Cleaning robot

Abstract

Cleaning robot, characterized by the fact that it includes: a machine body, the bottom of which is provided with a drive wheel and a universal wheel assembly, wherein the universal wheel assembly is arranged near a front end of the machine body in a forward direction of the machine body; an obstacle overcoming mechanism that is movably connected to the machine body, wherein the obstacle overcoming mechanism is configured such that that he can lift the front end of the machine body to at least separate the universal wheel assembly from a cleaning surface; the universal wheel assembly comprises a mounting seat and a universal wheel on the mounting seat; a chassis of the machine body has a boundary cavity, wherein the boundary cavity has a fixed height in a vertical direction of the machine body and has an upper wall and a lower wall; the mounting base is embedded in the boundary cavity; and at least one elastic element, one end of which is located on the upper wall and the other end of which is located on the mounting base; wherein, in a non-falling state, the mounting seat of the universal wheel assembly rests against the bottom wall under the influence of a compression amount of the second elastic element, wherein a spring force generated by the compression amount is greater than or equal to a gravitational force acting from the machine body on the universal wheel assembly; wherein a floating play exists between the mounting seat and the cover wall, and wherein the mounting seat presses the second elastic element to float against the cover wall under the influence of an impact force from the cleaning surface when falling, when the universal wheel assembly is in the falling state.

Description

Technical area

[0001] The present invention relates to the technical field of cleaning devices, in particular a cleaning robot. State of the art

[0002] With the development of the economy and the steady progress of society, smart home products are gradually finding application in human life and providing numerous conveniences. Among them, a cleaning robot provides considerable assistance for house cleaning chores and greatly reduces the labor intensity of human cleaning.

[0003] In prior art approaches, the cleaning robot is equipped with a position-sensing element, a chassis, and a cleaning mechanism. The position-sensing element can receive environmental information in the interior. The cleaning robot can set a travel path based on the received environmental information and travel using the chassis. As the cleaning robot travels, the cleaning mechanism can simultaneously clean the floor area along the path. A complex environment of the floor area in the interior (a step may be present between the floor surfaces of adjacent areas) and the poor obstacle-overcoming ability of a drive wheel of the cleaning robot often result in an uncleaned area because the step cannot be overcome. Disclosure of the invention

[0004] In view of the above disadvantages of the prior art, an object of the present invention is to provide a cleaning robot. The present invention is advantageous for improving the obstacle-overcoming capability of the cleaning robot.

[0005] In order to achieve the above object and other related objects, the present invention provides a cleaning robot comprising a machine body and a traveling assembly, wherein the traveling assembly comprises a drive wheel, a support unit and an obstacle-overcoming wheel, wherein the obstacle-overcoming wheel is arranged on the support unit and the support unit is rotatable about the drive wheel to switch the traveling assembly between a traveling state and an obstacle-overcoming state, wherein, in the traveling state of the traveling assembly, the drive wheel rests against a ground surface in order to set the machine body in traveling motion; and wherein in the obstacle-overcoming state of the traveling assembly, the support unit brings the obstacle-overcoming wheel into contact with the ground surface and the drive wheel out of contact with the ground surface, so that the obstacle-overcoming wheel causes the machine body to travel.

[0006] By providing a rotatable obstacle-overcoming wheel on the support unit in the present invention, the machine body can be set in motion by the obstacle-overcoming wheel when the machine body is inclined relative to the ground. When the machine body travels in an inclined state, the obstacle-overcoming capability can be significantly increased, so that the cleaning robot in the present embodiment can overcome a higher obstacle.

[0007] In an optional embodiment of the present invention, it is provided that in the driving state of the driving assembly, the obstacle-overcoming wheel comes out of contact with the ground surface and the drive wheel is in contact with the ground surface, so that the drive wheel brings the machine body into driving motion.

[0008] In an optional embodiment of the present invention, it is provided that a sensor and a control unit are further included, wherein the sensor and the driving assembly are in communication with the control unit; wherein the sensor is used to detect an obstacle in a travel direction of the cleaning robot and, after detecting the obstacle, to send an obstacle signal to the controller; wherein, after receiving the obstacle signal, the controller sends a control instruction to the driving assembly; wherein, after receiving the control instruction, the driving assembly is switched from the driving state to the obstacle-overcoming state; and wherein, in the obstacle-overcoming state, the cleaning robot moves to the obstacle and overcomes the obstacle.

[0009] In an optional embodiment of the present invention, it is provided that the drive wheel is in a rest state when the driving assembly is changed from the driving state to the obstacle-overcoming state.

[0010] In an optional embodiment of the present invention, it is provided that the driving assembly is changed from the driving state to the obstacle-overcoming state when the support unit rotates about an axis of the drive wheel in a first direction; the driving assembly is changed from the obstacle-overcoming state to the driving state when the support unit rotates about the axis of the drive wheel in a second direction, the first direction and the second direction being opposite.

[0011] In an optional embodiment of the present invention, it is provided that the support unit comprises at least one support element, wherein the drive wheel and the obstacle-overcoming wheel are each arranged at both opposite ends of the support element.

[0012] In an optional embodiment of the present invention, it is provided that the support unit comprises a first support element, wherein the first support element comprises a rotating portion and a support arm, wherein the rotating portion and the drive wheel are arranged coaxially, wherein a first end of the support arm is connected to the rotating portion, wherein a second end of the support arm extends outward in a radial direction of the rotating portion, and wherein the obstacle-overcoming wheel is rotatably arranged at the second end of the support arm.

[0013] In an optional embodiment of the present invention, it is provided that the support unit comprises a second support element and a third support element, wherein the second support element is rotatable about the axis of the drive wheel, wherein a first end of the third support element is rotatably connected to the second support element, wherein the obstacle-overcoming wheel is rotatably arranged at a second end of the third support element, wherein when the driving assembly changes from the driving state to the obstacle-overcoming state, the second support element rotates in order to displace the third support element so that the obstacle-overcoming wheel comes into contact with the ground surface.

[0014] In an optional embodiment of the present invention, it is provided that a rotation axis of the second support element and a rotation axis of the third support element do not overlap.

[0015] In an optional embodiment of the present invention, it is provided that the second support element is further provided with a fixed shaft, wherein the fixed shaft is arranged away from the rotational axis of the second support element, and that the third support element is provided with a shaft sleeve, wherein the third support element is placed on the fixed shaft by means of the shaft sleeve.

[0016] In an optional embodiment of the present invention, it is further provided that an elastic element is arranged between the second support element and the third support element, wherein the elastic element is used to exert an elastic force on the third support element in the driving state in order to keep the obstacle-overcoming wheel out of contact with the ground surface.

[0017] In an optional embodiment of the present invention, it is provided that when the driving assembly changes from the obstacle-overcoming state to the driving state after the obstacle has been overcome, the third support element rotates relative to the second support element so that the height of the obstacle-overcoming wheel is higher than or equal to the height of the drive wheel.

[0018] In an optional embodiment of the present invention, it is provided that in the radial direction of the drive wheel, the maximum dimension of the second support element is smaller than the radius of the drive wheel.

[0019] In an optional embodiment of the present invention, it is provided that the second support element has a receiving recess, wherein the first end of the third support element is rotatably connected to one side of the receiving recess, and wherein the third support element and the obstacle-overcoming wheel are received in the receiving recess when the driving assembly is changed from the obstacle-overcoming state to the driving state.

[0020] In an optional embodiment of the present invention, it is provided that a first gear mechanism is further included, wherein the first gear mechanism is arranged in the support unit, and wherein the obstacle-overcoming wheel is connected to the drive wheel via the first gear mechanism in order to cause the obstacle-overcoming wheel to rotate upon rotation of the drive wheel.

[0021] In an optional embodiment of the present invention, it is provided that a cavity is formed in the support unit, wherein the first gear mechanism is arranged in the cavity.

[0022] In an optional embodiment of the present invention, the first gear mechanism comprises a driving gear, a driven gear, and a plurality of intermediate gears, wherein the driving gear and the driven gear are engaged via the plurality of intermediate gears; wherein the drive wheel is provided with a drive wheel shaft guided through the drive wheel and the driving gear; and wherein the obstacle-overcoming wheel is provided with a driven wheel shaft guided through the obstacle-overcoming wheel and the driven gear.

[0023] In an optional embodiment of the present invention, it is provided that the plurality of intermediate gears comprises at least two first intermediate gears, at least two second intermediate gears, and a third intermediate gear, wherein the third intermediate gear comprises a first gear portion and a second gear portion arranged coaxially with one another, wherein the driving gear, the first intermediate gears, and the first gear portion are in engagement with one another; and wherein the driven gear, the second intermediate gears, and the second gear portion are in engagement with one another.

[0024] In an optional embodiment of the present invention, it is provided that a first drive device is further included, wherein an output of the first drive device is connected to the obstacle-overcoming wheel.

[0025] In an optional embodiment of the present invention, it is provided that the first drive device is arranged in the obstacle-overcoming wheel; or that the first drive device is arranged in the support unit.

[0026] In an optional embodiment of the present invention, it is provided that a second drive device is further included, wherein the second drive device is connected to the support unit in order to bring the support unit into rotation about the axis of the drive wheel.

[0027] In an optional embodiment of the present invention, it is provided that the second drive device is connected to the support unit via a second gear mechanism; and that the second gear mechanism comprises a worm shaft and a ring gear that are in engagement with each other, wherein the worm shaft is connected to an output of the second drive device, wherein the ring gear is fixedly connected to the support unit, and wherein an axis of the ring gear and the axis of the drive gear overlap.

[0028] In an optional embodiment of the present invention, it is provided that a bracket for connection to the machine body is further included, wherein the drive wheel is arranged on a first side of the bracket, while the support unit and the obstacle-overcoming wheel are arranged on a second side of the bracket.

[0029] In an optional embodiment of the present invention, it is provided that the holder is provided with a connecting hole, wherein a connecting shaft is connected to the machine body after passing through the connecting hole.

[0030] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel is located on a side of the support element facing the drive wheel.

[0031] In an optional embodiment of the present invention, it is provided that an edge sensor is further included, which is located in front of or behind the axis of the drive wheel in the direction of travel of the cleaning robot.

[0032] In an optional embodiment of the present invention, it is provided that two travel assemblies are provided on the machine body, wherein the two travel assemblies are each arranged near a left or right side of the machine body.

[0033] To achieve the above and other related objects, the present invention further provides a cleaning robot comprising a machine body and a traveling assembly, wherein a chassis is provided on a side of the machine body facing a cleaning surface, the machine body having a front end, a middle portion, and a rear end in the forward direction of the machine body; wherein a traveling assembly is provided on a side of the middle portion facing the cleaning surface, the traveling assembly being used to move the machine body forward, the traveling assembly comprising a drive wheel, a support unit, and an obstacle-overcoming wheel, the support unit being movable relative to the machine body to move the obstacle-overcoming wheel to switch between a support position and a pickup position; wherein, in the support position of the obstacle-overcoming wheel, the obstacle-overcoming wheel rests on the cleaning surface and supports the front end of the machine body for lifting, and the machine body is set in motion on the cleaning surface by the obstacle-overcoming wheel until the drive wheel rests on an obstacle to be overcome, so that the machine body is set in motion by the drive wheel to overcome the obstacle, and that when the machine body is moved by the obstacle-overcoming wheel, the height of the chassis for overcoming the obstacle and the height of the universal wheel are greater than or equal to the height of the obstacle; and wherein in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel no longer supports the front end of the machine body for lifting.

[0034] In an optional embodiment of the present invention, it is provided that in the support position a first center of rotation of the obstacle-overcoming wheel is located in front of a second center of rotation of the drive wheel.

[0035] In an optional embodiment of the present invention, it is provided that a universal wheel is provided on a side of the front end facing the cleaning surface and a rear wheel is provided on a side of the rear end facing the cleaning surface; wherein in the support position the rear wheel rests against the cleaning surface and the universal wheel comes out of contact with the cleaning surface, wherein when the machine body is moved by the obstacle-overcoming wheel the height of the universal wheel is greater than or equal to the height of the obstacle; and wherein in the receiving position the universal wheel rests against the cleaning surface, the rear wheel comes out of contact with the cleaning surface, and the machine body is set in motion on the cleaning surface by the drive wheel.

[0036] In an optional embodiment of the present invention, it is provided that the first center of rotation of the obstacle-overcoming wheel is located closer to the front end of the machine body in the receiving position than in the supporting position; and that the support unit is pivotable forwards or backwards relative to the machine body in order to set the obstacle-overcoming wheel in motion to change between the support position and the pickup position.

[0037] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel further comprises an evasive position, wherein when the obstacle-overcoming wheel is in the support position against an obstacle to be overcome, the support unit is movable relative to the machine body and the obstacle-overcoming wheel is set in motion to change from the support position to the evasive position, so that the machine body is set in motion by the drive wheel to overcome the obstacle.

[0038] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel further has an avoidance position, wherein the first center of rotation of the obstacle-overcoming wheel is closer to the front end of the machine body in the support position than in the avoidance position; and wherein when the obstacle overcoming wheel is in the support position on an obstacle to be overcome, the support unit is pivotable from front to back relative to the machine body and the obstacle overcoming wheel is set in motion to change from the support position to the avoidance position, so that the machine body is set in motion by the drive wheel to overcome the obstacle.

[0039] In an optional embodiment of the present invention, it is provided that a pivot axis of the support unit runs parallel to a rotation axis of the drive wheel.

[0040] In an optional embodiment of the present invention, it is provided that the driving assembly further comprises a bracket, wherein the bracket is arranged on the machine body and the drive wheel is arranged on the bracket; wherein the bracket has an outer wall surface extending away from the drive wheel and in a height direction of the machine body, wherein the support unit is arranged on the outer wall surface of the bracket, and wherein the support unit is pivotable forward and backward relative to the bracket in the forward direction of the machine body.

[0041] In an optional embodiment of the present invention, it is provided that, in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are located on a side of the chassis facing the cleaning surface in the height direction of the machine body, wherein a first height of the obstacle-overcoming wheel and / or the support unit is greater than or equal to a second height of the chassis; wherein the first height is a height of a lowest point of the obstacle-overcoming wheel and / or the support unit in relation to the cleaning surface and the second height is a height of a lowest point of the chassis in relation to the cleaning surface; or that in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are completely received in the height direction of the machine body on a side of the chassis facing away from the cleaning surface, wherein a first opening is provided in the chassis so that the obstacle-overcoming wheel and / or the support unit can be changed from the receiving position to the support position through the opening.

[0042] In an optional embodiment of the present invention, it is provided that, in the evasive position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are located on a side of the chassis facing the cleaning surface in the height direction of the machine body, wherein a third height of the obstacle-overcoming wheel and / or the support unit is greater than or equal to the second height of the chassis; wherein the third height is a height of a lowest point of the obstacle-overcoming wheel and / or the support unit with respect to the cleaning surface in the evasive position, and the second height is a height of a lowest point of the chassis with respect to the cleaning surface; and that in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are completely received in the height direction of the machine body on a side of the chassis facing away from the cleaning surface, wherein a second opening is provided in the chassis so that the obstacle-overcoming wheel and / or the support unit can be changed from the support position to the avoidance position through the opening.

[0043] In an optional embodiment of the present invention, the driving assembly further comprises a bracket, wherein the bracket is arranged on the machine body and the drive wheel is arranged on the bracket; wherein one end of the support unit is connected to the bracket and the other end is connected to the obstacle-overcoming wheel, wherein the support unit is movable relative to the bracket in order to set the obstacle-overcoming wheel in motion for switching between the receiving position and the supporting position; wherein the bracket can float up and down relative to the machine body to cause the traveling assembly to float up and down relative to the machine body; wherein a limit position to which the bracket has floated downward relative to the machine body serves as a first position when the cleaning robot comes out of contact with the cleaning surface; and wherein a limit position to which the bracket has floated upward relative to the machine body under the action of a gravity force of the machine body serves as a second position when the cleaning robot abuts the cleaning surface.

[0044] In an optional embodiment of the present invention, it is provided that in the first position of the holder in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are located in the height direction of the machine body on a side of the chassis facing the cleaning surface, wherein a first height of the obstacle-overcoming wheel and / or the support unit is greater than or equal to a second height of the chassis; wherein the first height is a height of a lowest point of the obstacle-overcoming wheel and / or the support unit in relation to the cleaning surface and the second height is a height of a lowest point of the chassis in relation to the cleaning surface; or that in the first position of the holder in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are completely received in the height direction of the machine body on a side of the chassis facing away from the cleaning surface, wherein a first opening is provided in the chassis so that the obstacle-overcoming wheel and / or the support unit can be changed from the receiving position to the support position through the opening.

[0045] In an optional embodiment of the present invention, it is provided that in the first position of the holder in the avoidance position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are located in the height direction of the machine body on a side of the chassis facing the cleaning surface, wherein a third height of the obstacle-overcoming wheel and / or the support unit is greater than or equal to the second height of the chassis; wherein the third height is a height of a lowest point of the obstacle-overcoming wheel and / or the support unit with respect to the cleaning surface in the avoidance position and the second height is a height of a lowest point of the chassis with respect to the cleaning surface; or that in the first position of the holder in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the support unit are completely received in the height direction of the machine body on a side of the chassis facing away from the cleaning surface, wherein a second opening is provided in the chassis so that the obstacle-overcoming wheel and / or the support unit can be changed from the support position to the avoidance position through the opening.

[0046] In an optional embodiment of the present invention, it is provided that in the support position of the obstacle-overcoming wheel in the direction of travel of the machine body, the obstacle-overcoming wheel has a first foremost end and the drive wheel has a second foremost end, wherein the first foremost end is located behind the second foremost end.

[0047] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel further comprises an evasive position, wherein when the obstacle-overcoming wheel is in the support position against an obstacle to be overcome, the support unit is movable relative to the machine body and the obstacle-overcoming wheel is set in motion to change from the support position to the evasive position, so that the machine body is set in motion by the drive wheel to overcome the obstacle; and that the cleaning robot further comprises a limiting structure comprising a first pin shaft and a first arcuate groove, wherein one of the first pivot shaft and the first arcuate groove is arranged on a side wall of the support unit facing the bracket, and the other of them is arranged on a side wall of the bracket facing the support unit; wherein the first pivot shaft projects into the first arcuate groove, the first arcuate groove extends in a pivoting direction of the support unit, and the first pivot shaft can move with the pivoting of the support unit in an extension direction of the first arcuate groove; wherein the first arcuate groove has a first end surface and a second end surface in the extension direction, wherein the two end surfaces of the first arcuate groove are used to limit the maximum pivoting path of the obstacle-overcoming wheel; wherein, when the first pivot shaft abuts against the first end surface, the obstacle-overcoming wheel is in the receiving position; wherein, when the first pivot shaft abuts against the second end surface, the obstacle-overcoming wheel is in the avoiding position.

[0048] In an optional embodiment of the present invention, it is provided that a second drive structure is further included, which is used to drive the support unit for pivoting relative to the bracket; and that an in-position detection element is further included to detect the change of the obstacle-overcoming wheel into the support position; wherein, upon detection of the obstacle-overcoming wheel in the support position by the detection element, the second drive structure stops the drive of the support unit for pivoting relative to the bracket in order to hold the obstacle-overcoming wheel in the support position and to be able to set the machine body in motion.

[0049] In an optional embodiment of the present invention, it is provided that the cleaning robot further comprises a locking mechanism having a locking state and an unlocking state, wherein in the locking state, the locking mechanism locks the bracket to the machine body and the drive wheel cannot float up and down relative to the machine body; wherein in the unlocking state, the drive wheel can float up and down relative to the machine body; wherein in the supporting position of the obstacle-overcoming wheel, the locking mechanism is in the locking state; and wherein in the receiving position of the obstacle-overcoming wheel, the locking structure is in the unlocking state.

[0050] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel further comprises an evasive position, wherein when the obstacle-overcoming wheel in the support position rests against an obstacle to be overcome, the obstacle-overcoming wheel is changed from the support position to the evasive position, so that the machine body is set in motion by the drive wheel to overcome the obstacle; and wherein when the obstacle-overcoming wheel changes from the support position to the avoidance position, the locking mechanism is held in the locking state.

[0051] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel further comprises an evasive position, wherein when the obstacle-overcoming wheel in the support position rests against an obstacle to be overcome, the obstacle-overcoming wheel is changed from the support position to the evasive position, so that the machine body is set in motion by the drive wheel to overcome the obstacle; and wherein in the avoidance position of the obstacle-overcoming wheel, the locking mechanism is in the unlocked state.

[0052] In an optional embodiment of the present invention, it is provided that the support unit is arranged between the holder and the machine body, wherein a first end section of the support unit is rotatably arranged on the holder, and wherein a second end section of the support unit is connected to the obstacle overcoming wheel and drives the first end section to rotate relative to the holder, so that the second end section is pivoted relative to the holder.

[0053] In an optional embodiment of the present invention, it is provided that the locking mechanism comprises a second pin shaft and a second arcuate groove, wherein the second arcuate groove is formed in a side wall of the first end section, the second pin shaft is arranged on the machine body, and the second pin shaft projects into the second arcuate groove; wherein the second arcuate groove extends in the pivoting direction of the support unit and includes a groove segment for limitation and a first recess segment at one end of the groove segment, wherein the groove segment and the first recess segment are in communication with each other; wherein when the second tappet shaft moves in an extending direction of the groove segment with the rotation of the first end section, the second tappet shaft abuts against a cover wall of the groove segment in the height direction of the machine body, so that the locking mechanism is in the locked state; and wherein in the receiving position of the obstacle-overcoming wheel, the second tappet shaft can leave the second arcuate groove through the first recess segment, so that the holder can float up and down relative to the machine body and the locking mechanism is in the unlocked state.

[0054] In an optional embodiment of the present invention, it is provided that the obstacle-overcoming wheel further has a deflection position, wherein when the obstacle-overcoming wheel is placed on an obstacle to be overcome in the support position, the obstacle-overcoming wheel is pivoted from the support position to the deflection position, so that the machine body is moved by the drive wheel to overcome the obstacle; wherein the other end of the second arcuate groove represents a second recess; and wherein in the deflection position of the obstacle-overcoming wheel, the second pin shaft can leave the second arcuate groove through the second recess, so that the drive wheel can float up and down relative to the machine body and the locking mechanism is in the unlocked state.

[0055] In an optional embodiment of the present invention, it is provided that in the locking state of the locking mechanism, the holder is locked in the second position; that in the receiving position of the obstacle-overcoming wheel in the second position, the first pin shaft is located within the first recess segment, while in the first position in the height direction of the machine body, the first pin shaft is located outside the first recess segment; and that in the avoidance position of the obstacle-overcoming wheel in the second position, the first pin shaft is located within the second recess segment, while in the first position in the height direction of the machine body, the first pin shaft is located outside the second recess segment.

[0056] In an optional embodiment of the present invention, it is provided that in the support position of the obstacle-overcoming wheel, the holder can float up and down relative to the machine body, so that the drive wheel can float up and down relative to the machine body.

[0057] In an optional embodiment of the present invention, it is provided that after the cleaning robot has finished overcoming the obstacle, the universal wheel rests on the cleaning surface, the rear wheel comes out of contact with the cleaning surface, the obstacle-overcoming wheel is held in the evasive position and the machine body is set in motion on the cleaning surface by the drive wheel.

[0058] In an optional embodiment of the present invention, the universal wheel assembly includes a mounting seat and a universal wheel on the mounting seat; and that the chassis has: a confining space whose height is constant in the height direction of the machine body and which has a top wall and a bottom wall, wherein the mounting seat is embedded in the confining space; and at least one second elastic member, one end of the second elastic member being arranged on the cover wall and the other end thereof being arranged on the mounting seat; wherein in the universal wheel assembly, in a non-falling state, under the action of a compression amount of the second elastic member, the mounting seat abuts against the bottom wall, wherein a spring force generated by the compression amount is greater than or equal to a gravitational force acting from the machine body to the universal wheel assembly; wherein a floating clearance exists between the mounting seat and the cover wall, and wherein the mounting seat presses the second elastic member for floating onto the cover wall under the action of an impact force of the cleaning surface upon falling when the universal wheel assembly is in the falling state.

[0059] In an optional embodiment of the present invention, it is provided that a limiting frame is further included on the chassis, wherein the limiting space is enclosed between the limiting frame and the chassis; wherein the limiting frame is arranged on an upper surface of the chassis and is located in an interior space of the machine body; and wherein the top wall of the limiting space is arranged on the limiting frame and the bottom wall is arranged on the chassis.

[0060] In an optional embodiment of the present invention, it is provided that the mounting seat comprises a mounting frame, wherein an upwardly recessed first groove is provided on an underside of the mounting frame; and that the universal gear assembly further comprises a rotating shaft, wherein a lower surface of the rotating shaft is connected to the universal gear and a top surface of the rotating shaft is disposed in the first groove; wherein in the falling state, the top side of the rotary shaft abuts against a groove bottom of the first groove to float the mounting seat upward; wherein a floating clearance exists between the top of the first groove and the cover wall; or wherein an escape hole is provided on the cover wall through which the first groove can pass when the mounting seat floats upwards; wherein an outer edge projecting horizontally outward is formed on an outer wall of the mounting frame, the upper side of the mounting frame being higher than the outer edge in the height direction of the machine body; wherein the outer edge is located in the confining space and a floating space is enclosed between the outer edge and the cover wall; wherein the second elastic element is located in the floating space and is connected at one end to the cover wall and at the other end to the outer edge; and wherein, in the non-falling state of the universal wheel assembly, the outer edge rests against the bottom wall.

[0061] In an optional embodiment of the present invention, the universal wheel assembly includes a mounting seat and a universal wheel on the mounting seat; and that the chassis of the machine body has: a confining space whose height is constant in the height direction of the machine body and which has a top wall and a bottom wall, wherein an upwardly rising projection is formed on the bottom wall and the mounting seat is embedded in the confining space; and at least one second elastic member, one end of the second elastic member being disposed on the bottom wall and the other end thereof being disposed on the mounting seat; wherein, in the universal wheel assembly, in a non-falling state, under the action of an extension amount of the second elastic member, the mounting seat abuts the projection, wherein a surface with which the mounting seat abuts the projection is located above the projection in the height direction of the machine body, wherein a spring force generated by the extension amount is greater than or equal to the gravity force acting from the machine body on the universal wheel assembly; wherein a floating clearance exists between the mounting seat and the cover wall, and wherein the mounting seat stretches the second elastic member to float on the cover wall under the action of an impact force of the cleaning surface upon falling when the universal wheel assembly is in the falling state.

[0062] In an optional embodiment of the present invention, it is provided that a limiting frame is further included on the chassis, wherein the limiting space is enclosed between the limiting frame and the chassis; wherein the limiting frame is arranged on an upper surface of the chassis and is located in an interior space of the machine body; and wherein the top wall of the limiting space is arranged on the limiting frame and the bottom wall is arranged on the chassis.

[0063] In an optional embodiment of the present invention, it is provided that the mounting seat comprises a mounting frame, wherein an upwardly recessed first groove is provided on an underside of the mounting frame; and that the universal gear assembly further comprises a rotating shaft, wherein a lower surface of the rotating shaft is connected to the universal gear and a top surface of the rotating shaft is disposed in the first groove; wherein in the falling state, the top side of the rotary shaft abuts against a groove bottom of the first groove to float the mounting seat upward; wherein a floating clearance exists between the top of the first groove and the cover wall; or wherein an escape hole is provided on the cover wall through which the first groove can pass when the mounting seat floats upwards; wherein a horizontally outwardly projecting outer edge is formed on an outer wall of the mounting frame, the upper side of the mounting frame being higher than the outer edge in the height direction of the machine body; wherein the outer edge is located in the confining space, and a floating space is enclosed between the outer edge and the cover wall; wherein the second elastic member is located in the floating space and is connected at one end to the cover wall and at the other end to the outer edge; and wherein, in the non-falling state of the universal wheel assembly, the outer edge abuts the projection.

[0064] In an optional embodiment of the present invention, it is provided that an upwardly recessed second groove is provided on the underside of the limiting frame; and that the limiting frame is placed on the mounting frame through the second groove, wherein the floating space is enclosed between a groove bottom of the second groove and the outer edge.

[0065] In an optional embodiment of the present invention, it is provided that at least two second elastic elements and at least two outer edges are provided, wherein the at least two outer edges are evenly distributed around the outer wall of the mounting frame and each of the outer edges carries the same spring force of the second elastic element; or that at least two second elastic elements are provided, wherein the outer edge runs annularly around the outer wall of the mounting frame and the spring force of the second elastic element is evenly distributed on the outer edge.

[0066] In an optional embodiment of the present invention, it is provided that a first guide column is provided on the outer edge and a second guide column is provided on the cover wall, wherein both ends of the second elastic element are respectively placed on the first guide column and the second guide column, and wherein a floating play exists between the first guide column and the second guide column.

[0067] In an optional embodiment of the present invention, the universal wheel assembly further comprises a shaft sleeve which is fastened to the chassis and placed on the rotary shaft, wherein a limiting element is provided on the upper side of the rotary shaft, wherein in the non-falling state the limiting element abuts the upper side of the shaft sleeve and in the falling state the limiting element does not abut the upper side of the shaft sleeve; and wherein in the height direction of the machine body, the length of the shaft sleeve is smaller than the length of the rotary shaft, so that there is a floating clearance when the rotary shaft moves up and down relative to the shaft sleeve.

[0068] In an optional embodiment of the present invention, it is provided that a damping layer is provided on a side of the chassis facing the cleaning surface in order to dampen friction between the chassis and the obstacle during the movement of the machine body by the obstacle-overcoming wheel in the support position.

[0069] In an optional embodiment of the present invention, it is provided that the diameter of the obstacle-overcoming wheel is smaller than the radius of the drive wheel.

[0070] In an optional embodiment of the present invention, it is provided that the rotation of the obstacle-overcoming wheel and the rotation of the drive wheel are carried out by one and the same drive mechanism.

[0071] In an optional embodiment of the present invention, it is provided that a first axis of rotation of the obstacle-overcoming wheel runs parallel to a second axis of rotation of the drive wheel.

[0072] In an optional embodiment of the present invention, it is provided that in the forward direction of the machine body there is a height difference between a cleaning surface behind the obstacle and an upper surface of the obstacle; and that the obstacle overcoming wheel in the support position moves the machine body until the rear end of the machine body comes out of contact with the upper surface of the obstacle after the drive wheel overcomes the obstacle and when the rear end of the machine body rests against the upper surface of the obstacle and the drive wheel comes out of contact with the cleaning surface behind the obstacle.

[0073] In an optional embodiment of the present invention, it is provided that in the forward direction of the machine body there is a height difference between a cleaning surface behind the obstacle and an upper surface of the obstacle; and that the support unit is in a state where it is pivoted from the avoidance position to the receiving position, so that the obstacle overcoming wheel, when pivoting when abutting against the cleaning surface, moves the machine body until the rear end of the machine body comes out of contact with the upper surface of the obstacle after the drive wheel overcomes the obstacle and when the rear end of the machine body abuts against the upper surface of the obstacle and the drive wheel comes out of contact with the cleaning surface behind the obstacle.

[0074] In an optional embodiment of the present invention, it is provided that when an obstacle is to be overcome, the drive wheel stops rotating in order to stop the movement of the machine body; that after stopping the movement of the machine body, the support unit moves relative to the machine body to set the obstacle-overcoming wheel in motion to change from the receiving position to the support position; and that after changing to the support position, the obstacle-overcoming wheel sets the machine body in motion on the cleaning surface.

[0075] In an optional embodiment of the present invention, the support unit comprises a second support element and a third support element; wherein the second support element is rotatable relative to the machine body about the first rotation axis; wherein the third support element is arranged on the second support element away from the first axis of rotation, a first end of the third support element is rotatably connected to the second support element, the obstacle-overcoming wheel is rotatably arranged on a second end of the third support element, and a second axis of rotation about which the third support element rotates relative to the second support element and the second axis of rotation do not overlap; wherein one end of the second support element is further provided with an abutment portion for connection to the third support element, and wherein upon rotation of the second support element about the first axis of rotation, the abutment portion abuts the third support element to pivot the third support element with respect to the first axis of rotation based on a compressive force of the abutment portion on the third support element.

[0076] In an optional embodiment of the present invention, it is provided that the second support element is mounted on the drive wheel shaft of the drive wheel.

[0077] In an optional embodiment of the present invention, it is provided that the first axis of rotation and the axis of rotation of the drive wheel overlap.

[0078] In an optional embodiment of the present invention, it is provided that a first elastic element is further arranged between the second support element and the third support element, wherein one end of the first elastic element is fastened to the second support element and the other end to the third support element, and wherein the first elastic element tends to cause the abutment portion of the second support element to abut against the third support element.

[0079] In an optional embodiment of the present invention, it is provided that the second support element has a receiving recess, wherein the first end of the third support element is rotatably connected to one side of the receiving recess, wherein a side wall of the receiving recess located on a side connected to the first end represents the contact section; and wherein the third support element moves into the receiving recess when subjected to a compressive force by which the third support element is moved away from the abutment portion.

[0080] In an optional embodiment of the present invention, it is provided that the spatial dimension of the receiving recess is larger than the spatial dimension of the third support element and the obstacle-overcoming wheel in order to ensure that the third support element and the obstacle-overcoming wheel can be completely received in the receiving recess.

[0081] In an optional embodiment of the present invention, the cleaning robot further comprises a first drive structure and a first gear mechanism, wherein the first drive structure is used to drive the drive wheel and the obstacle-overcoming wheel to rotate; wherein the first gear mechanism comprises a driving gear, a driven gear, and an intermediate gear, the driving gear and the driven gear being engaged via the intermediate gear; wherein the drive wheel is provided with a drive wheel shaft guided through the drive wheel and the driving gear to rotate the drive wheel and the driving gear, wherein the drive gear rotates the driven gear through the intermediate gear, wherein the obstacle-overcoming wheel is provided with a driven wheel shaft guided through the obstacle-overcoming wheel and the driven gear, and wherein the driven gear rotates the obstacle-overcoming wheel via the driven wheel shaft.

[0082] In an optional embodiment of the present invention, it is provided that a cavity is formed in the support unit, wherein the first gear mechanism is arranged in the cavity.

[0083] In an optional embodiment of the present invention, it is provided that the intermediate gear wheels comprise a third intermediate gear wheel, wherein the third intermediate gear wheel comprises a first gear wheel section and a second gear wheel section which are arranged coaxially to one another, wherein a common shaft of the first gear wheel section and the second gear wheel section serves as a third intermediate gear shaft, wherein the first gear wheel section brings the second gear wheel section into rotation via the third intermediate gear shaft; wherein the driving gear is in mesh with the first gear portion and the driven gear is in mesh with the second gear portion; or that the intermediate gears further comprise a first intermediate gear and a second intermediate gear, wherein the driving gear, the first intermediate gear, and the first gear portion are in mesh with each other, and wherein the driven gear, the second intermediate gear, and the second gear portion are in mesh with each other.

[0084] In an optional embodiment of the present invention, it is provided that the second support element is provided with a fixed shaft, wherein the fixed shaft is arranged away from the first axis of rotation, and that the third support element is provided with a shaft sleeve, wherein the third support element is placed on the fixed shaft by the shaft sleeve, wherein the fixed shaft is rotatable relative to the shaft sleeve; or that the third support element is provided with a fixed shaft and the second support element is provided with a shaft sleeve, wherein the shaft sleeve is arranged away from the first axis of rotation, wherein the third support element is placed on the fixed shaft by the shaft sleeve, wherein the fixed shaft is rotatable relative to the shaft sleeve; wherein the third intermediate gear shaft has a hollow structure, wherein the fixed shaft and the shaft sleeve are guided through the third intermediate shaft, and wherein the fixed shaft and the shaft sleeve are rotatable relative to the third intermediate gear shaft.

[0085] In an optional embodiment of the present invention, it is provided that a first elastic element is further arranged between the second support element and the third support element, wherein one end of the first elastic element is fastened to the second support element and the other end to the third support element, wherein the first elastic element tends to cause the abutment portion of the second support element to abut against the third support element; and wherein the first elastic element is designed as a torsion spring, is mounted on the outside of the third intermediate gear shaft and is located in the play between the first gear section and the second gear section.

[0086] In an optional embodiment of the present invention, it is provided that, in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the third support element are located on a side of the chassis facing the cleaning surface in the height direction of the machine body, wherein a first height of the obstacle-overcoming wheel and / or the third support element is greater than or equal to a second height of the chassis; wherein the first height is a height of a lowest point of the obstacle-overcoming wheel and / or the third support element in relation to the cleaning surface and the second height is a height of a lowest point of the chassis in relation to the cleaning surface; or that in the receiving position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the third support element are completely received in the height direction of the machine body on a side of the chassis facing away from the cleaning surface, wherein a first opening is provided in the chassis so that the obstacle-overcoming wheel and / or the third support element can be changed from the receiving position to the support position through the opening.

[0087] In an optional embodiment of the present invention, it is provided that, in the evasive position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the third support element are located on a side of the chassis facing the cleaning surface in the height direction of the machine body, wherein a third height of the obstacle-overcoming wheel and / or the third support element is greater than or equal to a second height of the chassis; wherein the third height is a height of a lowest point of the obstacle-overcoming wheel and / or the third support element with respect to the cleaning surface in the evasive position, and the second height is a height of a lowest point of the chassis with respect to the cleaning surface;or that in the avoidance position of the obstacle-overcoming wheel, the obstacle-overcoming wheel and / or the third support element are completely received in the height direction of the machine body on a side of the chassis facing away from the cleaning surface, wherein a first opening is provided in the chassis so that the obstacle-overcoming wheel and / or the third support element can be changed from the receiving position to the support position through the opening.; Short description of the characters Fig. 1 shows a simplified structural view of a cleaning robot according to an embodiment of the present invention in a driving state; Fig. 2 shows a simplified structural view of a cleaning robot according to an embodiment of the present invention in an obstacle-overcoming state; Fig. 3 shows a simplified structural view of a driving assembly according to an embodiment of the present invention; Fig. 4 shows a simplified view of Fig. 3 with some structures omitted; Fig. 5 shows a simplified structural view of the driving assembly according to another embodiment of the present invention; Fig. 6 shows a simplified view of Fig. 5 with some structures omitted; Fig. Figure 7 shows a sectional view along the line AA of Fig. 5; Fig. 8 (a) to 8 (e) show schematic views of the driving assembly of Fig. 5 when changing from the obstacle overcoming state to the driving state; Fig. 9 shows a side view of the driving assembly according to yet another embodiment of the present invention; Fig. 10 shows a side view of the driving assembly according to the Fig. 9 shown embodiment in a further state; Fig. 11 shows a side view of the drive assembly according to the Fig. 9 shown embodiment in a still further state; Fig. 12 shows a schematic perspective structural view of a second PTO shaft according to an embodiment of the present invention; Fig. 13 shows a side view of the travel assembly according to yet another embodiment of the present invention; Fig. 14 shows an enlarged section of a wheel surface of a drive wheel according to an embodiment of the present invention; Fig. 15 shows a sectioned portion of the drive wheel according to an embodiment of the present invention; Fig. 16 shows a schematic structural view of a bottom side of the cleaning robot according to an embodiment of the present invention; Fig. 17 shows a sectional view along the line AA of Fig. 16; Fig. 18 shows a sectional view of the Fig. 17 shown area in a further state; Fig. 19 shows a side view of the cleaning robot according to an embodiment of the present invention; Fig. 20 shows a side view of the cleaning robot according to an embodiment of the present invention in another state; Fig. 21 shows a sectional view of the cleaning robot according to an embodiment of the present invention in the Fig. 20 shown condition; Fig. 22 shows an exploded view of the cleaning robot according to an embodiment of the present invention; Fig. 23 shows an exploded view of a universal wheel assembly and an elastic member according to an embodiment of the present invention; Fig. 24 shows an exploded view of the universal wheel assembly according to an embodiment of the present invention; Fig. 25 shows a perspective view of a mounting frame according to an embodiment of the present invention; Fig. 26 shows a perspective view of the mounting frame according to an embodiment of the present invention from a further viewing angle; Fig. 27 shows a perspective view of a limit frame according to an embodiment of the present invention; Fig. 28 shows a perspective view of a shaft sleeve according to an embodiment of the present invention; Fig. 29 shows a schematic structural view for assembling the universal wheel assembly according to an alternative embodiment of the embodiments of the present invention; Fig. 30 is a schematic structural view for assembling the universal wheel assembly according to another alternative embodiment of the present invention; Fig. 31 is a schematic structural view for fitting a first arcuate groove to a first journal shaft according to an embodiment of the present invention; Fig. 32 shows a schematic structural view for mounting a bracket with the drive wheel according to an embodiment of the present invention; Fig. 33 shows a schematic structural view for assembling a support unit with an obstacle-overcoming wheel according to an embodiment of the present invention; Fig. 34 shows a perspective structural view of the bottom of the cleaning robot according to an embodiment of the present invention; Fig. 35 shows an enlarged section of A from Fig. 34; and Fig. 36 shows a sectional view of the travel assembly according to an embodiment of the present invention. Detailed embodiments

[0088] The embodiments of the present invention are explained below through specific detailed examples. The other advantages and effects of the present invention will be easily understood by those skilled in the art from the contents disclosed in this specification. The present invention can also be implemented or applied through other various specific embodiments. Various modifications or changes may also be made to individual details of this specification based on various aspects and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and the features in these embodiments can be combined with each other without conflict.

[0089] It should be noted that the figures provided in the following embodiments only schematically illustrate the basic idea of ​​the present invention, so that the figures only show components related to the present invention and are not drawn according to the number, shape and size of the components in the actual implementation, wherein in the actual implementation, the shape, number and ratio of various components can be changed as desired and the layout patterns of the components can also be more complex.

[0090] As described in the related art, a cleaning robot has a problem of poor obstacle-clearing ability. Specifically, some related arts disclose that the cleaning robot includes an obstacle-clearing mechanism for obstacle-clearing. The obstacle-clearing mechanism includes a support member, such as a support rod and the like, rotatable around a drive wheel. After the drive wheel approaches an obstacle, a machine body is lifted by the support member, and then the drive wheel rotates, so that the machine body clears a step. Because the drive wheel is arranged substantially at the center in the forward direction of the machine body, the machine body has already partially cleared the step when the drive wheel approaches the step. That is,The prior art cleaning robot can only overcome a step with a height less than the clearance between the machine body and the floor. If a step with a height greater than the clearance between the machine body and the floor is reached, the machine body may collide with the step, causing the cleaning robot to be damaged or stop moving.

[0091] In view of the above, an object of an embodiment of the present invention is to provide a cleaning robot. By providing a support unit rotatable about a drive wheel and an obstacle-overcoming wheel on the support unit, the support unit brings the obstacle-overcoming wheel into contact with the ground surface in an obstacle-overcoming state and brings the drive wheel out of contact with the ground surface. A machine body is driven into traveling motion by means of the obstacle-overcoming wheel. In the present invention, it is possible for the machine body to be already lifted a predetermined distance from an obstacle, so that a front end of the machine body is lifted away from the ground surface, a rear end of the machine body abuts the ground surface, and the entire machine body is in an inclined state.The machine body moves by keeping the obstacle-overcoming wheel in contact with the floor surface. The distance between the front end of the machine body and the floor surface is greater than the clearance between the machine body and the floor, thus improving the obstacle-overcoming ability of the cleaning robot.

[0092] In the following, contents of the embodiments of the present invention are described in more detail in conjunction with the attached figures so that the person skilled in the art can understand the content of the present invention in more detail.

[0093] Fig. 1 shows a simplified structural view of a cleaning robot according to an embodiment of the present invention in a driving state; and Fig. 2 shows a simplified structural view of a cleaning robot according to an embodiment of the present invention in an obstacle-overcoming state.

[0094] See Fig. 1 and Fig. 2. The present embodiment provides a cleaning robot 10. The cleaning robot 10 may also be referred to as a self-cleaning robot, vacuum robot, intelligent cleaner, etc., and has functions such as movement, sweeping, dust extraction, etc. The cleaning robot 10 may be, for example, a dry and wet cleaning robot, such as a vacuum robot or a vacuum and mop robot.

[0095] The cleaning robot 10 includes a machine body 100, a traveling assembly 200, and a cleaning mechanism 300. The traveling assembly 200 and the cleaning mechanism 300 are arranged on a side of the machine body 100 facing the floor surface during use of the cleaning robot 10. The machine body 100 can be formed in various shapes. To consider both stability and suitability for various scenarios, such as cleaning areas such as under a bed, the machine body 100 is typically formed in shapes such as circular cylinders, D-cylinders, square cylinders, etc. Accordingly, the contour of the machine body 100 is formed in contours such as circular, D-shaped, or rectangular, etc. The contour area of ​​the machine body 100 can be determined, in particular, according to a projection of the machine body 100 on a horizontal plane.The driving assembly 200 can set the machine body 100 in motion, allowing it to overcome an obstacle. The cleaning mechanism 300 is movably connected to the machine body 100. When the machine body 100 is moving, the cleaning mechanism 300 rotates around the machine body 100 to clean the floor surface. Optionally, an auxiliary steering wheel (not shown in the figures) can also be arranged on the machine body 100. The auxiliary steering wheel can be a universal wheel attached to the machine body 100. The cleaning robot 10 can be steered by rotating and stopping the drive wheel and interacting with the auxiliary steering wheel.

[0096] According to a movement state of the cleaning robot 10, the machine body 100 may include a front end 101, a rear end 102, a left side, and a right side. The front end 101 refers to an end of the machine body 100 facing the direction of travel when the cleaning robot 10 is traveling. The rear end 102 refers to an end of the machine body 100 facing away from the direction of travel when the cleaning robot 10 is traveling. The left side and the right side refer to two other sides whose connecting line is perpendicular to a connecting line of the front end 101 and the rear end 102. The auxiliary steering wheel may be arranged at a position near the front end 101 on the machine body 100. The traveling assembly 200 may be arranged substantially centrally between the front end 101 and the rear end 102 of the machine body 100.In addition, a traveling assembly is arranged near the left side and the right side of the machine body 100 to ensure the balance of the machine body 100.

[0097] Fig. 3 shows a simplified structural view of a driving assembly according to an embodiment of the present invention; Fig. 4 shows a simplified view of Fig. 3 with some structures omitted; Fig. 5 shows a simplified structural view of the driving assembly according to another embodiment of the present invention; Fig. 6 shows a simplified view of Fig. 5 with some structures omitted; and Fig. Figure 7 shows a sectional view along the line AA of Fig. 5.

[0098] See further Fig. 1 to 7. The travel assembly 200 in the present embodiment comprises a drive wheel 210, a support unit, and an obstacle-overcoming wheel 230. The drive wheel 210 is arranged completely or partially outside the machine body 100 to come into contact with the ground surface and thus set the machine body 100 in traveling motion. For example, the drive wheel 210 can be driven by a drive motor arranged inside the machine body 100 or the like. Or, a wheel hub motor can be arranged inside the drive wheel 210. The drive wheel 210 can be self-propelled by the wheel hub motor arranged inside. The support unit is rotatable around the drive wheel 210 to switch the travel assembly 200 between a traveling state and an obstacle-overcoming state. The obstacle-overcoming wheel 230 is arranged on the support unit.The obstacle-overcoming wheel 230 can rotate with the drive wheel 210, or the obstacle-overcoming wheel 230 can rotate independently. This can be adjusted as needed.

[0099] In the traveling state of the traveling assembly 200 in the present embodiment, the machine body 100 is parallel to the ground surface, and the drive wheel 210 is in contact with the ground surface (i.e., the drive wheel 210 rests against the ground surface) to drive the machine body 100. At this time, the obstacle-overcoming wheel 230 can come into contact with the ground surface to assist the traveling of the machine body 100 with the aid of the obstacle-overcoming wheel 230. Alternatively, the obstacle-overcoming wheel 230 can be disengaged from the ground surface, and the machine body 100 is driven solely by the drive wheel 210.

[0100] In the driving state of the driving assembly 200 in the present embodiment, it is the case, for example, that the obstacle-overcoming wheel 230 is out of contact with the ground surface and the drive wheel 210 is in contact with the ground surface, so that the drive wheel 210 sets the machine body 100 in motion. In this case, the cleaning robot 10 is essentially as shown in Fig. 1, wherein the obstacle-overcoming wheel 230 is accommodated in the machine body 100.

[0101] In the obstacle-overcoming state of the traveling assembly 200 in the present embodiment, the support unit brings the obstacle-overcoming wheel 230 into contact with the ground surface 20 and the drive wheel 210 out of contact with the ground surface 20, so that the obstacle-overcoming wheel 230 causes the machine body 100 to travel to overcome the obstacle 30 on the ground surface 20.

[0102] Fig. 2 shows in particular a state in which the cleaning robot 10 in the present embodiment is in contact with the obstacle 30. In connection with Fig. 2 and the above concept, it should be understood that in the cleaning robot 10 in the present embodiment, the support unit is able to bring the obstacle-overcoming wheel 230 into contact with the floor surface 20 at a predetermined distance from the obstacle 30. The above predetermined distance must be greater than the distance between the front end 101 of the machine body 100 and the obstacle 30 at that location. The specific value of the predetermined distance can be selected as needed.After the obstacle-clearing wheel 230 comes into contact with the ground surface 20, the machine body 100 is gradually lifted by the support unit so that the drive wheel 210 comes out of contact with the ground surface 20, the front end 101 of the machine body 100 is away from the ground surface 20, the rear end 102 of the machine body 100 is close to the ground surface 20, and the machine body 100 as a whole is inclined to the ground surface 20, so that the machine body 100 substantially forms a . Fig. 2. It should be understood that in this state, the distance between the front end 101 of the machine body 100 and the floor surface 20 is far greater than the clearance between the machine body 100 and the floor in the traveling state. This makes it easier for the cleaning robot 10 to overcome the obstacle 30. Alternatively, compared to the prior art, the present embodiment enables the cleaning robot 10 to overcome a higher obstacle 30, thus improving the obstacle-overcoming capability of the cleaning robot 10. Thereafter, the cleaning robot 10 in the present embodiment can remain in the above state. The machine body 100 is set in traveling motion by the rotation of the obstacle-overcoming wheel 230. After the obstacle-overcoming wheel 230 has abutted the obstacle 30, the support unit causes the obstacle-overcoming wheel 230 to pivot in the directions indicated by arrows in Fig. 2, so that the drive wheel 210 comes into contact with an upper surface (a surface located on a side facing away from the floor surface 20) of the obstacle 30. Due to a frictional force between the drive wheel 210 and the upper surface of the obstacle 30 during the rotation of the drive wheel, the machine body 100 is set in traveling motion, and the machine body 100 is gradually returned from an inclined state to a state parallel to the floor surface 20. As a result, the cleaning robot 10 has overcome the obstacle 30.

[0103] In some embodiments, it is intended that in order to perform the above functions, it is to be understood that the present embodiment further comprises a sensor and a controller (not shown in the figures), wherein the sensor and the driving assembly are in communication with the controller.

[0104] The sensor is used to detect an obstacle 30 in a traveling direction of the cleaning robot and, upon detection of the obstacle 30, sends an obstacle signal to the controller. The obstacle signal may include a distance between the cleaning robot and the obstacle 30, the height of the obstacle 30, etc. Upon receiving the obstacle signal, the controller sends a control instruction to the traveling assembly 200 to change the state of the traveling assembly 200. Upon receiving the control instruction, the traveling assembly 200 is switched from the traveling state to the obstacle-overcoming state, so that the obstacle-overcoming wheel 230 comes into contact with the floor surface 20, the drive wheel 210 is disengaged from the floor surface 20, and the machine body 100 as a whole is inclined toward the floor surface 20. The cleaning robot moves toward the obstacle 30 in the obstacle-overcoming state and overcomes the obstacle 30.It should be understood that in the present embodiment, a rotatable obstacle-overcoming wheel 230 is provided on the support unit, whereby the machine body can be set in traveling motion by the obstacle-overcoming wheel 230 when the machine body 100 is inclined relative to the floor surface 20 (i.e., in the traveling state of the traveling assembly 200). When the machine body 100 travels in an inclined state, the obstacle-overcoming capability can be significantly increased, so that the cleaning robot 10 in the present embodiment can overcome a higher obstacle 30.

[0105] Furthermore, it is provided that when the driving assembly 200 in the present embodiment changes from the driving state to the obstacle-overcoming state, the drive wheel 210 is in the rest state in order to prevent the drive wheel 210 from setting the machine body 100 in motion and thus being unstable when changing the machine bodies.

[0106] Of course, in some further embodiments, it is provided that when the driving assembly 200 in the present embodiment changes from the driving state to the obstacle-overcoming state, the drive wheel 210 is in the operating state. This means that the drive wheel 210 continues to drive the machine body in driving motion to improve the operating efficiency of the robot.

[0107] Because the drive wheel of the robot itself has a certain obstacle-overcoming capability, some embodiments of the present invention provide for the robot to detect the height of the obstacle using the sensor arranged on the machine body. Depending on whether the height of the obstacle exceeds a predetermined height threshold, it is determined whether the robot should switch to the obstacle-overcoming state in order to reduce the number of transitions between the driving state and the obstacle-overcoming state, thus increasing the operating efficiency and service life of the device.

[0108] In particular, the above sensor can be any sensor on the machine body that has the capability of detecting the height of the obstacle. For example, it can be one or more of a line laser sensor, a laser radar, a structured light sensor, and an AI camera. The present invention is not limited to the above sensors. Any sensors that have the capability of detecting the height of the obstacle can fulfill the above functions.

[0109] In some embodiments, the above height threshold may be 2 cm, 3 cm, or 4 cm, etc. The above height threshold may be predetermined not only according to the inherent obstacle-clearing capability of the drive wheel, but also specified according to an instruction set by the user. The present invention is not limited thereto.

[0110] To facilitate obstacle clearance, after detecting an obstacle, the controller can send an instruction to the traveling assembly 200 to drive the robot toward the obstacle and adjust the direction of the machine body so that the robot's orientation is set toward the obstacle. That is, the robot's forward direction is perpendicular or approximately perpendicular to a tangential line of the obstacle. By adjusting the robot's orientation toward the obstacle, the drive wheel or obstacle-clearing wheel of the robot can travel directly toward the obstacle, thus increasing the robot's obstacle-clearing capability. Of course, an actual orientation can be adjusted according to actual needs. The embodiments of the present invention are not limited to "directly toward the obstacle."

[0111] After the travel assembly 200 switches to the obstacle-overcoming state, the robot can continue driving towards the obstacle. And when the obstacle-overcoming wheel and / or the drive wheel of the robot come into contact with the obstacle, i.e., in the Fig. 2, the obstacle-clearing action begins. Specifically, when the robot reaches the above position, it becomes possible to control the obstacle-clearing wheel to stop driving and the drive wheel to continue driving, thus increasing the drive power of the drive wheel and thus the uphill climbing capability. Of course, it is also possible to control both the obstacle-clearing wheel and the drive wheel to perform forward movement, so that the obstacle-clearing wheel provides a slope-assist function.

[0112] See further Fig. 2. The driving assembly 200 is transitioned from the driving state to the obstacle-overcoming state when, in the present embodiment, the support unit rotates about an axis of the drive wheel 210 in a first direction (clockwise, as shown). Accordingly, the driving assembly 200 is transitioned from the obstacle-overcoming state to the driving state when the support unit rotates about the axis of the drive wheel 210 in a second direction (counterclockwise, as shown).

[0113] In the present embodiment, an edge sensor 110 is further provided on the machine body 100. The edge sensor 110 is located in front of or behind the axis of the drive wheel 210 in the direction of travel of the cleaning robot. By arranging the edge sensor 110 in the above position in the present embodiment, the obstacle-overcoming wheel 230 and the support unit 220 can be avoided to provide sufficient space.

[0114] In the present embodiment, the support unit comprises at least one support element, wherein the drive wheel 210 and the obstacle-overcoming wheel 230 are each arranged at two opposite ends of the support element. With the above structure, the obstacle-overcoming wheel 230 can be arranged away from the drive wheel 210 to increase the height for lifting the machine body 100 by the support unit, thereby contributing to the cleaning robot 10 overcoming a higher obstacle 30.

[0115] See Fig. 3 and Fig. 4. In one possible embodiment, the support unit in the present embodiment comprises a first support element 221, wherein the first support element 221 comprises a rotating portion 2211 and a support arm 2212, wherein the rotating portion 2211 and the drive wheel 210 are arranged coaxially, wherein a first end of the support arm 2212 is connected to the rotating portion 2211, wherein a second end of the support arm 2212 extends outward in a radial direction of the rotating portion 2211, and wherein the obstacle-overcoming wheel 230 is rotatably arranged at the second end of the support arm 2212. In the present embodiment, the rotating portion 2211 is substantially in the shape of a circular cylinder. A rotation axis of the rotating portion 2211 is coaxial with the drive wheel 210.For example, the rotating section 2211 and the drive wheel 210 can be connected to one and the same shaft to ensure the coaxiality of the two, so that the rotating section 2211 is rotatable about the axis of the drive wheel 210. The support arm 2212 is essentially designed in the shape of a rod. The support arm 2212 can be connected to the rotating section 2211, for example, by welding. Alternatively, the rotating section 2211 and the support arm 2212 can be formed as a single piece. For example, in the present exemplary embodiment, it is possible for the rotating section 2211 and the support arm 2212 to be formed as a single piece. The support arm 2212 is preferably arranged away from the rotation axis of the rotating section 2211. As a result, the support arm 2212 can travel a long distance during the rotation of the rotating section 2211 to lift the machine body 100 to a great height, thereby helping the cleaning robot 10 overcome a higher obstacle 30.

[0116] As in connection with Fig. 1 to 4, it is to be understood that in the driving state of the driving assembly 200 in the present embodiment, the first support element 221 is held at a certain height, wherein the support arm 2212 is out of contact with the ground surface 20 and in turn the obstacle-overcoming wheel 230 arranged on the support arm 2212 is out of contact with the ground surface 20, so that the driving assembly 200 essentially Fig. 3 represents the state shown.

[0117] When the travel assembly 200 changes from the travel state to the obstacle-overcoming state, the rotating portion 2211 rotates around the axis of the drive wheel 210 in the first direction, and the support arm 2212 pivots with the rotating portion 2211 in a circumferential direction, so that the obstacle-overcoming wheel 230 arranged on the support arm 2212 is set in motion to bear against the ground surface 20. After the obstacle-overcoming wheel 230 bears against the ground surface 20, the first support element 221 can lift the machine body 100 by a counterforce exerted by the ground surface 20, so that the drive wheel 210 comes out of contact with the ground surface 20 and the machine body 100 is gradually inclined toward the ground surface 20.

[0118] In the obstacle-overcoming state of the traveling assembly 200, the front end 101 of the machine body 100 is away from the floor surface 20, and the rear end 102 of the machine body 100 is close to the floor surface 20. The machine body 100 as a whole is inclined toward the floor surface 20. The rotation of the obstacle-overcoming wheel 230 causes the machine body 100 to travel. By arranging the machine body 100 at an incline, the cleaning robot 10 can overcome a higher obstacle 30, thus improving the obstacle-overcoming capability of the cleaning robot 10.

[0119] After the obstacle has been overcome, the rotating section 2211 of the driving assembly 200 rotates around the axis of the drive wheel 210 in the second direction to gradually move the obstacle-overcoming wheel 230 arranged on the support arm 2212 away from the floor surface 20. Finally, it is moved into the Fig. 3 shown state in order to be ready for the next obstacle to be overcome.

[0120] In some embodiments, the present embodiment further includes a first gear mechanism 240, wherein the first gear mechanism 240 is arranged on the first support member 221, and wherein the obstacle-overcoming wheel 230 is connected to the drive wheel 210 via the first gear mechanism 240 in order to cause the obstacle-overcoming wheel 230 to rotate upon rotation of the drive wheel 210. That is, the obstacle-overcoming wheel 230 in the present embodiment is rotatable with the drive wheel 210. When the machine body 100 travels, the obstacle-overcoming wheel 230 is always kept in a rotating state. The first gear mechanism 240 can be arranged either inside the first support member 221 or outside the first support member 221 (such as on a side of the first support member 221 facing the drive wheel 210).The specific structure of the first gear mechanism 240 can be selected as needed.

[0121] For example, as in Fig. 3 and Fig. As shown in Figure 4, the first support member 221 in the present embodiment may include a base body and a cover plate. A cavity is formed in the base body to provide a mounting space for other parts. The cover plate may be connected to the base body by fastening elements such as screws or the like. The first gear mechanism 240 is preferably disposed in the cavity of the first support member 221, thereby contributing to the first support member 221 providing protection for the first gear mechanism 240 and extending the service life of the first gear mechanism 240.

[0122] The first gear mechanism 240 includes a driving gear 241, a driven gear 242, and a plurality of intermediate gears 243, wherein the driving gear 241 and the driven gear 242 mesh via the plurality of intermediate gears 243. The number of intermediate drive gears 243 and the specific parameters of the driving gear 241, the driven gear 242, and the plurality of intermediate drive gears 243 can be adjusted according to the need for a gear ratio between the drive gear 210 and the obstacle-overcoming gear 230.

[0123] The drive gear 210 is provided with a drive gear shaft 211. The drive gear shaft 211 is guided through the drive gear 210 and the driving gear 241 to rotate the driving gear 241 by the power output by the drive gear 210. In the present embodiment, a first clamp spring may be provided on the drive gear shaft 211 to secure the driving gear 241 to the drive gear shaft 211 and prevent the driving gear 241 from falling. The obstacle-overcoming gear 230 is provided with a driven gear shaft 231. The driven gear shaft 231 is guided through the obstacle-overcoming gear 230 and the driven gear 242. Upon rotation of the output gear 242, power may be transmitted to the obstacle-overcoming gear 230 via the output gear shaft 231 to rotate the obstacle-overcoming gear 230.

[0124] In some further embodiments, the present embodiment further comprises a first drive device (not shown in the figures). An output of the first drive device is connected to the obstacle-overcoming wheel 230. The rotation of the obstacle-overcoming wheel 230 can be achieved by driving the first drive device, so that the obstacle-overcoming wheel 230 can rotate independently. After the obstacle-overcoming wheel 230 comes out of contact with the ground surface, the obstacle-overcoming wheel 230 can be controlled to stop rotation, thereby saving energy.

[0125] Optionally, the first drive device can comprise, for example, a drive motor. The first drive device can be arranged in the obstacle-overcoming wheel 230. The drive motor can be a wheel hub motor. The obstacle-overcoming wheel 230 can also be self-propelled, just like the drive wheel 210. Alternatively, the first drive device can be arranged in the first support element 221. The output of the first drive device is connected to the obstacle-overcoming wheel 230 to rotate the obstacle-overcoming wheel 230.

[0126] In some embodiments, the present embodiment further comprises a second drive device 250, wherein the second drive device 250 is connected to the first support element 221 in order to bring the first support element 221 into rotation about the axis of the drive wheel 210, so that the driving assembly 200 is changed between the driving state and the obstacle overcoming state.

[0127] Specifically, the second drive device 250 is connected to the first support member 221 via a second gear mechanism 260. The second gear mechanism 260 includes a worm shaft 261 and a ring gear 262. The worm shaft 261 meshes with the ring gear 262. The worm shaft 261 is connected to an output of the second drive device 250. The ring gear 262 is arranged on the outer periphery of the rotating portion 2211, and an axis of the ring gear 262 and the axis of the drive gear 210 overlap.When the second gear mechanism 260 rotates the worm shaft 261, the worm shaft 261 synchronously rotates the ring gear 262, and the rotation of the ring gear 262 rotates the rotating portion 2211 about the axis of the drive gear 210, thereby rotating the support arm 2212 about the obstacle-overcoming gear 230 thereon, so that the traveling assembly 200 is switched between the traveling state and the obstacle-overcoming state.

[0128] The present embodiment further includes a bracket 270. The bracket 270 serves for connection to the machine body 100. For example, a connecting hole 271 is provided on the bracket 270. A connecting shaft is connected to the machine body 100 after being guided through the connecting hole 271, and the travel assembly 200 is rotatable about the connecting shaft to realize a rotatable connection to the machine body 100.

[0129] The bracket 270 further serves to mount the drive wheel 210 and to provide space for the second drive device 250. For example, the drive wheel 210 is arranged on a first side of the bracket 270. The first support element 221 and the obstacle-overcoming wheel 230 are arranged on a second side of the bracket 270. The drive wheel 210 can be firmly connected to the bracket 270 by components such as a bearing, a shaft sleeve, or the like, which are guided through the drive wheel shaft 211. The bracket 270 further comprises a mounting groove in which the second drive device 250 can be arranged.

[0130] Optionally, in the present embodiment, the obstacle-overcoming wheel 230 can be located on a side of the first support element 221 facing the drive wheel 210 in order to reduce the overall dimension of the driving assembly 200 and to improve the space utilization.

[0131] See Fig. 5 to 7. In a further possible embodiment, it is provided that the support unit in the present exemplary embodiment comprises a second support element 222 and a third support element 223, wherein the second support element 222 is rotatable about the axis of the drive wheel 210, wherein a first end of the third support element 223 is rotatably connected to the second support element 222, and wherein the obstacle-overcoming wheel 230 is rotatably arranged at a second end of the third support element 223. When the driving assembly 200 changes from the driving state to the obstacle-overcoming state, the second support element 222 rotates in order to displace the third support element 223, so that the obstacle-overcoming wheel 230 comes into contact with the ground surface 20. The second support element 222 functions like the rotating section 2211 in the above embodiment, and the third support element 223 functions like the support arm 2212 in the above embodiment.In the present embodiment, the second support member 222 and the drive wheel 210 can be connected to one and the same shaft to ensure their coaxiality, so that the second support member 222 is rotatable about the axis of the drive wheel 210. The third support member 223 is substantially in the shape of a rod. The third support member 223 is preferably arranged away from the rotation axis of the second support member 222. This allows the third support member 223 to travel a long distance during the rotation of the second support member 222 to lift the machine body 100 to a great height, thereby helping the cleaning robot 10 overcome a higher obstacle 30.A rotatably connected structure is used between the third support member 223 and the second support member 222, so that not only the third support member 223 is rotatable with the second support member 222, but also the third support member 223 is rotatable relative to the second support member 222. This contributes to changing the overall length of the second support member 222 and the third support member 223, so that when the traveling assembly 200 is returned to the traveling state after completing the obstacle negotiation, the machine body 100 is not prone to being lifted again, which contributes to improving the user's experience.

[0132] Optionally, it is provided that the rotation axis of the second support element 222 and the rotation axis of the third support element 223 do not overlap in the present embodiment, so that the third support element 223 can be rotated eccentrically around the second support element 222.

[0133] For example, as in Fig. 5, a fixed shaft 2221 is provided on the second support element 222 in the present embodiment. The fixed shaft 2221 is arranged away from the axis of rotation of the second support element 222. A first shaft sleeve 2231 is provided on the third support element 223. The third support element 223 is mounted on the fixed shaft 2221 via the first shaft sleeve 2231, so that the third support element 223 is eccentrically rotatable relative to the second support element 222. Because the third support element 223 is arranged eccentrically rotatable relative to the second support element 222, the third support element 223 can be rotated about a rotation axis different from that of the second support element 222 when changing from the obstacle-overcoming state to the driving state.As a result, the obstacle-overcoming wheel 230 is not supported on the ground surface by a pressing force of the second support member 222 during retraction of the second support member 222 from the obstacle-overcoming state to the traveling state, resulting in a problem that the obstacle-overcoming wheel 230 lifts the machine body 100 and the drive wheel 210 upward during retraction.

[0134] As in connection with Fig. 1, 2 and 5 to 7, it is to be understood that in the driving state of the driving assembly 200 in the present embodiment, the second support element 222 and the third support element 223 both do not rotate, wherein the third support element 223 comes out of contact with the ground surface 20 and in turn the obstacle-overcoming wheel 230 arranged on the third support element 223 comes out of contact with the ground surface 20, so that the driving assembly 200 essentially Fig. 5 shows the state shown.

[0135] Due to the fact that there is a movable connection between the second support element 222 and the third support element 223, a first elastic element 224 is further arranged between the second support element 222 and the third support element 223 in the present embodiment in order to hold the third support element 223 in the Fig. 5. The first elastic member 224 is used to exert an elastic force on the third support member 223 in the traveling state to keep the obstacle-overcoming wheel 230 out of contact with the ground surface 20.

[0136] Optionally, the first elastic element 224 comprises a torsion spring, wherein a first end of the torsion spring is connected to the second support element 222 and a second end of the torsion spring is connected to the third support element 223.

[0137] When the travel assembly 200 changes from the travel state to the obstacle-overcoming state, the second support element 222 rotates around the axis of the drive wheel 210 in the first direction, and the third support element 223 pivots with the second support element 222 in a circumferential direction, so that the obstacle-overcoming wheel 230 arranged on the third support element 223 is set in motion to bear against the ground surface 20. After the obstacle-overcoming wheel 230 bears against the ground surface 20, the second support element 222 and the third support element 223 can lift the machine body 100 by a counterforce exerted by the ground surface 20, so that the drive wheel 210 comes out of contact with the ground surface 20 and the machine body 100 is gradually inclined toward the ground surface 20.

[0138] In the obstacle-overcoming state of the traveling assembly 200, the front end 101 of the machine body 100 is away from the floor surface 20, and the rear end 102 of the machine body 100 is close to the floor surface 20. The machine body 100 as a whole is inclined toward the floor surface 20. The rotation of the obstacle-overcoming wheel 230 causes the machine body 100 to travel. By arranging the machine body 100 at an incline, the cleaning robot 10 can overcome a higher obstacle 30, thus improving the obstacle-overcoming capability of the cleaning robot 10.

[0139] After the obstacle has been overcome, the second support element 222 of the driving assembly 200 rotates about the axis of the drive wheel 210 in the second direction to gradually move the obstacle-overcoming wheel 230 arranged on the third support element 223 away from the floor surface 20. Finally, it is moved into the Fig. 5, in order to be ready for the next obstacle to be overcome. Because the third support element 223 is rotatable relative to the second support element 222, the entire length of the second support element 222 and the third support element 223 can be changed, so that the second support element 222 and the third support element 223 do not lift the machine body 100 again, thus improving the user experience.

[0140] This means that when changing from the obstacle-overcoming state to the driving state after the driving assembly 200 has overcome the obstacle 30 in the present embodiment, the third support element 223 is rotatable relative to the second support element 222, so that the height of the obstacle-overcoming wheel 230 is higher than or equal to the height of the drive wheel 210. Because the drive wheel 210 is always in contact with the floor surface 20, the machine body 100 is not lifted again, which contributes to improving the user experience.

[0141] Fig. 8 (a) to 8 (e) show schematic views of the driving assembly of Fig. 5 when changing from the obstacle overcoming state to the driving state.

[0142] This shows Fig. 8 (a) is a schematic view of the driving assembly 200 just after the obstacle has been overcome, with the second support element 222 causing the third support element 223 to rotate until it is located behind the drive wheel 210 in the direction of travel. Since it is in the Fig. 5, the second support member 222 must rotate in a second direction (counterclockwise as shown by arrow a1 in the figure) to gradually bring the third support member 223 and the obstacle-overcoming wheel 230 toward the ground surface 20.

[0143] Fig. 8 (b) shows a schematic view when the obstacle-overcoming wheel 230 is in contact with the ground surface 20. When the second support member 222 continues to rotate in the second direction (counterclockwise, as shown by arrow a1 in the figure) to apply the obstacle-overcoming wheel 230 to the ground surface 20, due to the rotatable connection between the second support member 222 and the third support member 223 and under the action of a counterforce on the obstacle-overcoming wheel 230 on the ground surface 20, the third support member 223 rotates about a pivot point between the second support member 222 and the third support member 223 in a first direction (clockwise, as shown by arrow a2 in the figure), so that the drive wheel 210 is always in contact with the ground surface 20.

[0144] The second support member 222 continues to rotate in the second direction (counterclockwise, as shown by arrow a1 in the figure), so that the third support member 223 continues to rotate in the first direction (clockwise, as shown by arrow a2 in the figure) about the pivot point between the second support member 222 and the third support member 223. Finally, the third support member 223 and the obstacle-overcoming wheel 230 are received between the second support member 222 and the ground surface 20.In order to ensure that in this state the third support element 223 and the obstacle-overcoming wheel 230 do not lift the machine body 100, the maximum dimension of the second support element 222 in a radial direction of the drive wheel 210 must be smaller than the radius of the drive wheel 210 in order to provide structurally sufficient space for accommodating the third support element 223 when changing from the obstacle-overcoming state to the traveling state, as shown in . Fig. 8 (c).

[0145] Specifically, in the present embodiment, the second support element 222 further comprises a receiving recess 2222, wherein the first end of the third support element 223 is rotatably connected to one side of the receiving recess 2222, and wherein, when the driving assembly 200 changes from the obstacle-overcoming state to the driving state, the third support element 223 is received in the receiving recess 2222. The spatial dimension of the receiving recess 2222 is larger than the entire spatial dimension of the third support element 223 and the obstacle-overcoming wheel 230 to ensure that the third support element 223 and the obstacle-overcoming wheel 230 can be fully received in the receiving recess 2222.

[0146] As in Fig. 8 (d), the second support element 222 rotates in the direction shown in Fig. 8 (c) further in the second direction (counterclockwise as shown by the arrow a1 in the figure), so that the third support member 223 and the obstacle-overcoming wheel 230 are gradually rotated until they are in front of the drive wheel 210 in the traveling direction, with the obstacle-overcoming wheel 230 gradually coming out of contact with the ground surface 20.

[0147] After the obstacle-overcoming wheel 230 has come out of contact with the floor surface 20, the third support element 223 is lifted under the action of an elastic force exerted on the first elastic element 224, as the floor surface 20 no longer exerts an effective force on the obstacle-overcoming wheel 230. As a result, the obstacle-overcoming wheel 230 is moved away from the floor surface 20 and finally into the Fig. 8 (e) shown state in order to be ready for the next obstacle crossing.

[0148] In some embodiments, the present embodiment further includes a first gear mechanism 240, wherein the first gear mechanism 240 is arranged on the second support member 222 and the third support member 223, and wherein the obstacle-overcoming wheel 230 is connected to the drive wheel 210 via the first gear mechanism 240 to cause the obstacle-overcoming wheel 230 to rotate upon rotation of the drive wheel 210. That is, in the present embodiment, the obstacle-overcoming wheel 230 is rotatable with the drive wheel 210. When the machine body 100 travels, the obstacle-overcoming wheel 230 is always kept in a rotating state.The first gear mechanism 240 can be arranged either inside the second support member 222 and the third support member 223 or outside the second support member 222 and the third support member 223 (such as on a side of the second support member 222 and the third support member 223 facing the drive gear 210). The specific structure of the first gear mechanism 240 can be selected as needed.

[0149] For example, as in Fig. 5 to 7, the second support member 222 and the third support member 223 in the present embodiment may each include a base body and a cover plate. A hollow space is formed in the base body of each of the second support member 222 and the third support member 223 to provide a mounting space for other parts. The cover plate of each of the second support member 222 and the third support member 223 may be connected to its own base body by fastening members such as screws or the like. The first gear mechanism 240 in the present embodiment may preferably be arranged in the hollow space of the second support member 222 and the third support member 223, whereby the second support member 222 and the third support member 223 provide protection for the first gear mechanism 240, and the service life of the first gear mechanism 240 is extended.

[0150] The first gear mechanism 240 may include a driving gear 241, a driven gear 242, and a plurality of intermediate gears 243, wherein the driving gear 241 and the driven gear 242 mesh via the plurality of intermediate gears 243. The number of intermediate drive gears 243 and the specific parameters of the driving gear 241, the driven gear 242, and the plurality of intermediate drive gears 243 can be adjusted as needed to achieve a gear ratio between the drive gear 210 and the obstacle-clearing gear 230.

[0151] The drive gear 210 is provided with a drive gear shaft 211. The drive gear shaft 211 is guided through the drive gear 210 and the driving gear 241 to rotate the driving gear 241 by the power output by the drive gear 210. In the present embodiment, a first clamp spring 225 may be provided on the drive gear shaft 211 to secure the driving gear 241 to the drive gear shaft 211 and prevent the driving gear 241 from falling. The obstacle-overcoming gear 230 is provided with a driven gear shaft 231. The driven gear shaft 231 is guided through the obstacle-overcoming gear 230 and the driven gear 242. Upon rotation of the output gear 242, power may be transmitted to the obstacle-overcoming gear 230 via the output gear shaft 231 to rotate the obstacle-overcoming gear 230.

[0152] Since the second support element 222 and the third support element 223 are designed as two movably connected, separate parts in the present embodiment, the plurality of intermediate gears 243 comprise at least two first intermediate gears 2431, at least two second intermediate gears 2432 and a third intermediate gear 2433. As in Fig. As shown in Figure 7, the third intermediate gear 2433 includes a first gear portion 24331 and a second gear portion 24332 arranged coaxially with each other. The driving gear 241, the first intermediate gear 2431, and the first gear portion 24331 mesh with each other and are located in the second support member 222. The driven gear 242, the second intermediate gear 2432, and the second gear portion 24332 mesh with each other and are located in the third support member 223. That is, by arranging the first gear portion 24331 and the second gear portion 24332 coaxially on the third intermediate gear 2433 in the present embodiment, power transmission between the second support member 222 and the third support member 223 is achieved smoothly.It is also possible for a smooth rod segment to be formed between the first gear portion 24331 and the second gear portion 24332 of the third intermediate gear 2433, wherein the torsion spring can be wound on the smooth rod segment. In the present embodiment, the fixed shaft 2221 connecting the second support element 222 and the third support element 223 can be guided by the third intermediate gear 2433.

[0153] In some further embodiments, the present embodiment further comprises a first drive device (not shown in the figures). An output of the first drive device is connected to the obstacle-overcoming wheel 230. The rotation of the obstacle-overcoming wheel 230 can be achieved by driving the first drive device, so that the obstacle-overcoming wheel 230 can rotate independently. After the obstacle-overcoming wheel 230 comes out of contact with the ground surface, the obstacle-overcoming wheel 230 can be controlled to stop rotation, thereby saving energy.

[0154] Optionally, the first drive device can comprise, for example, a drive motor. The first drive device can be arranged in the obstacle-overcoming wheel 230. The drive motor can be a wheel hub motor. The obstacle-overcoming wheel 230 can also be self-propelled, just like the drive wheel 210. Alternatively, the first drive device can be arranged in the third support element 223. The output of the first drive device is connected to the obstacle-overcoming wheel 230 to rotate the obstacle-overcoming wheel 230.

[0155] In some embodiments, the present embodiment further comprises a second drive device 250, wherein the second drive device 250 is connected to the second support element 222 in order to bring the second support element 222 into rotation about the axis of the drive wheel 210, so that the driving assembly 200 is changed between the driving state and the obstacle overcoming state.

[0156] Specifically, the second drive device 250 is connected to the second support member 222 via a second gear mechanism 260. The second gear mechanism 260 includes a worm shaft 261 and a ring gear 262. The worm shaft 261 meshes with the ring gear 262. The worm shaft 261 is connected to an output of the second drive device 250. The ring gear 262 is arranged on the outer periphery of the second support member 222, and an axis of the ring gear 262 and the axis of the drive gear 210 overlap.When the second gear mechanism 260 rotates the worm shaft 261, the worm shaft 261 synchronously rotates the ring gear 262, and the rotation of the ring gear 262 rotates the second support member 222 about the axis of the drive wheel 210, thereby rotating the third support member 223 about the obstacle-overcoming wheel 230 thereon, so that the traveling assembly 200 is switched between the traveling state and the obstacle-overcoming state.

[0157] Optionally, the second drive mechanism 250 in the present embodiment may further include a plurality of gears 263, wherein the worm shaft 261 and the ring gear 262 mesh with each other via the plurality of gears 263. In the present embodiment, the plurality of gears 263 are arranged outside the second drive mechanism 250, so that the second drive mechanism 250 can dispense with structures such as a gear box, which contributes to reducing the overall volume of the second drive mechanism 250 and the second gear mechanism 260.

[0158] The present embodiment further includes a bracket 270. The bracket 270 serves for connection to the machine body 100. For example, a connecting hole 271 is provided on the bracket 270. A connecting shaft is connected to the machine body 100 after being guided through the connecting hole 271, and the travel assembly 200 is rotatable about the connecting shaft to realize a rotatable connection to the machine body 100.

[0159] The bracket 270 further serves to mount the drive wheel 210 and to provide space for the second drive device 250. For example, the drive wheel 210 is arranged on a first side of the bracket 270. The second support element 222 and the third support element 223 and the obstacle-overcoming wheel 230 are arranged on a second side of the bracket 270. The drive wheel 210 can be firmly connected to the bracket 270 by components such as a bearing, a shaft sleeve, or the like, which are guided through the drive wheel shaft 211. The bracket 270 further comprises a mounting groove in which the second drive device 250 can be arranged.

[0160] Optionally, in the present embodiment, the obstacle-overcoming wheel 230 can be located on a side of the first support element 221 facing the drive wheel 210 in order to reduce the overall dimension of the driving assembly 200 and to improve the space utilization.

[0161] Based on the approaches of the preceding embodiments, it is provided in some embodiments that the support unit 220 can comprise a second support element 222 and a third support element 223; wherein the second support element 222 is rotatable relative to the machine body 100 about the first axis of rotation; wherein the third support element 223 is arranged on the second support element 222 away from the first axis of rotation, a first end of the third support element 223 is rotatably connected to the second support element 222, the obstacle-overcoming wheel 230 is rotatably arranged at a second end of the third support element 223, and a second axis of rotation, about which the third support element 223 rotates relative to the second support element 222, and the second axis of rotation do not overlap; wherein one end of the second support element 222 is further provided with a contact section for connection to the third support element 223,and wherein, upon rotation of the second support element 222 about the first rotation axis, the contact portion abuts the third support element 223 to pivot the third support element 223 relative to the first rotation axis based on a compressive force of the contact portion on the third support element 223. A rotatably connected structure is used between the third support element 223 and the second support element 222. The rotation axis of the second support element 222 and the rotation axis of the third support element 223 do not overlap, so that the third support element 223 is eccentrically rotatable about the second support element 222. This contributes to changing the overall length of the second support element 222 and the third support element 223, so that when the travel assembly 200 is returned to the travel state after overcoming the obstacle, the machine body 100 is not susceptible to being lifted again.This contributes to improving the user experience. Furthermore, the degree of evasion of the third support element 223 for the obstacle can be increased to further prevent the third support element 223 from interfering with the obstacle during obstacle clearance, thereby improving the obstacle clearance effect.

[0162] In some embodiments, the second support element 222 is mounted on the drive wheel shaft of the drive wheel 210, whereby the structure can be simplified.

[0163] In some embodiments, the first rotation axis and the rotation axis of the drive wheel 210 overlap. When the obstacle-overcoming wheel 230 is rotated synchronously by the motor of the drive wheel 210, the pivoting of the support unit 220 can be prevented from interfering with the first gear structure of the obstacle-overcoming wheel 230, thus facilitating the structural layout.

[0164] In some embodiments, it is further provided that a first elastic element is arranged between the second support element 222 and the third support element 223, wherein one end of the first elastic element is fastened to the second support element 222 and the other end to the third support element 223, wherein the first elastic element tends to cause a contact portion of the second support element 222 to bear against the third support element 223. This structure can prevent the third support element 223 from sinking due to its own gravity in the receiving position and interfering with the normal travel movement of the machine body 100.By virtue of the fact that the abutment portion of the second support element 222 abuts against the third support element 223 by means of the first elastic element, when the machine body 100 is brought into motion by the obstacle-overcoming wheel 230 located in the support position, the probability that the second support element 222 rotates relative to the third support element 223 when the third support element 223 abuts against a small obstacle can be reduced, so that the normal movement of the machine body 100 is ensured.

[0165] In some embodiments, the second support element 222 includes a receiving recess, wherein the first end of the third support element 223 is rotatably connected to one side of the receiving recess, wherein a side wall of the receiving recess located on a side connected to the first end constitutes the contact section; and wherein the third support element 223 moves into the receiving recess when subjected to a compressive force by which the third support element 223 is moved away from the contact section. By providing the receiving recess, the third support element 223 can be better received, so that when the driving assembly 200 is returned to the driving state after overcoming the obstacle, the machine body 100 is not prone to being lifted again, which contributes to improving the user experience.In addition, the degree of avoidance of the third support member 223 for the obstacle may also be increased to further prevent the third support member 223 from interfering with the obstacle when overcoming the obstacle, thereby improving the effect of overcoming the obstacle.

[0166] In some embodiments, the spatial dimension of the receiving recess is larger than the spatial dimension of the third support element 223 and the obstacle-overcoming wheel 230 to ensure that the third support element 223 and the obstacle-overcoming wheel 230 can be fully accommodated in the receiving recess. By adjusting the spatial dimension of the receiving recess, the third support element 223 can be fully accommodated, so that when the driving assembly 200 is returned to the driving state after the obstacle has been overcome, the machine body 100 is not prone to being lifted again, which contributes to improving the user experience.In addition, the degree of avoidance of the third support member 223 for the obstacle may also be increased to further prevent the third support member 223 from interfering with the obstacle when overcoming the obstacle, thereby improving the effect of overcoming the obstacle.

[0167] In some embodiments, the cleaning robot further comprises a first drive structure, wherein the first drive structure is used to drive the drive wheel 210 and the obstacle-overcoming wheel 230 to rotate; and the cleaning robot further comprises a first gear mechanism, wherein the first gear mechanism comprises a driving gear, a driven gear, and an intermediate gear, wherein the driving gear and the driven gear are engaged via the intermediate gear;wherein the drive gear 210 is provided with a drive gear shaft guided through the drive gear 210 and the driving gear to rotate the drive gear and the driving gear, wherein the driving gear rotates the drive gear 210 through the intermediate gear, wherein the obstacle-overcoming gear 230 is provided with a driven gear shaft guided through the obstacle-overcoming gear 230 and the driven gear, and wherein the driven gear rotates the obstacle-overcoming gear 230 through the driven gear shaft. The rotation of the drive gear 210 and the rotation of the obstacle-overcoming gear 230 are achieved by one and the same drive structure, so that the drive structure can be further simplified.

[0168] In some embodiments, a cavity is formed in the support unit 220, with the first gear mechanism being arranged in the cavity. This can prevent interference between the gear mechanism and other components. Furthermore, the structure is simplified by reusing a receiving cavity for the support unit 220. Furthermore, effective space can be further utilized to realize a structural layout and increase structural compactness.

[0169] In some embodiments, it is provided that the intermediate gears comprise a third intermediate gear, wherein the third intermediate gear comprises a first gear section and a second gear section arranged coaxially to one another, wherein a common shaft of the first gear section and the second gear section serves as a third intermediate gear shaft, wherein the first gear section rotates the second gear section via the third intermediate gear shaft; wherein the driving gear is in engagement with the first gear section and the driven gear is in engagement with the second gear section;or that the intermediate transmission gears further comprise a first intermediate transmission gear and a second intermediate transmission gear, wherein the driving gear, the first intermediate transmission gear, and the first gear portion are meshed with each other, and wherein the driven gear, the second intermediate transmission gear, and the second gear portion are meshed with each other. Transmission by means of the gears ensures that the rotation of the drive gear 210 and the rotation of the obstacle-overcoming gear 230 are performed by one and the same drive structure, and also that rotation is realized between the second support member 222 and the third support member 223, thus simplifying the structure. Furthermore, effective space can be further utilized to realize a structural layout and increase structural compactness.

[0170] In some embodiments, it is provided that the second support element 222 is provided with a fixed shaft, wherein the fixed shaft is arranged away from the first axis of rotation, and that the third support element 223 is provided with a shaft sleeve, wherein the third support element 223 is placed on the fixed shaft by the shaft sleeve, wherein the fixed shaft is rotatable relative to the shaft sleeve; or that the third support element 223 is provided with a fixed shaft and the second support element 222 is provided with a shaft sleeve, wherein the shaft sleeve is arranged away from the first axis of rotation, wherein the third support element 223 is placed on the fixed shaft by the shaft sleeve, wherein the fixed shaft is rotatable relative to the shaft sleeve;The third intermediate gear shaft has a hollow structure, the fixed shaft and the shaft sleeve being guided through the third intermediate shaft, and the fixed shaft and the shaft sleeve being rotatable relative to the third intermediate gear shaft. The structural layout ensures that the rotation of the drive gear 210 and the rotation of the obstacle-overcoming gear 230 are achieved by one and the same drive structure, and also realizes rotation between the second support member 222 and the third support member 223, thus further simplifying the structure. Furthermore, effective space can be further utilized to realize a structural layout and increase structural compactness.

[0171] In some embodiments, it is provided that a first elastic element is further arranged between the second support element 222 and the third support element 223, wherein one end of the first elastic element is fastened to the second support element 222 and the other end to the third support element 223, wherein the first elastic element tends to cause an abutment portion of the second support element 222 to bear against the third support element 223; and wherein the first elastic element is designed as a torsion spring, is mounted externally on the third idler gear shaft, and is located in the play between the first gear portion and the second gear portion. By arranging the first elastic element at this position, an effective space can be further utilized, thereby structurally designing the layout and thus improving a compact structure.

[0172] In one embodiment of the present description, a cleaning robot is provided which may comprise a machine body 100, wherein, in a forward direction of the machine body 100, the machine body 100 has a front end, a rear end, and a middle portion between the front end and the rear end. A machine housing is provided outside the machine body 100. The machine housing may comprise a chassis 1001 and an upper cover (not shown). The chassis 1001 is arranged on a side of the machine body 100 facing the cleaning surface, and the upper cover is arranged on a side of the machine body 100 facing away from the cleaning surface, wherein the chassis 1001 and the upper cover enclose a receiving cavity. The cleaning surface is the floor surface.

[0173] On the side of the machine body 100 facing the cleaning surface, a drive assembly can be arranged, which is used to drive the machine body 100 for movement on the cleaning surface. The drive assembly can be arranged in the center of the machine body 100. The drive assembly comprises a drive wheel 210 and a bracket 270, wherein the bracket 270 is arranged on the machine body 100 and the drive wheel 210 is arranged on the bracket 270. The bracket 270 can float up and down relative to the machine body 100, so that the drive assembly can float up and down relative to the machine body 100 in order to at least buffer the vibration of the cleaning robot when traveling on a slightly uneven cleaning surface.

[0174] The bracket 270 can float up and down relative to the machine body 100 to cause the traveling assembly to float up and down relative to the machine body 100. A limit position to which the bracket 270 has floated down relative to the machine body 100 serves as a first position when the cleaning robot comes out of contact with the cleaning surface. A limit position to which the bracket 270 has floated up relative to the machine body 100 under the action of a gravitational force of the machine body 100 serves as a second position when the cleaning robot abuts the cleaning surface. As shown in the above embodiment, a first elastic member can be arranged between the bracket 270 and the machine body 100 so that the bracket 270 can float up and down relative to the machine body 100.Furthermore, it is provided that a limiting structure is provided on the machine body 100 to limit a limit position to which the travel assembly floats relative to the machine body 100. A limit position to which the bracket 270 floats downward is referred to as a first position. A limit position to which the bracket 270 floats upward is referred to as a second position. Of course, another mechanism can also be used to realize the floating between the bracket 270 and the machine body 100. This is not defined herein.

[0175] In the first position of the holder 270, the holder 270 can be partially inside the receiving cavity and partially outside the receiving cavity and protrude from the chassis 1001. The holder 270 can also be completely received within the receiving cavity. In the first position of the holder 270, the holder 270 can be partially inside the receiving cavity and partially outside the receiving cavity and protrude from the chassis 1001. The holder 270 can also be completely received within the receiving cavity.

[0176] The chassis 1001 is typically positioned at a short distance from the cleaning surface so that a cleaning part can effectively clean the cleaning surface. The dimension of the drive wheel 210 is typically much larger than the distance between the chassis 1001 and the cleaning surface. Furthermore, when traveling on the cleaning surface, the drive wheel 210 is required to set the machine body 100 in motion, so that in the first position and in the second position of the drive wheel 210, the drive wheel 210 is typically located partially inside the receiving cavity and partially outside the receiving cavity and protrudes from the chassis 1001. A part by which the drive wheel 210 protrudes from the chassis 1001 in the first position is larger than a part by which the drive wheel 210 protrudes from the machine body 100 in the second position.

[0177] Furthermore, on a side of the front end of the machine body 100 facing the cleaning surface, a universal wheel protruding from the chassis 1001 is provided to assist in steering the machine body 100. To realize better autonomous cleaning and ensure cleanliness, the cleaning robot is typically equipped with cleaning parts such as a roller brush, a side brush, a mop pad, or the like, and with sensing elements such as an LDS laser radar, an optical AI sensor, a line laser, an edge sensor, or the like. The environment of the rooms in the home is usually complex, and the size of the household cleaning robot is usually small to increase the flexibility of the cleaning robot's movement.In view of this, components within the machine body 100 are arranged very compactly, and there are very few redundant spaces. When providing an obstacle-clearing auxiliary mechanism that helps the machine body 100 overcome a higher obstacle, sufficient consideration should be given to the spatial arrangement within the machine body 100 in order to reduce the size of an obstacle-clearing auxiliary assembly, optimize the structural layout of the obstacle-clearing auxiliary assembly, and improve space utilization.

[0178] In view of the foregoing embodiments, an embodiment of the present disclosure provides an obstacle-overcoming method. The cleaning robot's own drive wheel 210 is reused to drive over an obstacle, thereby achieving obstacle overcoming. Compared with providing a separate auxiliary mechanism for crossing an obstacle, this provides a simpler structure, and only requires the provision of an auxiliary wheel for lifting the machine body 100 and moving the machine body 100 for a short distance. It is apparent from the foregoing embodiments that, by such a structural configuration, the size of the auxiliary wheel can be made very small because the distance to be moved by the auxiliary wheel is defined.A drive structure and a gear structure of the auxiliary wheel can also be designed relatively simple to reduce the dimensions of an auxiliary assembly for obstacle crossing. For example, the diameter of the obstacle crossing wheel 230 can be smaller than the radius of the drive wheel 210. Optimizing the layout of the support unit 220, the gear mechanism, the drive mechanism, and the obstacle crossing wheel 230 with respect to the machine body 100 simultaneously improves space utilization. At the same time, when implementing the obstacle crossing, it is ensured that the overall dimensions of the machine body 100 and the layout of the components within the machine body 100 cannot be significantly changed.

[0179] In a conventional household cleaning robot, the drive wheel 210 is typically located in a central portion of the machine body 100. When the drive wheel 210 abuts a step and moves the machine body 100 to clear the step, a front end of the machine body 100 reaches the step first. If a chassis 1001 of a portion of the machine body 100 located in front of the drive wheel 210 has a height lower than that of the step, the movement of the machine body 100 is obstructed by the machine body 100, thereby impeding the machine body 100 from clearing an obstacle. By providing a support unit 220 for raising the front end of the machine body 100, the chassis 1001 of the portion of the machine body 100 located in front of the drive wheel 210 becomes higher than a top edge of the step when the drive wheel 210 can abut the top edge of the step.This prevents the portion of the machine body 100 located in front of the drive wheel 210 from hindering the forward movement of the machine body 100.

[0180] Since the drive wheel 210 is still a certain distance from the step after the machine body 100 has been raised, the machine body 100 must be driven until the drive wheel 210 rests against the step, and the machine body 100 is then caused to overcome the obstacle by the drive wheel 210 driving over it. However, since the chassis 1001 of the section of the machine body 100 located in front of the drive wheel 210 must be raised to a greater height to achieve the desired overcoming of a higher obstacle, the raised drive wheel 210 may come out of contact with the ground surface. Even if the drive wheel 210 is still in contact with the ground surface, the pressure of the drive wheel 210 against the ground surface is also greatly reduced, which means that the machine body 100 can only be moved with difficulty or not at all by the drive wheel 210 by means of the drive wheel 210.Thus, in the embodiments of the present description, an obstacle-overcoming wheel 230 is added to a side of the support unit 220 facing the ground surface. The obstacle-overcoming wheel 230 provides a certain supporting force for the machine body 100 because the support unit 220 and the obstacle-overcoming wheel 230 must support the front end of the machine body 100 for lifting, whereby a certain pressure also exists between the obstacle-overcoming wheel 230 and the ground surface, so that the machine body 100 can be moved forward by the obstacle-overcoming wheel 230. When the front end of the machine body 100 is raised to a lower height, pressure can also exist between the drive wheel 210 and the ground surface, so that the obstacle-overcoming wheel 230 and the drive wheel 210 can jointly move the machine body 100 forward.If the obstacle to be overcome is relatively high, the drive wheel 210 comes out of contact with the ground surface or exerts zero pressure on the ground surface, so that the machine body 100 can be brought into forward movement on the ground surface by the obstacle-overcoming wheel 230.

[0181] If the support unit 220 is to be switched between multiple positions, for example, between the support position and a receiving position and an evasive position according to the following exemplary embodiments, the support unit 220 can move relative to the machine body 100 to set the obstacle-overcoming wheel 230 in motion relative to the machine body 100 and thus perform a position change. For example, the support unit 220 can be pivoted or linearly movable relative to the machine body 100.

[0182] A first end portion of this support unit 220 is, for example, rotatably mounted on the bracket 270 or the machine body 100, and a second end portion of this support unit 220 is connected to the obstacle-overcoming wheel 230. The second drive device drives the first end portion to rotate, so that the second end portion is pivoted relative to the bracket 270 or the machine body 100 in order to switch between any two positions from the receiving position, the supporting position, and the avoiding position. The first end portion can be, for example, the rotating portion 2211 or the second supporting element 222 according to the above embodiments, and the second end portion can be the supporting portion 2212 or the third supporting element 223 according to the above embodiments.

[0183] If, in the support position of the obstacle-overcoming wheel 230, a second center of rotation of the obstacle-overcoming wheel 230 is located at a shorter distance from a first center of rotation of the drive wheel 210, the connection point of the support unit 220 to the machine body 100 in the forward direction of the machine body 100 can also be arranged at a short distance from the first center of rotation of the drive wheel 210 in order to further reduce the length of the support unit 220 and thus the space requirement. On this basis, the support unit 220 can be arranged in the central section of the machine body 100. For example, the support unit 220 can be connected to the housing of the central section of the machine body 100 or to the bracket 270 in order to ensure that the machine body 100 can overcome obstacles by driving the drive wheel 210 and to simultaneously effectively reduce the length of the support unit 220 and thus the space requirement.In addition, the arrangement on the bracket 270 eliminates the need for an additional component on the machine body 100 for connecting to the support unit 220 in order to reduce the structural complexity.

[0184] The bracket 270 includes a side wall extending in the vertical direction of the machine body 100. A drive wheel shaft of the drive wheel 210 is arranged on the side wall of the bracket 270, wherein the drive wheel 210 is rotatable about the drive wheel shaft. The support unit 220 can also be arranged on the side wall of the bracket 270. In the support position, the support unit 220 must protrude beyond the chassis 1001 so that it rests against the cleaning surface. If the support unit 220 is arranged on the cover wall of the bracket 270, the downward extension of the support unit 220 is made more difficult. By arranging it on the side wall of the bracket 270, the extension of the support unit 220 toward the cleaning surface can be made easier. Furthermore, the rotation of the obstacle-overcoming wheel 230 can be facilitated by means of the wheel shaft of the drive wheel 210.

[0185] The illustrated support unit 220 can be arranged between the bracket 270 and the machine body 100. For example, the described machine housing comprises a side housing that extends in the vertical direction of the machine body 100. The bracket 270 is arranged in the receiving cavity of the machine body 100 near the side housing. The support unit 220 can be arranged between the side wall of the bracket 270 and the side housing to facilitate the assembly and maintenance of the support unit 220. Furthermore, the side housing of the machine body 100 can be effectively used to lock or unlock the bracket 270 when changing the position of the obstacle-overcoming wheel 230, as described in more detail in the following exemplary embodiments. This results in a simpler locking or unlocking structure.

[0186] The bracket 270 has an outer wall surface extending away from the drive wheel 210 and in the height direction of the machine body 100, and the support unit 220 is arranged on the outer wall surface of the bracket 270 to prevent interference of the support unit 220 with the operation of the drive wheel 210.

[0187] The driving assembly further comprises a first drive device, a second drive device, and a third drive device. The first drive device drives the obstacle-overcoming wheel 230 to rotate, the third drive device drives the drive wheel 210 to rotate, and the second drive device drives the support unit 220 to move relative to a bracket 270, so that at least the second end portion of the support unit 220 can be moved relative to the bracket 270. This causes the obstacle-overcoming wheel 230 to change between any two positions: the support position, the pickup position, and the avoidance position. As shown in the above embodiments, the first drive device and the third drive device can be the same drive device.The drive wheel 210 and the obstacle-overcoming wheel 230 are each driven to rotate by different gear mechanisms. The corresponding structural descriptions of the individual drive devices and gear mechanisms can be referred to the above embodiments and will not be repeated here.

[0188] The obstacle-overcoming wheel 230 rotates synchronously with the drive wheel 210, as shown in the above embodiments. By controlling the obstacle-overcoming wheel 230 and the drive wheel 210 to rotate synchronously, it is possible to eliminate the need to switch between the rotation and stop of the obstacle-overcoming wheel 230 and the drive wheel 210 during obstacle overcoming, thus reducing the control effort. Additionally, during the obstacle overcoming process, the respective driving force of the obstacle-overcoming wheel 230 and the drive wheel 210 can be used for traveling movement and obstacle overcoming in a timely manner to mitigate jamming during obstacle overcoming.

[0189] Of course, the obstacle-overcoming wheel 230 can also rotate only in the support position and be brought to a stop in another position. The drive wheel 210 can remain rotating at all times. Alternatively, the drive wheel 210 comes out of contact with the cleaning surface in the support position of the obstacle-overcoming wheel 230, so that the drive wheel 210 can be brought to a stop. When the obstacle-overcoming wheel 230 or the drive wheel 210 contacts the obstacle, the drive wheel 210 begins to rotate, setting the machine body 100 in motion to overcome the obstacle. This stepped control can reduce energy loss.

[0190] When the obstacle needs to be overcome, the drive wheel 210 can be brought to a standstill so that the machine body 100 no longer moves. After the movement of the machine body 100 stops, the support unit 220 moves relative to the machine body 100 to set the obstacle-overcoming wheel 230 in motion to change from the receiving position to the supporting position. After changing to the supporting position, the obstacle-overcoming wheel 230 sets the machine body 100 in motion on the cleaning surface. By switching from the receiving position to the obstacle-overcoming position while the machine body 100 is at rest, stability for lifting the front end of the machine body 100 can be ensured.At the same time, raising the front end of the machine body 100 results in a travel path along which this machine body is moved by the obstacle-clearing wheel 230 not being effectively cleaned, so the machine body 100 is controlled to stop its travel when the machine body 100 has moved very close to the obstacle. Subsequently, the lifting of the front end of the machine body 100 is controlled so that the uncleaned areas during the obstacle-clearing process can be further reduced.

[0191] The obstacle-overcoming wheel 230 has a support position. In the support position, the obstacle-overcoming wheel 230 abuts the cleaning surface and supports the front end of the machine body 100 for lifting. The machine body 100 is set in motion on the cleaning surface by the obstacle-overcoming wheel 230 until the drive wheel 210 abuts an obstacle to be overcome, so that the machine body 100 is set in motion by the drive wheel 210 to overcome the obstacle. When the machine body 100 is moved on the cleaning surface by the obstacle-overcoming wheel 230, the height of the chassis 1001 for overcoming the obstacle is greater than or equal to the height of the obstacle. If the universal wheel is provided at the front end of the machine body 100, the height of the chassis 1001 for overcoming the obstacle, or the height of the universal wheel, is greater than or equal to the height of the obstacle.

[0192] It should be noted that the support unit 220 is also in the support position when the obstacle-overcoming wheel 230 is in the support position. Accordingly, in the embodiments of the present description, the support position may correspond to the obstacle-overcoming wheel 230, the support unit 220, or the auxiliary mechanism for overcoming obstacles. Similarly, it is contemplated that in the embodiments of the present description, the pickup position and the avoidance position may each correspond to the obstacle-overcoming wheel 230 or the support unit 220.

[0193] The height to which the front end of the machine body 100 is raised by the obstacle-overcoming wheel 230 is referred to as the obstacle-overcoming height. The obstacle-overcoming height can be set at any point on the chassis 1001 at the front end of the machine body 100 as a reference point and is the distance between the reference point and the cleaning surface in the height direction of the machine body 100. The height to which the front end of the machine body 100 is raised must be selected so that after the front end of the machine body 100 is raised, the height of the chassis 1001 for overcoming the obstacle is greater than or equal to the height of the obstacle when the machine body 100 is moved on the cleaning surface by the obstacle-overcoming wheel 230.This avoids interference between the chassis 1001 of the machine body 100 and the obstacle, which could hinder the forward movement of the machine body 100 or damage the chassis 1001 before the drive wheel 210 abuts the obstacle to set the machine body 100 in motion to overcome the obstacle.

[0194] The obstacle clearance height can be constant or determined depending on the height of the obstacle to be cleared. For example, the length of the support unit 220 protruding from the chassis 1001 can be adjusted so that the front end of the machine body 100 is raised to the obstacle clearance height, and / or the position of the support point of the obstacle clearance wheel 230 can be adjusted so that the front end of the machine body 100 is raised to the obstacle clearance height. When the support unit 220 according to the above embodiments is designed as a pivoting structure, by adjusting the pivot angle of the support unit 220, the length of the support unit 220 protruding from the chassis 1001 and the position of the support point of the obstacle clearance wheel 230 can be controlled so that the front end of the machine body 100 is raised to an obstacle clearance height.

[0195] When a universal wheel is provided at the front end of the machine body 100, the lifting height of the machine body 100 when negotiating an obstacle must also take into account the universal wheel protruding from the chassis 1001 to avoid interference between the universal wheel and the obstacle, which could prevent the machine body 100 from moving forward. Thus, in the support position, the auxiliary mechanism for negotiating an obstacle can raise the front end of the machine body 100 relative to the rear end so that the height of the chassis 1001 containing the universal wheel is greater than the height of the chassis 1001 containing the drive wheel 210, so that the universal wheel is higher than the upper surface of the obstacle when traveling toward the obstacle, so as to avoid interference with the obstacle and hindering the forward movement of the machine body 100.

[0196] A damping layer is provided on a surface of the chassis 1001 of the machine body 100 facing the cleaning surface to dampen the friction caused by the chassis 1001 contacting the obstacle when the obstacle-overcoming wheel 230, in the support position, sets the machine body 100 in motion. The damping layer can be made of a flexible material. In an actual scenario, the upper surface of the obstacle may not be flat, i.e., have unevenness, or the height of the front end of the machine body 100 may be insufficient due to measurement errors. This results in the chassis 1001 of the machine body 100 being scratched by the upper surface of the obstacle to be overcome during the travel of the machine body 100 driven by the obstacle-overcoming wheel 230, thereby damaging the chassis 1001 of the machine body 100.Since the damping layer is provided, the damping layer can dampen the above-mentioned scratches to reduce the probability of damaging the chassis 1001.

[0197] Because the center of rotation, i.e., the first center of rotation, of the obstacle-overcoming wheel 230 is located in front of the second center of rotation of the drive wheel 210, the front end of the machine body 100 is raised relative to the rear end. The rear end abuts the cleaning surface when the front end is raised to a greater height. Since a wet cleaning part is normally provided at the rear end of the machine body 100, water accumulates on the cleaning surface when the wet cleaning part abuts the cleaning surface. Furthermore, the wet cleaning part and the rear housing abut the cleaning surface. For example, a rear wheel 500 may be provided in the rear section of the machine body 100.In the receiving position of the obstacle-overcoming wheel 230, the rear wheel 500 is disengaged from the cleaning surface, and in the supporting position of the obstacle-overcoming wheel 230, it rests against the cleaning surface. With this arrangement, the height of the rear wheel 500 protruding from the chassis 1001 is reduced, thereby preventing the rear wheel 500 from interfering with obstacle clearance and normal travel. At the same time, the drive of the obstacle-overcoming wheel 230 can reduce water stains accumulated on the cleaning surface during the travel movement of the machine body 100, as well as wear on the wet cleaning part and the rear housing.

[0198] In the support position of the obstacle-overcoming wheel 230, at the rear end of the machine body 100, the distance between this rear end of the machine body 100 and the cleaning surface can be reduced to raise the front end of the machine body 100. However, due to the limited reduced distance between the chassis 1001 and the cleaning surface, the front end of the machine body 100 can be raised to a limited height and overcome an obstacle of a limited height.

[0199] Alternatively, the obstacle-overcoming wheel 230 is located in the support position at the front end of the machine body 100 to increase the height of the chassis 1001 at the front end of the machine body 100 relative to the ground. Compared to the arrangement of the obstacle-overcoming wheel 230 in the support position at the rear end of the machine body 100, the arrangement of the obstacle-overcoming wheel 230 in the support position at the front end of the machine body 100 significantly increases the distance between the front end of the machine body 100 and the cleaning surface, so that a greater height obstacle can be overcome. Accordingly, in the support position of the obstacle-overcoming wheel 230, the center of rotation, i.e., the first center of rotation, of the obstacle-overcoming wheel 230 is located in front of the second center of rotation of the drive wheel 210 in the forward direction of the machine body 100.

[0200] As can be seen from the above explanations, the obstacle-overcoming wheel 230 is designed to be smaller in size to increase the obstacle-overcoming height while simultaneously reducing the space required. In this case, the obstacle-overcoming wheel 230 typically abuts the lower part of the obstacle when the machine body 100 is moved toward the obstacle by the obstacle-overcoming wheel 230. This makes it more difficult to overcome the obstacle by driving over the obstacle with the obstacle-overcoming wheel 230. In addition, the drive wheel 210 must be used to overcome the obstacle. With this structural configuration, when the obstacle-overcoming wheel 230 is in the support position away from the drive wheel 210, the following situation arises.Although the obstacle-overcoming wheel 230 is controlled to avoid the interference between the obstacle-overcoming wheel 230 and the obstacle when overcoming the obstacle when overcoming the obstacle, after the obstacle-overcoming wheel 230 avoids the obstacle, the drive wheel 210 cannot contact the upper edge of the obstacle due to the larger distance between the drive wheel 210 and the obstacle, so that it is difficult to overcome the obstacle with the drive wheel 210 when overcoming the obstacle.

[0201] Accordingly, the obstacle-overcoming wheel 230 can be provided in the support position in the central portion of the machine body 100. In some embodiments, when the obstacle-overcoming wheel 230 is in the support position in the direction of travel of the machine body 100, the obstacle-overcoming wheel 230 has a first, foremost end and the drive wheel 210 has a second, foremost end, wherein the first, foremost end is located behind the second, foremost end. The center of rotation, i.e., the first center of rotation, of the obstacle-overcoming wheel 230 is located in front of the second center of rotation of the drive wheel 210 to ensure that the drive wheel 210 can bear against the obstacle and thus move the machine body 100 to overcome the obstacle.In this way, the height of the machine body 100 to be lifted can be increased and the interference of the obstacle-overcoming wheel 230 with the drive wheel 210 with respect to its engagement with the obstacle can be reduced, so that the machine body 100 is set in motion to overcome the obstacle.

[0202] An area where the drive wheel 210 abuts the upper edge of the obstacle when the drive wheel 210 can move the machine body 100 to overcome the obstacle can be referred to as an obstacle-overcoming abutment area for the drive wheel 210. Note that this obstacle-overcoming abutment area is not a fixed area on the surface of the drive wheel 210, but rather an area where the surface of the drive wheel 210 abuts the upper edge of the obstacle when the drive wheel 210 can overcome the obstacle. In the actual work scenario, a wheel surface of the drive wheel 210 that abuts the upper edge of the obstacle is too close to the front of the drive wheel 210, which can easily cause slippage, making it difficult for the drive wheel 210 to move the machine body 100 to overcome the obstacle.Furthermore, it is provided that, for example, the position of the contact area for overcoming the obstacle for the drive wheel 210 can be predetermined with respect to the center of rotation of the drive wheel 210 when the drive wheel 210 can set the machine body 100 in motion to overcome the obstacle. As a result, the distance between the first center of rotation of the obstacle-overcoming wheel 230 in the support position and the first center of rotation of the drive wheel 210 is adjusted depending on the relative position of the contact area for overcoming the obstacle, so that when the obstacle-overcoming wheel 230 bears against the obstacle, the contact area for overcoming the obstacle for the drive wheel 210 rests against the upper edge of the obstacle in order to set the machine body 100 in motion to overcome the obstacle.When the obstacle overcoming wheel 230 moves from the support position to the avoidance position, the contact area for overcoming the obstacle for the drive wheel 210 alternatively rests on the upper edge of the obstacle in order to set the machine body 100 in motion to overcome the obstacle.

[0203] In the embodiment in which the universal wheel is provided on a side of the front end of the machine body 100 facing the cleaning surface, in the support position of the obstacle-overcoming wheel 230 in a direction perpendicular to the cleaning surface, a projection point of the second rotational center of the drive wheel 210 onto the machine body 100 is referred to as the second reference point, and a projection point of the first rotational center of the obstacle-overcoming wheel 230 in the support position onto the machine body 100 is referred to as the first reference point. The center of gravity of the machine body 100 can be located at the first reference point, the second reference point, or in the area between the first reference point and the second reference point.By arranging the center of gravity of the machine body 100 in the aforementioned positions, the center of gravity of the machine body 100 is positioned between the drive wheel 210 and the universal wheel in the traveling state, thereby ensuring the stability of the machine body 100 during traveling. When the universal wheel is out of contact with the cleaning surface, the front end of the machine body 100 is raised, and the rear wheel 500 at the rear end of the machine body 100 is in contact with the cleaning surface, by arranging the center of gravity of the machine body 100 in the aforementioned positions, the machine body 100 can be driven stably by the drive of the obstacle-overcoming wheel 230.In addition, since the center of gravity is not located behind the drive wheel 210, after the drive wheel 210 passes over the upper edge of the obstacle, it can also enable the front end of the machine body 100 to be lowered in time, thereby lifting the rear end of the machine body 100, which further assists the drive wheel 210 in overcoming the obstacle and reduces the difficulty of the drive wheel 210 passing over the obstacle to move the machine body 100 to overcome the obstacle.

[0204] In the traveling state of the cleaning robot, the length of the support unit 220 protruding from the chassis 1001 and / or the position of the support point of the obstacle-overcoming wheel 230 differ from the length and / or the support position in the obstacle-overcoming state to prevent the front end of the machine body 100 from being lifted in the traveling state. Accordingly, the positions of the support unit 220 and the obstacle-overcoming wheel 230 in the traveling state can each be used as a pickup position. Accordingly, in the pickup position, the obstacle-overcoming wheel 230 no longer supports the front end of the machine body 100 for lifting, so that the height of the chassis 1001 of the machine body 100 relative to the ground surface is returned to the height in the traveling state. As shown in the above embodiments, the obstacle-overcoming wheel 230 can also be in contact with the cleaning surface in the traveling state.The obstacle-overcoming wheel 230 can exert either a supporting force or no supporting force on the machine body 100 when in contact with the cleaning surface. Accordingly, the obstacle-overcoming wheel 230 can be in contact with the cleaning surface in the receiving position, and the obstacle-overcoming wheel 230 can exert either a supporting force or no supporting force on the machine body 100. Alternatively, the obstacle-overcoming wheel 230 comes out of contact with the cleaning surface in the traveling state, and the machine body 100 is driven into traveling motion by the drive wheel 210.

[0205] When the obstacle-overcoming wheel 230 is in the support position, the second center of rotation of the obstacle-overcoming wheel 230 is located in front of the first center of rotation of the drive wheel 210, and the distance between the two is small, so that the obstacle-overcoming wheel 230 can contact the lower part of the obstacle before the drive wheel 210, and at the same time there is a certain amount of play between the drive wheel 210 and the obstacle, so that the two cannot contact one another directly. Alternatively, it is provided that when the drive wheel 210 contacts the obstacle, the obstacle-overcoming wheel 230 contact the obstacle or is located close to the obstacle, whereby the obstacle-overcoming wheel 230 can interfere with the obstacle when the drive wheel 210 sets the machine body 100 in motion to overcome the obstacle. It can be seen from this that having the obstacle-overcoming wheel 230 in the support position avoids a problem, i.e.i.e., the interaction with the drive wheel regarding obstacle overcoming. Accordingly, the support unit 220 and the obstacle overcoming wheel 230 can be driven in the support position when the drive wheel engages the obstacle or when the obstacle overcoming wheel 230 engages the obstacle to avoid the obstacle, so that they are switched to the avoidance position to prevent interference between the obstacle overcoming wheel 230 and the support unit 220 and a process in which the drive wheel sets the machine body 100 in motion to overcome the obstacle. The avoidance position of the support unit 220 or the obstacle overcoming wheel 230 can each overlap with the receiving position or can also be a separately provided position.

[0206] Accordingly, the obstacle-overcoming wheel 230 further has an evasive position, wherein when the obstacle-overcoming wheel 230 is in the support position against an obstacle to be overcome, the support unit is movable relative to the machine body and the obstacle-overcoming wheel 230 is set in motion to change from the support position to the evasive position, so that the machine body is set in motion by the drive wheel to overcome the obstacle.

[0207] In the forward direction of the machine body 100, the evasive position of the obstacle-overcoming wheel 230 is located behind the support position. Since the obstacle-overcoming wheel 230 contacts the obstacle when the machine body 100 overcomes an obstacle due to the drive of the drive wheel, thus hindering the travel movement of the machine body 100, interference between the obstacle-overcoming wheel 230 and the obstacle can be avoided by deflecting the obstacle-overcoming wheel 230 backward, thus ensuring smooth obstacle overcoming of the machine body 100. In the vertical direction of the machine body 100, the evasive position can, of course, also be located above the support position.When the obstacle-overcoming wheel 230 is placed against the obstacle, interference of the obstacle-overcoming wheel 230 with the obstacle can also be avoided by receiving the obstacle-overcoming wheel 230 upwards into the receiving cavity of the machine body 100, in order to ensure smooth obstacle overcoming of the machine body 100.

[0208] As shown in the above embodiments, the support unit 220 can be moved by the drive of the motor to set the obstacle-overcoming wheel 230 in motion. This changes the support unit 220 and the obstacle-overcoming wheel 230 to the avoidance position. Alternatively, in the Fig. The structure of the support unit 220 shown in Figure 5 provides that the second support element 222 is provided with a recess for receiving the third support element 223, since the third support element 223 can rotate relative to the second support element 222, wherein the recess is located behind the third support element 223 in the support position of the obstacle-overcoming wheel 230. This structure also makes it possible to adversely influence the rotation of the second support element 222 by a motor drive.When the drive wheel sets the machine body 100 in motion to overcome the obstacle, the obstacle exerts a rearward pressure force on the third support element 223, which overcomes an elastic force of a first elastic element connected to the third support element 223, so that the third support element 223 is moved into the recess, thereby preventing the support unit 220 and the obstacle-overcoming wheel 230 from interfering with the obstacle when overcoming the obstacle. Of course, the embodiment shown in . Fig. The structure of the support unit 220 shown in Figure 5 provides that, after the drive wheel and / or the obstacle-overcoming wheel 230 have contacted the obstacle, the rotation of the second support element 222 can be enabled by the motor drive in order to cause the third support element 223 and the obstacle-overcoming wheel 230 to rotate backward. At the same time, the recess in the second support element 222 is used to further reduce the likelihood of interference between the third support element 223 and the obstacle-overcoming wheel 230.

[0209] In some embodiments, when the support unit 220 pivots relative to the machine body 100 to switch between different positions, in the forward direction of the machine body 100, the first center of rotation of the obstacle-overcoming wheel 230 in the receiving position is closer to the front of the machine body 100 than in the support position, and the first center of rotation of the obstacle-overcoming wheel 230 in the avoiding position is closer to the rear of the machine body 100 than in the support position.

[0210] If it is determined that the obstacle overcoming is to be carried out by means of the obstacle overcoming wheel 230, the second drive device drives the support unit 220 to pivot, so that the obstacle overcoming wheel 230 is pivoted from the receiving position to the support position.

[0211] When the obstacle-overcoming wheel 230 rests against the obstacle to be overcome in the support position, the second drive device drives the support unit 220 to pivot, so that the obstacle-overcoming wheel 230 is pivoted from the support position to the avoidance position. Additionally / alternatively, the support unit 220 is pivoted by the pressure force of the obstacle, so that the obstacle-overcoming wheel 230 is pivoted from the support position to the avoidance position. The pressure force exerted by the obstacle on the support unit 220 can be a pressure force exerted by the obstacle on the obstacle-overcoming wheel 230 or a pressure force exerted by the obstacle on the support unit 220.

[0212] When a change from the avoidance position to the pickup position is required, the second drive device drives the support unit 220 to pivot so that the obstacle-overcoming wheel 230 is pivoted from the avoidance position to the pickup position.

[0213] The change of the obstacle-overcoming wheel 230 between the three positions can be referred to the above embodiments and will not be repeated here.

[0214] A pivot axis of the support unit 220 runs parallel to a rotation axis of the drive wheel, so that the support unit 220 can pivot in a plane parallel to the side of the drive wheel. The support unit 220 is arranged on the outer wall surface of the bracket 270. When the outer wall surface is located between the drive wheel and the housing, it can be ensured that, in the receiving position, the supporting position, or the avoiding position of the support unit 220, interference between the support unit 220 and the obstacle-overcoming wheel 230 and the side housing and the drive wheel during pivoting is avoided, which influences the position change of the obstacle-overcoming wheel 230. As shown in the above embodiments, the pivot axis and the rotation axis of the drive wheel can overlap.

[0215] Furthermore, it is contemplated that a rotational axis of the obstacle-overcoming wheel 230 can run parallel to a rotational axis of the drive wheel, so that the control logic with which the obstacle-overcoming wheel 230 sets the machine body 100 in motion is the same as the control logic with which the drive wheel sets the machine body 100 in motion, in order to ensure control consistency. Furthermore, it is contemplated that only one drive device can be used to rotate the obstacle-overcoming wheel 230 and the drive wheel. The specific embodiment can be referred to the above embodiments and will not be repeated here.

[0216] As mentioned with reference to Fig. 2, 5, 6, 8(a) to 8(e), the support unit 220 can be switched between a first angle, a second angle, and a third angle relative to the bracket 270, wherein the first angle, the second angle, and the third angle correspond to the receiving position, the supporting position, and the avoiding position, respectively. The support unit 22022 is pivoted from the receiving position to the supporting position, that is, the support unit 220 is pivoted from the first angle to the second angle, and the obstacle-clearing wheel 230 is pivoted from a position where it comes out of contact with the ground surface until it comes into contact with the ground surface. As the support unit 220 pivots further, the obstacle-clearing wheel 230 begins to support the front end of the machine body 100 during lifting.The rear wheel 500 rests on the ground surface and the drive wheel 210 comes out of contact with the ground surface until the support unit 220 is pivoted to the second angle corresponding to the support position.

[0217] In the support position, a connecting line between a support point between the obstacle-clearing wheel 230 and the floor surface and the center of gravity of the cleaning robot is perpendicular to the floor surface because the rear wheel 500 is in contact with the floor surface. Furthermore, a projection point of the support point between the obstacle-clearing wheel 230 and the floor surface onto the machine body 100 is located in front of the center of gravity in a direction perpendicular to the floor surface. With the above-mentioned positional relationship between the support position and the center of gravity of the machine body 100, the traveling movement of the machine body 100 can be ensured under the drive of the obstacle-clearing wheel 230.

[0218] Subsequently, the machine body 100 is brought into travel movement by the obstacle overcoming wheel 230 in the support position until it reaches the Fig. 2 is reached. If the obstacle-overcoming wheel 230 has reached the obstacle 30 before the drive wheel 210, the obstacle-overcoming wheel 230 can be controlled to pivot into the evasive position so that the drive wheel 210 bears against the obstacle 30. The support position can be designed and optimized in advance to ensure that even if the obstacle-overcoming wheel 230 initially bears against the obstacle 30, a certain distance remains between the drive wheel 210 and the obstacle 30. This ensures that after the obstacle-overcoming wheel 230 has evaded, the drive wheel 210 can bear against the obstacle 30 in order to set the machine body 100 in motion to overcome the obstacle 30.

[0219] When the obstacle-overcoming wheel 230 engages the obstacle 30, the support unit 220 can be driven to pivot further backward, pivoting to the third angle corresponding to the evasive position. Since the center of gravity is located at or in front of the rotation center of the drive wheel, as the drive wheel moves toward the upper surface of the obstacle, the front end of the machine body 100 falls under the influence of gravitational potential energy, while the rear end of the machine body 100 rises, allowing the machine body 100 as a whole to more easily overcome the obstacle.

[0220] For example, in the forward direction of the machine body 100, there is a height difference between a cleaning surface behind the obstacle and an upper surface of the obstacle. When the rear end of the machine body 100 abuts the upper surface of the obstacle after the drive wheel clears the obstacle and the drive wheel is disengaged from the cleaning surface behind the obstacle, the support unit 220 is movable relative to the machine body 100, causing the obstacle-clearing wheel 230 to move from the evasive position to a position where the obstacle-clearing wheel 230 exerts a predetermined contact force against the cleaning surface.This predetermined contact force enables the obstacle-overcoming wheel 230 to move the machine body 100 to such an extent that the rear end of the machine body 100 is released from contact with the upper surface of the obstacle, preventing the machine body 100 from locking into the obstacle and thus impairing obstacle clearance. For example, the obstacle-overcoming wheel 230 can be switched to the support position, so that the obstacle-overcoming wheel 230 in the support position causes the machine body 100 to move forward to such an extent that the rear end of the machine body 100 is released from contact with the upper surface of the obstacle. The obstacle-overcoming wheel 230 is then controlled to switch to the receiving position to avoid human intervention and improve the user experience.

[0221] For example, in the structure in which the support unit 220 is pivoted relative to the machine body 100, it is provided that the support unit 220 can be driven to pivot from the avoidance position to the receiving position when, after the drive wheel has cleared the obstacle, the rear end of the machine body 100 abuts the upper surface of the obstacle and the drive wheel comes out of contact with the cleaning surface behind the obstacle. In this way, when the obstacle-clearing wheel 230 abuts the cleaning surface during pivoting, the machine body 100 is moved by the obstacle-clearing wheel 230 to such an extent that the rear end of the machine body 100 comes out of contact with the upper surface of the obstacle. That is,When the obstacle-overcoming wheel 230 is shifted to the receiving position, rotating the obstacle-overcoming wheel 230 can cause the machine body 100 to move forward, reducing the likelihood of the machine body 100 becoming locked into the obstacle and thus facilitating the control logic. If the machine body 100 is still locked into the obstacle after the obstacle-overcoming wheel 230 is shifted to the receiving position, the obstacle-overcoming wheel 230 can be further shifted to the support position, so that the obstacle-overcoming wheel 230 in the support position causes the machine body 100 to move forward to the extent that the rear end of the machine body 100 is released from the upper surface of the obstacle. The obstacle-overcoming wheel 230 is then controlled to shift to the receiving position, thus avoiding human intervention and improving the user experience.

[0222] In some embodiments, it is provided that in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a first height of the obstacle-overcoming wheel 230 and / or the support unit 220 is greater than or equal to a second height of the chassis 1001. The first height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the support unit 220 in relation to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 in relation to the cleaning surface.Alternatively, it is provided that in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a first opening is provided in the chassis 1001 so that the obstacle-overcoming wheel 230 and / or the support unit 220 can be changed from the receiving position to the support position through the opening.

[0223] In the traveling state, the height of an obstacle that the machine body 100 can pass over is generally lower than the height of the chassis 1001. In the receiving position of the obstacle-overcoming wheel 230, the lowest point of the obstacle-overcoming wheel 230 is above the lowest point of the chassis 1001 or above the chassis 1001, and the obstacle-overcoming wheel is completely received in the receiving cavity. This can reduce the probability of the obstacle being caught between the obstacle-overcoming wheel 230 and the drive wheel, thus improving smooth operation of the machine. In the traveling state, the environment is more complex. When the cleaning robot travels over the uneven cleaning surface, the support unit 220 protrudes from the chassis 1001, which is prone to colliding with the cleaning surface, thereby affecting the passage of the machine and damaging the support unit 220.By locating the lowest point of the support unit 220 above the lowest point of the chassis 1001 or by completely accommodating the support unit in the accommodating cavity of the machine body 100, the occurrence of the above-mentioned situation can be further reduced and the smooth travel of the machine body 100 can be ensured.

[0224] When the holder 270 can float relative to the machine body 100 in a first position of the holder 270, in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a first height of the obstacle-overcoming wheel 230 and / or the support unit 220 is greater than or equal to a second height of the chassis 1001. The first height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the support unit 220 in relation to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 in relation to the cleaning surface.Alternatively, it is provided that in the first position of the holder 270 in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a first opening is provided in the chassis 1001 so that the obstacle-overcoming wheel 230 and / or the support unit 220 can be changed from the receiving position to the support position through the opening.

[0225] In the case where the support unit 220 comprises a second support element 222 and a third support element 223, it is provided that, in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a first height of the obstacle-overcoming wheel 230 and / or the third support element 223 is greater than or equal to a second height of the chassis 1001. The first height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the third support element 223 in relation to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 in relation to the cleaning surface.Alternatively, it is provided that in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a first opening is provided in the chassis 1001, so that the obstacle-overcoming wheel 230 and / or the third support element 223 can be changed from the receiving position to the support position through the opening.

[0226] When the holder 270 can float relative to the machine body 100 in a first position of the holder 270, in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a first height of the obstacle-overcoming wheel 230 and / or the third support element 223 is greater than or equal to a second height of the chassis 1001. The first height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the third support element 223 with respect to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 with respect to the cleaning surface.Alternatively, it is provided that in the first position of the holder 270 in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a first opening is provided in the chassis 1001, so that the obstacle-overcoming wheel 230 and / or the third support element 223 can be changed from the receiving position to the support position through the opening.

[0227] In the evasive position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a third height of the obstacle-overcoming wheel 230 and / or the support unit 220 is greater than or equal to the second height of the chassis 1001. The third height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the support unit 220 with respect to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 with respect to the cleaning surface.In the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a second opening is provided in the chassis 1001 so that the obstacle-overcoming wheel 230 and / or the support unit 220 can be changed from the support position to the avoidance position through the opening.

[0228] When the bracket 270 can float relative to the machine body 100 in the first position of the bracket 270, in the avoidance position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a third height of the obstacle-overcoming wheel 230 and / or the support unit 220 is greater than or equal to a second height of the chassis 1001. The third height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the support unit 220 with respect to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 with respect to the cleaning surface.Alternatively, in the first position of the holder 270, in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the support unit 220 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a second opening is provided in the chassis 1001 so that the obstacle-overcoming wheel 230 and / or the support unit 220 can be changed from the support position to the avoidance position through the opening.

[0229] In the event that the support unit 220 comprises the second support element 222 and the third support element 223, it is provided that, in the evasive position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a third height of the obstacle-overcoming wheel 230 and / or the third support element 223 is greater than or equal to a second height of the chassis 1001. The third height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the third support element 223 in relation to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 in relation to the cleaning surface.In the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a second opening is provided in the chassis 1001 so that the obstacle-overcoming wheel 230 and / or the third support element 223 can be changed from the support position to the avoidance position through the opening.

[0230] When the holder 270 can float relative to the machine body 100 in a first position of the holder 270, in the avoidance position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are located in the height direction of the machine body 100 on a side of the chassis 1001 facing the cleaning surface, wherein a third height of the obstacle-overcoming wheel 230 and / or the third support element 223 is greater than or equal to a second height of the chassis 1001. The third height is a height of a lowest point of the obstacle-overcoming wheel 230 and / or the third support element 223 in relation to the height of the cleaning surface, and the second height is a height of a lowest point of the chassis 1001 in relation to the cleaning surface.Alternatively, in the first position of the holder 270, in the receiving position of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230 and / or the third support element 223 are completely received in the height direction of the machine body 100 on a side of the chassis 1001 facing away from the cleaning surface, wherein a second opening is provided in the chassis 1001 so that the obstacle-overcoming wheel 230 and / or the third support element 223 can be changed from the support position to the avoidance position through the opening.

[0231] When the holder 270 floats relative to the machine body 100, it will be understood that in the first position of the holder 270 the lowest point of the obstacle-overcoming wheel 230 and / or the support unit 220 and / or the third support element 223 is in each case lower than the lowest point of the chassis 1001 or protrudes from the side of the chassis 1001 facing away from the cleaning surface, and in the second position of the holder 270 the lowest point of the obstacle-overcoming wheel 230 and / or the support unit 220 and / or the third support element 223 is in each case higher than the lowest point of the chassis 1001 or they are completely accommodated on a side of the chassis 1001 facing away from the cleaning surface.

[0232] As in Fig. 3, Fig. 5 and Fig. As shown in Figure 8(e), the obstacle-overcoming wheel 230 is in the receiving position. When the traveling assembly supports the machine body 100 on the cleaning surface, the obstacle-overcoming wheel 230 can be disengaged from the cleaning surface in the receiving position and does not exert any supporting force on the machine body 100, and the machine body 100 is driven by the drive wheel on the cleaning surface. Regardless of whether simultaneous rotation of the obstacle-overcoming wheel 230 and the drive wheel is required, there is usually a clearance between the obstacle-overcoming wheel 230 and the drive wheel to prevent mutual interference of one of the wheels with the other during rotation. In the traveling state, the environmental characteristics are more complex and variable. When the obstacle-overcoming wheel 230 is in contact with the cleaning surface, the drive wheel is also in contact with the cleaning surface.As a result, small obstacles, obstacles in the form of wire harnesses, and the like can easily become caught between the obstacle-overcoming wheel 230 and the drive wheel, increasing the likelihood of abnormal operation. Therefore, when no supporting force of the obstacle-overcoming wheel 230 is required to lift the machine body 100 for obstacle clearance, the likelihood of abnormal operation of the machine can be reduced by the above-described height adjustments of the obstacle-overcoming wheel 230 and the support unit 220.

[0233] Furthermore, the support unit 220 is movably connected to the machine body 100 or to the bracket 270 to ensure that the obstacle-clearing wheel 230 can be switched between the support position, the pickup position, and the avoidance position. Since the support unit 220 and the obstacle-clearing wheel 230 protrude from the chassis 1001, if the support unit 220 and the obstacle-clearing wheel 230 collide with an obstacle or become entangled with an obstacle such as a wire harness or the like, damage to the connection mechanism between the support unit 220 and the machine body 100 or the connection mechanism between the support unit 220 and the bracket 270 may occur, thus impairing the obstacle-clearing performance of the machine. The above-described height adjustments of the obstacle-clearing wheel 230 and the support unit 220 can further reduce the above-described situation.

[0234] When the machine body 100 travels from a high cleaning surface to a low cleaning surface, the obstacle-overcoming wheel 230 and the second end portion of the support unit 220, when protruding from the chassis 1001 in the receiving position, may initially interfere with the low cleaning surface, causing the machine body 100 to be blocked at the step formed by the high cleaning surface and the low cleaning surface, thereby hindering the traveling movement of the machine. When the drive wheel enters a recess, the bracket 270 may float downward from the second position. If the recess depth is greater, the bracket 270 may float downward to the first position.If the obstacle-overcoming wheel 230 and the second end portion of the support unit 220 protrude from the chassis 1001 in the first position of the bracket 270, they may collide with the cleaning surface, causing damage to the obstacle-overcoming wheel 230 and the support unit 220. By completely accommodating the obstacle-overcoming wheel 230 and the second end portion of the support unit 220 in the receiving cavity in the first position of the bracket 270, the likelihood of the above-mentioned interference situation occurring can be reduced and the passage of the machine body 100 can be improved.

[0235] Similarly, in the avoidance position, the support unit 220 and the obstacle-overcoming wheel 230 can be adjusted to the above-mentioned height. When the bracket 270 can float up and down relative to the machine body 100, only in the second position of the bracket 270 can the obstacle-overcoming wheel 230 and the support unit 220 be adjusted to the above-mentioned height. Of course, in the first position of the bracket 270, the obstacle-overcoming wheel 230 and the support unit 220 are adjusted to the above-mentioned height.In particular, by adjusting the obstacle-overcoming wheel 230 and the support unit 220 to the above-mentioned height while maintaining the obstacle-overcoming wheel 230 in the avoidance position and during normal travel of the cleaning robot on the cleaning surface, the abnormal situation can be reduced and the passage of the machine body 100 can be improved, and damage to the obstacle-overcoming wheel 230 and the second end portion can also be avoided.

[0236] When the support unit 220 moves relative to the machine body 100, it may remain out of contact with the cleaning surface to avoid interference between the support unit 220 and the cleaning surface, which affects the change in position of the obstacle-overcoming wheel 230.

[0237] In some embodiments, in-position detection may also be performed for a limit position to which the support unit 220 moves relative to the machine body 100, e.g., by providing an in-position detection element at the limit position, in order to prevent the movement of the support unit 220 from exceeding the limit values, which leads to interference of the support unit 220 and the obstacle-overcoming wheel 230 with other components of the machine body 100.

[0238] In addition, in-position detection may also be performed, i.e., whether the obstacle-overcoming wheel 230 has reached the support position or not, to ensure that the support position of the obstacle-overcoming wheel 230 meets the requirements for obstacle crossing. For example, the front end of the machine body 100 is not raised high enough, and the chassis 1001 of the machine body 100 and / or the universal wheel may interfere with the obstacle, affecting the movement of the machine body 100 and preventing the drive wheel and the obstacle from abutting. Alternatively, the drive wheel may abut the obstacle, but the chassis 1001 of the machine body 100 may rub against the obstacle, thus damaging the chassis 1001 while the machine body 100 is being moved by the obstacle-overcoming wheel 230.Alternatively, if the drive wheel is in contact with the obstacle, the contact position between the drive wheel and the obstacle is unsuitable, and the contact force is insufficient to move the drive wheel of the machine body 100 to overcome the obstacle. Alternatively, if the front end of the machine body 100 is raised too high, resulting in an excessive height difference between the drive wheel and the upper surface of the obstacle, the drive wheel may collide with the obstacle after the obstacle-overcoming wheel 230 evades, and it may also result in the drive wheel not being able to contact the obstacle well, which may hinder the overcoming of the obstacle.Therefore, the support position of the obstacle-overcoming wheel 230 must be controlled to control the lifting height of the front end of the machine body 100, thereby ensuring that the drive wheel can move the machine body 100 to overcome the obstacle without damaging the machine body 100.

[0239] A fixed support position may be predetermined, and an in-position detection element may be installed at a corresponding position to detect, by means of the in-position detection element, whether the support unit 220 moves into the support position. There are no particular restrictions on the specific shape of the in-position detection element, as long as it is capable of accurately detecting the position of the obstacle-overcoming wheel 230. In a specific embodiment, the in-position detection element may be, for example, a photoelectric sensor, a Hall sensor, or the like.

[0240] Alternatively, the support position can also be determined by the control unit based on the information about the height of the obstacle detected by the sensing element, for example, by controlling the pivot angle of the support unit 220 from the receiving position to flexibly adjust the support position to which the support unit 220 pivots. When controlling the pivot angle of the support unit 220 from the receiving position, the position of the support unit 220 can also be precisely determined in conjunction with the in-position sensing element. For example, the sensor can cooperate with a code disk provided with a plurality of spaced-apart detection features, so that the sensor can detect multiple positions of the obstacle-overcoming wheel 230 by detecting and counting these detection features.

[0241] Accordingly, in some embodiments, the cleaning robot further comprises an in-position detection element (not shown) for detecting the pivoting of the obstacle-overcoming wheel 230 into the support position. When the detection element detects the obstacle-overcoming wheel 230 in the support position, the support unit 220 does not move relative to the machine body 100 in order to keep the obstacle-overcoming wheel 230 in the support position and to be able to set the machine body 100 in motion. For example, the second drive structure can stop the drive of the support unit 220 for movement relative to the machine body 100, or the machine body 100 is provided with a limiting mechanism that limits the movement of the support unit 220 when the support unit 220 moves into the support position in order to keep the obstacle-overcoming wheel 230 in the support position.

[0242] The in-position detecting element in the present embodiment is capable of detecting and recognizing the relative position between the obstacle-overcoming wheel 230 and the machine body 100, thereby ensuring the positional accuracy of the obstacle-overcoming wheel 230 in the support position to ensure that the drive wheel can drive the machine body 100 into motion to overcome the obstacle to travel over the obstacle without damaging the machine body 100.

[0243] In an embodiment in which, when the support unit 220 is arranged on the bracket 270, the second drive structure drives the support unit 220 to pivot relative to the bracket 270, it is provided that the cleaning robot can further comprise a following limiting structure comprising a first pivot shaft and a first arcuate groove. One of the first pivot shaft and the first arcuate groove is arranged on a side wall of the support unit 220 facing the bracket 270, and the other of them is arranged on a side wall of the bracket 270 facing the support unit 220. The first pivot shaft projects into the first arcuate groove, the first arcuate groove extends in a pivoting direction of the support unit 220, and the first pivot shaft can move with the pivoting of the support unit 220 in an extension direction of the first arcuate groove.The first arcuate groove has a first end surface and a second end surface in the direction of extension, wherein the two end surfaces of the first arcuate groove are used to limit the maximum pivoting path of the obstacle-overcoming wheel 230. When the first pivot shaft engages the first end surface, the obstacle-overcoming wheel 230 is in the receiving position. When the first pivot shaft engages the second end surface, the obstacle-overcoming wheel 230 is in the evasive position.

[0244] By limiting the limit positions, the escape position, and the receiving position by the two end surfaces of the arcuate groove, a separately provided structure for detecting the limit pivot position of the support unit 220 can be omitted. When it is determined that the support unit 220 has pivoted to the limit position, the support unit 220 can abut against the end surface of the arcuate groove. Based on this signal, the second drive structure can stop the drive, thus maintaining the support unit 220 in the limit position, thus reducing structural complexity and cost.

[0245] Accordingly, in the structure for limiting the limit positions of the avoidance position and the pickup position, it is provided that an in-position detecting element may be provided only for the support position, wherein when the obstacle-overcoming wheel 230 is detected in the support position by the in-position detecting element, the second drive structure stops the drive of the support unit 220 for pivoting relative to the bracket 270 in order to hold the obstacle-overcoming wheel 230 in the support position and to be able to move the machine body 100, so that the accuracy and the flexible control of the support position are realized.

[0246] As mentioned with reference to Fig. 29 to 31, the first end portion of the support unit 220 is optionally located between the machine housing of the machine body 100 and the bracket 270. One of the first journal shaft 229 and the first arcuate groove 272 is arranged on a side wall of the second support member 222 facing the bracket 270, and the other of them is arranged on a side wall of the bracket 270 facing the second support member 222.

[0247] The first pivot shaft 229 projects into the first arcuate groove 272, the first arcuate groove 272 extends in a pivoting direction of the support unit 220, and the first pivot shaft 229 can move with the rotation of the second support element 222 in an extension direction of the first arcuate groove 272. The first arcuate groove 272 has a first end surface and a second end surface in the extension direction, wherein the two end surfaces of the first arcuate groove 272 are used to limit the maximum pivoting path of the obstacle-overcoming wheel 230. When the first pivot shaft 229 abuts the first end surface, the obstacle-overcoming wheel 230 is in the receiving position. When the first pivot shaft 229 abuts the second end surface, the obstacle-overcoming wheel 230 is in the evasive position.

[0248] With a movable connection of the bracket 270 to the machine body 100, the drive wheel 210 can float up and down relative to the machine body 100, so that, in cooperation with the elastic element between the bracket 270 and the machine body 100, the damping function of the drive wheel 210 can be achieved. However, this floating structure of the drive wheel 210 causes the drive wheel 210 to oscillate up and down under the influence of its own gravity when the front end of the machine body 100 is lifted, which can impair the stability of the cleaning robot during obstacle negotiation. For this purpose, a locking mechanism for limiting the displacement of the drive wheel 210 during the obstacle negotiation process is further provided in the following embodiment.

[0249] Optionally, the locking mechanism has a locking state and an unlocking state. In the locking state, the locking mechanism locks the bracket 270 to the machine body 100, and the traveling assembly cannot float up and down relative to the machine body 100. In the unlocking state, the traveling assembly can float up and down relative to the machine body 100. In the supporting position of the obstacle-overcoming wheel 230, the locking mechanism is in the locking state. In the receiving position of the obstacle-overcoming wheel 230, the locking structure is in the unlocking state.

[0250] Since the machine body 100 is only moved a short distance by the drive of the obstacle-overcoming wheel 230, the obstacle-overcoming wheel 230, even if it cannot float up and down, does not have a great influence on the movement of the machine body 100.In this case, before the cleaning robot overcomes the obstacle, the locking mechanism is set to the locked state so that the drive wheel 210 cannot float up and down, wherein when the machine body 100 is moved towards the obstacle by the drive of the obstacle-overcoming wheel 230, the drive wheel 210 is already in contact with the obstacle or there is only a small gap between the drive wheel and the obstacle, so that after the obstacle-overcoming wheel 230 has evaded, the drive wheel 210 can no longer swing as strongly under the action of the contact force of the obstacle, thereby improving the stability of the cleaning robot during the obstacle overcoming.

[0251] Furthermore, it can be further provided that when the obstacle-overcoming wheel 230 changes from the support position to the evasive position, the locking mechanism is held in the locked state. When the machine body 100 is moved toward the obstacle by the drive of the obstacle-overcoming wheel 230, the drive wheel 210, although in contact with the obstacle, may have a lower contact force at an earlier point in time. Alternatively, there is a small gap between the drive wheel and the obstacle when the machine body 100 is moved toward the obstacle by the drive of the obstacle-overcoming wheel 230. In this case, when the obstacle-overcoming wheel 230 leaves the support position, i.e., the holder 270 is unlocked, the drive wheel 210 continues to oscillate during the obstacle-overcoming process, thereby impairing the stability of the obstacle-overcoming process.When further controlling the change of the obstacle-overcoming wheel 230 from the support position to the avoidance position, the locking mechanism is kept in the locking state, so that the stability of the cleaning robot during obstacle overcoming can be further improved.

[0252] If the avoidance position is incorrectly set and the support unit 220 is pivoted into the avoidance position while the drive wheel still passes over the obstacle, this can of course still cause the machine body 100 to swing and impair stability during obstacle negotiation. Accordingly, in the avoidance position of the obstacle negotiation wheel 230, the locking mechanism is held in the locked state, further improving the stability of the cleaning robot during obstacle negotiation.

[0253] In the above embodiments, a locking mechanism may lock the bracket 270 in the second position or the bracket 270 in another position.

[0254] In some embodiments, the locking mechanism may also be in the unlocked state in the avoidance position of the obstacle-overcoming wheel 230.

[0255] If the locking mechanism is kept in the locking state in the avoidance position of the obstacle-overcoming wheel 230, the drive wheel will still be locked after the drive wheel clears the obstacle. Therefore, it is necessary to move the obstacle-overcoming wheel 230 to the receiving position as quickly as possible to unlock the obstacle-overcoming wheel 230. In this way, the stability of the machine body 100 driven by the drive wheel in the traveling state can be ensured.When the locking mechanism is in the unlocked state in the avoidance position of the obstacle-overcoming wheel 230, the drive wheel can still bring the machine body 100 in the traveling state into stable traveling motion even though the obstacle-overcoming wheel 230 is in the avoidance position after the machine body 100 overcomes the obstacle, without the obstacle-overcoming wheel 230 being immediately switched to the receiving position, thereby further reducing the complexity of the control.

[0256] If, in the evasive position of the obstacle-overcoming wheel 230, the locking mechanism is kept in the locked state and locked in the second position, this results in the rear end of the machine body 100 abutting the upper surface of the obstacle after the drive wheel has cleared the obstacle, because the rear end of the machine body 100 has not yet cleared the obstacle when the drive wheel comes out of contact with the obstacle. In this case, if the obstacle is higher, the drive wheel cannot abut the cleaning surface behind the obstacle and cannot further move the machine body 100, causing the machine body 100 to lock in this position and thus impairing the machine's ability to clear the obstacle.When the locking mechanism is in the unlocked state in the avoidance position of the obstacle-overcoming wheel 230, the drive wheel can directly float downward after overcoming the obstacle, thereby significantly increasing the probability of the drive wheel abutting against the cleaning surface to ensure that the drive wheel can move the machine body 100 to overcome the obstacle, so as to improve an obstacle-overcoming effect.

[0257] If the obstacle-overcoming wheel 230 is in the evasive position and no locking occurs between the bracket 270 and the machine body 100, the obstacle-overcoming wheel 230 can be controlled to remain in the evasive position after the cleaning robot has cleared the obstacle, with the machine body 100 being moved on the cleaning surface by the drive of the drive wheel. If necessary, the obstacle-overcoming wheel 230 on the cleaning robot can be adjusted at any time to switch from the evasive position to the pickup position.

[0258] In an embodiment in which the support unit 220 is arranged between the bracket 270 and the machine body 100, wherein a first end portion of the support unit 220 is rotatably arranged on the bracket 270, and wherein a second end portion of the support unit 220 is connected to the obstacle-overcoming wheel 230 and the first end portion rotates relative to the bracket 270 so that the second end portion is pivoted relative to the bracket 270, with reference to Fig. 8(a) to 8(e), optionally provided that the locking mechanism comprises a second pin shaft 120 and a second arcuate groove 226, wherein the second arcuate groove 226 is formed in a side wall of the first end portion, the second pin shaft 120 is arranged on the machine body 100, and the second pin shaft 120 projects into the second arcuate groove 226.

[0259] The second arcuate groove 226 extends in the pivoting direction of the support unit 220, and the second arcuate groove 226 includes a delimiting groove segment and a first recessed segment 227 at one end of the groove segment, the groove segment and the first recessed segment 227 communicating with each other. When the second journal shaft 120 moves in an extending direction of the groove segment with the rotation of the first end portion, the second journal shaft 120 abuts a cover wall of the groove segment in the height direction of the machine body 100, so that the locking mechanism is in the locked state.In the receiving position of the obstacle-overcoming wheel 230, the second pin shaft 120 can leave the second arcuate groove 226 through the first recess segment 227, so that the bracket 270 can float up and down between the first position and the second position relative to the machine body 100 and the locking mechanism is in the unlocked state.

[0260] In the present embodiment, a structure is used in which only rotation occurs between the bracket 270 and the first end portion of the support unit 220, and no movement in the height direction of the machine body 100 relative to each other takes place. A locking structure is provided between the first end portion of the support unit 220 and the machine body 100, and the journal shaft is fixed to the machine body 100. Subsequently, depending on the pivoting direction of the support unit 220, the arcuate groove is configured such that the position of the bracket 270 relative to the machine body 100 in the height direction of the machine body 100 is defined by the journal shaft and the cover wall of the groove segment.By means of a simple counter structure, the locking of the position of the bracket 270 relative to the machine body 100 during the pivoting movement of the support unit 220 can be achieved, which significantly reduces the complexity of the design of the locking structure and the complexity of the control and significantly reduces the manufacturing costs.

[0261] For example, the first recessed segment 227 has a certain extension length in the vertical direction of the machine body 100, with an opening on the top of the first recessed segment 227 facing upward. In the first position and the second position, the first pin shaft 229 is located in the first recessed segment 227, respectively, and the groove wall of the first recessed segment 227 is connected to the groove wall of the groove segment. When the obstacle-overcoming wheel 230 begins to pivot from the receiving position, the bracket 270 is not in a position to be locked.In this case, the groove wall of the first recess segment 227 can exert a contact force on the first pivot shaft 229 with the pivoting of the support unit 220, so that the first pivot shaft 229 can be moved downward and in the direction of the pivoting direction of the support unit 220, or the first pivot shaft 229 can be moved upward and in the direction of the pivoting direction of the support unit 220 until the first pivot shaft 229 enters the groove segment. Based on this solution, it is possible for the pivot shaft to enter the groove segment and thus lock the bracket 270 when the obstacle-overcoming wheel 230 begins to pivot from the receiving position and the bracket 270 is not in a position to be locked.

[0262] In some embodiments, it is provided that, in the locking state of the locking mechanism, the bracket 270 can be locked in the second position. In the receiving position of the obstacle-overcoming wheel 230, the first pin shaft 229 is located within the first recess segment 227 in the second position, while in the first position in the height direction of the machine body 100, the first pin shaft 229 is located outside the first recess segment 227, so that the bracket 270 can float up and down relative to the machine body.When the cleaning robot is on the cleaning surface, the bracket 270 is normally in the second position, with the first pin shaft 229 located within the first recess segment 227, and with the rotation of the obstacle-overcoming wheel 230 from the receiving position to the support position, a rapid entry of the first pin shaft 229 into the groove segment can be facilitated to achieve the locking of the support position.

[0263] It should be understood that the specific shape of the locking mechanism is not unique, and in some other embodiments, the locking mechanism may, for example, be provided with an independent drive element. For example, an independently retractable latch is provided on the machine body 100, and a bushing cooperating with the latch is provided on the bracket 270. The latch may be driven by an independent drive element to achieve automatic retraction of the latch, and a retraction action achieves insertion or release of the latch with or from the bushing, thereby implementing locking and unlocking operations of the locking mechanism. During pivoting of the support unit 220, insertion or release of the latch with or from the bushing may be achieved to implement the locking and unlocking operations of the locking mechanism.

[0264] As mentioned with reference to Fig. 8 (a) to 8 (e), the obstacle overcoming wheel 230 is in the position shown in Fig. 8 (a) after the cleaning robot has overcome the obstacle. At this time, the second pivot shaft 120 still remains within the second arcuate groove 226, so that the drive wheel 210 cannot temporarily float up and down, which impairs stable travel of the machine, and thus the obstacle-overcoming wheel 230 must be quickly switched to the receiving position. In the avoidance position, however, the bracket 270 is unlocked, so that the machine can travel directly after overcoming the obstacle, and the position is only changed when necessary to increase control flexibility. When the drive wheel overcomes the obstacle and the rear end of the cleaning robot is still resting on the obstacle, it may happen that the drive wheel 210 can no longer contact the ground surface. In the avoidance position, the support unit 220 can therefore be in the Fig. 8 (e) to ensure that the drive wheel 210 can contact the ground surface smoothly and thus ensure the obstacle-overcoming effect.

[0265] As mentioned with reference to Fig. 9 to 11, optionally the other end of the second arcuate groove 226 represents a second recess segment 228. In the evasive position of the obstacle-overcoming wheel 230, the locking mechanism is changed to the unlocking state and the second journal shaft 120 can leave the second arcuate groove 226 through the second recess segment 228, so that the holder 270 floats up and down relative to the machine body 100. In comparison to the previous embodiment, in the present embodiment the second arcuate groove 226 is additionally provided with a second recess segment 228. When the support unit 220 is in the Fig. At this time, when the robot moves in the state shown in Figure 11, the second pivot shaft 120 can immediately come out of the second arcuate groove 226 due to the presence of the second recessed segment 228, thereby ensuring that the drive wheel 210 can make timely contact with the ground surface after overcoming the obstacle, and the obstacle-overcoming effect is guaranteed. Furthermore, after completing the obstacle overcoming, the cleaning robot does not need to immediately reset the obstacle-overcoming wheel 230, which improves the freedom of control of the cleaning robot.

[0266] The second recess segment 228 is constructed in the same way as the first recess segment 227. As described above, it can be provided that in the avoidance position of the obstacle-overcoming wheel 230 in the second position, the first pin shaft is located within the second recess segment, while in the first position in the height direction of the machine body, the first pin shaft is located outside the second recess segment.

[0267] It should be understood that the locking mechanism is not necessarily required in the above embodiments, and that in some other embodiments, the locking mechanism may be omitted. As in Fig. As shown in Figure 13, the obstacle-overcoming wheel 230 is arranged on the bracket 270. When the locking mechanism is omitted and the front end of the machine body is lifted by the obstacle-overcoming wheel 230, the bracket 270 can still float slightly downward despite the supporting force of the obstacle-overcoming wheel 230 on the bracket 270, thereby increasing the height difference between the obstacle-overcoming wheel 230 and the machine body, so that the height of an obstacle that can be overcome by the drive wheel can be slightly expanded.

[0268] As in the structure in Fig. 36, from left to right, the drive gear 210, the bracket 270, the second support member 222 of the support unit 220, and the side housing of the machine body 100 are shown in this order. The bracket 270 has an outer wall surface extending away from the drive gear 210, and the side wall of the second support member 222 has a first wall surface facing the outer wall surface of the bracket 270 and a second wall surface facing away from the outer wall surface of the bracket 270.

[0269] A cavity is formed between the first wall surface of the second support member 222 and the outer wall surface of the bracket 270, and the first gear mechanism 240 and the ring gear 262 of the second gear mechanism 260 are arranged in this cavity. The ring gear 262 of the second gear mechanism 260 is mounted on the output shaft (i.e., the drive gear shaft 211) of the drive structure of the drive gear. The drive gear 241 of the first gear mechanism 240 is fixed to the drive gear shaft 211, so that the drive gear shaft 211 causes the drive gear 241 to rotate.

[0270] The ring gear 262 is attached to the second support member 222 to pivot the support unit 220. Accordingly, the side wall of the second support member 222 rotates with the rotation of the ring gear 262.

[0271] The first pinion shaft 229 may be arranged on the ring gear 262, and the first arcuate groove 272 is arranged on the outer wall surface of the bracket 270. The first pinion shaft 229 rotates in the first arcuate groove 272 in the extension direction of the first arcuate groove 272 with the rotation of the ring gear 262.

[0272] The second journal shaft 120 is arranged on the side housing of the machine body 100, and the second arcuate groove 226 is arranged on the second wall surface of the support unit 220. With the rotation of the ring gear 262, the side wall of the second support member 222 rotates, so that the second journal shaft 120 rotates in the extension direction of the second arcuate groove 226.

[0273] This arrangement utilizes the internal space formed by the bracket and support unit, which houses the gear mechanism with a rotating obstacle-overcoming wheel and the gear mechanism with the pivoting support unit, to enhance the compact structure. When changing the position of the obstacle-overcoming wheel, the interaction of the grooves and shafts on the bracket, the ring gear, the support unit, and the housing of the machine body can achieve both the maximum limitation of the pivoting movement of the support unit and the locking of the up-and-down floating drive wheel, thus making the pivoting structure of the entire obstacle-overcoming wheel simpler and more compact.

[0274] As mentioned with reference to Fig. 14 and 15, in an optional embodiment of the invention, a plurality of protruding units 212 are provided on the wheel surface of the drive wheel 210, which protruding units 212 are arranged at a distance from one another on the circumference of the drive wheel 210. The upper side of the protruding unit 212 is provided with a first recess 213, wherein the first recess 213 is arranged in a direction parallel to the axis of the drive wheel and the first recess 213 divides the upper side of the protruding unit 212 into at least two sub-units 214. By providing the first recess 213 on the protruding unit 212, it is possible in the present embodiment to facilitate the engagement of the drive wheel 210 at the corner of the obstacle during the obstacle-overcoming process, thereby further improving the passage of the cleaning robot when overcoming the obstacle.

[0275] As mentioned with reference to Fig. As shown in Figures 14 and 15, in an optional embodiment of the invention, the upper surface of the protruding unit 212 is provided with a second recess 215, wherein a grid pattern is created by the confinement of the second recess 215 on the upper surface of the protruding unit 212. The depth of the second recess 215 is smaller than the depth of the first recess 213. The second recess 215 can increase the friction between the wheel surface and the ground surface, thereby preventing slippage of the drive wheel 210 and thus improving the movement efficiency of the cleaning robot.

[0276] As mentioned with reference to Fig. As shown in Figures 14 and 15, in an optional embodiment of the invention, a third recess 216 is formed between the two adjacent protruding units 212, the depth of the third recess 216 being greater than the depth of the first recess 213. The third recess 216 can improve the adaptability of the drive wheel 210 to the complex floor environment, allowing the drive wheel 210 to more easily negotiate some lower obstacles, such as carpets, etc.

[0277] As mentioned with reference to Fig. 14 and 15, respectively, in an optional embodiment of the invention, a circle of wheel pattern units 2121 is formed by the plurality of protruding units 212 arranged on the circumference of the drive wheel 210. At least two circles of the wheel pattern units 2121 are provided in the axial direction of the drive wheel 210, wherein two adjacent circles of the wheel pattern units 2121 are arranged offset such that the protruding units 212 of the two adjacent circles of the wheel pattern units 2121 overlap in the axial direction of the drive wheel 210. The offset arrangement of the wheel pattern units 2121 enables the projection of each protruding unit 212 onto the axial direction of the drive wheel to form a continuous and relatively smooth contour, thereby dampening bumps and vibrations during movement of the cleaning robot.

[0278] As mentioned with reference to Fig. 14 and 15, in an optional embodiment of the invention, the width of the overlap region in the circumferential direction of the drive wheel 210 is an integer multiple of the width of the sub-unit 214 in the circumferential direction of the drive wheel 210. This allows the sub-units 214 to be aligned with one another in the overlap region and the continuity of the two ends of the first recess 213 can be ensured, which in turn ensures that the first recess 213 can engage firmly at the corners of the obstacle during the obstacle-overcoming process.

[0279] It should be understood that the present invention mainly makes improvements to the structure related to the driving function in the cleaning robot. Therefore, only the structure and principles of the cleaning robot for driving are illustrated in the accompanying drawings and embodiments. In fact, the cleaning robot should also include various cleaning components, as well as modules for navigation, power supply, and control. Among them, the cleaning component may include, for example, a main brush, a side brush, a vacuum system, a dust box, a mop, and the like. The main brush (also called a roller brush) rolls up garbage, dust, and debris on the cleaning surface through a rotating motion to facilitate suction by the downstream vacuum system, and the main brush can cover a large area, effectively improving cleaning performance.The bristles or strip of the roller brush can penetrate deep into the fibers or crevices of the carpet to brush out embedded dust and hair. On hard surfaces, they can also help remove fine dust particles from the crevices of the floor. The roller brush concentrates debris on the cleaning surface in a central location, making it easier for the vacuum system to collect it. This centralized sweeping improves the thoroughness of the cleaning. Different types of roller brushes (e.g., bristle brushes, rubber brushes) are suitable for different cleaning surfaces. For example, a bristle brush is suitable for sweeping carpets, while a rubber brush is suitable for cleaning hard surfaces.The side brushes, located on one or both sides of the robot cleaner, can reach hard-to-reach areas such as corners and edges of furniture, sweeping trash, dust, and debris from these areas to the robot cleaner's main brush area, ensuring that even the edges of the cleaning surface can be cleaned. With the help of the side brushes, the robot cleaner is able to sweep the entire cleaning surface more thoroughly, including the edges and corners of the floor, reducing the number of missed areas and improving the overall cleaning effect. The vacuum system uses its suction power to suck dust, debris, hair, etc. from the cleaning surface into the robot cleaner's dust box.Suction power effectively attracts fine particles and dust on the cleaning surface, increasing the thoroughness of the cleaning surface, especially on hard surfaces and carpets, where the strong suction power helps remove dirt hidden in crevices and fibers. The vacuum system filters out fine particles (such as allergens and dust) from the sucked-in air through a filter, preventing these particles from being released back into the air and affecting air quality. The dust box collects dust, debris, waste, and hair that the robot cleaner sucks in during sweeping and serves as a trash storage container during the robot cleaner's cleaning process.The dust box can be easily removed and cleaned by the user by periodically removing it from the robot cleaner, emptying it with the collected debris, and replacing it. This design allows for simple and convenient debris disposal. The mop is used in conjunction with the water tank or detergent container to wet-moisten the cleaning surface. The wet-mopping function removes dirt and stubborn stains that cannot be removed with the robot cleaner's main brush or side brushes, providing a more thorough cleaning effect.

[0280] The chassis of the cleaning robot includes several wheels, such as drive wheels and universal wheels. The drive wheels are driven by the motor, so that the cleaning robot moves along the cleaning surface based on the torque and speed output by the motor. The drive wheels are the main power source for the cleaning robot's locomotion. By controlling the speed and rotation direction of different drive wheels, it is possible to move the cleaning robot forward, backward, and around curves. For example, the left and right wheels can rotate at different speeds, allowing the cleaning robot to steer flexibly in narrow spaces. The drive wheels must bear the overall weight of the cleaning robot and enable the cleaning robot to move stably on different cleaning surfaces.They can be equipped with wear-resistant tires or rubber pads to adapt to different cleaning surface conditions. The universal wheel is a non-driven follower wheel that can rotate freely in the horizontal plane, allowing the robot cleaner to easily maneuver around curves in tight spaces. This flexible steering capability allows the robot cleaner to easily navigate furniture, obstacles, and corners, allowing for more thorough cleaning.However, since the robot cleaner needs to control the front end of the machine body to raise it at a large angle when negotiating some relatively high obstacles or steps, this will result in a strong impact force and noise when the universal wheel hits the cleaning surface, resulting in a very poor user experience. In the latter half of the obstacle-clearing process, the front end of the machine body falls onto the cleaning surface under the influence of gravitational potential energy. At the same time, the strong impact may cause damage to the tile floor, ground, etc. Furthermore, the machine vibration caused by the impact may negatively affect the accuracy of the sensors in the machine.

[0281] In the forward direction of the machine body, the universal wheel assembly is arranged at the front end of the machine body, and in the height direction of the machine body, the universal wheel assembly is arranged at the bottom of the machine body. For example, the universal wheel assembly is usually fixed to the chassis of the front end of the machine body. If there is no special obstacle-overcoming mechanism to lift the front end of the machine body, the height of an obstacle that can be overcome by the machine body is affected by the height of the chassis. That is, the machine body can usually only overcome obstacles that are lower than the height of the chassis.

[0282] If the distance between the chassis of the machine body and the cleaning surface is too large, the contact of the cleaning part mounted on the chassis with the cleaning surface will result in a longer connecting shaft between the cleaning part and the chassis. This longer connecting shaft will cause problems such as entanglement with obstacles such as wiring harnesses, and it will also affect the stability of the cleaning part relative to the chassis, thereby impairing the cleaning effect. Therefore, the distance between the chassis of the cleaning robot and the cleaning surface is generally small.

[0283] When two cleaning surfaces have a height difference, the universal wheel may collide with the lower cleaning surface when the cleaning robot moves from the higher to the lower cleaning surface. However, to prevent the cleaning robot from being unable to move when returning from a low cleaning surface to a high cleaning surface, thus hindering the planning of a cleaning route, the height difference between the cleaning surfaces that the cleaning robot can pass without an auxiliary mechanism for overcoming obstacles generally also depends on the height of the chassis, so that the height difference when the cleaning robot moves from a high cleaning surface to a low cleaning surface is small.When the cleaning robot moves from the higher to the lower cleaning surface, it reaches this area with a height difference during normal movement, so that the height difference between the front end of the cleaning robot and the low cleaning surface is also small, and when the front end of the machine body falls, no strong impact force is generated between the universal wheel and the cleaning surface. Since in the case of an obstacle such as a door threshold, the height of the door threshold that the cleaning robot can pass also depends on the height of the chassis, the height of the door threshold that the cleaning robot can generally pass without an auxiliary mechanism for overcoming the obstacle is also small, so when the robot passes through the obstacle such as the door threshold and thus when the front end of the machine body falls, no strong impact force is generated between the universal wheel and the cleaning surface.Therefore, most current cleaning robots are not equipped with a damping mechanism for the universal wheel to absorb the impact on the cleaning surface. In some devices or prior art, the impact force of the cleaning surface on the universal wheel assembly when the front end of the machine body falls is dampened by a damping mechanism. However, in order to achieve damping of the universal wheel, the spring force corresponding to the deformation amount of the second elastic member cannot be too large, because the universal wheel of a cleaning robot is usually subjected to a small impact force from the cleaning surface. Therefore, it is sufficient to provide a second elastic member between the mounting frame of the universal wheel and the chassis of the machine body, such as the one shown in FIG. Fig. 2 structure shown in CN 111374611 A.

[0284] As in Fig. 20 and Fig. As shown in Fig. 21, in the embodiment of the present description, the auxiliary mechanism for obstacle clearance is configured to raise the front end of the machine body so that at least the height of the universal wheel is higher than the height of the obstacle. After the universal wheel has cleared the obstacle, the cleaning robot is controlled to travel to such an extent that the drive wheel arranged in the center of the machine body can touch the upper edge of the obstacle, and the cleaning robot travels to the high cleaning surface or clears an obstacle such as a doorstep by the driving force, thus realizing the clearance of relatively high obstacles. With the obstacle clearance method described above, the cleaning robot can clear obstacles up to a height of 40 mm, for example, or even higher, for example, more than 50 mm.During the obstacle-clearing process, the universal wheel, which is lifted together with the front end of the machine body, is usually higher than the obstacle, allowing the drive wheel to touch the top of the obstacle. In the latter half of the obstacle-clearing process, the front end of the machine body falls onto the cleaning surface under the action of the gravitational potential energy of the machine body, causing the universal wheel to be subjected to impact forces from the cleaning surface. Because the front end of the machine body is lifted to a great height during the obstacle-clearing process, the universal wheel is subjected to a large impact force from the cleaning surface when the front end of the machine body falls.Especially when overcoming obstacles such as doorsteps, there is a large height difference between the front end of the machine body and the cleaning surface behind the doorstep, so the universal wheel is subjected to greater impact force from the cleaning surface when the front end of the machine body falls. Therefore, it is necessary to create a large elastic force between the universal wheel and the chassis to cushion the impact force of the cleaning surface.

[0285] In actual operation, for example, when overcoming an obstacle such as a door threshold with a height of 40mm, the impact force exerted by the cleaning surface on the universal wheel can usually be about three to five times the gravity of the machine body acting on the universal wheel. Therefore, the deformation amount of the second elastic element for damping the impact force from the cleaning surface is also about three to five times the deformation amount generated by the counteraction of the gravity of the machine body acting on the universal wheel. However, due to the requirements for the detection accuracy of the cleaning robot, the front end of the cleaning robot is usually also equipped with an IDS laser module, an optical AI module, a line laser module, etc.equipped, so that the space at the front end of the cleaning robot is limited, and some of the components of the above-mentioned sensors are arranged above the universal wheel. Given this, the deformation space of the second elastic element is limited when the second elastic element is provided for damping on the universal wheel assembly. Therefore, in order to significantly increase the spring force of the second elastic element within the limited deformation space, it is necessary to significantly increase the elastic coefficient of the second elastic element.

[0286] However, after a sharp increase in the elastic coefficient, small fluctuations in the elastic deformation amount can lead to large fluctuations in the spring force. Accordingly, if the second elastic element is provided between the universal wheel mounting frame and the chassis to cushion the impact force of the cleaning surface, a slight deviation in the deformation amount of the second elastic element will result in a large deviation between the spring force acting on the front end of the machine body and the gravity force of the machine body acting on the universal wheel. This will result in the front end of the machine body being sharply lifted or tilted downward, which will have a major impact on the stability of the machine body's travel movement when it is not negotiating obstacles and on the cleaning effect of the cleaning part.This would require very high initial deformation accuracy of the second elastic element upon delivery, increasing assembly requirements. At the same time, the second elastic element may deform slightly over time due to the material. Due to the high elastic coefficient, this small deformation may also cause the front end of the machine body to tilt downward or rise for a period of time after the robot cleaner is used. This has a major impact on the stability of the machine body's travel movement when it is not negotiating obstacles, and on the cleaning effect of the cleaning part.

[0287] At the Fig. In addition, in the structure shown in CN 111374611 A (2), the initial deformation amount of the second elastic member (that is, the remaining elastic deformation amount of the second elastic member after withstanding the spring force of the machine body on the universal wheel assembly) corresponds to a larger spring force. After the universal wheel is subjected to a strong impact force from the cleaning surface, the second elastic member continues to exert a loaded action force on the chassis, which in turn lifts the front end of the machine body high. This causes the front end of the machine body to be in a state of repeated falling and bouncing after the fall, which cannot fulfill the function of stabilizing the machine body and affects the obstacle-passing ability of the robot, while also providing a poor user experience for the user.

[0288] For this purpose, the present invention provides a confining space with a constant height in the height direction of the machine body on the chassis of the machine body, and the mounting seat of the universal wheel is embedded in the confining space. For example, when the second elastic member is a compression spring, one end of the second elastic member may be attached to the cover wall of the confining space and the other end to the mounting seat of the universal wheel, whereby the mounting seat of the universal wheel can float up and down in the confining space. Due to the attachment of the confining space to the chassis, the machine body will not be lifted when the spring force of the second elastic member is greater than the gravity of the machine body acting on the universal wheel. Therefore, it can be arranged so that the spring force is relative to the initial deformation amount of the second elastic member (ie,The spring force corresponding to the initial deformation of the second elastic element when the mounting seat is in contact with the bottom wall of the confinement space (when the second elastic element is a compression spring) is greater than the gravity of the machine body acting on the universal wheel. When the second elastic element is designed as a compression spring, the length of the confinement space in the height direction of the machine body can be adjusted so that the spring force relative to the initial deformation of the second elastic element when the mounting seat is in contact with the bottom wall of the confinement space is greater than the gravity of the machine body acting on the universal wheel. This ensures that when the cleaning robot moves in a plane, the front end of the machine body is not tilted downward or lifted due to the presence of the second elastic element.Furthermore, since the spring force relative to the initial deformation amount of the second elastic member is greater than the gravity of the machine body acting on the universal wheel, the spring force of the second elastic member can be largely prevented from decreasing with increasing use time, thereby reducing the occurrence of downward tilt at the front end of the machine body. The front end of the machine body will not be lifted even if the spring force of the second elastic member increases with increasing use time.At the same time, due to the limited space inside the machine body, there is less space for the elastic deformation of the second elastic member, so by adjusting the spring force with respect to the initial deformation amount of the second elastic member, which is approximately larger than the gravity of the machine body acting on the universal wheel, the maximum impact force that the second elastic member can withstand from the cleaning surface can be further increased.

[0289] When the front end of the machine body falls, the mounting seat can move upward under the action of the impact force of the cleaning surface on the universal wheel, further pushing the second elastic member, and thus cushioning the impact force on the universal wheel through the spring force of the second elastic member. Limited by the limiting space attached to the chassis, after the front end of the machine body falls, the universal wheel floats up and down relative to the chassis within the space limited by the limiting space, so that the up and down floating range of the front end of the machine body is also limited to the height range of the limiting space. As a result, the overall vibration of the machine body at the end of the obstacle crossing is small, that is, the stability of the cleaning robot during obstacle crossing is high and the user experience is good.

[0290] At the same time, the downward movement tendency of the mounting seat is limited, so that the downward movement tendency of the universal wheel is also limited when the front end of the machine body is lifted. Since the universal wheel is located at the front end of the machine body, the bottom of the universal wheel must usually be higher than the top edge of the obstacle, so that when overcoming the obstacle, the drive wheel can touch the top edge of the obstacle. If the downward movement tendency of the mounting seat is not limited, when the front end of the machine body is lifted, the second elastic member between the universal wheel and the chassis will return to a state where it has a zero deformation amount, thereby increasing the distance between the universal wheel and the chassis.This may require the lifting height of the front end of the machine body to be further increased to prevent the bottom of the universal wheel from colliding with the obstacle during the obstacle-clearing process or scratching the obstacle, thereby affecting the obstacle-clearing performance of the cleaning robot. Based on the structure in the embodiment of the present description, the tendency of the universal wheel to move downward is limited, which can effectively reduce the influence of the universal wheel on the obstacle-clearing performance of the cleaning robot and improve the obstacle-clearing performance.

[0291] When the second elastic member is configured as a tension spring, an upwardly projecting protrusion may be formed on the bottom wall of the confining space, and a floating clearance exists between the upper surface of the protrusion and the cover wall of the confining space. One end of the second elastic member is disposed on the bottom wall of the confining space, and the other end thereof is disposed on the mounting seat of the universal gear. When the second elastic member has an initial deformation amount in the confining space, the mounting seat abuts against the above protrusion. In the height direction of the machine body, a surface with which the mounting seat abuts against the protrusion is located above the protrusion, and a floating clearance exists between the mounting seat and the cover wall of the confining space.The spring force of the second elastic element relative to the initial deformation amount is greater than the gravity of the machine body acting on the universal wheel, ensuring that when the cleaning robot moves in a plane, the front end of the machine body is not tilted downward or lifted due to the presence of the second elastic element. When the front end of the machine body falls, the mounting seat can move upward under the action of the impact force of the cleaning surface on the universal wheel, further pulling the second elastic element, and thus dampening the impact force on the universal wheel through the spring force of the second elastic element.Limited by the limiting space attached to the chassis, after the front end of the machine body falls, the universal wheel floats up and down relative to the chassis within the space limited by the upper surface of the protrusion and the cover wall of the limiting space. Therefore, the floating range of the front end of the machine body is also limited to the height range between the upper surface of the protrusion and the cover wall. This minimizes the overall vibration of the machine body at the end of the obstacle crossing, ensuring high stability of the robot cleaner during obstacle crossing, and providing a good user experience.

[0292] When the second elastic element is designed as a tension spring, the floating clearance of the second elastic element for absorbing the impact force of the cleaning surface is limited between the upper surface of the above-mentioned protrusion and the cover wall. This means that part of the height of the limiting space is allocated to the gravity of the machine body acting on the universal wheel, so that the floating clearance for absorbing the impact force of the cleaning surface is limited within the limiting space. In summary, with the same height of the limiting space and the same elasticity coefficient, the compression spring has a higher threshold value for absorbing the impact force than the tension spring.

[0293] As mentioned with reference to Fig. 16 to 30, the technical solutions according to the invention are further described below in connection with the detailed embodiments.

[0294] As mentioned with reference to Fig. As shown in Figures 16 to 21 and 29, the cleaning robot according to the embodiments of the invention comprises a machine body 100 and an obstacle-overcoming mechanism. A drive wheel 210 and a universal wheel assembly 400 are arranged at the bottom of the machine body 100, with the universal wheel assembly 400 being arranged near the front end of the machine body 100 in the forward direction of the machine body 100.

[0295] The obstacle-overcoming mechanism is movably connected to the machine body 100 and is configured to drive the front end of the machine body 100 to lift to achieve at least the separation of the universal wheel assembly 400 from the cleaning surface.

[0296] For example, during the normal traveling movement of the cleaning robot on the cleaning surface, the obstacle-overcoming mechanism can be in the receiving position to avoid interference with the traveling movement of the robot. When the cleaning robot needs to overcome an obstacle that is higher than the chassis, the obstacle-overcoming mechanism can be controlled to switch from the receiving position to the supporting position to support the front end of the machine body during lifting. This at least separates the universal wheel assembly from the cleaning surface, making the chassis that needs to overcome the obstacle in front of the drive wheel and the universal wheel higher than the obstacle, thus avoiding interference between the chassis that needs to overcome the obstacle in front of the drive wheel and the universal wheel with the obstacle.This allows the drive wheel to be moved into a position where it rests against the obstacle, so that the machine body has overcome the obstacle via the drive wheel. In the latter half of the obstacle-overcoming process, the front end of the machine body falls under the influence of gravitational potential energy, so that the drive wheel rests against the cleaning surface. After the obstacle has been overcome, the obstacle-overcoming mechanism can be switched to the receiving position. In the example scenario in which the front end of the machine body falls under the influence of gravitational potential energy in the latter half of the obstacle-overcoming process so far that the drive wheel rests against the cleaning surface, the state of the drive wheel can be described as a falling state.

[0297] As mentioned with reference to Fig. 16 and 19 to 22, respectively, in an optional embodiment of the invention, the obstacle-overcoming mechanism comprises the support unit 220 and the obstacle-overcoming wheel 230. The obstacle-overcoming wheel 230 is mounted on the support unit 220, and the support unit 220 is pivotally mounted relative to the machine body 100. When the front end of the machine body 100 is raised, the obstacle-overcoming wheel 230 can drive the machine body 100 for further movement to ensure smooth obstacle overcoming of the machine body 100.

[0298] The support unit 220 is mounted such that its pivoting movement allows the support point between the obstacle-overcoming wheel 230 and the cleaning surface to be shifted from the front of the cleaning robot's center of gravity to the rear of the cleaning robot's center of gravity. When the support point between the obstacle-overcoming wheel 230 and the cleaning surface is located in front of the cleaning robot's center of gravity or at the center of gravity of the machine body, the front end of the machine body 100 is raised, thereby facilitating the front end of the machine body 100's ability to overcome obstacles.On the other hand, when the support point between the obstacle-overcoming wheel 230 and the cleaning surface is located behind the center of gravity of the cleaning robot, the front end of the machine body 100 is lowered to the ground and at the same time, the rear end of the machine body 100 is raised to facilitate the obstacle-overcoming of the entire machine body 100.

[0299] As mentioned with reference to Fig. 16 and 19 to 22, in an optional embodiment of the invention, a rear wheel 500 is further provided on the bottom of the machine body 100, wherein the rear wheel 500 is arranged near the rear end of the machine body 100. The rear wheel 500 is capable of forming a rolling seat between the front end of the machine body 100 in the raised state and the cleaning surface, thereby preventing scraping between the rear end of the machine body 100 and the cleaning surface. In a preferred embodiment, the rear wheel 500 may not be in contact with the cleaning surface when the cleaning robot is placed on the cleaning surface in order to avoid wheel marks on the already cleaned cleaning surface.

[0300] Accordingly, a state of the universal wheel assembly in which the universal wheel assembly falls from a position where it is separated from the cleaning surface onto the cleaning surface to the point where it abuts against the cleaning surface is called a falling state. In other states, such as a state in which the universal wheel assembly continuously abuts against the cleaning surface during normal traveling of the robot on the cleaning surface, the state of the universal wheel assembly is called a non-falling state. The front end of the machine body is lifted so that the universal wheel assembly is separated from the cleaning surface to perform the obstacle-clearing phase.

[0301] The universal wheel assembly 400 includes a mounting seat and a universal wheel on the mounting seat. As described with reference to Fig. As shown in Fig. 29, the chassis of the machine body 100 has a confining space 110, the height of the confining space 110 being constant in the height direction of the machine body 100, and the confining space including a top wall 111 and a bottom wall 112. In a specific embodiment, the chassis may be specially configured such that the confining space 110 is formed on the chassis, or the chassis may be provided with an additional component to form the confining space 110 thereon. The mounting seat is embedded in the confining space 110. One end of the at least one second elastic member 410 is arranged on the top wall 111, and the other end thereof is arranged on the mounting seat.In the universal wheel assembly 400 in the non-falling state, the mounting seat abuts against the bottom wall 112 under the action of a compression amount of the second elastic member 410, wherein a spring force generated by the compression amount is greater than or equal to a gravity force of the machine body 100 acting on the universal wheel assembly 400. There is a floating clearance between the mounting seat and the cover wall 111, and the mounting seat presses the second elastic member 410 to float against the cover wall 111 under the action of an impact force of the cleaning surface during falling when the universal wheel assembly 400 is in the falling state.

[0302] In the above embodiment, for example, the second elastic member 410 may be a compression spring. The present invention provides a confining space 110 with a constant height in the height direction of the machine body 100 on the chassis of the machine body 100, and the mounting seat of the universal wheel is embedded in the confining space 110, wherein the mounting seat of the universal wheel can float up and down in the confining space 110. Due to the attachment of the confining space 110 to the chassis, the machine body 100 is not lifted when the spring force of the second elastic member 410 is greater than the gravity of the machine body 100 acting on the universal wheel. Therefore, it can be configured such that the spring force is relative to the initial deformation amount of the second elastic member 410 (ie,The spring force (i.e., the corresponding spring force when the mounting seat is in contact with the bottom wall 112 of the confinement space 110) is greater than the gravity of the machine body 100 acting on the universal wheel. Specifically, the length of the confinement space 110 in the height direction of the machine body 100 can be adjusted such that the spring force relative to the initial deformation amount of the second elastic member 410 when the mounting seat is in contact with the bottom wall 112 of the confinement space 110 is greater than the gravity of the machine body 100 acting on the universal wheel. This ensures that, when the cleaning robot moves in a plane, the front end of the machine body 100 is not tilted downward or lifted due to the presence of the second elastic member 410.Furthermore, since the spring force relative to the initial deformation amount of the second elastic member 410 is larger than the gravity of the machine body 100 acting on the universal wheel, the spring force of the second elastic member 410 can be largely prevented from decreasing with the increase in the duration of use, thereby reducing the occurrence of downward tilt at the front end of the machine body 100. The front end of the machine body 100 is not lifted even if the spring force of the second elastic member 410 increases with the increase in the duration of use.At the same time, due to the limited space inside the machine body 100, there is less space for the elastic deformation of the second elastic member 410, so by setting the spring force with respect to the initial deformation amount of the second elastic member slightly larger than the gravity of the machine body 100 acting on the universal wheel, the maximum impact force that the second elastic member 410 can withstand from the cleaning surface can be further increased.

[0303] When the front end of the machine body 100 falls, the mounting seat can move upward under the action of an impact force from the cleaning surface on the universal wheel, further pressing the second elastic member 410, and thus dampening the impact force on the universal wheel through the spring force of the second elastic member 410. Limited by the limiting space 110 attached to the chassis, after the front end of the machine body 100 falls, the universal wheel floats up and down relative to the chassis within the space limited by the limiting space 110, so that the floating range of the front end of the machine body 100 up and down is also limited to the height range of the limiting space 110. As a result, the overall vibration of the machine body 100 at the end of the obstacle crossing is small, that is, the stability of the cleaning robot during obstacle crossing is high, and the user experience is good.

[0304] At the same time, the downward movement tendency of the mounting seat is limited, so that the downward movement tendency of the universal wheel is also limited when the front end of the machine body 100 is lifted. Since the universal wheel 210 is arranged at the front end of the machine body, the bottom of the universal wheel must normally be higher than the top edge of the obstacle so that the drive wheel 210 can contact the top edge of the obstacle when overcoming the obstacle. If the downward movement tendency of the mounting seat is not limited, when the front end of the machine body 100 is lifted, the second elastic member 410 between the universal wheel and the chassis is returned to a state where it has a zero degree of deformation, thereby increasing the distance between the universal wheel and the chassis.This may require the lifting height of the front end of the machine body 100 to be further increased to prevent the bottom of the universal wheel from colliding with the obstacle during the obstacle-clearing operation or scratching the obstacle, thereby impairing the obstacle-clearing performance of the cleaning robot. Based on the structure in the embodiment of the present description, the tendency of the universal wheel to move downward is limited, thereby effectively reducing the influence of the universal wheel on the obstacle-clearing performance of the cleaning robot and improving the obstacle-clearing performance.

[0305] As mentioned with reference to Fig. 17, Fig. 18, Fig. 22, Fig. 23, Fig. 27 and Fig. 29, a containment frame 430 is further included on the chassis, with a containment space 110 enclosed between the containment frame 430 and the chassis. The containment frame 430 is detachably connected to the chassis, which facilitates assembly and disassembly of the assembly seat and thus maintenance of the universal wheel assembly 400.

[0306] As mentioned with reference to Fig. 17 and Fig. As shown in Figure 18, the limiting frame 430 is arranged on an upper surface of the chassis and is located in an inner space of the machine body 100. The top wall 111 of the limiting space 110 is arranged on the limiting frame 430, and the bottom wall 112 is arranged on the chassis. It should be understood that the chassis is located at a very small distance from the cleaning surface, and the universal wheel still partially requires a lateral space. When the limiting space 110 is located below the chassis, on the one hand, it is necessary to expand a lateral space, and on the other hand, a floating play of the second elastic member 410 for absorbing an impact force is also limited.In the present embodiment, by providing the limiting frame 430 on the upper surface of the chassis, the deformation amount of the second elastic member can be further ensured, so that the second elastic member has enough spring force to withstand the impact force from the cleaning surface.

[0307] It should be understood that the mounting position of the limiting frame 430 is not unique. In some other embodiments, the limiting frame 430 may also be arranged on the lower surface of the chassis, i.e., outside the machine body 100, as shown in Fig. 29. The cover wall 112 of the confinement space 110 is arranged on the confinement frame 430 and the bottom wall 111 on the chassis.

[0308] As mentioned with reference to Fig. 25 and Fig. As shown in Figure 26, the mounting seat comprises a mounting frame 420, wherein an upwardly recessed first groove 423 is provided on a bottom of the mounting frame 420. The universal wheel assembly 400 further comprises a rotary shaft 403, wherein a bottom of the rotary shaft 403 is connected to the universal wheel and an upper side of the rotary shaft 403 is arranged in the first groove 423. In the falling state, the upper side of the rotary shaft 403 rests against a groove bottom of the first groove 423 in order to cause the mounting seat to float upward. There is a floating play between the top side of the first groove and the cover wall. Alternatively, an escape hole is provided on the cover wall through which the first groove can pass when the mounting seat floats upward. Furthermore, it is provided that a horizontally outwardly projecting outer edge 421 is formed on an outer wall of the mounting frame 420.The outer edge 421 is located in the confining space 110, and a floating space is enclosed between the outer edge 421 and the cover wall 111. The second elastic member 410 is located in the floating space and is connected at one end to the cover wall 111 and at the other end to the outer edge 421. In the non-falling state of the universal wheel assembly 400, the outer edge 421 abuts the bottom wall 112. As described with reference to FIG. Fig. 17 and Fig. As shown in Figure 18, the cover wall 111 of the mounting frame 420 is higher than the outer edge 421 in the height direction of the machine body 100. With the above structure, the rotary shaft 403 and the second elastic member 410 reuse a height space to further improve space utilization and thus achieve a more compact structure. Furthermore, it ensures that the second elastic member 410 has sufficient spring force in a limited height space to withstand the impact force from the cleaning surface on the universal wheel.

[0309] As mentioned with reference to Fig. 17, Fig. 18 and Fig. 27, an upwardly recessed second groove 431 is provided on a bottom surface of the limiting frame 430. The limiting frame 430 is fitted onto the mounting frame 420 by the second groove 431, enclosing the floating space between a groove bottom of the second groove 431 and the outer edge 421. In the present embodiment, by forming the limiting frame 430 as an upwardly recessed groove structure and fitting it externally onto the mounting frame, the mounting frame and the second elastic member can be further protected, preventing the mounting frame and the second elastic member from interfering with other components in the machine body during operation of the machine body and when the front end of the machine body falls.

[0310] In a specific embodiment, the universal wheel comprises a rotary bracket 401 and a roller 402, wherein the roller 402 is rotatably connected to the rotary bracket 401 and the rotary bracket 401 is rotatably connected to the machine body 100 via the rotary shaft 403, and wherein the rotary shaft 403 is movably connected to the machine body 100 in its own axial direction. In a specific embodiment, for example, the axis of the roller 402 itself may be perpendicular to the rotary shaft 403, and the rotary shaft 403 may be configured such that the rotary shaft 403 is perpendicular to the cleaning surface when the machine body 100 is placed on the cleaning surface. This ensures that the axis of the roller 402 is always parallel to the cleaning surface when the rotary bracket 401 is steered.It should be noted that several embodiments are available with regard to the circumferential connection between the rotary shaft 403 and the rotary support 401 and the machine body 100. For example, in some embodiments, it is provided that the rotary shaft 403 can be fixedly connected to the rotary support 401, while the rotary shaft 403 is rotatably connected to the machine body 100. For example, in some other embodiments, it is also provided that the rotary shaft 403 can be rotatably connected to the rotary support 401, while the rotary shaft 403 is fixedly connected in the circumferential direction to the machine body 100 (the rotary shaft 403 can still move in the axial direction relative to the machine body 100). In another example, the rotary shaft 403 can be rotatably connected to the rotary support 401 and the machine body 100 at the same time.

[0311] It should be understood that the rotatable connection of the rotary bracket 401 to the roller 402 allows the universal wheel assembly 400 to rotate freely in multiple directions, increasing the flexibility of the robot. By connecting the rotary shaft 403 to the machine body 100 so that it can move along its own axis, the freedom of movement of the universal wheel assembly 400 is further improved, allowing the robot to more flexibly adapt to various complex cleaning conditions and obstacles. The flexible rotation capability and up-and-down floating capability of the universal wheel assembly 400 allow the robot to more easily adjust its posture and height when encountering obstacles, thereby improving its ability to overcome obstacles. Typically, this type of assembly is designed to be simple and easy to assemble and disassemble.When maintenance or replacement of the universal wheel assembly 400 is required, it can be easily performed by an operator, improving the maintainability of the robot.

[0312] As mentioned with reference to Fig. 17, Fig. 18, Fig. 22 and Fig. 23, in an optional embodiment of the invention, it is provided that a plurality of second elastic elements 410 can be provided in order to utilize the smaller height space even more effectively and to increase the overall elasticity of the second elastic elements in order to withstand the impact force from the cleaning surface on the universal wheel. In order to enable the spring force of the second elastic elements 410 to act evenly on the mounting frame 420, the individual second elastic elements 410 can be controlled so that they are evenly distributed on the outer edge 421. For example, at least two second elastic elements 410 and at least two outer edges 421 are provided, wherein the at least two outer edges 421 are evenly distributed around the outer wall of the mounting frame 420 and each of the outer edges 421 carries the same spring force 410 of the second elastic element.As yet another example, at least two second elastic elements 410 are provided, wherein the outer edge 421 runs annularly around the outer wall of the mounting frame 420 and the spring force of the second elastic element 410 is evenly distributed on the outer edge 421.

[0313] As mentioned with reference to Fig. 17 and Fig. As shown in Figure 18, a first guide post 422 is provided on the outer edge 421 and a second guide post 432 is provided on the cover wall 111. Both ends of the second elastic member 410 are fitted on the first guide post 422 and the second guide post 432, respectively, and a floating clearance is provided between the first guide post 422 and the second guide post 432. The first guide post 422 and the second guide post 432 can restrict the compression spring to prevent the compression spring from being inclined, thus improving the impact resistance of the compression spring. Since a floating clearance is provided between the first guide post 422 and the second guide post 432, it can be ensured that when the second elastic member contracts, the first guide post 422 does not interfere with the second guide post 432, thus affecting the compression amount of the second elastic member.

[0314] As mentioned with reference to Fig. 17, Fig. 18, Fig. 23 and Fig. As shown in Figure 28, the universal wheel assembly 400 further includes a shaft sleeve 440, the shaft sleeve 440 being fixed to the chassis, and the shaft sleeve 440 being fitted onto the rotating shaft 403. A limiting member 404 is provided on the upper surface of the rotating shaft 403. In the non-falling state, the limiting member 404 abuts the upper surface of the shaft sleeve 440, and in the falling state, the limiting member 404 does not abut the upper surface of the shaft sleeve 440. In the height direction of the machine body 100, the length of the shaft sleeve 440 is shorter than the length of the rotating shaft 403, so that a floating clearance exists when the rotating shaft 403 moves up and down relative to the shaft sleeve 440. This ensures that the second elastic member has a sufficient amount of compression. In a specific embodiment, an annular locking groove may be provided on a circumferential surface of the rotary shaft 403 near the upper end of the rotary shaft 403.For example, the limiting element 404 can be a clamping spring mounted in the annular locking groove. This facilitates assembly and disassembly of the universal wheel assembly 400, which contributes to reducing maintenance difficulty and thus simplifying repair and maintenance of the universal wheel assembly 400. In some other embodiments, the limiting element 404 and the rotating shaft 403 can also be formed as a single piece.

[0315] As mentioned with reference to Fig. 17, Fig. 18 and Fig. As shown in Figure 24, in an optional embodiment of the invention, a damping pad 405 made of elastic material is provided at the upper end of the rotary mount 401. When extreme working conditions occur that cause the universal wheel assembly 400 to reach its maximum upward displacement, the damping pad 405 is still able to prevent a rigid collision between the machine body 100 and the universal wheel assembly 400.

[0316] It should be understood that the specific shape of the second elastic element 410 is not unique and in some other embodiments, the second elastic element 410 may also be formed as a tension spring. For example, in the Fig.In the embodiment shown in Figure 30, the cleaning robot comprises a machine body 100 and an obstacle-overcoming mechanism. A drive wheel 210 and a universal wheel assembly 400 are arranged at the bottom of the machine body 100, with the universal wheel assembly 400 being arranged near the front end of the machine body 100 in the forward direction of the machine body 100. The obstacle-overcoming mechanism is movably connected to the machine body 100 and configured to drive the front end of the machine body 100 to lift, at least to achieve separation of the universal wheel assembly 400 from the cleaning surface. The universal wheel assembly 400 includes a mounting seat and a universal wheel on the mounting seat.The chassis of the machine body 100 includes a confining space 110, the height of which is constant in the height direction of the machine body 100, and the confining space includes a top wall 111 and a bottom wall 112. An upwardly projecting protrusion 101 is formed on the bottom wall 112, and the mounting seat is embedded in the confining space 110. One end of the at least one second elastic member 410 is disposed on the bottom wall 112, and the other end thereof is disposed on the mounting seat.In the universal wheel assembly 400 in a non-falling state, the mounting seat abuts the protrusion 101 under the action of an extension amount of the second elastic member 410, and a surface with which the mounting seat abuts the protrusion is located above the protrusion in the height direction of the machine body, and a spring force generated by the extension amount is greater than or equal to the gravity of the machine body 100 acting on the universal wheel assembly 400. There is a floating clearance between the mounting seat and the cover wall 111, and the mounting seat stretches the second elastic member 410 to float on the cover wall 111 under the action of an impact force of the cleaning surface upon falling when the universal wheel assembly 400 is in the falling state.

[0317] The specific structure of the confining space 110 in the present embodiment can be referred to the above embodiment and will not be repeated here. When the second elastic member 410 is configured as a tension spring, an upwardly projecting protrusion 101 may be formed on the bottom wall 112 of the confining space 110, with a floating clearance between the upper surface of the protrusion 101 and the cover wall 111 of the confining space 110. One end of the second elastic member 410 is arranged on the bottom wall 112 of the confining space 110, and the other end thereof is arranged on the mounting seat of the universal wheel. When the second elastic member 410 has an initial degree of deformation in the confining space 110, the mounting seat abuts the above protrusion 101.In the height direction of the machine body 100, a surface with which the mounting seat abuts the protrusion 101 is located above the protrusion 101, and a floating clearance exists between the mounting seat and the cover wall 111 of the confinement space 110. At this time, the spring force with respect to the initial deformation amount of the second elastic member 410 is greater than the gravity force of the machine body 100 acting on the universal wheel, thereby ensuring that when the cleaning robot moves in a plane, the front end of the machine body 100 is not tilted downward or lifted due to the presence of the second elastic member 410.When the front end of the machine body 100 falls, the mounting seat can move upward under the action of an impact force from the cleaning surface on the universal wheel to further pull the second elastic member 410 and thus dampen the impact force on the universal wheel through the spring force of the second elastic member 410. Limited by the limiting space 110 attached to the chassis, after the front end of the machine body 100 falls, the universal wheel floats up and down relative to the chassis within the space defined by the upper surface of the projection 101 and the cover wall 111 of the limiting space 110, so that the floating range of the front end of the machine body 100 up and down is also limited to the height range between the upper surface of the projection 101 and the cover wall 111. As a result, the overall vibration of the machine body 100 at the end of the obstacle crossing is small, i.e.The stability of the cleaning robot when overcoming obstacles is high and the user experience is good.

[0318] When the second elastic element 410 is designed as a tension spring, the floating clearance of the second elastic element 410 for absorbing an impact force from the cleaning surface is limited between the upper surface of the above-mentioned projection 101 and the cover wall 111. That is, part of the height of the limiting space 110 is allocated to the gravity of the machine body 100 acting on the universal wheel, so that the floating clearance for absorbing an impact force from the cleaning surface is limited in the limiting space 110. In summary, with the same height of the limiting space 110 and the same elasticity coefficient, the compression spring has a higher threshold value for absorbing the impact force than the tension spring.

[0319] In an optional embodiment of the present invention, it is further provided that a containment frame is included on the chassis, wherein the containment space is enclosed between the containment frame and the chassis. Such an arrangement has the following advantageous effects: The containment frame is detachably connected to the chassis, which contributes to the assembly and disassembly of the assembly seat and thus to the maintenance of the universal wheel assembly.

[0320] In an optional embodiment of the present invention, the limiting frame is arranged on an upper surface of the chassis and located in an interior space of the machine body; and the top wall of the limiting space is arranged on the limiting frame, and the bottom wall is arranged on the chassis. Such an arrangement has the following advantageous effects: The chassis is located at a very small distance from the cleaning surface. The universal wheel still partially requires a lateral space. When the limiting space is located below the chassis, on the one hand, it is necessary to expand a lateral space, and on the other hand, a floating play of the second elastic element for absorbing an impact force is also limited.By providing the limiting frame on the upper surface of the chassis in the present embodiment, the deformation amount of the second elastic member can be further ensured, so that the second elastic member has enough spring force to withstand the impact force from the cleaning surface.

[0321] In an optional embodiment of the present invention, the limiting frame is arranged on a lower surface of the chassis and is located outside the machine body; and the bottom wall of the limiting space is arranged on the limiting frame, and the cover wall is arranged on the chassis. Such an arrangement has the following advantageous effects: A possible alternative embodiment is provided to increase the freedom of designing the lugs.

[0322] In an optional embodiment of the present invention, the mounting seat comprises a mounting frame, wherein an upwardly recessed first groove is provided on a bottom of the mounting frame; and the universal wheel assembly further comprises a rotating shaft, wherein a bottom of the rotating shaft is connected to the universal wheel and an upper side of the rotating shaft is arranged in the first groove; wherein, in the falling state, the upper side of the rotating shaft abuts against a groove bottom of the first groove to cause the mounting seat to float upwards; wherein a floating clearance exists between the upper side of the first groove and the cover wall; or wherein an escape hole is provided on the cover wall through which the first groove can pass when the mounting seat floats upwards.It is provided that a horizontally outwardly projecting outer edge is formed on an outer wall of the mounting frame; that the outer edge is located in the confining space, and a floating space is enclosed between the outer edge and the cover wall; that the second elastic member is located in the floating space and is connected to the cover wall at one end and to the outer edge at the other end; and that, in the non-falling state of the universal wheel assembly, the outer edge abuts against the projection. In an optional embodiment of the present invention, it is provided that the top of the mounting frame is higher than the outer edge in the height direction of the machine body. Such an arrangement has the following advantageous effects: The mounting frame and the second elastic member reuse a height space to further improve space utilization and thus obtain a more compact structure.In addition, it is ensured that the second elastic element has sufficient spring force in a limited height space to withstand the impact force from the cleaning surface on the universal wheel.

[0323] In an optional embodiment of the present invention, it is provided that an upwardly recessed second groove is provided on the underside of the limiting frame. Since, in the present embodiment, the limiting frame is formed as an upwardly recessed groove structure and is mounted externally on the mounting frame, the mounting frame and the second elastic element can be further protected to prevent the mounting frame and the second elastic element from interfering with other components in the machine body during operation of the machine body and when the front end of the machine body falls. The limiting frame is mounted on the mounting frame by the second groove, wherein the floating space is enclosed between a groove bottom of the second groove and the outer edge.

[0324] In an optional embodiment of the present invention, at least two second elastic elements and at least two outer edges are provided, wherein the at least two outer edges are evenly distributed around the outer wall of the mounting frame, and each of the outer edges carries the same spring force of the second elastic element; or at least two second elastic elements are provided, wherein the outer edge runs annularly around the outer wall of the mounting frame, and the spring force of the second elastic element is evenly distributed along the outer edge. A smaller height space is utilized even more effectively, and the total spring force of the second elastic element is increased to withstand the impact force from the cleaning surface on the universal wheel, and to allow the spring force of the second elastic element to act evenly on the mounting frame.

[0325] In an optional embodiment of the present invention, a first guide post is provided at the outer edge and a second guide post is provided at the cover wall, both ends of the second elastic member are respectively fitted on the first guide post and the second guide post, and a floating clearance exists between the first guide post and the second guide post. Such an arrangement has the following advantageous effects: The first guide post and the second guide post can restrict the compression spring to prevent the compression spring from tilting, thus improving the impact resistance of the compression spring.In addition, a floating clearance is provided between the first guide column 422 and the second guide column 432 to ensure that when the second elastic member is contracted, the first guide column 422 interferes with the second guide column 432 and thus affects the compression amount of the second elastic member.

[0326] In an optional embodiment of the present invention, the universal wheel assembly further comprises a shaft sleeve fixed to the chassis and fitted onto the rotating shaft, a limiting member being provided on the upper side of the rotating shaft, the limiting member abutting the upper side of the shaft sleeve in the non-falling state, and the limiting member not abutting the upper side of the shaft sleeve in the falling state; and the length of the shaft sleeve being shorter than the length of the rotating shaft in the height direction of the machine body, so that a floating clearance exists when the rotating shaft moves up and down relative to the shaft sleeve. This ensures that the second elastic member has a sufficient amount of compression. Such an arrangement has the following advantageous effects: When the rotating shaft moves, the machine body is subjected to wear.In the present embodiment, a shaft sleeve is provided at a location where the machine body fits the rotating shaft. The shaft sleeve can be made separately from a wear-resistant material, thus reducing the cost of the entire machine while extending its service life. The limiting element can prevent the universal gear from falling off the shaft sleeve.

[0327] The above-described embodiments are merely illustrative of the principles and effects of the present invention, but are not intended to limit the present invention. Anyone familiar with this technology can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or changes made by persons with general knowledge in the related technical field without departing from the spirit and technical ideas of the present invention are still covered by the claims of the present invention.

[0328] In the description herein, numerous specific details are provided, such as example components and / or methods, in order to provide a thorough understanding of embodiments of the present invention. However, it should be apparent to those skilled in the art that embodiments of the present invention may be practiced without one or more of the specific details, or by means of other devices, systems, assemblies, methods, components, materials, parts, and the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the present invention. Summary

[0329] The present invention relates to the technical field of cleaning devices, in particular to a cleaning robot comprising a machine body and a traveling assembly. The traveling assembly includes a drive wheel, a support unit, and an obstacle-overcoming wheel. The obstacle-overcoming wheel is arranged on the support unit, and the support unit is rotatable about the drive wheel to switch the traveling assembly between a traveling state and an obstacle-overcoming state. In the traveling state of the traveling assembly, the drive wheel rests against a floor surface to set the machine body in traveling motion. In the obstacle-overcoming state of the traveling assembly, the support unit brings the obstacle-overcoming wheel into contact with the floor surface and the drive wheel out of contact with the floor surface, so that the obstacle-overcoming wheel sets the machine body in traveling motion. The present invention improves the obstacle-overcoming capability of the cleaning robot. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 111374611 A [0283, 0287]

Claims

[1] Cleaning robot, characterized by that it includes: a machine body, the bottom of which is provided with a drive wheel and a universal wheel assembly, the universal wheel assembly being arranged near a front end of the machine body in a forward direction of the machine body; an obstacle-overcoming mechanism movably connected to the machine body, the obstacle-overcoming mechanism being configured that it can lift the front end of the machine body to separate at least the universal wheel assembly from a cleaning surface; the universal wheel assembly comprises a mounting seat and a universal wheel on the mounting seat; a chassis of the machine body has a confining cavity, the confining cavity having a fixed height in a height direction of the machine body and having an upper wall and a lower wall; the fixing base is embedded in the confining cavity; and at least one elastic element, one end of which is provided on the upper wall and the other end of which is provided on the fixing base; wherein in the universal wheel assembly, in a non-falling state, under the action of a compression amount of the second elastic member, the mounting seat abuts against the bottom wall, wherein a spring force generated by the compression amount is greater than or equal to a gravitational force acting from the machine body to the universal wheel assembly; wherein a floating clearance exists between the mounting seat and the cover wall, and wherein the mounting seat presses the second elastic member for floating onto the cover wall under the action of an impact force of the cleaning surface upon falling when the universal wheel assembly is in the falling state. [2] Cleaning robot according to claim 1, characterized by that it further comprises a limiting frame on the chassis, wherein the limiting space is formed enclosed between the limiting frame and the chassis. [3] Cleaning robot according to claim 2, characterized by that the limiting frame is arranged on an upper surface of the chassis and is located in an interior space of the machine body; and the upper wall of the limiting space is arranged on the limiting frame and the lower wall is arranged on the chassis. [4] Cleaning robot according to claim 2, characterized bythat the limiting frame is arranged on a lower surface of the chassis and is located outside the machine body; and the lower wall of the limiting space is arranged on the limiting frame and the upper wall is arranged on the chassis. [5] Cleaning robot according to claim 3, characterized by , that characterized by that the mounting seat comprises a mounting frame, wherein an upwardly recessed first groove is provided on an underside of the mounting frame; and that the universal gear assembly further comprises a rotating shaft, wherein a lower surface of the rotating shaft is connected to the universal gear and a top surface of the rotating shaft is disposed in the first groove; wherein in the falling state, the top side of the rotary shaft abuts against a groove bottom of the first groove to float the mounting seat upward; wherein a floating clearance exists between the top of the first groove and the cover wall; or wherein an escape hole is provided on the cover wall through which the first groove can pass when the mounting seat floats upward. [6] Cleaning robot according to claim 5, characterized by that a horizontally outwardly projecting outer edge is formed on an outer wall of the mounting frame, wherein the outer edge is located in the confining space and a floating space is enclosed between the outer edge and the cover wall; wherein the elastic element is located in the floating space and is connected at one end to the upper wall and at the other end to the outer edge; and wherein, in the non-falling state of the universal wheel assembly, the outer edge abuts the lower wall. [7] Cleaning robot according to claim 6, characterized by that in the height direction of the machine body, a top side of the mounting frame is higher than the outer edge. [8] Cleaning robot according to claim 6 or 7, characterized by that a second groove recessed upwards is provided on the underside of the limit frame; and that the limiting frame is placed on the mounting frame through the second groove, wherein the floating space is enclosed between a groove bottom of the second groove and the outer edge. [9] Cleaning robot according to claim 6 or 7, characterized by that at least two elastic elements and at least two outer edges are provided, wherein the at least two outer edges are evenly distributed around the outer wall of the mounting frame and each of the outer edges carries an equal spring force of a corresponding elastic element. [10] Cleaning robot according to claim 6 or 7, characterized bythat at least two elastic elements are provided, wherein the outer edge runs in a ring around the outer wall of the mounting frame and spring forces of the elastic elements are evenly distributed on the outer edge. [11] Cleaning robot according to claim 6 or 7, characterized by that a first guide column is provided on the outer edge and a second guide column is provided on the upper wall, wherein both ends of the elastic element are respectively placed on the first guide column and the second guide column, and wherein a floating clearance exists between the first guide column and the second guide column. [12] Cleaning robot according to claim 5, characterized bythat the universal wheel assembly further comprises a shaft sleeve which is fixed to the chassis and placed on the rotary shaft, wherein a limiting member is provided on the upper side of the rotary shaft, wherein in the non-falling state the limiting member abuts the upper side of the shaft sleeve and in the falling state the limiting member does not abut the upper side of the shaft sleeve; and wherein in the height direction of the machine body the length of the shaft sleeve is shorter than the length of the rotary shaft, so that a floating play exists when the rotary shaft moves up and down relative to the shaft sleeve. [13] Cleaning robots, characterized by that it includes: a machine body, the bottom of which is provided with a drive wheel and a universal wheel assembly, the universal wheel assembly being arranged near a front end of the machine body in a forward direction of the machine body; an obstacle-overcoming mechanism movably connected to the machine body, the obstacle-overcoming mechanism being configured that it can lift the front end of the machine body to separate at least the universal wheel assembly from a cleaning surface; the universal wheel assembly comprises a mounting seat and a universal wheel on the mounting seat; a chassis of the machine body has a confining cavity, the confining cavity having a fixed height in a height direction of the machine body and having an upper wall and a lower wall; the lower wall is provided with an upwardly projecting part; the fixing base is embedded in the confining cavity; and at least one elastic element, one end of which is provided on the upper wall and the other end of which is provided on the fixing base; wherein, when the universal wheel assembly is in a non-falling state, the mounting seat abuts against the protrusion part under the action of an extension amount of the elastic member, and in the height direction of the machine body, a surface of the fixing base abutting against the protrusion part, is arranged above the projection part, an elastic force generated by the amount of stretching is greater than or equal to a gravitational force of the machine body acting on the universal wheel assembly; and a floating gap exists between the mounting seat and the upper wall, and when the universal wheel assembly is in a falling state, the mounting base stretches the elastic member to float toward the upper wall due to an impact force of the cleaning surface during the falling. [14] Cleaning robot according to claim 13, characterized bythat it further comprises a limiting frame on the chassis, wherein the limiting space is enclosed between the limiting frame and the chassis. [15] Cleaning robot according to claim 14, characterized by that the limiting frame is arranged on an upper surface of the chassis and is located in an interior space of the machine body; and wherein the upper wall of the limiting space is arranged on the limiting frame and the lower wall is arranged on the chassis. [16] Cleaning robot according to claim 15, characterized by that the mounting seat comprises a mounting frame, wherein an upwardly recessed first groove is provided on an underside of the mounting frame; and that the universal gear assembly further comprises a rotating shaft, wherein a lower surface of the rotating shaft is connected to the universal gear and a top surface of the rotating shaft is disposed in the first groove; wherein in the falling state, the top side of the rotary shaft abuts against a groove bottom of the first groove to float the mounting seat upward; wherein a floating clearance exists between the top of the first groove and the cover wall; or wherein an escape hole is provided on the cover wall through which the first groove can pass when the mounting seat floats upward. [17] Cleaning robot according to claim 16, characterized by that a horizontally outwardly projecting outer edge is formed on an outer wall of the mounting frame; wherein the outer edge is located in the confining space and a floating space is enclosed between the outer edge and the upper wall; wherein the second elastic member is located in the floating space and is connected at one end to the upper wall and at the other end to the outer edge; and wherein, in the non-falling state of the universal wheel assembly, the outer edge abuts against the projecting part. [18] Cleaning robot according to claim 17, characterized by that in the height direction of the machine body, a top side of the mounting frame is higher than the outer edge. [19] Cleaning robot according to claim 17, characterized by that a bottom of the limiting frame is provided with an upwardly recessed second groove; and the limiting frame is passed through the second groove outside the mounting frame and a bottom of the second recess and the outer edge enclose each other to form the floating cavity. [20] Cleaning robot according to claim 16, characterized bythat the universal wheel assembly further comprises a shaft sleeve fixed to the chassis, wherein the shaft sleeve is provided with a sleeve outside the rotating shaft, a limiting member is arranged at the upper end of the rotating shaft, and the limiting member abuts against an upper end of the shaft sleeve in the non-falling state, and the limiting member is released from abutment against the upper end of the shaft sleeve in the falling state; and in the height direction of the machine body, the length of the shaft sleeve is shorter than the length of the rotating shaft to allow a floating gap when the rotating shaft moves up and down relative to the shaft sleeve.

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