Self-propelled cleaning equipment and obstacle-crossing support mechanism

Abstract

This disclosure relates to a self-propelled cleaning device and an obstacle-crossing support mechanism. The direction of travel of the cleaning device is referred to as forward. The device includes a body, a walking mechanism, and an obstacle-crossing support mechanism. The walking mechanism is mounted on the body and drives the body to move on the working surface. The obstacle-crossing support mechanism is movably connected to the walking mechanism. The obstacle-crossing support mechanism includes a support base and a follower wheel rotatably connected to one end of the support base near the working surface. The follower wheel rotates under the action of a first drive mechanism. The support base moves in a straight line towards or away from the working surface under the action of a second drive mechanism to raise or lower the distance between the front end of the body and the working surface. When the front end of the body is raised to the point of being detached from the working surface, the follower wheel contacts and engages with the working surface, driving the body to move on the working surface. This disclosure achieves obstacle crossing by setting up an obstacle-crossing support mechanism, preventing obstacles on the travel path from hindering the cleaning work of the self-propelled cleaning device.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, specifically to a self-moving cleaning device; this disclosure also relates to an obstacle-crossing support mechanism. Background Technology

[0002] As the economy develops and people's living standards gradually improve, their demands for environmental hygiene are also increasing. To save manpower, a variety of cleaning equipment has emerged on the market. Currently, there are various self-propelled cleaning devices available, such as robotic vacuum cleaners and robotic vacuum and mop combos.

[0003] In the cleaning environment of self-propelled cleaning equipment, obstacles such as steps and carpets are often encountered. When these obstacles are met, the equipment is hindered, limiting the cleaning range. Furthermore, obstacles can cause the equipment to get stuck, requiring manual assistance to overcome them, thus affecting cleaning efficiency and user experience. Additionally, when encountering hard obstacles, the casters of the self-propelled cleaning equipment may collide with them, potentially causing damage due to impact. Utility Model Content

[0004] This disclosure provides a self-moving cleaning device and an obstacle-crossing support mechanism to address the problems existing in the prior art.

[0005] According to a first aspect of this disclosure, a self-moving cleaning device is provided, wherein the direction of travel of the cleaning device is denoted as forward, comprising:

[0006] Organism;

[0007] A walking mechanism is mounted on the machine body and configured to drive the machine body to move on the working surface;

[0008] An obstacle-crossing support mechanism is movably connected to the walking mechanism; the obstacle-crossing support mechanism includes a support base and a follower wheel rotatably connected to one end of the support base near the working surface, the follower wheel being configured to rotate under the action of a first drive mechanism;

[0009] The support base is configured to move along a straight line toward or away from the working surface under the action of the second drive mechanism, so as to raise or lower the distance between the front end of the machine body and the working surface;

[0010] With the front end of the machine body raised to the point of being detached from the working surface, the follower wheel contacts and engages with the working surface, and is configured to drive the machine body to move on the working surface.

[0011] In one embodiment of this disclosure, the support base is configured to be driven by the second drive mechanism via a transmission mechanism; the transmission mechanism includes an eccentric wheel, the rotation of which causes the support base to move toward the working surface; the follower wheel is configured to be driven by the first drive mechanism via a linkage mechanism; the power shaft of the linkage mechanism is configured to pass through the rotation shaft hole of the eccentric wheel.

[0012] In one embodiment of this disclosure, the linkage mechanism includes a drive wheel that is driven and connected to the follower wheel; the power shaft is configured to be driven and connected to the drive wheel.

[0013] In one embodiment of this disclosure, the support base is configured to be located outside the walking mechanism; the drive wheel is configured to pass through the support base via a power shaft to be drively connected to the output shaft of the first drive mechanism.

[0014] In one embodiment of this disclosure, the support base is provided with a guide groove extending along the moving direction of the support base, and the power shaft is configured to pass through the guide groove.

[0015] In one embodiment of this disclosure, the linkage mechanism includes a synchronizing wheel, and the driving wheel is configured to be located between the following wheel and the synchronizing wheel; a conveyor belt is disposed between the following wheel and the synchronizing wheel, and the driving wheel is configured to drive in conjunction with the conveyor belt.

[0016] In one embodiment of this disclosure, the rotation centers of the synchronizing wheel, the driving wheel, and the follower wheel are located on the axis of the guide groove.

[0017] In one embodiment of this disclosure, the eccentric wheel is located inside the support base, and the inner side of the support base is provided with a mating part that cooperates with the eccentric wheel; the distal end of the eccentric wheel is configured to rotate to push the mating part, causing the support base to move toward the working surface.

[0018] In one embodiment of this disclosure, the mating part is a mating gear rotatably connected to the support base, and the mating gear is configured to mesh with the eccentric wheel.

[0019] In one embodiment of this disclosure, the walking mechanism includes a base, and an elastic component is disposed between the base and a support seat. The elastic component is configured to drive the support seat to move away from the working surface when the distal end of the eccentric wheel rotates away from the mating part.

[0020] In one embodiment of this disclosure, the walking mechanism is configured to be drive-connected to the first drive mechanism via the linkage mechanism.

[0021] In one embodiment of this disclosure, the walking mechanism includes a base and a drive wheel rotatably connected to the base, the support seat being configured to be located outside the drive wheel; the power shaft being configured to extend from the outside of the support seat to the inside of the support seat for transmission connection with the drive wheel.

[0022] In one embodiment of this disclosure, the walking mechanism is configured to detach from the working surface when the front end of the machine body is raised to a position away from the working surface.

[0023] In one embodiment of this disclosure, when the front end of the machine body is raised to detach from the working surface, the walking mechanism is configured to maintain contact with the working surface and is configured to drive the machine body to walk on the working surface together with the follower wheel.

[0024] In one embodiment of this disclosure, the support is configured to move in a direction perpendicular to the working surface.

[0025] According to a second aspect of this disclosure, an obstacle-crossing support mechanism is provided, comprising:

[0026] Support base;

[0027] The follower wheel is rotatably connected to one end of the support base near the working surface and is configured to rotate under the action of the first drive mechanism;

[0028] The support base is configured to move along a straight line toward or away from the working surface under the action of the second drive mechanism; the support base is constructed to be connected to the second drive mechanism via a transmission mechanism; the transmission mechanism includes an eccentric wheel, the rotation of which causes the support base to move toward the working surface; the follower wheel is constructed to be connected to the first drive mechanism via a linkage mechanism; the power shaft of the linkage mechanism is constructed to pass through the rotation shaft hole of the eccentric wheel.

[0029] One beneficial effect of this disclosure is that by incorporating an obstacle-crossing support mechanism and enabling the support base to move towards the work surface to raise the front end of the machine, the self-propelled cleaning device can cross obstacles in its path (e.g., crossing thresholds) or travel over obstacles (e.g., driving onto carpets). This prevents obstacles in the path from hindering the cleaning work of the self-propelled cleaning device, expands the cleaning range, reduces manual intervention during the cleaning process, and improves the user experience. The self-propelled cleaning device can flexibly cross obstacles without colliding with them, thereby extending the service life of each component.

[0030] Furthermore, when the front end of the machine body is raised above the working surface, the follower wheel engages with the working surface and can propel the machine body to move on the working surface. This allows the follower wheel to temporarily assume the function of movement during obstacle-crossing operations. The self-propelled cleaning device disclosed herein can continue moving forward during obstacle-crossing. Specifically, during obstacle-crossing, the cleaning device does not need to stop and raise its body in place but can continue moving forward, thereby improving work efficiency.

[0031] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0033] Figure 1 This is a schematic diagram of the obstacle-crossing support mechanism provided in one embodiment of the present disclosure when it is extended;

[0034] Figure 2 This is a schematic diagram of the obstacle-crossing support mechanism provided in one embodiment of the present disclosure when it is retracted;

[0035] Figure 3 This is a schematic diagram of the walking mechanism and obstacle crossing support mechanism provided in an embodiment of the present disclosure;

[0036] Figure 4 This is a partially exploded view of the walking mechanism and obstacle-crossing support mechanism provided in one embodiment of the present disclosure;

[0037] Figure 5 This is a schematic diagram of the structure of the seventh gear and eccentric wheel provided in an embodiment of this disclosure;

[0038] Figure 6 This is a schematic diagram of the structure of the second drive mechanism and transmission mechanism provided in an embodiment of the present disclosure;

[0039] Figure 7 This is a schematic diagram of the second drive mechanism and transmission mechanism provided in one embodiment of the present disclosure from another angle;

[0040] Figure 8 This is a schematic diagram of the obstacle-crossing support mechanism and eccentric wheel provided in an embodiment of this disclosure;

[0041] Figure 9 This is a schematic diagram of the obstacle-crossing support mechanism and linkage mechanism provided in an embodiment of the present disclosure;

[0042] Figure 10 This is a cross-sectional view of a walking mechanism and obstacle-crossing support mechanism provided in an embodiment of this disclosure.

[0043] Figures 1 to 10 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0044] 1. Base; 2. Drive wheel; 31. Support seat; 311. Guide groove; 312. Mating part; 313. Mounting seat; 32. Follower wheel; 4. Linkage mechanism; 41. Drive wheel; 410. Power shaft; 411. Power shaft hole; 42. Synchronous pulley; 43. Conveyor belt; 5. Transmission mechanism; 50. Gear assembly; 501. First gear; 502. Second gear; 503. Third gear; 504. Fourth gear; 505. Fifth gear; 506. Sixth gear; 507. Seventh gear; 5071. Rotating boss; 51. Eccentric wheel; 511. Rotating slot; 512. Rotating shaft hole; 6. Elastic component; 71. First drive mechanism; 72. Second drive mechanism; 721. Drive screw. Detailed Implementation

[0045] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0046] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0047] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0048] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0049] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0050] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0051] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0052] This disclosure provides a self-moving cleaning device, which can be a robotic vacuum cleaner, a robotic mop, or a combined vacuum and mop robot. The self-moving cleaning device has autonomous propulsion and can move along a pre-planned path or an autonomously planned path to perform corresponding cleaning tasks. The self-moving cleaning device includes a body and a walking mechanism, wherein the walking mechanism is mounted on the body and is configured to support the body on a working surface and drive the body to move on the working surface. The working surface disclosed in this disclosure can be a floor or other surface in a household setting.

[0053] refer to Figure 1 In one embodiment of this disclosure, the walking mechanism includes a base 1 and drive wheels 2 rotatably connected to the base 1. The base 1 can be mounted on the machine body, and the drive wheels 2 can rotate under the driving action of a drive component such as a motor, thereby driving the machine body to walk on the working surface. Specifically, there can be two drive wheels 2 spaced apart, and the two drive wheels 2 can jointly support the machine body on the working surface. When the two drive wheels 2 rotate at different speeds, the self-moving cleaning device can turn during walking, thereby adapting to complex cleaning environments.

[0054] Furthermore, in a specific embodiment of this disclosure, the walking mechanism may further include multiple casters (not shown in the figures) connected to the machine body. The casters are configured to rotate 360° relative to the machine body, thereby facilitating changes in the machine body's direction of travel. The direction of travel of the cleaning equipment is denoted as forward. The multiple casters can be installed on the front and / or rear sides of the drive wheels 2, and the casters and drive wheels 2 together support the machine body on the working surface. It is understood that the casters do not have a drive source; during the movement of the cleaning equipment, the casters can rotate, thereby enabling 360° omnidirectional movement and cleaning of the floor through the coordinated movement of the drive wheels 2 and the casters.

[0055] During the cleaning process, self-propelled cleaning equipment is easily obstructed by obstacles, thus limiting the cleaning range. The equipment may also collide with or become stuck due to obstacles, requiring manual assistance to overcome them; otherwise, subsequent cleaning work cannot continue. To improve the obstacle-crossing capability of self-propelled cleaning equipment, the self-propelled cleaning equipment provided in this disclosure also includes an obstacle-crossing support mechanism movably connected to the walking mechanism.

[0056] refer to Figure 1 , Figure 2 and Figure 10The obstacle-crossing support mechanism includes a support base 31 and a follower wheel 32 rotatably connected to one end of the support base 31 near the working surface. The follower wheel 32 is configured to rotate under the action of a first drive mechanism 71. Specifically, the first drive mechanism 71 can be a motor, and the follower wheel 32 can rotate under the drive of the motor. When the follower wheel 32 contacts the working surface, the follower wheel 32 can drive the machine body to move on the working surface during rotation.

[0057] The support base 31 is configured to move in a straight line towards or away from the working surface under the action of the second drive mechanism 72, thereby raising or lowering the distance between the front end of the machine body and the working surface. Specifically, Figure 2 The state shown is when the support base 31 is relatively far away from the working surface. At this time, the support base 31 can be retracted to a position away from the working surface, so that it will not play a supporting role and avoids interfering with the cleaning process. The machine body and the working surface maintain a normal distance, so that the cleaning work can be performed smoothly. Figure 1 The state shown is when the support base 31 is relatively close to the working surface. At this time, the support base 31 can extend to contact the working surface, thereby supporting the front end of the machine body, that is, raising the distance between the front end of the machine body and the working surface, so that the self-moving cleaning equipment presents a tilted posture.

[0058] This disclosure, by incorporating an obstacle-crossing support mechanism and enabling the support base 31 to move towards the work surface to raise the front end of the machine, allows the self-moving cleaning device to cross obstacles in its path (e.g., crossing a threshold) or travel over obstacles (e.g., onto a carpet). This prevents obstacles in the path from hindering the cleaning work of the self-moving cleaning device, expands the cleaning range, reduces manual intervention during the cleaning process, and improves the user experience. The self-moving cleaning device can flexibly cross obstacles without colliding with them, thereby extending the service life of each component.

[0059] like Figure 1 As shown, with the front end of the machine body raised above the working surface, the follower wheel 32 engages with the working surface and is configured to drive the machine body to move on the working surface. This allows the follower wheel 32 to temporarily assume the function of walking while the front end of the machine body is raised to overcome obstacles. The self-moving cleaning device of this disclosure can continue to move forward during obstacle-crossing. Specifically, during obstacle-crossing, the cleaning device does not need to stop and raise its body in place, but can continue to move forward, thereby improving work efficiency.

[0060] In one embodiment of this disclosure, a sensing component may be provided on the machine body to detect obstacles in the path of the cleaning equipment. Under normal cleaning conditions, the support base 31 can be held away from the work surface, and the follower wheel 32 can be detached from the work surface to avoid interfering with the cleaning work. When the sensing component detects an obstacle at a predetermined distance ahead, it can be triggered. Based on the trigger signal, the second drive mechanism 72 is controlled to drive the support base 31 towards the work surface, thereby raising the front end of the machine body in advance, preparing for obstacle crossing (or preparing to travel over the obstacle). The follower wheel 32 rotates under the action of the first drive mechanism 71, driving the machine body to continue moving forward. The raised front end of the machine body can cross the obstacle (or travel over the obstacle) during the forward movement. When the sensing component detects that the omnidirectional wheel installed at the front of the machine body has passed the obstacle (or has traveled to the top of the obstacle), the drive wheel 2 begins to climb over the obstacle. At the same time, the control of the second drive mechanism 72 drives the support seat 31 to move away from the working surface, thereby retracting the support seat 31 and avoiding the collision between the support seat 31 and the obstacle.

[0061] It should be noted that the sensing components may include a series of components with detection functions. For example, the sensing components for detecting obstacles may be infrared sensors, radar, cameras, ultrasonic sensors, etc., located at the front or top of the machine body; the sensing components for detecting whether the omnidirectional wheels at the front of the machine body have crossed obstacles may be various sensors located at the bottom of the machine body. In addition, the magnitude of the current in the second drive mechanism 72 can be detected to determine whether the follower wheel 32 is in contact with an obstacle, thereby determining the current obstacle crossing status; for example, when a stall current is detected in the second drive mechanism 72, it is considered that the follower wheel 32 has made contact with an obstacle, and at this time, the support base 31 can be retracted.

[0062] In one embodiment of this disclosure, with the front end of the machine body raised above the working surface, the walking mechanism is configured to detach from the working surface. Taking the drive wheel 2 as an example, the walking mechanism... Figure 1 As shown, in this embodiment, the support base 31 can be positioned corresponding to the drive wheel 2. When the support base 31 moves closer to the working surface and beyond the drive wheel 2, the drive wheel 2 will be supported and lifted off the working surface. During obstacle crossing, the follower wheel 32 can replace the drive wheel 2 to drive the machine body to continue moving. The drive wheel 2 can be raised to a height sufficient to cross the obstacle, thereby improving the obstacle crossing ability of the drive wheel 2 and preventing the drive wheel 2 from colliding with the obstacle and getting stuck.

[0063] In another embodiment of this disclosure, when the front end of the machine body is raised to the point of detachment from the working surface, the walking mechanism is configured to maintain contact with the working surface and is configured to jointly drive the machine body to move on the working surface with the follower wheel 32. In this embodiment, the walking mechanism can be located at the rear of the machine body. When the front end of the machine body is raised, the walking mechanism can still maintain contact with the working surface, so that the walking mechanism and the follower wheel 32 jointly support the working surface and jointly drive the machine body to move, thereby improving the walking stability of the cleaning equipment during obstacle crossing.

[0064] In one embodiment of this disclosure, such as Figure 1 As shown, the support base 31 is configured to move in a direction perpendicular to the working surface. It is understood that a vertical movement path minimizes horizontal displacement loss, allowing the support base 31 to directly lift the front end of the machine body vertically under the action of the second drive mechanism 72, thereby significantly increasing the effective stroke of the support height. Specifically, compared to a non-vertical movement support structure, the vertical arrangement avoids the decomposition of support force caused by tilting movement, ensuring that the support force is fully applied to the vertical lifting of the front end of the machine body during the lifting process. This enhances the obstacle-crossing ability of the self-moving cleaning equipment, such as allowing it to cross higher thresholds, climb thicker carpet edges, or traverse obstacles with greater drops.

[0065] In one embodiment of this disclosure, reference is made to Figures 2 to 8 The support base 31 is configured to be connected to the second drive mechanism 72 via the transmission mechanism 5. For example, Figure 8 As shown, the transmission mechanism 5 includes an eccentric wheel 51, which can be located inside the support base 31. The rotation of the eccentric wheel 51 causes the support base 31 to move towards the working surface. Specifically, the inner side of the support base 31 can be provided with a mating part 312 that cooperates with the eccentric wheel 51; the distal end of the eccentric wheel 51 is configured to rotate to push the mating part 312, causing the support base 31 to move towards the working surface.

[0066] Specifically, the mating part 312 can be a mating gear rotatably connected to the support base 31. The mating gear is configured to mesh with the eccentric wheel 51. In this embodiment, the eccentric wheel 51 is an eccentric gear with a ring of teeth on its outer circumference for meshing with the mating gear. During the rotation of the eccentric wheel 51, the teeth located at different parts of the eccentric wheel 51 can mesh with the mating gear in sequence.

[0067] The eccentric wheel 51 has a center of rotation that is offset from its center, such as... Figure 4As shown, a rotating shaft hole 512 is provided on the eccentric wheel 51, through which a rotating shaft can rotatably connect the eccentric wheel 51 to the base 1. The eccentric wheel 51 has a proximal end and a distal end in its radial direction; the proximal end is the end relatively close to the rotating shaft hole 512, and the distal end is the end relatively far from the rotating shaft hole 512. Figure 8 As shown, the mating part 312 can be disposed on the support base 31 at one end relatively close to the follower wheel 32. When the proximal end of the eccentric wheel 51 mates with the mating part 312, the support base 31 is located at a position relatively far away from the working surface. As the eccentric wheel 51 continues to rotate, the distal end of the eccentric wheel 51 gradually pushes the mating part 312, causing the support base 31 to move towards the working surface.

[0068] Furthermore, in one embodiment of this disclosure, reference is made to... Figure 1 and Figure 10 An elastic component 6 is provided between the base 1 and the support 31. The elastic component 6 is configured such that when the distal end of the eccentric wheel 51 rotates away from the mating part 312, it drives the support 31 to move away from the working surface. The elastic component 6 can be a spring, tension spring, compression spring, etc. (Refer to...) Figure 8 and Figure 10 A mounting base 313 for cooperating with the elastic component 6 is provided on the support base 31. Taking the elastic component 6 as a tension spring as an example, the upper end of the tension spring can be installed on the base 1 and the lower end can be installed on the mounting base 313.

[0069] As the eccentric wheel 51 rotates at its distal end to push the mating part 312, causing the support base 31 to move closer to the working surface, the pushing force exerted by the rotation of the eccentric wheel 51 on the mating part 312 can overcome the elastic resistance of the tension spring, thereby causing the tension spring to deform. Specifically, the tension spring gradually stretches, thus accumulating elastic potential energy. As the eccentric wheel 51 continues to rotate, the pushing force of the eccentric wheel 51 on the mating part 312 is removed, and the elastic potential energy accumulated by the tension spring is released, thereby driving the support base 31 to move and reset away from the working surface. This disclosure, by setting the elastic component 6, enables the support base 31 to retract promptly after overcoming obstacles and allows the machine body to naturally return to its normal position after overcoming obstacles, avoiding the front end tilting posture from affecting the cleaning equipment's continued cleaning work.

[0070] In one specific embodiment of this disclosure, such as Figure 3As shown, the transmission mechanism also includes a gear assembly 50, which transmits the driving force of the second drive mechanism 72 to the eccentric wheel 51, causing the eccentric wheel 51 to rotate. The gear assembly 50 may include multiple gears, and this disclosure does not specifically limit the number, type, or connection method of the gears. It is understood that the second drive mechanism 72 may also directly drive the eccentric wheel 51, or it may also achieve transmission through other structures known to those skilled in the art, such as sprockets, pulleys, and connecting rods. This disclosure does not limit the transmission mechanism to necessarily including the gear assembly 50; it is only used as an example for illustration.

[0071] Specifically, refer to Figures 4 to 7 The gear assembly 50 may include seven gears, designated as first gear 501, second gear 502, third gear 503, fourth gear 504, fifth gear 505, sixth gear 506, and seventh gear 507, which are sequentially meshed. The first gear 501, second gear 502, and third gear 503 may be double gears. Figure 6 As shown, a drive screw 721 is provided on the drive shaft of the second drive mechanism 72. The drive screw 721 can mesh with the first gear 501, thereby driving the first gear 501 to rotate, which in turn drives the subsequent six gears to rotate, and the seventh gear 507 drives the eccentric wheel 51 to rotate.

[0072] refer to Figure 5 and Figure 7 The seventh gear 507 is configured to drive the eccentric wheel 51. Specifically, a rotating boss 5071 is provided on the side of the seventh gear 507 facing the eccentric wheel 51, and a rotating slot 511 is provided on the side of the eccentric wheel 51 facing the seventh gear 507. The aforementioned rotating shaft hole 512 can be disposed within the rotating slot 511. The shape and size of the rotating boss 5071 are adapted to the rotating slot 511, and the rotating boss 5071 extends into the rotating slot 511, thereby achieving the drive connection. It should be noted that the cross-sections of both the rotating boss 5071 and the rotating slot 511 are non-circular, such as being waist-shaped, rectangular, prismatic, polygonal, elliptical, etc. Thus, when the rotating boss 5071 rotates with the seventh gear 507, the inner wall of the rotating slot 511 is subjected to force, thereby driving the eccentric wheel 51 to rotate.

[0073] In one embodiment of this disclosure, reference is made to Figure 1 and Figure 10The follower wheel 32 is configured to be connected to the first drive mechanism 71 via a linkage mechanism 4. The linkage mechanism 4 has a power shaft 410, which is used to output transmission force, thereby driving the follower wheel 32 to rotate. The power shaft 410 of the linkage mechanism 4 is configured to pass through the rotation shaft hole 512 of the eccentric wheel 51. In this way, the linkage mechanism 4 and the transmission mechanism 5 can be integrated and installed together, and can move independently of each other.

[0074] refer to Figure 4 and Figure 9 The linkage mechanism 4 includes a drive wheel 41 that is driven by the follower wheel 32, and a power shaft 410 is configured to be driven by the drive wheel 41. Specifically, the support base 31 is configured to be located outside the traveling mechanism, and the drive wheel 41 is configured to pass through the support base 31 via the power shaft 410 to be driven by the output shaft of the first drive mechanism 71. The first drive mechanism 71 can drive the power shaft 410 to rotate, thereby driving the drive wheel 41 to rotate. The drive wheel 41 can be driven by the follower wheel 32 via a synchronizing element, thereby driving the follower wheel 32 to rotate.

[0075] refer to Figure 10 In the view, the left side of the support base 31 is the outer side, and the right side of the drive wheel 2 is the inner side. The power shaft 410 is configured to extend from the outer side of the support base 31 to the inner side of the support base 31 for transmission connection with the drive wheel 2. In the direction from the outside to the inside, the drive wheel 41, the support base 31, and the drive wheel 2 are arranged sequentially. The power shaft 410 passes through the drive wheel 41, the support base 31, the eccentric wheel 51, and the drive wheel 2 in sequence, thereby for transmission connection with the first drive mechanism 71 located in the hub of the drive wheel 2. Furthermore, a receiving cavity structure can be provided on the outer side of the support base 31, and the drive wheel 41 can be located in the receiving cavity, thereby preventing the drive wheel 41 from being exposed and avoiding dirt (especially hair) from contaminating and entangled on the drive wheel 41 during the cleaning process, which could cause the drive wheel 41 to jam.

[0076] like Figure 4 As shown, a power shaft hole 411 is provided on the drive wheel 41, through which the power shaft 410 can rotatably connect the drive wheel 41 to the base 1. It should be noted that the cross-sections of the power shaft hole 411 and at least a portion of the power shaft 410 (i.e., at least the portion of the power shaft 410 used to mate with the power shaft hole 411) are non-circular, such as being waist-shaped, rectangular, prismatic, polygonal, elliptical, etc. Thus, when the power shaft 410 rotates under the driving action of the first drive mechanism 71, the inner wall of the power shaft hole 411 is subjected to force, thereby driving the drive wheel 41 to rotate.

[0077] The drive shaft 410 is constructed as a rotating shaft hole 512 that passes through the eccentric wheel 51, allowing the eccentric wheel 51 and the drive wheel 41 to rotate together around the drive shaft 410. The part of the drive shaft 410 that mates with the rotating shaft hole 512 can be circular, so that the drive shaft 410 will not drive the eccentric wheel 51 to rotate together when it drives the drive wheel 41 to rotate. This allows the drive wheel 41 and the eccentric wheel 51 to rotate independently even when they are coaxially mounted.

[0078] In one embodiment of this disclosure, the walking mechanism is configured to be driven by the first drive mechanism 71 via the linkage mechanism 4. This allows the first drive mechanism 71 to simultaneously drive both the follower wheel 32 and the drive wheel 2, thereby eliminating the need for separate drive components for the follower wheel 32 and the drive wheel 2, thus reducing drive costs and saving limited installation space within the cleaning equipment.

[0079] In one specific embodiment of this disclosure, such as Figure 10 As shown, the first drive mechanism 71 can be disposed in the hub of the drive wheel 2, and the output shaft of the first drive mechanism 71 can be connected to the rotating shaft of the drive wheel 2, thereby directly driving the drive wheel 2 to rotate. The first drive mechanism 71 can also be installed in other positions, such as in the body, on the base 1, or between the drive wheel 2 and the obstacle crossing support mechanism. In this embodiment, the first drive mechanism 71 is disposed in the hub, thereby cleverly utilizing the internal space of the drive wheel 2 and saving the limited installation space inside the body.

[0080] In one embodiment of this disclosure, such as Figure 9 As shown, the support base 31 is provided with a guide groove 311 extending along the moving direction of the support base 31, and the power shaft 410 is configured to pass through the guide groove 311 and connect to the drive wheel 41. Figure 3 As shown, the guide groove 311 extends along the X-axis, and the support base 3 can move along the X-axis. Since the drive wheel 41 is connected to the output shaft of the first drive mechanism 71 located inside the support base 31 via the power shaft 410, and neither the drive wheel 41 nor the power shaft 410 moves with the support base 31, a clearance path needs to be provided for the power shaft 410 so that the support base 31 will not interfere with the power shaft 410 as it moves closer to or away from the working surface. At the same time, the guide groove 311 can play a guiding and limiting role. Specifically, the guide groove 311 extends along the movement direction of the support base 31. During the movement of the support base 31, the power shaft 410 is always located within the guide groove 311, thereby preventing the movement direction of the support base 31 from being skewed and ensuring the support effect.

[0081] In one embodiment of this disclosure, reference is made to Figure 9The linkage mechanism 4 includes a synchronous pulley 42, a driving pulley 41 configured to be located between the follower pulley 32 and the synchronous pulley 42, and a conveyor belt 43 disposed between the follower pulley 32 and the synchronous pulley 42. The driving pulley 41 is configured to drive the conveyor belt 43. The synchronous pulley 42 and the follower pulley 32 are rotatably connected to both ends of the support base 31, with the follower pulley 32 located at the end closer to the working surface, the synchronous pulley 42 located at the end farther from the working surface, and the driving pulley 41 located between the two. The conveyor belt 43 is wound around the follower pulley 32 and the synchronous pulley 42, and the conveyor belt 43 meshes with the driving pulley 41. During the rotation of the driving pulley 41, the conveyor belt 43 drives the follower pulley 32 and the synchronous pulley 42 to rotate under the action of friction. This enables the follower wheel 32 to rotate via the first drive mechanism 71. The linkage mechanism 4 is integrated on the support base 31, thus eliminating the need for additional installation space for the linkage mechanism 4. Furthermore, the belt drive method has a simple structure and low power loss during transmission, allowing the first drive mechanism 71 to easily drive the follower wheel 32 to rotate.

[0082] In one embodiment of this disclosure, the rotation centers of the synchronizing pulley 42, the driving pulley 41, and the follower pulley 32 are located on the axis of the guide groove 311, as shown below. Figure 3 As shown, the rotation centers of the synchronous pulley 42, the driving pulley 41, and the follower pulley 32 are all located on the X-axis, which is the axis of the guide groove 311. This allows the force transmission path of the linkage mechanism 4 to be highly concentrated, significantly reducing torque loss and vibration caused by the eccentricity of the transmission components. During the movement of the support base 31 along the guide groove 311, the rotation centers of each pulley coincide with the axis of the guide groove 311, thereby ensuring that the conveyor belt 43 can maintain optimal tension and preventing the conveyor belt 43 from becoming loose or overstretched due to the movement of the support base 31, effectively extending the service life of the conveyor belt 43.

[0083] This disclosure also provides an obstacle-crossing support mechanism, including a support base 31 and a follower wheel 32. The follower wheel 32 is rotatably connected to one end of the support base 31 near the working surface and is configured to rotate under the action of a first drive mechanism 71. The support base 31 is configured to move in a straight line towards or away from the working surface under the action of the second drive mechanism 72; the support base 31 is configured to be drive-connected to the second drive mechanism 72 via a transmission mechanism 5; the transmission mechanism 5 includes an eccentric wheel 51, the rotation of which causes the support base 31 to move towards the working surface; the follower wheel 32 is configured to be drive-connected to the first drive mechanism 71 via a linkage mechanism 4; the power shaft 410 of the linkage mechanism 4 is configured to pass through a rotating shaft hole 512 of the eccentric wheel 51.

[0084] The obstacle-crossing support mechanism disclosed herein achieves linear movement of the support base 31 through the transmission mechanism 5 and rotation of the follower wheel 32 through the linkage mechanism 4. By setting the power shaft 410 of the linkage mechanism 4 as a rotating shaft hole 512 passing through the eccentric wheel 51, the linkage mechanism 4 and the transmission mechanism 5 can be integrated and installed together, and can move independently of each other. The obstacle-crossing support mechanism can be installed on the self-moving cleaning device described above, or on other types of self-moving robots. The support base 31 can raise the front end of the robot body, thereby helping the robot to lift and cross obstacles. In addition, the obstacle-crossing support mechanism can also be installed on handheld cleaning devices. When crossing obstacles, the support base 31 can help raise the floor brush assembly of the cleaning device, making it easier for the user to lift the cleaning device.

[0085] Application scenarios

[0086] In home cleaning scenarios, self-moving cleaning devices can be robotic vacuum cleaners. When a robotic vacuum cleaner cleans to the boundary of a room, there is a threshold in its cleaning path. The robotic vacuum cleaner needs to climb over the threshold to perform subsequent cleaning work.

[0087] Under normal cleaning conditions, the support base 31 can be kept away from the work surface, and the follower wheel 32 can be detached from the work surface, thus avoiding interference with the cleaning work. When the robot vacuum cleaner moves to a distance of 40cm from the threshold, the sensor component at the front of the machine can detect the obstacle in front. At this time, the second drive mechanism 72 can be controlled to drive the support base 31 to move closer to the work surface, thereby raising the front of the machine in advance to prepare for obstacle crossing.

[0088] The support base 31 can extend to contact the working surface, thereby supporting the front end of the robot body, raising the distance between the front end of the robot body and the working surface, so that the robot vacuum cleaner is in a raised-nose posture. During obstacle crossing by raising the front end of the robot body, the follower wheel 32 can temporarily assume the function of walking. Specifically, the follower wheel 32 rotates under the action of the first drive mechanism 71, driving the robot body to continue moving forward, allowing the raised front end of the robot body to cross obstacles during the forward movement.

[0089] When the sensing component detects that the omnidirectional wheel installed at the front of the machine body has passed the obstacle, the drive wheel 2 begins to climb over the obstacle. At the same time, the control of the second drive mechanism 72 drives the support seat 31 to move away from the working surface, thereby retracting the support seat 31 and avoiding the collision between the support seat 31 and the obstacle.

[0090] This disclosure, by incorporating an obstacle-crossing support mechanism and enabling the support base 31 to move towards the working surface to raise the front end of the robot, allows the robot vacuum to cross obstacles in its path. This prevents obstacles from hindering the robot's cleaning work, expands the cleaning range, reduces manual intervention during the cleaning process, and improves the user experience. The robot vacuum's ability to flexibly overcome obstacles without colliding with them extends the lifespan of its components.

[0091] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A self-moving cleaning device, characterized in that, The direction of travel of the cleaning equipment is referred to as forward, including: Organism; A walking mechanism is mounted on the machine body and configured to drive the machine body to move on the working surface; An obstacle crossing support mechanism is movably connected to the walking mechanism; the obstacle crossing support mechanism includes a support base (31) and a follower wheel (32) rotatably connected to one end of the support base (31) near the working surface, the follower wheel (32) being configured to rotate under the action of a first drive mechanism (71); The support base (31) is configured to move along a straight line toward or away from the working surface under the action of the second drive mechanism (72) to raise or lower the distance between the front end of the machine body and the working surface; When the front end of the machine body is raised to the point of being detached from the working surface, the follower wheel (32) contacts and engages with the working surface and is configured to drive the machine body to move on the working surface.

2. The self-moving cleaning device according to claim 1, characterized in that, The support base (31) is configured to be connected to the second drive mechanism (72) via a transmission mechanism (5); the transmission mechanism (5) includes an eccentric wheel (51), the rotation of which causes the support base (31) to move toward the working surface; the follower wheel (32) is configured to be connected to the first drive mechanism (71) via a linkage mechanism (4); the power shaft (410) of the linkage mechanism (4) is configured to pass through the rotation shaft hole (512) of the eccentric wheel (51).

3. The self-moving cleaning device according to claim 2, characterized in that, The linkage mechanism (4) includes a drive wheel (41) that is driven and connected to the follower wheel (32); the power shaft (410) is configured to be driven and connected to the drive wheel (41).

4. The self-moving cleaning device according to claim 3, characterized in that, The support base (31) is configured to be located outside the walking mechanism; the drive wheel (41) is configured to pass through the support base (31) via a power shaft (410) to drively connect with the output shaft of the first drive mechanism (71).

5. The self-moving cleaning device according to claim 4, characterized in that, The support base (31) is provided with a guide groove (311) extending along the moving direction of the support base (31), and the power shaft (410) is configured to pass through the guide groove (311).

6. The self-moving cleaning device according to claim 5, characterized in that, The linkage mechanism (4) includes a synchronous pulley (42), and the driving pulley (41) is configured to be located between the follower pulley (32) and the synchronous pulley (42); a conveyor belt (43) is provided between the follower pulley (32) and the synchronous pulley (42), and the driving pulley (41) is configured to drive the conveyor belt (43).

7. The self-moving cleaning device according to claim 6, characterized in that, The rotation centers of the synchronous wheel (42), the driving wheel (41), and the follower wheel (32) are located on the axis of the guide groove (311).

8. The self-moving cleaning device according to claim 4, characterized in that, The eccentric wheel (51) is located inside the support base (31), and the support base (31) is provided with a mating part (312) that cooperates with the eccentric wheel (51); the far end of the eccentric wheel (51) is configured to rotate to push the mating part (312), so that the support base (31) moves toward the working surface.

9. The self-moving cleaning device according to claim 8, characterized in that, The mating part (312) is a mating gear rotatably connected to the support base (31), and the mating gear is configured to mesh with the eccentric wheel (51).

10. The self-moving cleaning device according to claim 8, characterized in that, The walking mechanism includes a base (1) and an elastic component (6) is provided between the base (1) and the support seat (31). The elastic component (6) is configured to drive the support seat (31) to move away from the working surface when the distal end of the eccentric wheel (51) rotates away from the mating part (312).

11. The self-moving cleaning device according to claim 2, characterized in that, The walking mechanism is configured to be connected to the first drive mechanism (71) via the linkage mechanism (4).

12. The self-moving cleaning device according to claim 11, characterized in that, The walking mechanism includes a base (1) and a drive wheel (2) rotatably connected to the base (1). The support seat (31) is configured to be located outside the drive wheel (2). The power shaft (410) is configured to extend from the outside of the support seat (31) to the inside of the support seat (31) for transmission connection with the drive wheel (2).

13. The self-moving cleaning device according to claim 1, characterized in that, With the front end of the machine body raised to detach from the working surface, the walking mechanism is configured to detach from the working surface.

14. The self-moving cleaning device according to claim 1, characterized in that, When the front end of the machine body is raised to the point of being detached from the working surface, the walking mechanism is configured to maintain contact with the working surface and is configured to drive the machine body to walk on the working surface together with the follower wheel (32).

15. The self-moving cleaning device according to claim 1, characterized in that, The support (31) is configured to move in a direction perpendicular to the working surface.

16. An obstacle-crossing support mechanism, characterized in that, include: Support base (31); The follower wheel (32) is rotatably connected to one end of the support base (31) near the working surface and is configured to rotate under the action of the first drive mechanism (71); The support base (31) is configured to move along a straight line toward or away from the working surface under the action of the second drive mechanism (72); the support base (31) is configured to be connected to the second drive mechanism (72) via a transmission mechanism (5); the transmission mechanism (5) includes an eccentric wheel (51), the rotation of the eccentric wheel (51) causes the support base (31) to move toward the working surface; the follower wheel (32) is configured to be connected to the first drive mechanism (71) via a linkage mechanism (4); the power shaft (410) of the linkage mechanism (4) is configured to pass through the rotation shaft hole (512) of the eccentric wheel (51).

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