Universal wheel device and cleaning equipment

Abstract

The utility model provides a universal wheel device and cleaning equipment. The universal wheel device comprises universal wheels, a base, a lifting assembly and a driving mechanism. The universal wheel is arranged at the bottom end of the lifting assembly, and the lifting assembly can ascend and descend in the height direction of the universal wheel device relative to the base. The driving mechanism is arranged on the base and comprises a rotating piece, the rotating piece is provided with a rotating axis, and the rotating piece is used for driving the lifting assembly to move towards the bottom side of the base in the process of rotating around the rotating axis in the first rotating direction. Wherein the rotation axis intersects with the height direction. According to the universal wheel device and the cleaning equipment, the obstacle crossing ability is high, and the trafficability is good.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a caster wheel device and cleaning equipment. Background Technology

[0002] This section is intended to provide background or context for the embodiments of this application as set forth in the claims. The description herein is not intended to be a prior art simply because it is included in this section.

[0003] Taking robotic vacuum cleaners as an example, related technologies include drive wheels and omnidirectional wheels. The drive wheels propel the robot forward, while the omnidirectional wheels assist in steering, allowing the robot to follow a predetermined route. However, current robotic vacuum cleaners struggle to overcome high obstacles, leaving some floor areas uncleaned, resulting in weak cleaning capabilities and negatively impacting user experience. Utility Model Content

[0004] In view of this, the embodiments of this application aim to provide a universal wheel device and cleaning equipment with strong obstacle-crossing ability and good passability.

[0005] This application provides a universal wheel device, including:

[0006] swivel wheels;

[0007] Base;

[0008] A lifting assembly, wherein the universal wheels are disposed at the bottom end of the lifting assembly, and the lifting assembly can move up and down relative to the base along the height direction of the universal wheel device;

[0009] A driving mechanism is disposed on the base. The driving mechanism includes a rotating component with a rotation axis. The rotating component is used to drive the lifting assembly to move toward the bottom side of the base during rotation about the rotation axis in a first rotation direction. The rotation axis intersects the height direction.

[0010] In some embodiments, the axis of rotation is perpendicular to the height direction.

[0011] In some embodiments, the caster wheel assembly includes an elastic element for providing an elastic force to the lifting assembly to move upward along the height direction.

[0012] In some embodiments, the base has a through hole, the lifting assembly includes an interconnected mounting bracket and a rod, the mounting bracket is located on the bottom side of the base, the caster wheel is rotatably mounted on the mounting bracket, and the rod passes through the through hole.

[0013] In some embodiments, the rotating member includes a rod and a deflector, the deflector extending laterally toward the rod, the deflector being used to contact the mounting bracket and drive the lifting assembly toward the bottom side of the base during rotation about the axis of the rod in a first rotation direction;

[0014] Alternatively, the rotating component includes a cam, the outer peripheral surface of which is used to contact the mounting bracket, and the cam drives the lifting assembly to move toward the bottom side of the base as it rotates about the rotation axis in a first rotation direction.

[0015] In some embodiments, the caster assembly includes a bushing assembly housed within the through-hole, the rod passing through the bushing assembly along the height direction and movable relative to the bushing assembly along the height direction of the caster assembly; the bushing assembly is at least capable of elastic deformation in the radial direction.

[0016] In some embodiments, the bushing assembly includes a resilient bushing and a bushing, the bushing being fitted around the outer periphery of the rod portion, the resilient bushing being fitted around the outer periphery of the bushing, and the bushing having a harderness than the resilient bushing.

[0017] In some embodiments, the drive mechanism includes a motor, the motor includes a drive shaft, and the drive shaft is coaxially arranged with the rotating component.

[0018] In some embodiments, the rotatable angle range of the rotating member about the rotation axis is not less than 90°.

[0019] In some embodiments, the caster wheel device includes a bracket disposed on the top side of the base, the bracket being anti-rotationally engaged with the base, the top end of the lifting assembly being connected to the bracket, the lifting assembly being rotatable relative to the bracket, and capable of driving the bracket to move synchronously along the height direction.

[0020] This application also provides a cleaning device, comprising:

[0021] Main body,

[0022] A drive wheel, mounted on the main body, is used to drive the main body to move;

[0023] The universal wheel device described in any embodiment of this application is disposed at the front of the main body, and the lifting component is used to drive the universal wheel to move up and down to adjust the ground height of the front side of the main body.

[0024] The universal wheel device and cleaning equipment provided in this application embodiment have a rotation axis of the rotating component intersecting with the height direction. During the movement of the lifting component driven by the rotating component, the position of the lifting component relative to the rotation axis changes. This arrangement makes the arrangement of the rotating component and the lifting component more compact and the power source arrangement more flexible. It is beneficial for the cleaning equipment to maintain a small space occupation in the height direction, thereby improving its obstacle-crossing ability and improving its passability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the cleaning equipment in a horizontal position according to an embodiment of this application;

[0026] Figure 2 for Figure 1 A schematic diagram showing the front of the main body of the cleaning device in the Chinese embodiment is raised;

[0027] Figure 3 This is an exploded view of the caster wheel device in one embodiment of this application;

[0028] Figure 4 for Figure 3 A cross-sectional view of the caster wheel assembly in the embodiment;

[0029] Figure 5 for Figure 4 An enlarged schematic diagram of the middle structure at point A;

[0030] Figure 6 for Figure 3 A schematic diagram of the lifting assembly of the caster wheel device in the embodiment at a first height position;

[0031] Figure 7 for Figure 3 A schematic diagram of the lifting assembly of the caster wheel device in the second height position in the embodiment.

[0032] Explanation of reference numerals in the attached figures

[0033] 100. Cleaning equipment; 10. Main body; 20. Drive wheel; 30. Caster wheel assembly; 31. Caster wheel; 32. Base; 32a. Through hole; 32a1. First protrusion; 32b. Clearance space; 321. Guide groove; 33. Lifting assembly; 331. Rod; 332. Mounting bracket; 3321. Protruding rib; 34. Drive mechanism; 341. Rotating component; 3411. Rod; 3412. Actuating component; 342. Motor; 35. Elastic component; 36. Bushing assembly; 361. Elastic bushing; 362. Bushing; 3621. Second protrusion; 37. Bracket. Detailed Implementation

[0034] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0035] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0037] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example that is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0039] In related technologies, a swivel wheel is a steering wheel structure that can rotate to change the direction of travel while rolling.

[0040] This application provides a universal wheel device 30. Please refer to [link / reference]. Figure 3 , Figure 6 and Figure 7 The caster wheel device 30 includes caster wheels 31, base 32, lifting assembly 33, and drive mechanism 34.

[0041] This application also provides a cleaning device 100, which is not limited in form and can be a sweeping robot, a mopping robot, or a combined sweeping and mopping robot, etc. Please refer to... Figure 1 and Figure 2 The cleaning device 100 includes a main body 10, drive wheels 20, and a caster wheel device 30 as described in any embodiment of this application. The drive wheels 20 are disposed on the main body 10 and are used to drive the main body 10 to move. The caster wheel device 30 is disposed at the front of the main body 10 and is used to realize the steering action of the main body 10.

[0042] For example, there are at least two drive wheels 20, which are coaxially arranged on the bottom side of the main body 10. When the rotation speed of one drive wheel 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 member, which adjusts as the cleaning equipment 100 rotates on the ground, so that the cleaning equipment 100 can turn more smoothly and steadily.

[0043] Of course, the universal wheel device 30 is not limited to the application on the cleaning equipment 100, but can also be used on other ground mobile equipment, such as sweepers and mops. This manual describes its application on the cleaning equipment 100.

[0044] When the cleaning device 100 moves across the floor, it cleans the floor using its cleaning components, such as a mop, roller brush, and side brush. To ensure the cleaning device 100 has a sufficiently large reachable area, the better its obstacle-crossing ability (i.e., its ability to overcome ground obstacles) and passability (i.e., its ability to navigate through low spaces such as under sofas), the better the overall cleaning effect of the cleaning device 100 on the floor, thus improving the user experience.

[0045] Please see Figure 1 and Figure 4 The caster wheel 31 is located at the bottom of the lifting assembly 33, and the lifting assembly 33 can move relative to the base 32 along the height direction of the caster wheel device 30 (e.g., Figure 1 (As indicated by the middle arrow H) Lifting movement. It should be noted that when the caster wheel 31 turns, it can rotate relative to the lifting assembly 33, or the lifting assembly 33 can rotate relative to the base 32, driving the caster wheel 31 to rotate; this is not limited here.

[0046] In the cleaning device 100, the lifting assembly 33 is used to drive the casters 31 to move up and down, thereby adjusting the ground clearance of the front side of the main body 10. For example, please refer to... Figure 1The caster wheel 31 is at a first height position relative to the main body 10, and the main body 10 is placed horizontally; for example, please refer to Figure 2 With the omnidirectional wheel 31 in the second height position, the front of the main body 10 is raised so that the bottom side of the main body 10 can cross the obstacle, and with the action of the drive wheel 20, the main body 10 crosses the obstacle as a whole, improving its obstacle crossing ability.

[0047] Please see Figure 3 , Figure 6 and Figure 7 The drive mechanism 34 is mounted on the base 32 and includes a rotating component 341 with a rotation axis. During rotation about the rotation axis in a first rotation direction, the rotating component 341 drives the lifting assembly 33 towards the bottom of the base 32, increasing the ground clearance of the front of the main body 10 and causing the front of the main body 10 to tilt upwards. Conversely, if the rotating component 341 rotates in a second rotation direction opposite to the first rotation direction, or continues to move in the first rotation direction until it loses its driving force on the lifting assembly 33, the lifting assembly 33 will reset relative to the main body 10 under its own weight or other reset mechanisms. This method of directly driving the lifting assembly 33 with the rotating component 341 provides a fast response and allows for rapid adjustment of the ground clearance of the front of the main body 10.

[0048] In related technologies, the caster wheel device is equipped with a rotating component that rotates and moves downwards (i.e., the axis of rotation is parallel to the height direction), thereby driving the lifting assembly to move towards the bottom side of the base. Such a structure requires a large space to be reserved on the top side of the base to accommodate the stroke range of the rotating component and to house its power source. In this embodiment, the axis of rotation of the rotating component 341 (e.g., ...) Figure 6 and Figure 7 (As shown by the center line in the diagram) intersects with the height direction. During the movement of the lifting assembly 33 driven by the rotating component 341, the position of the lifting assembly 33 relative to the rotation axis changes. This arrangement makes the arrangement of the rotating component 341 and the lifting assembly 33 more compact and the setting of the power source more flexible. This allows the cleaning equipment 100 to maintain a small space occupation in the height direction, thereby improving its obstacle-crossing ability and its passability.

[0049] For example, when the lifting assembly 33 is at the second height position relative to the base 32, the lifting assembly 33 moves to the limit position, and correspondingly, a portion of the rotating member 341 is at the lowest point in the height direction of its travel range.

[0050] In some embodiments, please refer to Figure 6 and Figure 7The rotation axis is perpendicular to the height direction, meaning the angle between the rotation axis and the height direction is 90°, and a certain tolerance is allowed. The rotation axis is horizontal. In this embodiment, the angular displacement of the rotating component 341 is converted into the linear displacement of the lifting component 33. When set vertically, the conversion efficiency is high, thus eliminating the need to design the size of the rotating component 341 to be too large, which is beneficial for a more compact structure of the rotating component 341 and the lifting component 33.

[0051] Furthermore, since the rotation axis is perpendicular to the height direction, when the rotating component 341 drives the lifting assembly 33 to move towards the bottom side of the base 32, the angular displacement of the rotating component 341 is converted into the linear displacement of the lifting assembly 33 at a speed that decreases from fast to slow, thereby making the movement of the caster wheel 31 more stable and reducing impact.

[0052] In some embodiments, please refer to Figure 6 and Figure 7 The caster wheel assembly 30 includes an elastic element 35, which provides an elastic force to the lifting assembly 33 to move upwards in the height direction. It is understood that when the driving force applied to the lifting assembly 33 by the rotating member 341 is greater than the elastic force applied by the elastic element, the lifting assembly 33 moves towards the bottom side of the base 32; when the driving force applied to the lifting assembly 33 by the rotating member 341 is less than the elastic force applied by the elastic element, the lifting assembly 33 returns to its original position and moves towards the top side of the base 32. During the movement of the lifting assembly 33, the elastic element 35 not only provides a restoring force but also applies resistance to reduce the impact generated during the movement of the lifting assembly 33 and protect the components.

[0053] The form of the elastic element 35 is not limited. For example, the elastic element 35 can be any of the following: compression spring, tension spring, or elastic rope.

[0054] In some embodiments, please refer to Figure 3 , Figure 4 and Figure 5 The base 32 has a through hole 32a. The lifting assembly 33 includes a mounting frame 332 and a rod 331 connected to each other. The mounting frame 332 is located on the bottom side of the base 32. The caster wheel 31 is rotatably mounted on the mounting frame 332. The rod 331 passes through the through hole 32a.

[0055] When the lifting assembly 33 moves up and down relative to the base 32, the rod 331 moves along with it through the through hole 32a. The mounting bracket 332 supports the casters 31. When the cleaning equipment 100 is not tilted (i.e., when the cleaning equipment 100 is in a horizontal position), the mounting bracket 332 can stop and abut against the bottom side of the base 32 under the weight of the main body 10, thus fixing the position of the mounting bracket 332 relative to the base 32. Since the bottom side of the base 32 can abut against the mounting bracket 332, the force exerted by the lifting assembly 33 on the rotating component 341 is not too large when the cleaning equipment 100 is in a horizontal position, reducing the load on the rotating component 341.

[0056] For example, such as Figure 5 As shown, a protruding rib 3321 is provided on the surface of the mounting bracket 332 that can abut against the base 32. The protruding rib 3321 protrudes from the surface of this side and can abut against the bottom side of the base 32 to reduce friction when the mounting bracket 332 abuts against the base 32 and rotates relative to the base 32.

[0057] The structure of the rotating part 341 is not limited.

[0058] In some embodiments, for example, the rotating component 341 includes a cam whose outer peripheral surface is used to contact the mounting bracket 332. During rotation about the rotation axis in a first rotation direction, the cam drives the lifting assembly 33 to move towards the bottom side of the base 32. It is understood that a cam-pull mechanism is formed between the cam and the mounting bracket 332. The design of the cam-pull mechanism is highly flexible; by setting the profile curve of the cam, the motion law of the mounting bracket 332 can be adjusted, and its motion time and stroke can be precisely controlled.

[0059] For example, in other embodiments, please refer to Figure 6 and Figure 7 The rotating component 341 includes a rod 3411 and a toggle member 3412. The toggle member 3412 extends laterally toward the rod 3411. The rotation axis of the rotating component 341 extends along the rod 3411. The toggle member 3412 is used to contact the mounting bracket 332 and drives the lifting assembly 33 toward the bottom side of the base 32 during rotation about the axis of the rod 3411 in a first rotation direction.

[0060] Understandably, during the rotation of the actuating element 3412 around the rod 3411, the actuating element 3412 gradually tends to be placed vertically along the first rotation direction to push out the mounting bracket 332. When moving along the second rotation direction opposite to the first rotation direction, the actuating element 3412 gradually tends to be placed horizontally to make room for the mounting bracket 332 to reset. The actuating element 3412, which extends laterally along the rod 3411, can reduce its height dimension when placed horizontally or nearly horizontally, thereby facilitating its placement on the bottom side of the base 32, reducing the gap between the mounting bracket 332 and the bottom side of the base 32 when reset, and helping to reduce the space occupied by the cleaning equipment 100 in the height direction.

[0061] For example, there are two toggle members 3412, which are spaced apart and move synchronously to contact the mounting bracket 332, thereby applying driving force to multiple parts of the mounting bracket 332 and making the drive smoother.

[0062] For example, the bottom side of the base 32 is recessed inward to form a clearance space 32b. Parts of the rod 3411 and / or the actuating member 3412 are located in the clearance space 32b. When the actuating member 3412 moves around the rod 3411 in a first rotation direction, it partially extends out of the clearance space 32b to contact the mounting part. When the actuating member 3412 moves around the rod 3411 in a second rotation direction, it gradually retracts completely into the clearance space 32b.

[0063] In some embodiments, please refer to Figure 3 , Figure 6 and Figure 7 The drive mechanism 34 includes a motor 342, which includes a power shaft coaxially arranged with the rotating component 341. The power shaft is used to drive the rotating component 341 to rotate, at least driving the rotating component 341 to move along a first rotation direction. In some embodiments, it can also drive the rotating component 341 to move along a second rotation direction. It is understood that the motor 342 is the power source in the drive mechanism 34, and the power shaft of the motor 342 can be connected to the rotating component 341 via a coupling.

[0064] In this embodiment, the power shaft and the rotating component 341 are coaxially arranged. That is, the power shaft of the motor 342 intersects the height direction, rather than extending along the height direction, which reduces the space occupied by the motor 342 in the height direction. For example, the motor 342 is arranged horizontally, and its power shaft is along the horizontal direction.

[0065] In some embodiments, the rotatable angle range of the rotating member 341 around the rotation axis is not less than 90°, that is, the rotatable angle range of the rotating member 341 around the rotation axis includes 90° and above, such as 120° or 180°. Thus, after the rotating member 341 drives the lifting assembly 33 to the second height position, a portion of the rotating member 341 is at its lowest point in the height direction of its travel range. The reaction force applied by the lifting assembly 33 to the rotating member 341 points inwards, making the component force generated by this reaction force that drives the rotating member 341 to rotate small or almost negligible. Therefore, the rotating member 341 remains relatively stable in its current position, which is beneficial for protecting the power source in the drive mechanism 34.

[0066] In some embodiments, please refer to Figure 3 and Figure 4 The caster wheel assembly 30 includes a bushing assembly 36, which is housed within a through hole 32a. A rod portion 331 passes through the elastic bushing assembly 36 along the height direction and is movable relative to the bushing assembly 36 along the height direction of the caster wheel assembly 30. The bushing assembly 36 is capable of elastic deformation at least in the radial direction.

[0067] When the cleaning device 100 is tilted up at the front of the main body 10, due to the movement of the cleaning device 100 and the influence of structural dimensions, there is inevitably an angle between the height direction and the vertical direction of the cleaning device 100. That is, at this time, the height direction of the universal wheel device 30 deviates slightly from the vertical direction. In this embodiment, the bushing assembly 36, which can undergo elastic deformation in the radial direction, can play a buffering role when the rod 331 deviates from the vertical direction, so that the rod 331 and the through hole 32a are less likely to be squeezed, thereby reducing the stress concentration between the rod 331 and the base 32 after the front of the main body 10 tilts up, and protecting the component structure from damage.

[0068] In some embodiments, please refer to Figure 3 , Figure 4 and Figure 5 The elastic bushing 361 assembly 36 includes an elastic bushing 361 and a bushing 362. The bushing 362 is fitted around the outer periphery of the rod portion 331, and the elastic bushing 361 is fitted around the outer periphery of the bushing 362. The hardness of the bushing 362 is greater than that of the elastic bushing 361. When the rod portion 331 moves along the through hole 32a, the bushing 362 is fixed relative to the elastic bushing 361, while the rod portion 331 moves relative to the bushing 362. Due to the greater hardness of the bushing 362, the movement of the rod portion 331 relative to the bushing 362 is smoother and less prone to jamming, while the elastic bushing 361 can achieve the effect of radial elastic deformation.

[0069] For example, the resilient bushing 361 may be a rubber bushing or otherwise. For example, the bushing 362 may be a brass bushing or otherwise.

[0070] For example, such as Figure 5 As shown, the bottom wall of the through hole 32a protrudes towards the inside of the through hole 32a, forming a first protrusion 32a1. The elastic bushing 361 is supported on the first protrusion 32a1. The first protrusion 32a1 is used to prevent the elastic bushing 361 from being dislodged when the lifting assembly 33 moves towards the bottom side of the base 32.

[0071] For example, such as Figure 5 As shown, the outer peripheral wall of the top of the bushing 362 protrudes in a direction away from the bushing 362, forming a second protrusion 3621. The second protrusion 3621 is located above the elastic bushing 361. The second protrusion 3621 is used to minimize the possibility of the bushing 362 being dislodged when the lifting assembly 33 moves toward the bottom side of the base 32.

[0072] In some embodiments, please refer to Figure 3 , Figure 6 and Figure 7 The caster wheel device 30 includes a bracket 37 disposed on the top side of the base 32. The bracket 37 is anti-rotating with the base 32, meaning that the bracket 37 and the base 32 cannot rotate relative to each other. The top end of the lifting assembly 33 is connected to the bracket 37. The lifting assembly 33 can rotate relative to the bracket 37 and can drive the bracket 37 to move synchronously along the height direction. It can be understood that when the lifting assembly 33 rotates, the caster wheels 31 rotate synchronously. The bracket 37 connects the top end of the lifting assembly 33 to the structure on the base 32, providing support and making it less likely for the lifting assembly 33 to sway during its movement toward the bottom side of the base 32.

[0073] In some embodiments where the rod portion 331 of the lifting assembly 33 passes through the through hole 32a, the top end of the rod portion 331 is connected to the bracket 37, and the rod portion 331 can rotate relative to the bracket 37. Both the through hole 32a of the base 32 and the bracket 37 can provide support to the rod portion 331, making the movement of the rod portion 331 more stable.

[0074] For example, the top side of the base 32 has a guide groove 321 that extends along the height direction. There are at least two guide grooves 321. Parts of the bracket 37 extend into the two guide grooves 321 respectively. When the lifting assembly 33 drives the bracket 37 to move synchronously along the height direction, the cooperation between the bracket 37 and the guide groove 321 plays a guiding and anti-rotation role.

[0075] For example, in some embodiments with elastic element 35, elastic element 35 is a compression spring located in guide groove 321. One end of the compression spring is supported by bracket 37. When lifting assembly 33 drives bracket 37 to move synchronously along the height direction, the compression spring is compressed and produces elastic deformation. In this way, by making comprehensive use of guide groove 321 and bracket 37, the structure is compact and the space utilization rate is improved.

[0076] The various embodiments / implementations provided in this application can be combined with each other without creating contradictions.

[0077] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A universal wheel apparatus, characterized by, The universal wheel device comprises: a universal wheel; a base; a lifting assembly, the universal wheel being arranged at a bottom end of the lifting assembly, the lifting assembly being capable of lifting movement along a height direction of the universal wheel device relative to the base; a driving mechanism arranged at the base, the driving mechanism comprising a rotating member having a rotation axis, the rotating member being configured to drive the lifting assembly to move towards a bottom side of the base during rotation of the rotating member about the rotation axis in a first rotation direction; wherein the rotation axis intersects the height direction.

2. The universal wheel apparatus of claim 1, wherein, The rotation axis is perpendicular to the height direction.

3. The universal wheel apparatus of claim 1, wherein, The universal wheel device comprises an elastic member configured to provide an elastic force to the lifting assembly for upward movement along the height direction.

4. The universal wheel apparatus of claim 1, wherein, The base has a through hole, the lifting assembly comprises a mounting frame and a rod portion, the mounting frame being located at the bottom side of the base, the universal wheel being rollably arranged at the mounting frame, the rod portion being arranged through the through hole.

5. The universal wheel apparatus of claim 4, wherein, The rotating member comprises a rod member and a pushing member, the pushing member extending laterally towards the rod member, the pushing member being configured to contact the mounting frame and drive the lifting assembly to move towards the bottom side of the base during rotation of the rod member about the axis of the rod member in the first rotation direction; or The rotating member comprises a cam, an outer circumferential surface of the cam being configured to contact the mounting frame, the cam being configured to drive the lifting assembly to move towards the bottom side of the base during rotation of the cam about the rotation axis in the first rotation direction.

6. The universal wheel apparatus of claim 4, wherein, The universal wheel device comprises a bushing assembly, the bushing assembly being arranged in the through hole, the rod portion passing through the bushing assembly along the height direction and being capable of moving along the height direction of the universal wheel device relative to the bushing assembly; the bushing assembly being capable of elastic deformation in at least a radial direction.

7. The universal wheel apparatus of claim 6, wherein, The bushing assembly comprises an elastic bushing and a shaft sleeve, the shaft sleeve being sleeved on an outer periphery of the rod portion, the elastic bushing being sleeved on an outer periphery of the shaft sleeve, the shaft sleeve having a hardness greater than that of the elastic bushing.

8. The universal wheel apparatus of any one of claims 1-7, wherein, The driving mechanism comprises a motor, the motor comprising a power shaft, the power shaft being coaxially arranged with the rotating member.

9. The universal wheel apparatus of any one of claims 1-7, wherein, The rotating member is capable of rotation about the rotation axis through an angle of not less than 90°.

10. The universal wheel apparatus of any one of claims 1-7, wherein, The universal wheel device comprises a support arranged at a top side of the base, the support being rotationally fixed to the base, a top end of the lifting assembly being connected to the support, the lifting assembly being capable of rotation relative to the support and capable of driving the support to move synchronously along the height direction.

11. A cleaning apparatus, characterized by The universal wheel device comprises: a main body, a driving wheel arranged at the main body and configured to drive the main body to move; and any one of claims 1-10, the universal wheel device being arranged at a front portion of the main body, the lifting assembly being configured to drive the universal wheel to move up and down to adjust a ground clearance of a front side of the main body.

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