering seat comprises a disc portion and a shaft portion arranged along the axial direction and connected to each other, and the outer diameter of the disc portion is greater than the outer diameter of the shaft portion.

[0020] One of the mounting bearings is sleeved on the outer periphery of the disc portion and embedded in the first receiving groove, and the other mounting bearing is sleeved on the outer periphery of the shaft portion and embedded in the second receiving groove.

[0021] In some embodiments, the driving mechanism comprises a flexible belt and a winding mechanism, one end of the flexible belt is connected to the winding mechanism, the other end is fixed relative to the base assembly, the winding mechanism is used to wind the flexible belt, so that the flexible belt generates a straightening movement tendency, thereby driving the lifting assembly to move towards the direction of the caster.

[0022] In some embodiments, the winding mechanism comprises a motor and a pulley, the belt is arranged on the power output shaft of the motor, and the pulley is used to wind the flexible belt.

[0023] In some embodiments, the universal wheel device further comprises a lower limit position detection member capable of outputting a signal in response to an event that the lifting assembly extends to a lower limit position; and / or, the universal wheel device further comprises an upper limit position detection member capable of outputting a signal in response to an event that the lifting assembly retracts to an upper limit position.

[0024] The application also provides a cleaning device comprising:

[0025] a main body,

[0026] a driving wheel arranged on the main body and used to drive the main body to move;

[0027] and the universal wheel device according to any one of the embodiments of the application is arranged at the front end of the main body, and the lifting assembly is used to drive the caster to move up and down to adjust the ground clearance of the front side of the main body.

[0028] In some embodiments, the main body comprises a bottom surface, a circumferential surface, a first slope surface and a second slope surface, the first slope surface is located at the front side of the main body and connects the bottom surface and the circumferential surface, and the second slope surface is located at the rear side of the main body and connects the bottom surface and the circumferential surface.

[0029] In some embodiments, the position of the intersection line between the top edge of the first slope surface and the circumferential surface is higher than the position of the intersection line between the top edge of the second slope surface and the circumferential surface.

[0030] In some embodiments, the universal wheel device is located in front of the driving wheel, and in a vertical projection plane perpendicular to the axis of the driving wheel, the projected contour of the universal wheel device does not exceed the extension line of the projected contour of the first slope surface.

[0031] In some embodiments, the main body has a through hole, a part of the universal wheel device extends to the outside of the main body through the through hole, wherein a part of the through hole penetrates the first slope surface, and the other part penetrates the bottom surface.

[0032] The omnidirectional wheel device and cleaning equipment provided in this application embodiment allow the lifting component to actively change its height position under the action of the drive mechanism, thereby adjusting the distance between the casters and the base assembly. This changes the ground clearance of the front of the cleaning equipment, allowing it to actively lift its front side. When encountering ground obstacles, the cleaning equipment raises its head, allowing the main body to straddle the obstacle. Driven by the drive wheels, the main body can then cross the obstacle, giving the cleaning equipment good obstacle-crossing ability. After crossing the obstacle, the lifting component can reset, reducing the current maximum height of the cleaning equipment. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the cleaning equipment located on the ground in one embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the structure of a cleaning device in one embodiment of this application;

[0035] Figure 3 for Figure 2 A schematic diagram of the structure from another perspective;

[0036] Figure 4 for Figure 2 A schematic diagram of the structure from another perspective;

[0037] Figure 5 This is a schematic diagram of the obstacle-crossing process of the cleaning equipment in one embodiment of this application;

[0038] Figure 6 for Figure 5 Another schematic diagram illustrating the obstacle-crossing process of cleaning equipment;

[0039] Figure 7 This is a schematic diagram of the universal wheel device in one embodiment of this application;

[0040] Figure 8 for Figure 7 The schematic diagram of the shielding plate is omitted in the embodiment;

[0041] Figure 9 for Figure 8 Cross-sectional schematic diagram of the middle structure;

[0042] Figure 10 for Figure 9 A schematic diagram of the lifting component after it has been moved in the embodiment of the Chinese version;

[0043] Figure 11 for Figure 7 Exploded view of the Chinese embodiment.

[0044] Explanation of reference numerals in the attached figures

[0045] 100, cleaning device; 10, main body; 10a, bottom surface; 10b, circumferential surface; 10c, first slope surface; 10c1, first region; 10c2, second region; 10d, second slope surface; 10e, third slope surface; 10A, through hole; 20, driving wheel; 30, universal wheel device; 31, caster; 32, base assembly; 321, base plate part; 321a, mounting hole; 321b, second accommodating groove; 322, guide seat; 322a, sliding groove; 33, steering seat; 33a, through hole; 331, shaft part; 332, disc part; 34, lifting assembly; 341, mounting frame; 342, rod part; 35, driving mechanism; 351, flexible belt; 352, winding mechanism; 3521, motor; 3522, pulley; 36, limiting structure; 37, support; 38, elastic member; 39, guide bearing; 301, rolling member; 302, mounting bearing; 303, lower limit position detection member; 304, upper limit position detection member; 305, detection member fixing frame; 306, shield plate; 40, impact plate; 40a, notch. DETAILED DESCRIPTION

[0046] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0047] In the description of the embodiments of the present application, it should be noted that the terms "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, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0048] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0049] In the related art, the universal wheel is a steering wheel structure of a caster that can rotate to change the direction of travel.

[0050] The embodiments of the present application provide a universal wheel device 30, please refer to Figure 7 ,Figure 8 and Figure 9 The universal wheel device 30 comprises a caster 31, a base assembly 32, a steering seat 33, a lifting assembly 34 and a driving mechanism 35.

[0051] The embodiments of the present application also provide a cleaning device 100, which is not limited in form and can be a sweeping robot, a mopping robot or the like. Please refer to Figure 1 The cleaning device 100 comprises a main body 10, a driving wheel 20 and the universal wheel device 30 in any embodiment of the present application. The driving wheel 20 is arranged on the main body 10 and used to drive the main body 10 to move, and the universal wheel device 30 is arranged at the front end of the main body 10 and used to assist the steering action of the main body 10.

[0052] Exemplarily, the number of the driving wheel 20 is at least two, and the two driving wheels 20 are coaxially arranged on the main body 10. When the rotating speed of one of the driving wheels 20 is greater than that of the other, the main body 10 performs a corresponding steering action. The universal wheel device 30 is a driven part and is adjusted along with the rotation of the cleaning device 100 on the ground, so that the cleaning device 100 is more stable and smooth when steering.

[0053] Of course, the universal wheel device 30 is not limited to be applied to the cleaning device 100, but can also be used in other ground moving devices, such as a sweeper, a mopping machine or the like. The present specification is described by taking the application in the cleaning device 100 as an example.

[0054] In the universal wheel device 30, the steering seat 33 is rotatably arranged on the base assembly 32, and the caster 31 is arranged at the bottom end of the lifting assembly 34. The lifting assembly 34 is rotationally matched with the steering seat 33, and the caster 31 is used to drive the steering seat 33 to rotate relative to the base assembly 32 under the action of an external force. The lifting assembly 34 can move up and down relative to the steering seat 33.

[0055] That is to say, the steering seat 33 can rotate relative to the base assembly 32, and the lifting assembly 34 cannot rotate relative to the steering seat 33. When the caster 31 rotates under the action of an external force, the lifting assembly 34 rotates along with the caster 31 and drives the steering seat 33 to rotate. The external force includes but is not limited to the resistance exerted by the ground terrain or the thrust exerted on the caster 31 when the main body 10 steers.

[0056] The lifting assembly 34 can move up and down relative to the steering seat 33, and the caster 31 arranged thereon also moves along with it, that is, the distance between the caster 31 and the base assembly 32 and the steering seat 33 can be changed. The base assembly 32 is used to mount the universal wheel device 30 to the chassis of the cleaning device 100 or other ground moving devices. When the distance between the caster 31 and the base assembly 32 changes, the ground clearance of the chassis also changes.

[0057] The driving mechanism 35 is configured to drive the lifting assembly 34 to move up and down relative to the steering seat 33 and the base assembly 32. Referring to Figure 5 and Figure 9 , the lifting assembly 34 is at a first height position; referring to Figure 6 and Figure 10 , the lifting assembly 34 is at a second height position, the first height position is higher than the second height position, and the driving mechanism 35 is configured to drive the lifting assembly 34 to move from the first height position to the second height position.

[0058] It can be understood that when the lifting assembly 34 is at the first height position, the total height of the cleaning device 100 is relatively small, and the cleaning device 100 can pass through a relatively low space, such as under a sofa; when the lifting assembly 34 is at the second height position, the front side of the chassis of the cleaning device 100 has a relatively large ground clearance, and the cleaning device 100 can cross over obstacles such as door thresholds, steps, and the like, and the obstacle crossing ability is improved.

[0059] Exemplarily, in an embodiment, the driving mechanism 35 can also be configured to drive the lifting assembly 34 to move from the second height position to the first height position, so as to realize a reset function.

[0060] In the cleaning device 100, the lifting assembly 34 is configured to drive the caster 31 to move up and down, so as to adjust the ground clearance of the front side of the main body 10.

[0061] Therefore, in the universal wheel device 30 of the embodiment of the present application, the lifting assembly 34 can actively change the height position under the action of the driving mechanism 35, so as to adjust the distance between the caster 31 and the base assembly 32. This makes the ground clearance of the front side of the cleaning device 100 change, and the cleaning device 100 can actively lift the front side. When encountering ground obstacles, the cleaning device 100 lifts the head, and the main body 10 can cross over the obstacles, and under the driving of the driving wheel 20, the main body 10 can cross over the obstacles, so that the cleaning device 100 has a good obstacle crossing ability. After crossing over the obstacles, the lifting assembly 34 can be reset to reduce the current maximum height of the cleaning device 100.

[0062] It is worth noting that in the universal wheel device 30 of the embodiment of the present application, the steering seat 33 is arranged on the base assembly 32, and the steering seat 33 is in a non-rotating fit with the lifting assembly 34. When the lifting assembly 34 moves, the relative distance between the steering seat 33 and the base assembly 32 does not change, that is, the steering seat 33 and the lifting assembly 34 are connected in a split type. In this way, the driving mechanism 35 is connected to a structure, and only the lifting assembly 34 needs to be driven, which can reduce the number of types of components, thereby improving the flexibility of design, and being conducive to reducing the total height of the cleaning device 100.

[0063] In some embodiments, referring toFigure 11 The base assembly 32 includes a base plate 321 having a mounting hole 321a, and the steering seat 33 is rotatably disposed in the mounting hole 321a. The lifting assembly 34 includes a mounting bracket 341 and a rod 342, and the caster 31 is rotatably disposed on the mounting bracket 341. The steering seat 33 has a through hole 33a, and the top end of the rod 342 extends to the top side of the base plate 321 through the through hole 33a.

[0064] That is, the rod 342 of the lifting assembly 34 penetrates the steering seat 33 and the base plate 321, so that the top end of the rod 342 extends to the top side of the base plate 321. In this way, the axial position of the steering seat 33 relative to the base plate 321 and the radial position of the lifting assembly 34 relative to the base plate 321 are limited, and the structure is reliable and compact.

[0065] For example, in an embodiment, the caster 31 has an axle, and the axle is disposed in the mounting bracket 341, so that the caster 31 can rotate relative to the mounting bracket 341 when the cleaning device 100 moves.

[0066] For example, in an embodiment, when the cleaning device 1000 moves, the front side of the mounting bracket 341 and the front side of the steering seat 33 smoothly transition in the moving direction of the cleaning device 1000. Specifically, as shown in Figure 7 the front side of the mounting bracket 341 includes a first inclined surface, and the front side of the steering seat 33 includes a second inclined surface. The difference in drop and slope between the first inclined surface and the second inclined surface is small. In this way, during the process of the cleaning device 1000 crossing the obstacle, the universal wheel device 30 basically does not cause the cleaning device 1000 to have a significant jerk feeling, thereby reducing the probability of the cleaning device 1000 being stuck.

[0067] For example, in an embodiment, the base plate 321 is disposed on the main body 10, and the top side of the base plate 321 is located inside the main body 10. The top end of the rod 342 extends into the inside of the main body 10 to be connected to the driving mechanism 35 disposed inside the main body 10.

[0068] In some embodiments, as shown in Figure 11 the steering seat 33 includes a shaft 331, and the shaft 331 penetrates the mounting hole 321a. The outer circumferential surface of the shaft 331 has an annular groove. The universal wheel device 30 includes a limiting structure 36 fixed relative to the base assembly 32. A part of the limiting structure 36 extends into the annular groove, and the steering seat 33 can rotate relative to the limiting structure 36.

[0069] That is, the shaft portion 331 of the steering seat 33 extends into the mounting hole 321a and is axially fixed to the base assembly 32 by the limiting structure 36, which has a bidirectional limiting effect on the shaft portion 331 along the axial direction through cooperation with the annular groove. In this way, the steering seat 33 is axially limited on the base assembly 32 but can rotate relative to the base assembly 32, and the shaft portion 331 does not need to be provided with an additional shaft end cover, and the mounting hole 321a also does not need to be provided with an additional stop groove or the like.

[0070] In some embodiments, referring to Figure 11 , the limiting structure 36 includes a check ring, and the check ring is discontinuously provided at the beginning and end to form a gap for the shaft portion 331 to enter and exit the check ring. During installation, the check ring is elastically deformed, and the size of the gap is increased so that the shaft portion 331 can be clamped into the check ring. Such a structure is relatively simple and convenient to install.

[0071] In some embodiments, referring to Figure 8 to Figure 11 , the universal wheel device 30 includes a support 37 provided on the top side of the base plate portion 321, the support 37 is rotationally fixed to the base assembly 32, the top end of the rod portion 342 is rotatably connected to the support 37, and the driving mechanism 35 is configured to apply a force to the support 37 to drive the lifting assembly 34 to move up and down relative to the base assembly 32 through the support 37.

[0072] That is, when the lifting assembly 34 rotates, the support 37 does not rotate with it. It can be understood that the rod portion 342 is provided through the steering seat 33, and the top end of the rod portion 342 is connected to the support 37 which is rotationally fixed to the base assembly 32, which allows the lifting assembly 34 to be radially limited on the base assembly 32 and to move up and down relative to the base assembly 32.

[0073] In some embodiments, referring to Figure 11 , the universal wheel device 30 includes a resilient member 38, and the support 37 is supported by the resilient member 38, which can be elastically deformed in the lifting direction of the lifting assembly 34 to allow the support 37 to move in the lifting direction of the lifting assembly 34.

[0074] The lifting movement of the support 37 under the force of the driving mechanism 35 causes the resilient member 38 supported below to be elastically deformed and accumulate elastic potential energy. When the force applied to the support 37 by the driving mechanism 35 is less than the force applied in the opposite direction, the resilient member 38 restores the deformation to drive the support 37 to move, which is conducive to the resetting of the lifting assembly 34.

[0075] In addition, when the lifting assembly 34 is set at the second height position, the self-weight of the cleaning equipment 100 causes the lifted base assembly 32 to have a downward movement tendency, and the support 37 has a tendency to reset upward to the first height position relative to the base assembly 32.

[0076] It should be noted that the form of the elastic member 38 is not limited, including but not limited to springs, rubber bands and any other parts that can be elastically deformed.

[0077] In some embodiments, referring to Figure 11 , the universal wheel device 30 further comprises a guide bearing 39, the top end of the rod portion 342 is rotatably connected to the bracket 37 through the guide bearing 39, so as to reduce the friction between the top end of the rod portion 342 and the bracket 37.

[0078] Exemplarily, in an embodiment, the universal wheel device 30 comprises a fastener, the guide bearing 39 comprises an outer ring and an inner ring, the bottom of the bracket 37 is provided with a bearing hole, the outer ring of the guide bearing 39 is interference-fitted and clamped into the bearing hole, and the fastener is vertically arranged through the inner ring of the bearing and connected to the bracket 37 and the top end of the rod portion 342.

[0079] In some embodiments, referring to Figure 8 to Figure 11 , the base assembly 32 further comprises a guide seat 322, the guide seat 322 is arranged on the top side of the base plate portion 321, the guide seat 322 has a sliding groove 322a extending along the lifting direction of the lifting assembly 34, and a part of the bracket 37 extends into the sliding groove 322a and is in sliding fit with the sliding groove 322a. When the bracket 37 moves up and down, a part of the bracket 37 is limited in the sliding groove 322a and moves along the extension direction of the sliding groove 322a, the sliding groove 322a plays a guiding role for the bracket 37 and makes the bracket 37 not rotatable relative to the base assembly 32, so that the bracket 37 moves more smoothly and stably.

[0080] As an optional embodiment, referring to Figure 11 , the elastic member 38 is a compression spring, and the compression spring is arranged in the sliding groove 322a, so that the sliding groove 322a is reused and the compression spring is conveniently fixed.

[0081] As an optional embodiment, referring to Figure 11 , the number of the guide seats 322 is two, and the guide seats 322 are oppositely arranged on both sides of the mounting hole 321a, and the opposite ends of the bracket 37 respectively extend into the sliding grooves 322a of the guide seats 322, so that the guide seats 322 have better guiding effect.

[0082] In some embodiments, referring to Figure 11 , the universal wheel device 30 further comprises one or more mounting bearings 302, the mounting bearings 302 are sleeved on the outer periphery of the steering seat 33, and the steering seat 33 is rotatably mounted on the base assembly 32 through the mounting bearings 302. The mounting bearings 302 can reduce the friction between the steering seat 33 and the base assembly 32.

[0083] In some embodiments, referring to Figure 11The top surface and / or the bottom surface 10a of the substrate portion 321 is provided with a receiving groove in communication with the mounting hole 321a, and one or more mounting bearings 302 are accommodated in the receiving groove. The receiving groove serves to limit and fix the mounting bearing 302. The mounting bearing 302 can be a radial bearing or an axial bearing.

[0084] In an embodiment, the mounting bearing 302 includes an inner ring and an outer ring. The outer ring is in interference fit with the receiving groove to be fixed in the receiving groove, and the inner ring is connected to the steering seat 33. The mounting bearing 302 bears the radial load and the axial load from the steering seat 33.

[0085] In some embodiments, referring to Figure 11 The bottom surface 10a of the substrate portion 321 is provided with a first receiving groove, and the top surface of the substrate portion 321 is provided with a second receiving groove 321b. The inner diameter of the first receiving groove is greater than the inner diameter of the second receiving groove 321b. The steering seat 33 includes a disc portion 332 and a shaft portion 331 arranged along the axial direction and connected to each other. The outer diameter of the disc portion 332 is greater than the outer diameter of the shaft portion 331. One of the mounting bearings 302 is sleeved on the outer periphery of the disc portion 332 and embedded in the first receiving groove, and the other mounting bearing 302 is sleeved on the outer periphery of the shaft portion 331 and embedded in the second receiving groove 321b.

[0086] The disc portion 332 has a large outer diameter and is arranged on the bottom surface 10a of the substrate portion 321 and abuts against the substrate portion 321, which can improve the axial load bearing capacity of the steering seat 33. The other mounting bearing 302 is arranged on the other side of the substrate portion 321, so that the two bearings are arranged in a spaced manner and can serve to stabilize the steering seat 33.

[0087] In some embodiments, referring to Figure 9 and Figure 10 The driving mechanism 35 includes a flexible belt 351 and a winding mechanism 352. One end of the flexible belt 351 is connected to the winding mechanism 352, and the other end is fixed relative to the base assembly 32. The winding mechanism 352 is used to wind the flexible belt 351 to make the flexible belt 351 have a straightening movement tendency, thereby driving the lifting assembly 34 to move towards the direction of the caster 31.

[0088] When the flexible belt 351 is wound, the flexible belt 351 presses down the lifting assembly 34 to make the lifting assembly 34 move. When the flexible belt 351 is relaxed, the lifting assembly 34 is reset under the action of the self-weight of the cleaning device 100 and / or the elastic force of the elastic member 38. The driving mechanism 35 has the characteristics of flexible transmission. The flexible belt 351 can also serve to buffer the connection between the driving mechanism 35 and the lifting assembly 34, reduce the damage to the structure, and compensate for the error of the winding mechanism 352 to a certain extent, reduce the precision requirement of the motion control, realize smooth and effective transmission, and help to improve the reliability of the entire cleaning device 100.

[0089] Exemplarily, in an embodiment, the wires at both ends of the flexible belt 351 are arranged in horizontal direction, and the structure above the lifting assembly 34 is less, almost only the flexible belt 351, so that the height dimension of the universal wheel device 30 can be reduced, thereby reducing the overall height of the cleaning device 100.

[0090] In some embodiments, referring to Figure 10 and Figure 11 , the winding mechanism 352 comprises a motor 3521 and a pulley 3522, the motor 3521 is arranged on the power output shaft, and the pulley 3522 is used to wind the flexible belt 351. The motor 3521 outputs power to the pulley 3522 to rotate and wind the flexible belt 351, so as to adjust the lifting movement of the lifting assembly 34 by controlling the rotation of the motor 3521. It can be understood that the reverse rotation of the motor 3521 can make the flexible belt 351 relax, and the lifting assembly 34 can perform a reset movement.

[0091] In some embodiments, referring to Figure 11 , the universal wheel device 30 further comprises a rolling member 301, which is rotatably arranged on the support 37, and the support 37 is in rolling contact with the driving structure through the rolling member 301.

[0092] It can be understood that the driving mechanism 35 at least exerts a downward component force on the support 37, and the rolling contact between the support 37 and the driving mechanism 35 helps to reduce the friction therebetween, so as to reduce the size of the component force in other directions exerted by the driving mechanism 35 on the support 37, thereby making the driving effect of the driving mechanism 35 on the support 37 more direct.

[0093] Exemplarily, the flexible belt 351 is in contact with the rolling member 301, and when the flexible belt 351 is wound, the rolling member 301 rolls, which can greatly reduce the friction between the flexible belt 351 and the lifting assembly 34 and improve the service life of the parts.

[0094] In some embodiments, referring to Figure 11 , the universal wheel device 30 further comprises a lower limit position detection member 303, which is capable of outputting a signal in response to the event that the lifting assembly 34 extends to the lower limit position. The signal can finally act on the motor 3521 to stop rotating, so as to fix the lifting assembly 34 at the lower limit position.

[0095] Exemplarily, in an embodiment, the universal wheel device 30 comprises a detection member fixing frame 305, and the lower limit position detection member 303 is arranged on the detection member fixing frame 305 and responds when the lifting assembly 34 reaches the lower limit position. The form of the lower limit position detection member 303 is not limited, including but not limited to a photoelectric switch, a displacement sensor, etc.

[0096] In some embodiments, referring to Figure 11 The universal wheel device 30 further comprises an upper limit position detection member 304 capable of outputting a signal in response to the event of the lifting assembly 34 being retracted to the upper limit position. The signal can eventually act on the motor 3521 to stop reverse rotation, at which time the lifting assembly 34 completes the reset.

[0097] Illustratively, in an embodiment, the upper limit position detection member 304 is arranged on the detection member fixing frame 305, and the upper limit position detection member 304 responds when the lifting assembly 34 reaches the upper limit position. The form of the upper limit position detection member 304 is not limited, including but not limited to a photoelectric switch, a displacement sensor, etc.

[0098] In some embodiments, referring to Figure 8 and Figure 11 The universal wheel device 30 further comprises a cover plate 306 arranged above the base assembly 32 for covering structures such as the flexible belt 351 and the upper limit position detection member 304 to play a protective role.

[0099] In some embodiments, referring to Figure 2 and Figure 3 The main body 10 of the cleaning device 100 comprises a bottom surface 10a, a circumferential surface 10b, a first slope surface 10c and a second slope surface 10d. The first slope surface 10c is located on the front side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b. The second slope surface 10d is located on the rear side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b.

[0100] The above-mentioned slope surface refers to a surface with a certain slope, that is, the first slope surface 10c and the second slope surface 10d are both arranged inclinedly relative to the horizontal plane, forming a certain size of inclined angle structure on the front side and the rear side of the main body 10. In this way, when the cleaning device 100 encounters an obstacle during operation, the following three situations are included.

[0101] The first situation is that the main body 10 of the cleaning device 100 does not need to abut against the obstacle to pass over. The angle between the tangent line from the frontmost endpoint on the main body 10 to the front wheel of the cleaning device 100 and the horizontal plane is defined as the approach angle of the cleaning device 100. The angle between the tangent line from the rearmost endpoint on the main body 10 to the rear wheel of the cleaning device 100 and the horizontal plane is defined as the departure angle of the cleaning device 100. The first slope surface 10c can undoubtedly increase the approach angle of the cleaning device 100, and the second slope surface 10d can undoubtedly increase the departure angle of the cleaning device 100. Illustratively, when the cleaning device 100 passes through obstacles such as slopes, pits or protrusions, the cleaning device 100 is almost impossible to be held by the obstacle, resulting in the driving wheel 20 being suspended, and the cleaning device 100 can easily pass over the obstacle.

[0102] In the second case, the main body 10 of the cleaning device 100 abuts against the obstacle. Exemplarily, when the cleaning device 100 passes through the obstacle such as a step or a threshold, the first slope surface 10c abuts against the edge of the obstacle, so that the obstacle exerts a resistance on the cleaning device 100 in the oblique upward direction. Under the action of the driving wheel 20, the front side of the main body 10 is lifted, the main body 10 is tilted forward over the obstacle, and then the cleaning device 100 can move over the obstacle. Thus, the first slope surface 10c can guide the main body 10 to move over the obstacle, thereby improving the obstacle-crossing ability of the cleaning device 100. When the cleaning device 100 leaves the obstacle, the second slope surface 10d can reduce the probability of the main body 10 being stuck and the driving wheel 20 being suspended, and also improve the obstacle-crossing ability of the cleaning device 100.

[0103] In the third case, the lifting assembly 34 in the universal wheel device 30 moves, and the ground clearance of the front side of the main body 10 increases. Thus, the approach angle of the cleaning device 100 can be further increased, so that the cleaning device 100 can easily move over the obstacle. Under the guidance of the first slope surface 10c and the driving of the driving wheel 20, the cleaning device 100 can move over the obstacle. In this case, the obstacle-crossing ability of the cleaning device 100 is greatly improved.

[0104] Referring to Figure 4 , the position of the intersection line between the top edge of the first slope surface 10c and the circumferential surface 10b is higher than the position of the intersection line between the top edge of the second slope surface 10d and the circumferential surface 10b. That is, the height dimension of the first slope surface 10c is large in the height direction of the cleaning device 100. On the one hand, the main body 10 is not easy to be stuck during the obstacle-crossing process. On the other hand, even if the height of the obstacle is high, the obstacle can abut against the first slope surface 10c instead of abutting against the circumferential side of the main body 10. Thus, the cleaning device 100 can move over the obstacle with a higher height, thereby further improving the obstacle-crossing ability of the cleaning device 100. The second slope surface 10d is arranged at the rear side, and the height dimension thereof can be small. The structure invading the internal space of the main body 10 is small, the occupation of the internal space of the main body 10 is reduced, and the internal arrangement of other components in the main body 10 is facilitated.

[0105] In some embodiments, referring to Figure 4 , the ground clearance H1 of the intersection line between the top edge of the first slope surface 10c and the circumferential surface 10b is not less than 30 mm, that is, H1≥30 mm. The value of H1 includes but is not limited to 30 mm, 33 mm, 35 mm, 40 mm, 45 mm, etc. Correspondingly, the height of the obstacle that the cleaning device 100 can move over is also larger, so as to improve the obstacle-crossing ability of the cleaning device 100.

[0106] In the embodiment of the cleaning device 100 as a robot, its working environment is usually a bedroom, a kitchen, a study room, etc. The common obstacles in such an environment include, but are not limited to, the track of a sliding door, a dry-wet separation partition, an edge of a wooden floor, etc. The height of these obstacles is generally less than 30 mm, so the cleaning device 100 can cross over these obstacles to move in different ground areas, has a larger activity area, and can clean the room more thoroughly and effectively.

[0107] In some embodiments, referring to Figure 4 In the vertical projection of the plane perpendicular to the axis of the drive wheel 20, the angle (denoted as a) formed by the first slope surface 10c and the horizontal plane is greater than the angle (denoted as β) formed by the second slope surface 10d and the horizontal plane, i.e., a > β.

[0108] The vertical projection of the plane perpendicular to the axis of the drive wheel 20, i.e., the projection of the cleaning device 100 along the axis of the drive wheel 20, forms a projection on one side of the main body 10. It can be understood that the projection contour of the first slope surface 10c is located at the front side edge of the cleaning device 100, and the projection contour of the second slope surface 10d is located at the rear side edge of the cleaning device 100. The shape of the projection contour of the first slope surface 10c is not limited and can be linear, curved, or polygonal. The angle formed by the line connecting the corresponding projection position of the top edge of the first slope surface 10c and the corresponding projection position of the bottom edge of the first slope surface 10c and the horizontal plane is considered as the angle formed by the first slope surface 10c and the horizontal plane in the projection. Similarly, the shape of the projection contour of the second slope surface 10d is not limited and can be linear, curved, or polygonal. The angle formed by the line connecting the corresponding projection position of the top edge of the second slope surface 10d and the corresponding projection position of the bottom edge of the second slope surface 10d and the horizontal plane is considered as the angle formed by the second slope surface 10d and the horizontal plane in the projection.

[0109] The angle formed by the first slope surface 10c and the horizontal plane is relatively large, i.e., the inclination of the first slope surface 10c relative to the horizontal plane is relatively large, and the size of the first slope surface 10c in the horizontal direction is relatively small, so the structure invading the internal space of the main body 10 is relatively small, reducing the occupation of the internal space of the main body 10.

[0110] The angle formed by the first slope surface 10c and the horizontal plane is not limited.

[0111] The angle formed by the second slope surface 10d and the horizontal plane is not limited.

[0112] In some embodiments, the angle a formed by the first slope surface 10c and the horizontal plane is 30°-45°, i.e., 30°≤ a ≤ 45°, and the value of a includes but is not limited to 30°, 35°, 40°, 45°, etc. In this angle range, the occupation of the internal space of the main body 10 can be reduced, and the main body 10 can be guided to cross over the obstacles.

[0113] In some embodiments, referring to Figure 4 , in the orthogonal projection of the plane perpendicular to the axis of the drive wheel 20, the projected profile of the universal wheel device 30 does not exceed the extension line of the projected profile of the first slope surface 10c. The above-mentioned extension line refers to a straight line along the tangent direction of the projected profile of the first slope surface 10c at its end point, which can reflect the movement posture of the main body 10 when the first slope surface 10c moves against the obstacle.

[0114] The projected profile of the universal wheel device 30 does not exceed the extension line of the projected profile of the first slope surface 10c, including two cases. The first case is that the projected profile of the universal wheel device 30 is located on one side of the extension line of the projected profile of the first slope surface 10c; the second case is that the projected profile of the universal wheel device 30 is tangent to the extension line of the projected profile of the first slope surface 10c. In this way, it is difficult for the universal wheel device 30 to be stuck on the obstacle during the process of the cleaning device 100 crossing the obstacle, thereby avoiding hindering the upward movement of the main body 10 as much as possible. Especially when the angle between the first slope surface 10c and the horizontal plane is large, the obstacle exerts a larger force on the cleaning device 100 in the direction of movement, and the design of the universal wheel device 30 is more helpful to improve the reliability of the obstacle crossing function.

[0115] In some embodiments, referring to Figure 2 , the first slope surface 10c includes adjacent first and second regions 10c1 and 10c2, and the first region 10c1 is located above the second region 10c2. The main body 10 further includes third slope surfaces 10e located on the left and right sides of the main body 10, which connect the second region 10c2 and the second slope surface 10d and form a closed loop slope surface around the peripheral surface 10b.

[0116] It can be understood that the first and second regions 10c1 and 10c1 are two different regions with different surfaces, which are schematically distinguished by the intersection line as shown in Figure 2 . The second region 10c2 enables the first slope surface 10c to form a larger slope, and realizes the phased change of the slope through the first and second regions 10c1 and 10c2, so as to reduce the probability of being blocked by the obstacle due to the too straight first slope surface 10c. In addition, the closed loop slope surface can improve the aesthetics of the bottom of the cleaning device 100, and can make the left and right sides of the main body 10 not easy to be stuck by the obstacle, so that the obstacle crossing ability of the cleaning device 100 is more stable when crossing the obstacle.

[0117] Exemplarily, in an embodiment, the intersection line between the top edge of the third slope surface 10e and the peripheral surface 10b is flush with the intersection line between the second slope surface 10d and the peripheral surface 10b, so as to reduce the occupation of the internal space of the main body 10 and make the lines of the bottom of the main body 10 more smooth, thereby improving the aesthetics.

[0118] In an example, the third slope 10e has the same slope as the second slope 10d at the same height.

[0119] In some embodiments, referring to Figure 2 The cleaning device 100 includes a collision plate 40 disposed on the front side of the main body 10. The collision plate 40 has a gap 40a, and the first area 10c1 is exposed outside the cleaning device 100 through the gap 40a. The bottom edge of the collision plate 40 at the positions on both sides of the gap 40a in the circumferential direction is not lower than the top edge of the closed-loop slope.

[0120] The collision plate 40 is used to bear the impact when the cleaning device 100 collides with an obstacle. In an example, the collision plate 40 is connected to the main body 10 in a non-rigid manner, and is movably connected to the front side of the main body 10 to buffer the impact received by the cleaning device 100. In other embodiments, the collision plate 40 can be replaced as a consumable part, thereby reducing the maintenance cost of the cleaning device 100.

[0121] In an example, the cleaning device 100 further includes a collision detection device. The collision plate 40 has a certain floating property relative to the main body 10. When the cleaning device 100 collides with an obstacle, the collision plate 40 moves with a sufficient amplitude of movement to be detected, so that the collision detection device detects the collision activity and generates a corresponding signal, which facilitates the cleaning device 100 to determine the next action to be performed according to the signal.

[0122] The first area 10c1 is exposed outside the cleaning device 100 through the gap 40a. That is, the gap 40a on the collision plate 40 can avoid the first slope 10c, so that when the cleaning device 100 approaches an obstacle, the obstacle can contact the first area 10c1, rather than directly colliding with the collision plate to trigger a collision signal, which helps the cleaning device 100 to pass over the obstacle by the guiding action of the first area 10c1. The bottom edge of the collision plate 40 at the positions on both sides of the gap 40a in the circumferential direction is not lower than the top edge of the closed-loop slope, so that the corresponding part of the collision plate 40 avoids the closed-loop slope, and the cleaning device 100 is not easy to be stuck.

[0123] In an example, the collision plate 40 is a plastic part.

[0124] In an example, the gap 40a is rectangular in shape. Of course, in other embodiments, the gap 40a can also be a sector shape or other irregular shape.

[0125] In some embodiments, the collision plate 40 corresponds to a portion of the first slope surface 10c within the extension length range of the circumferential surface 10b of the main body 10, and is not lower than the intersection line between the top edge of the first slope surface 10c and the circumferential surface 10b, so as to avoid the first slope surface 10c in the height direction, and allow the first slope surface 10c to abut against the obstacle.

[0126] In some embodiments, the ground clearance H2 of the collision plate 40 corresponding to the portion of the first slope surface 10c within the extension length range of the circumferential surface 10b of the main body 10 is not less than 30 mm, that is, H2≥30 mm, and the value of H2 includes but is not limited to 30 mm, 33 mm, 35 mm, 40 mm, 45 mm, etc., so as to reduce or even almost not block the first slope surface 10c.

[0127] As an optional embodiment, when the ground clearance of the intersection line between the top edge of the first slope surface 10c and the circumferential surface 10b is 30 mm, the ground clearance of the portion corresponding to the collision plate is also 30 mm, so as to completely avoid the first slope surface 10c.

[0128] In some embodiments, the cleaning device 100 can further include a plurality of sensors, and some of the sensors are arranged on the first slope surface 10c, so as to utilize the large surface area of the first slope surface 10c and facilitate the sensors to perceive information. In addition, by arranging the sensors on the first slope surface 10c, the demand for the internal space of the main body 10 is reduced, and the design flexibility is improved.

[0129] It can be understood that the sensors include but are not limited to cameras, laser radars, or infrared transceivers, etc., which can be used to acquire information of the surrounding environment of the cleaning device 100, including but not limited to room map information, obstacle position and distance, etc. The sensors can feed back the collected information to the control module, so as to plan the moving path of the cleaning device 100 and complete the cleaning work.

[0130] In some embodiments, the cleaning device 100 further includes a lighting lamp, and the lighting lamp is arranged on the first slope surface 10c. The lighting lamp can be used to provide light in a dark environment, so that the sensors can normally acquire information.

[0131] It should be noted that the above-mentioned sensors or lighting lamps will not be arranged on the area of the first slope surface 10c which first contacts the obstacle, so as to reduce the probability of damaging the sensors or lighting lamps.

[0132] In the embodiments of the present application, unless specifically defined and limited otherwise, a first feature is "on", "under", "above", or "over" a second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, the first feature "over", "above", or "on" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below", or "on" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0133] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0134] The various embodiments / implementation forms provided by the present application can be combined with each other as long as there is no contradiction.

[0135] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A universal wheel apparatus, characterized by, The universal wheel device comprises: a caster wheel; a base assembly and a steering seat rotatably arranged on the base assembly; a lifting assembly, the caster wheel is arranged at the bottom end of the lifting assembly, the lifting assembly is in rotation-stopping cooperation with the steering seat, the caster wheel is used to drive the steering seat to rotate relative to the base assembly under the action of external force, and the lifting assembly can move up and down relative to the steering seat; a driving mechanism for driving the lifting assembly to move up and down relative to the steering seat and the base assembly.

2. The universal wheel apparatus of claim 1, wherein, The base assembly comprises a base plate part, the base plate part has a mounting hole, the steering seat is rotatably arranged in the mounting hole, the lifting assembly comprises a mounting frame and a rod part, the caster wheel is rotatably arranged on the mounting frame, the steering seat has a through hole, and the top end of the rod part extends to the top side of the base plate part through the through hole.

3. The universal wheel apparatus of claim 2, wherein, The steering seat comprises a shaft part, the shaft part is arranged in the mounting hole, and the outer circumferential surface of the shaft part has an annular groove; the universal wheel device comprises a limiting structure, the limiting structure is fixed relative to the base assembly, a part of the limiting structure extends into the annular groove, and the steering seat can rotate relative to the limiting structure.

4. The universal wheel apparatus of claim 3, wherein, The limiting structure comprises a check ring, the check ring is arranged in a broken manner at the beginning and the end to form a gap, and the gap is used for the shaft part to enter and exit the check ring.

5. The universal wheel apparatus of claim 2, wherein, The universal wheel device comprises a support arranged on the top side of the base plate part, the support is in rotation-stopping cooperation with the base assembly, the top end of the rod part is rotatably connected to the support, and the driving mechanism is used to apply force to the support to drive the lifting assembly to move up and down relative to the base assembly through the support.

6. The universal wheel apparatus of claim 5, wherein, The universal wheel device comprises an elastic member, the support is supported on the elastic member, the elastic member can be elastically deformed in the lifting direction of the lifting assembly, so that the support can move along the lifting direction of the lifting assembly.

7. The universal wheel apparatus of claim 5, wherein, The universal wheel device further comprises a guide bearing, and the top end of the rod part is rotatably connected to the support through the guide bearing.

8. The universal wheel apparatus of claim 5, wherein, The base assembly further comprises a guide seat arranged on the top side of the base plate part, the guide seat has a sliding groove extending along the lifting direction of the lifting assembly, and a part of the support extends into the sliding groove and is in sliding cooperation with the sliding groove.

9. The universal wheel apparatus of claim 5, wherein, The universal wheel device further comprises a rolling member, the rolling member is rotatably arranged on the support, and the support is in rolling contact with the driving mechanism through the rolling member.

10. The universal wheel apparatus of claim 1, wherein, The universal wheel device further comprises one or more mounting bearings, the mounting bearings are sleeved on the outer periphery of the steering seat, and the steering seat is rotatably arranged on the base assembly through the mounting bearings.

11. The omnidirectional wheel apparatus of claim 10, wherein, The base assembly comprises a base plate part, the base plate part has a mounting hole, the top surface and / or the bottom surface of the base plate part is provided with a containing groove, the containing groove is in communication with the mounting hole, and one or more mounting bearings are accommodated in the containing groove.

12. The omnidirectional wheel apparatus of claim 11, wherein, The bottom surface of the substrate part is provided with a first accommodating groove, and the top surface of the substrate part is provided with a second accommodating groove, the inner diameter of the first accommodating groove is greater than the inner diameter of the second accommodating groove, and the steering seat comprises a disc part and a shaft part arranged in an axial direction and connected to each other, and the outer diameter of the disc part is greater than the outer diameter of the shaft part. One of the mounting bearing sleeves is arranged on the outer periphery of the disc part and embedded in the first accommodating groove, and the other mounting bearing sleeve is arranged on the outer periphery of the shaft part and embedded in the second accommodating groove.

13. The gimbal wheel apparatus of any one of claims 1-12, wherein, The driving mechanism comprises a flexible belt and a winding mechanism, one end of the flexible belt is connected to the winding mechanism, the other end is fixed relative to the base assembly, the winding mechanism is used for winding the flexible belt, so that the flexible belt generates a straightening movement trend, thereby driving the lifting assembly to move towards the direction of the caster.

14. The universal wheel apparatus of claim 13, wherein, The winding mechanism comprises a motor and a pulley, the belt is arranged on the power output shaft of the motor, and the pulley is used for winding the flexible belt.

15. The gimbal wheel apparatus of any one of claims 1-12, wherein, The universal wheel device further comprises a lower limit position detection member capable of outputting a signal in response to an event that the lifting assembly extends to a lower limit position; and / or, the universal wheel device further comprises an upper limit position detection member capable of outputting a signal in response to an event that the lifting assembly retracts to an upper limit position.

16. A cleaning apparatus, characterized by It comprises: a main body, a driving wheel arranged on the main body and used for driving the main body to move; and the universal wheel device according to any one of claims 1-15 is arranged at the front end of the main body, and the lifting assembly is used to drive the caster to move up and down to adjust the ground clearance of the front side of the main body.

17. The cleaning apparatus of claim 16, wherein, The main body comprises a bottom surface, a circumferential surface, a first slope surface and a second slope surface, the first slope surface is located on the front side of the main body and connects the bottom surface and the circumferential surface, and the second slope surface is located on the rear side of the main body and connects the bottom surface and the circumferential surface.

18. The cleaning apparatus of claim 17, wherein, The position of the intersection line between the top edge of the first slope surface and the circumferential surface is higher than the position of the intersection line between the top edge of the second slope surface and the circumferential surface.

19. The cleaning apparatus of claim 17, wherein, The universal wheel device is located in front of the driving wheel, and in a vertical projection plane perpendicular to the axis of the driving wheel, the projection contour of the universal wheel device does not exceed the extension line of the projection contour of the first slope surface.

20. The cleaning apparatus of claim 19, wherein, The main body has a through hole, part of the universal wheel device extends to the outside of the main body through the through hole, wherein part of the through hole penetrates the first slope surface, and the other part penetrates the bottom surface.

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