Cleaning robot

Abstract

The utility model relates to the technical field of cleaning equipment, and discloses a cleaning robot, which has a first direction, a second direction and a third direction which are vertically intersected in pairs, and comprises a machine body, obstacle crossing wheels and supporting wheels, each obstacle crossing wheel comprises a mounting frame, a driving wheel and a supporting assembly; the driving wheel is rotationally arranged at one end, in the second direction, of the mounting frame and can rotate around a first axis; the supporting assembly is rotationally arranged at the other end, in the second direction, of the mounting frame and can rotate around a second axis; the mounting frame is rotationally connected with the machine body, and the machine body can rotate around a third axis; the third axis is parallel to the first axis, and the projection of the third axis in the second direction is located outside the outline range of the driving wheel. The cleaning robot has the advantages that the cleaning robot can cross high obstacles, obstacle crossing does not need to be manually intervened, switching in different cleaning scenes is achieved, the use experience of a user is improved, the obstacle crossing structure is simplified, and the production cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a cleaning robot. Background Technology

[0002] Cleaning robots can automatically clean rooms using pre-set algorithms. They have a low-profile design to facilitate cleaning under sofas and tables; the diameter of the drive wheels should not be too large, and the bottom of the robot is relatively close to the ground. However, when switching between different cleaning scenarios, such as cleaning across thresholds in different rooms or between carpets and floorboards, obstacles may arise. If these obstacles are higher than the robot's bottom, it may struggle to overcome them, requiring manual intervention. This prevents seamless switching between cleaning scenarios and negatively impacts the user experience. Furthermore, existing obstacle-crossing mechanisms for robots are relatively complex and have high production costs. Utility Model Content

[0003] The purpose of this invention is to provide a cleaning robot that can overcome high obstacles without human intervention, switch between different cleaning scenarios, improve the user experience, simplify the obstacle-crossing structure, and reduce production costs.

[0004] To achieve the above objectives, this utility model provides a cleaning robot having a first direction, a second direction, and a third direction that intersect each other perpendicularly, including a body, obstacle-crossing wheels, and support wheels;

[0005] The obstacle-crossing wheels are located in the middle of the fuselage and are used to propel the fuselage on the ground;

[0006] The support wheel is located at at least one end of the fuselage in the first direction and is used for support when the fuselage is moving.

[0007] The obstacle-crossing wheel includes a mounting frame, a drive wheel, and a support assembly;

[0008] The drive wheel is rotatably located at one end of the mounting bracket in the second direction and can rotate about a first axis, which is parallel to the second direction.

[0009] The support assembly is rotatably disposed at the other end of the mounting frame in the second direction and is rotatable about a second axis, which is parallel to the first axis, and the projection of the second axis in the second direction is located within the contour range of the drive wheel;

[0010] The mounting bracket is rotatably connected to the fuselage, and the fuselage and the mounting bracket can rotate relative to each other around a third axis; the third axis is parallel to the first axis, and the projection of the third axis in the second direction is outside the outline of the drive wheel;

[0011] The support component rotates around the second axis, which can increase the distance between the entire fuselage or one end of the fuselage and the ground in the third direction, so as to lift the entire fuselage or one end of the fuselage over obstacles in the third direction.

[0012] Furthermore, the obstacle-crossing wheel also includes a connecting frame, which is connected to the fuselage. One end of the connecting frame is rotatably connected to the mounting frame and can rotate around the third axis. The other end of the connecting frame is located on the rotation path of the support assembly. The rotation of the support assembly around the second axis can push the connecting frame to rotate around the third axis. The distance L between the third axis and the ground in the third direction increases, so as to lift the entire fuselage or one end of the fuselage to cross obstacles in the third direction.

[0013] Alternatively, the connecting frame may also have a fourth axis, the connecting frame being rotatably connected to the fuselage and rotatable about the fourth axis, the support assembly rotating about the second axis can push the connecting frame to rotate about the fourth axis, so that the connecting frame and the fuselage are fixed in position, the support assembly further rotating about the second axis can push the fuselage and the mounting frame to rotate relative to each other about the third axis, the distance L between the third axis and the ground in the third direction increases, so as to lift the fuselage as a whole or one end over obstacles in the third direction;

[0014] Alternatively, the connecting frame is slidably connected to the fuselage and the mounting frame, and the support assembly pushes the connecting frame and the mounting frame to slide relative to each other, so that the fuselage and the mounting frame rotate relative to each other around the third axis. The fuselage and the connecting frame slide relative to each other, and the distance L between the third axis and the ground in the third direction increases, so as to lift the fuselage as a whole or one end over obstacles in the third direction.

[0015] Furthermore, the support assembly includes a support arm and a roller. One end of the support arm is rotatably connected to the mounting bracket and can rotate about the second axis, while the other end of the support arm is provided with the roller.

[0016] Furthermore, the second axis is positioned close to the ground, the length of the support arm is M, and the diameter of the drive wheel is D, where M ≤ D.

[0017] Furthermore, the maximum obstacle-crossing height of the obstacle-crossing wheel in the third direction is 2 / 5D+MN.

[0018] Furthermore, the roller is located on the side of the support arm facing the drive wheel.

[0019] Furthermore, the drive wheel has an internal cavity, and a first drive assembly is provided inside the cavity. The first drive assembly is used to drive the drive wheel to rotate around the first axis.

[0020] Furthermore, it also includes a transmission assembly. The first drive assembly has a first output end and a second output end. The first output end is used to drive the drive wheel to rotate around the first axis, and the second output end is connected to the transmission assembly for driving the support assembly to rotate around the second axis.

[0021] Furthermore, the mounting bracket has a first cavity at one end near the support assembly in the second direction, and a second drive assembly is provided in the first cavity. The second drive assembly is used to drive the support assembly to rotate around the second axis.

[0022] Furthermore, the mounting bracket has a second cavity at one end away from the support assembly in the second direction, and a locking mechanism is provided in the second cavity. The locking mechanism's latch can extend and retract in the second direction for locking and unlocking the connecting bracket around the third axis.

[0023] Furthermore, the support assembly includes a support arm and a hook, one end of the support arm is rotatably connected to the mounting bracket and can rotate about the second axis, and the other end of the support arm is provided with the hook.

[0024] Compared with existing technologies, the cleaning robot of this utility model has the following advantages: The drive wheel is rotatably located at one end of the mounting frame in the second direction and can rotate around a first axis, which is parallel to the second direction. The support component is rotatably located at the other end of the mounting frame in the second direction and can rotate around a second axis. The projection of the second axis in the second direction is within the outline of the drive wheel and is positioned close to the ground, thereby increasing the length of the support component and improving obstacle-crossing height. The mounting frame is rotatably connected to the body, which can rotate around a third axis, which is parallel to the first axis. The projection of the third axis in the second direction is outside the outline of the drive wheel. The rotation of the support component around the second axis increases the distance between the entire body or one end of the robot and the ground in the third direction, thereby lifting the entire body or one end of the robot to cross obstacles in the third direction. In other words, by adjusting the distance between the bottom of the robot and the ground through the support component, it can cross higher obstacles without human intervention, enabling switching between different cleaning scenarios and improving the user experience. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the cleaning robot according to an embodiment of the present invention;

[0026] Figure 2This is a schematic diagram of the obstacle-crossing wheels of the cleaning robot according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the support components of the cleaning robot in its initial state according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the mounting frame of the cleaning robot according to an embodiment of the present invention;

[0029] Figure 5 This is another structural schematic diagram of the mounting frame for the cleaning robot according to an embodiment of the present utility model;

[0030] Figure 6 This is a reference diagram of the first obstacle-crossing state of the cleaning robot according to an embodiment of this utility model;

[0031] Figure 7 This is a reference diagram of the second obstacle-crossing state of the cleaning robot according to an embodiment of this utility model;

[0032] Figure 8(A) is a partial reference diagram of the third obstacle-crossing state of the cleaning robot according to an embodiment of the present invention;

[0033] Figure 8(B) is another part of the reference diagram of the third obstacle-crossing state of the cleaning robot according to an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of another obstacle-crossing wheel of the cleaning robot according to an embodiment of the present invention;

[0035] Figure 10 This is a structural schematic diagram of another obstacle-crossing wheel of the cleaning robot according to an embodiment of this utility model.

[0036] In the diagram, 1 is the fuselage; 2 is the obstacle-crossing wheel; 21 is the mounting frame; 22 is the drive wheel; 23 is the support assembly; 231 is the support arm; 232 is the roller; 24 is the connecting frame; 3 is the support wheel; 4 is the transmission assembly; 5 is the second drive assembly; 6 is the locking mechanism; 61 is the locking tongue; a is the first axis; b is the second axis; c is the third axis; d is the obstacle; e is the fourth axis; X is the first direction; Y is the second direction; Z is the third direction. Detailed Implementation

[0037] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0038] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer" and other terms used in this utility model to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device and element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] In the description of this utility model, it should be understood that the terms "first," "second," etc., are used to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0040] like Figures 1 to 10 As shown, a preferred embodiment of this utility model discloses a cleaning robot with three perpendicularly intersecting directions: a first direction X, a second direction Y, and a third direction Z. The robot includes a body 1, obstacle-crossing wheels 2, and support wheels 3. The obstacle-crossing wheels 2 are located in the middle of the body 1 and are used to propel the body 1 on the ground. The support wheels 3 are located at one or both ends of the body 1 in the first direction X and are used to support the body 1 during movement. The obstacle-crossing wheels 2 include a mounting frame 21, a drive wheel 22, and a support assembly 23. For ease of explanation, the length of the mounting frame 21 is defined as the first direction X, the width of the mounting frame 21 as the second direction Y, and the height of the mounting frame 21 as the third direction Z.

[0041] To facilitate a reduction in the overall size of the obstacle-crossing wheel 2, in this embodiment, refer to... Figures 2 to 5The drive wheel 22 is rotatably mounted at one end of the mounting frame 21 in the second direction Y and can rotate around the first axis a, which is parallel to the second direction Y. It is used to propel the fuselage 1 on the ground. The support assembly 23 is rotatably mounted at the other end of the mounting frame 21 in the second direction Y and can rotate around the second axis b, which is parallel to the first axis a. The support assembly 23 supports the entire fuselage 1 when overcoming obstacles. To extend the length of the support assembly 23 and thus increase the obstacle-crossing height, the projection of the second axis b in the second direction Y is within the outline of the drive wheel 22 and is positioned close to the ground. That is, in this embodiment, the first axis a and the second axis b do not coincide. In some other embodiments, the effect of lifting the entire fuselage 1 can also be achieved when the first axis a and the second axis b coincide. However, to achieve the same obstacle-crossing height as in this embodiment, the support assembly 23 needs to occupy a larger space, and the support assembly 23 cannot be positioned approximately perpendicular to the fuselage when not in operation, as in this embodiment. Therefore, preferably, in this embodiment, the second axis b is parallel to the first axis a, and the projection of the second axis b in the second direction Y is located within the contour range of the drive wheel 22 and is set close to the ground side.

[0042] In order to change the distance between the bottom of the fuselage 1 and the ground and increase the obstacle-crossing height when crossing obstacles, the mounting frame 21 is rotatably connected to the fuselage 1. The fuselage 1 and the mounting frame 21 can rotate relative to each other around the third axis c. The third axis c is parallel to the first axis a, and the projection of the third axis c in the second direction Y is located outside the contour range of the drive wheel 22.

[0043] When obstacle crossing is required, refer to Figure 6 As shown in Figure 8, the rotation of the support component 23 around the second axis b can increase the distance between the entire fuselage 1 or one end of it and the ground, so as to lift the entire fuselage 1 or one end of it in the third direction Z to overcome the obstacle.

[0044] Specifically, in some embodiments, in order to facilitate the connection between the obstacle-crossing wheel 2 and the fuselage 1, the obstacle-crossing wheel 2 further includes a connecting frame 24. The connecting frame 24 is rotatably disposed at the end of the mounting frame 21 away from the drive wheel 22 in the first direction X. The connecting frame 24 is connected to the fuselage 1. Specifically, the connecting frame 24 can be integrally connected to the fuselage 5 or rotatably connected to the fuselage 5, which can be adjusted according to actual design requirements. The connecting frame 24 can rotate around the third axis c. The connecting frame 24 is located on the rotation path of the support component 23. The third axis c is parallel to the first axis a. The projection of the third axis c in the second direction Y is located outside the contour range of the drive wheel 22.

[0045] When obstacle crossing is required, refer to Figure 1 , Figure 6Figure 8 shows that the rotation of the support component 23 around the second axis b can drive the connecting frame 24 to rotate around the third axis c. The distance L between the third axis c and the ground in the third direction Z increases, thereby lifting one end of the fuselage 1 to overcome the obstacle in the third direction Z. Figure 7 As shown, the support component 23 causes the position between the entire body 1 and the drive wheel 22 to change, increasing the distance between the entire body 1 and the ground, enabling it to cross higher obstacles without human intervention, and allowing it to switch between different cleaning scenarios, thus improving the user experience.

[0046] Furthermore, to facilitate the support component 23 in lifting the entire fuselage 1 or one end of it to overcome obstacles, the structure between the mounting frame, connecting frame, and fuselage was designed in a categorized manner, such as... Figure 9 As shown, in this embodiment, the connecting frame 24 has a fourth axis e. The connecting frame 24 is rotatably connected to the fuselage 1 and can rotate around the fourth axis e. The support component 23 rotates around the second axis b, which can push the connecting frame 24 to rotate around the fourth axis e, so that the connecting frame 24 and the fuselage 1 are fixed in position. Subsequently, the support component 23 further rotates around the second axis b, which can push the fuselage 1 and the mounting frame 21 to rotate relative to each other around the third axis c. The distance L between the third axis c and the ground in the third direction Z increases, so as to lift the fuselage 1 as a whole or one end to cross obstacles in the third direction Z.

[0047] Furthermore, such as Figure 10 As shown, the mounting frame 21 and the connecting frame 24 are slidably connected. The support component 23 pushes the connecting frame 24 and the mounting frame 21 to slide relative to each other, and the fuselage 5 and the connecting frame 24 slide relative to each other, so that the fuselage 5 and the mounting frame 21 rotate relative to each other around the third axis c. At this time, the distance L between the third axis c and the ground in the third direction Z increases, so as to lift the fuselage 1 as a whole or one end over the obstacle in the third direction Z. In this embodiment, the support component 23 pushes a linkage-like transmission mechanism to lift the fuselage 1 as a whole or one end over the obstacle, which can be adjusted according to actual design requirements. Specifically, the sliding connection between the mounting frame 21 and the connecting frame 24 adopts the design of a limiting post and a strip groove. Since the fuselage 5 and the mounting frame 21 are rotatably connected, in order to make the fuselage 5 and the connecting frame 24 slide relative to each other, a cylinder coaxial with the fourth axis e can be set on the connecting frame 24. An arc groove is set on the fuselage 5 corresponding to the cylinder. The cylinder is locked in the arc groove and slides along the extension path of the arc groove.

[0048] Furthermore, in some embodiments, to facilitate the configuration of the support component 23 and simplify its overall structure, see [reference needed]. Figure 4The support assembly 23 includes a support arm 231 and a roller 232. One end of the support arm 231 is rotatably connected to the mounting frame 21 and can rotate around the second axis b. The other end of the support arm 231 is provided with a roller 232. Furthermore, in order to reduce the size of the obstacle-crossing wheel 2 in the second direction Y and reduce the overall size of the cleaning robot, such as... Figures 2 to 5 As shown, roller 232 is located on the side of support arm 231 facing drive wheel 22. In some other embodiments, support assembly 23 includes support arm 231 and hook, one end of support arm 231 is rotatably connected to mounting bracket 21 and can rotate about second axis b, and the other end of support arm 231 is provided with hook.

[0049] Furthermore, to facilitate setting the length of the support arm 231, the length of the support arm 231 is M, and the diameter of the drive wheel 22 is D, where M ≤ D. If the length M of the support arm 231 is greater than D, when the drive wheel 22 is in the traveling mode, the support arm 231 is likely to protrude from the top of the body 1, increasing the overall height of the cleaning robot. When applied to cleaning scenarios, it will be difficult to enter the gaps between furniture and the ground for cleaning.

[0050] Furthermore, in order to facilitate the rotation of the drive wheel 22 and reduce the overall volume of the obstacle-crossing wheel 2, the drive wheel 22 is provided with a cavity (not shown in the figure), and a first drive assembly (not shown in the figure) is provided in the cavity. The first drive assembly is used to drive the drive wheel 22 to rotate around the first axis a. The first drive assembly can adopt a gear transmission structure driven by a motor, which is quite common and will not be described in detail here.

[0051] Furthermore, in some other embodiments, to simplify the drive structure, the first drive component can simultaneously drive the drive wheel 22 and the support component 23 to rotate, such as... Figure 4 As shown, it also includes a transmission assembly 4, wherein the first drive assembly has a first output end and a second output end. The first output end is used to drive the drive wheel 22 to rotate around the first axis a, and the second output end is connected to the transmission assembly 4 to drive the support assembly 23 to rotate around the second axis b. Specifically, the transmission assembly 4 is a multi-stage gear transmission structure, which can be set and adjusted according to the overall size of the cleaning robot, and will not be described in detail here.

[0052] Furthermore, in some other embodiments, to facilitate separate control of the drive wheel 22 and the support assembly 23, such as... Figure 5 As shown, the mounting bracket 21 has a first cavity at one end near the support assembly 23 in the second direction Y. A second drive assembly 5 is housed within the first cavity. The second drive assembly 5 drives the support assembly 23 to rotate around the second axis b. The second drive assembly 5 is also a multi-stage gear transmission structure driven by a motor, and its configuration can be adjusted according to the overall dimensions of the cleaning robot.

[0053] Furthermore, in order to keep the position of the supporting assembly 23 fixed when it rotates to drive the connecting frame 24 to rotate around the third axis c, even if the fuselage 1 is raised to a certain height, see [reference] Figure 5 The mounting bracket 21 has a second cavity at the end away from the support component 23 in the second direction Y. A locking mechanism 6 is located within the second cavity. The locking tongue 61 of the locking mechanism 6 can extend and retract in the second direction Y, used to lock and unlock the connecting bracket 24 around the third axis c. When the cleaning robot overcomes an obstacle, the locking tongue 61 is in the extended state, locking the connecting bracket 24. When the obstacle is overcome and the ground needs to be cleaned, the locking tongue 61 is in the retracted state, and the connecting bracket 24 returns to its original position.

[0054] Furthermore, to facilitate setting the obstacle-crossing height of the cleaning robot and to explain the obstacle-crossing principle, the cleaning robot provided by this utility model has multiple obstacle-crossing modes. When encountering a low obstacle d in the direction of travel, refer to... Figure 6 The first obstacle-crossing mode can be adopted. In this mode, the support arm 231 rotates around the second axis b, pushing the end of the connecting frame 24 facing the drive wheel 22 to rotate upward around the third axis c and lock in place, raising the body 1. At the same time, the end of the body 1 facing the obstacle d tilts upward. At this time, more of the drive wheel 22 protrudes from the body 1, and there is no need for further rotation of the support arm 231 to contact the ground for support. The drive wheel 22 can directly cross the obstacle d. With this obstacle-crossing mode, it is easily limited by the diameter of the drive wheel 22. Therefore, in the first obstacle-crossing mode, the height of the obstacle that the cleaning robot can cross is between 1 / 3D and 2 / 5D.

[0055] See Figure 7 In some other embodiments, to ensure the cleaning robot remains stable when overcoming obstacles, the support wheel 3 can change its mounting position relative to the body 1 in the third direction Z via a lifting mechanism. This is the second obstacle-crossing mode. The support arm 231 rotates around the second axis b, pushing the end of the connecting frame 24 facing the drive wheel 22 to rotate upwards around the third axis c and lock in place. Simultaneously, the lifting mechanism pushes the body 1 upwards, ensuring that the body 1 remains horizontal throughout the ascent. During this process, the entire body 1 rises in the third direction Z to overcome obstacles. In this case, there is no need to further rotate the support arm 231 to contact the ground for support. This allows the body 1 to remain horizontal while overcoming obstacles, improving the stability of the obstacle-crossing process.

[0056] Furthermore, to improve the obstacle-crossing height of the cleaning robot and enable it to overcome higher obstacles d, referring to Figures 8(A) and 8(B), a third obstacle-crossing mode can be adopted. Specifically, the support arm 231 rotates around the second axis b, pushing the end of the connecting frame 24 facing the drive wheel 22 to rotate upward around the third axis c and lock it, raising the body 1. At the same time, the end of the body 1 facing the obstacle d tilts upward, increasing the portion of the drive wheel 22 exposed on the body 1. The diameter of the drive wheel 22 alone is insufficient to cross the obstacle d. At this point, the support arm 231 rotates further to contact the ground, raising the entire body 1. The drive wheel 22 completely leaves the ground, and the distance between the second axis b and the ground plane is N, achieving the maximum obstacle-crossing height of 2 / 5D+MN. Thus, it can be seen that by setting the length of the support arm 231 and the diameter of the drive wheel 22, the obstacle-crossing height can be improved. In this embodiment, the support wheel 3 can not only support the fuselage 1 during travel, but also rise and fall in the third direction Z under the drive of the fuselage 1 when crossing obstacles.

[0057] In summary, this utility model embodiment provides a cleaning robot. A drive wheel 22 is rotatably mounted on one end of a mounting frame 21 in the second direction Y and can rotate around a first axis a, which is parallel to the second direction Y. A support component 23 is rotatably mounted on the other end of the mounting frame 21 in the second direction Y and can rotate around a second axis b. The projection of the second axis b in the second direction Y is within the outline of the drive wheel 22 and is positioned close to the ground, thereby increasing the length of the support component 23 and improving obstacle-crossing height. The mounting frame 21 is rotatably connected to the body 1, which can rotate around a third axis c, which is parallel to the first axis a. The projection of the third axis c in the second direction Y is outside the outline of the drive wheel 22. The rotation of the support component 23 around the second axis b increases the distance between the entire body 1 or one end of the body and the ground in the third direction Z, thereby lifting the entire body 1 or one end of the body 1 in the third direction Z to overcome obstacles. In other words, the support component 23 increases the distance between the bottom of the body 1 and the ground, enabling it to overcome higher obstacles without human intervention, allowing switching between different cleaning scenarios and improving the user experience.

[0058] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. A cleaning robot having a first direction, a second direction, and a third direction that intersect each other perpendicularly, characterized in that: Including the fuselage, obstacle-crossing wheels, and support wheels; The obstacle-crossing wheels are located in the middle of the fuselage and are used to propel the fuselage on the ground; The support wheel is located at at least one end of the fuselage in the first direction and is used for support when the fuselage is moving. The obstacle-crossing wheel includes a mounting frame, a drive wheel, and a support assembly; The drive wheel is rotatably located at one end of the mounting bracket in the second direction and can rotate about a first axis, which is parallel to the second direction. The support assembly is rotatably disposed at the other end of the mounting frame in the second direction and is rotatable about a second axis, which is parallel to the first axis, and the projection of the second axis in the second direction is located within the contour range of the drive wheel; The mounting bracket is rotatably connected to the fuselage, and the fuselage and the mounting bracket can rotate relative to each other around a third axis; the third axis is parallel to the first axis, and the projection of the third axis in the second direction is outside the outline of the drive wheel; The support component rotates around the second axis, which can increase the distance between the entire fuselage or one end of the fuselage and the ground in the third direction, so as to lift the entire fuselage or one end of the fuselage over obstacles in the third direction.

2. The cleaning robot as described in claim 1, characterized in that: The obstacle-crossing wheel also includes a connecting frame, which is connected to the fuselage. One end of the connecting frame is rotatably connected to the mounting frame and can rotate around the third axis. The other end of the connecting frame is located on the rotation path of the support assembly. The rotation of the support assembly around the second axis can push the connecting frame to rotate around the third axis. The distance L between the third axis and the ground in the third direction increases, so as to lift the entire fuselage or one end of the fuselage to cross obstacles in the third direction. Alternatively, the connecting frame may also have a fourth axis, the connecting frame being rotatably connected to the fuselage and rotatable about the fourth axis, the support assembly rotating about the second axis can push the connecting frame to rotate about the fourth axis, so that the connecting frame and the fuselage are fixed in position, the support assembly further rotating about the second axis can push the fuselage and the mounting frame to rotate relative to each other about the third axis, the distance L between the third axis and the ground in the third direction increases, so as to lift the fuselage as a whole or one end over obstacles in the third direction; Alternatively, the connecting frame is slidably connected to the fuselage and the mounting frame, and the support assembly pushes the connecting frame and the mounting frame to slide relative to each other, so that the fuselage and the mounting frame rotate relative to each other around the third axis. The fuselage and the connecting frame slide relative to each other, and the distance L between the third axis and the ground in the third direction increases, so as to lift the fuselage as a whole or one end over obstacles in the third direction.

3. The cleaning robot as described in claim 1, characterized in that: The support assembly includes a support arm and a roller. One end of the support arm is rotatably connected to the mounting frame and can rotate around the second axis. The other end of the support arm is provided with the roller.

4. The cleaning robot as described in claim 3, characterized in that: The second axis is positioned close to the ground, the length of the support arm is M, and the diameter of the drive wheel is D, where M ≤ D.

5. The cleaning robot as described in claim 3, characterized in that: The maximum obstacle-crossing height of the obstacle-crossing wheel in the third direction is 2 / 5D+MN.

6. The cleaning robot as described in claim 2, characterized in that: The drive wheel has a cavity inside, and a first drive assembly is provided inside the cavity. The first drive assembly is used to drive the drive wheel to rotate around the first axis.

7. The cleaning robot as described in claim 6, characterized in that: It also includes a transmission assembly. The first drive assembly has a first output end and a second output end. The first output end is used to drive the drive wheel to rotate around the first axis, and the second output end is connected to the transmission assembly for driving the support assembly to rotate around the second axis.

8. The cleaning robot as described in claim 6, characterized in that: The mounting bracket has a first cavity at one end near the support assembly in the second direction. A second drive assembly is provided in the first cavity. The second drive assembly is used to drive the support assembly to rotate around the second axis.

9. The cleaning robot as described in claim 8, characterized in that: The mounting bracket has a second cavity at one end away from the support assembly in the second direction. The second cavity has a locking mechanism. The locking tongue of the locking mechanism can extend and retract in the second direction, and is used to lock and unlock the connecting bracket around the third axis.

10. The cleaning robot as described in claim 1, characterized in that: The support assembly includes a support arm and a hook. One end of the support arm is rotatably connected to the mounting bracket and can rotate around the second axis. The other end of the support arm is provided with the hook.

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