FIRST MOVING WHEEL MECHANISM, SECOND MOVING WHEEL MECHANISM AND CLEANING APPLIANCE

Abstract

A wheel mechanism mounted on a device body (300) and comprising: a wheel component (10), rotatably arranged on the device body; and a power component (20), also mounted on the device body (300). The power component (20) comprises a rotating disk (22) and a rotating power element (21) configured to rotate the rotating disk (22) in two opposite directions, and a flexible connector (30) arranged between the wheel component (10) and the rotating disk (22). This connector rotates the wheel component (10) relative to the device body (300) by changing the length of the exposed flexible connector (30) between the wheel component (10) and the rotating disk (22) during the rotation of the rotating disk. The angle of rotation of the rotating disk (22) during the rotation of the wheel component does not exceed 360°. Fig. 1.

Description

Title of the invention: FIRST MOVING WHEEL MECHANISM, SECOND MOVING WHEEL MECHANISM AND CLEANING APPARATUS Scope of the invention

[0001] The present disclosure falls within the technical field of cleaning devices and specifically relates to a first moving wheel mechanism, a second moving wheel mechanism and a cleaning device. Context of the invention

[0002] The cleaning device is a common intelligent electric cleaning device, such as a robot vacuum cleaner and an automatic sweeper. The cleaning device's ability to overcome obstacles during automatic movement is crucial, and the obstacle clearance height limits the operating range and reliability of the cleaning device.

[0003] Currently, solutions for obstacle avoidance rely on software strategies. The obstacle avoidance function is achieved by adjusting the angle and speed of the cleaning device as it approaches obstacles. These solutions are limited by physical constraints such as the height of the cleaning device relative to the ground and have a limited effect.

[0004] During the movement of the cleaning device, in order to maintain balance and normal operation, the base of the cleaning device must not be too far from the ground. However, in certain scenarios, the distance between the base and the ground is too close, thus affecting the operation of the cleaning device. For example, if it encounters an obstacle, the base may be too low to clear the obstacle; and if it encounters a depth of water, the base may be too low, resulting in water entering the cleaning device and damaging it. Summary of the invention

[0005] In order to improve the obstacle crossing capability of the cleaning device, the present disclosure proposes a first mobile wheel mechanism, a second mobile wheel mechanism and a cleaning device.

[0006] One embodiment of the present invention proposes a first movable wheel mechanism, which is mounted on a device body and comprises: a first movable wheel component; a power component; and a flexible connector, arranged between the first moving wheel component and the power component, and causing the first moving wheel component to move relative to the device body by changing a length of the flexible connector.

[0007] In one embodiment, the movable wheel mechanism, which is mounted on a device body and comprises: a movable wheel component, arranged on the apparatus body in a rotatable manner; a power component, mounted on the apparatus body, the power component comprising a rotating power element and a rotating disk, and the rotating power element being configured to drive the rotating disk to rotate in two opposite directions; and a flexible connector, arranged between the moving wheel component and the rotating disc, and causing the moving wheel component to rotate relative to the device body by changing a length of the exposed flexible connector between the moving wheel component and the rotating disc during the rotation of the rotating disc, wherein an angle of rotation of the rotating disc during the rotation of the moving wheel component does not exceed 360°.

[0008] In some embodiments, the power component comprises a rotating power element and a rotating disk, and the rotating power element is configured to drive the rotating disk to rotate in two opposite directions.

[0009] The flexible connector is arranged between the first movable wheel component and the rotating disk and configured to cause the first movable wheel component to rotate relative to the apparatus body by changing a length of the exposed flexible connector between the first movable wheel component and the rotating disk during the rotation of the rotating disk.

[0010] In some embodiments, the angle of rotation of the rotating disk during the rotation of the first moving wheel component does not exceed 360° or does not exceed 720°.

[0011] In some embodiments, the angle of rotation of the rotating disk during the raising or lowering of the first moving wheel component is 0 ~ 300°.

[0012] In some embodiments, a connection position between the flexible connector and the rotating disc is eccentric with respect to an axis of rotation of the rotating disc.

[0013] In some embodiments, the angle of rotation of the rotating disc during the raising or lowering of the first moving wheel component is 0 ~ 90°.

[0014] In certain embodiments, the rotating disc comprises a transmission disc, an internal retaining disc, and an external retaining disc, which are connected in turn, and the connection position between the flexible connector and The rotating disc is located between the internal retaining disc and the external retaining disc.

[0015] In some embodiments, the connection point between the flexible connector and the rotating disk is provided with a tensioning mechanism or a torsion spring, configured to ensure that the flexible connector is clamped during the rotation of the rotating disk. In some embodiments, the rotating power element is an actuator or a motor integrated with an encoder, and an output shaft of the actuator or motor is connected to the rotating disk.

[0016] In some embodiments, the first moving wheel mechanism further includes a control member and a sensor for detecting the angle of rotation of the first moving wheel component, and the sensor and the rotating power element are both electrically connected to the control member; the control member is configured to determine, according to the angle of rotation of the first moving wheel component and the angle of rotation of the rotating power element, whether a failure occurs at the level of the rotating power element or the flexible connector.

[0017] In some embodiments, the sensor comprises a rotary sensor arranged on the rotation shaft of the first moving wheel component, and / or an optical sensor arranged on the first moving wheel component.

[0018] In certain embodiments, an upper limit part and a lower limit part which are arranged on the body of the device, are configured to limit an upper limit position and a lower limit position of the first movable wheel component, respectively.

[0019] In some embodiments, the first movable wheel component includes a support and a first movable wheel mounted on the support; the support includes a main wheel portion and a free portion, and the main wheel portion is closer to the first movable wheel than the free portion; the main wheel portion and the free portion are separated by a normal grounding axis of the first movable wheel, and the free portion is closer to a front direction of the apparatus body than the main wheel portion.

[0020] The free part of the support is connected to the device body in a rotational manner; the flexible connector is connected to the free part of the support.

[0021] In some embodiments, the free part of the support is provided with a mounting seat, the mounting seat is connected to the apparatus body in a rotational manner, and the support rotates with the rotation shaft of the mounting seat as a center of circle.

[0022] The free part of the support is provided with a mounting part, and the flexible connector is connected to the mounting part.

[0023] In some embodiments, the mounting seat is arranged in a lower part of the free part; the mounting part is arranged in an upper part of the free part.

[0024] In some embodiments, the support includes a reducer and a drive device mounted on the reducer, and a rotation shaft of the mounting seat has a different axis from an axis of the drive device.

[0025] In some embodiments, the first movable wheel mechanism further includes a spring, one end of which is fixed on the free part of the support and the other end of which is fixed on the body of the device.

[0026] In some embodiments, both the free part and the body of the device are provided with hook parts, two ends of the spring are hooked to the two hook parts, respectively, and the hooking directions of the two hook parts are opposite.

[0027] In some embodiments, the support is a mobile power device connected to the first mobile wheel by drive.

[0028] In some embodiments, the support is a console, and the first movable wheel is mounted on the console.

[0029] In some embodiments, when the rotating disc rotates along a first direction, the exposed flexible connector between the first moving wheel component and the rotating disc is shortened and tightened, thus pulling the first moving wheel component to rotate relative to the apparatus body.

[0030] When the rotating disc rotates along a second direction opposite to the first direction, the exposed flexible connector between the first moving wheel component and the rotating disc is lengthened, causing the first moving wheel component to rotate in the opposite direction relative to the apparatus body.

[0031] In one or more embodiments of this disclosure, a first wheel mechanism is provided, comprising a first wheel component, a power component, and a flexible connector. The first wheel component is arranged on the device body in a rotatable manner. Similarly, the power component is also mounted on the device body and configured to provide a force to drive the first wheel component up or down relative to the device body. The power component comprises a rotating power element and a rotating disk. The rotating power element is configured to drive the rotating disk to rotate in two opposite directions. The flexible connector is arranged between the first wheel component and the rotating disk.During the rotation of the rotating disc, the length of the exposed flexible connector between the first moving wheel component and the rotating disc changes, leading to . thus the first moving wheel component to rotate relative to the device body, in order to perform the function of raising and lowering relative to the device body.

[0032] The rotation angle of the rotating disc during the rotation of the first wheel component does not exceed 360°, thereby reducing the length of the exposed flexible connector between the first wheel component and the rotating disc, preventing loosening or detachment of the rotating disc due to the increase in the exposed length of the flexible connector, or failure of the first wheel mechanism caused by interference with peripheral components due to excessive exposure length, reducing the failure rate of the first wheel mechanism and improving the operational reliability of the first wheel mechanism.

[0033] When the first moving wheel component is in constant contact with the ground during the movement process, the raising or lowering of the first moving wheel component relative to the device body results in a change in the height of the device body relative to the ground. As the height of the device body relative to the ground increases, the components below the device body are higher than the obstacles, so that the device has no parts that interfere with the obstacles during the obstacle crossing process, thus achieving the effect of increasing the obstacle crossing height. This allows the device, equipped with the first moving wheel lifting mechanism, to increase the obstacle crossing height and improves its ability to overcome obstacles as well as its adaptability to different running surfaces.

[0034] Some embodiments of the present disclosure further propose a first movable wheel mechanism which is mounted on the apparatus body and includes: a first movable wheel component; a power component; and a flexible connector connected between the first moving wheel component and the power component, and configured to cause the first moving wheel component to move relative to the device body following the drive of the power component, thus causing the first moving wheel component to move up or down relative to the device body, in which the first moving wheel component is always in contact with the ground during movement and during ascent or descent relative to the device body.

[0035] In some embodiments, the first movable wheel component comprises a support and a first movable wheel mounted on the support, and the support is connected to the apparatus body in a rotational manner.

[0036] The flexible connector is connected between the support and the power component, and configured to cause the support to rotate relative to the device body following the drive of the power component.

[0037] In some embodiments, the support comprises a main wheel part and a free part, and the main wheel part is closer to the first moving wheel than the free part; the flexible connector is connected between the free part of the support and the power component.

[0038] In some embodiments, the support is a console or a mobile power device.

[0039] In some embodiments, the free part of the support is connected to the body of the device in a rotational manner.

[0040] In some embodiments, the free part of the support is provided with a mounting seat, the mounting seat is connected to the device body in a rotational manner, and the support rotates with the rotation shaft of the mounting seat as the center of the circle.

[0041] In some embodiments, the rotation shaft of the mounting seat has a different axis from an axis of the drive device.

[0042] In some embodiments, the mounting seat is arranged in a lower part of the free part.

[0043] In some embodiments, the main wheel part and the free part are separated by a normal grounding axis of the first movable wheel, and the free part is closer to a forward direction of the apparatus body than the main wheel part.

[0044] In some embodiments, the free part of the support is provided with a mounting part, and the flexible connector is connected to the mounting part; the mounting part is arranged in an upper part of the free part.

[0045] In some embodiments, the power component includes a rotating power element; one end of the flexible connector is fixed to the free part of the support, and the other end is connected to an output shaft of the rotating power element; the rotating power element tightens or loosens the flexible connector during rotation.

[0046] In some embodiments, the angle of rotation of the rotating power element during the raising or lowering of the first moving wheel component does not exceed 360° or does not exceed 720°.

[0047] In some embodiments, the angle of rotation of the rotating power element during the raising or lowering of the first moving wheel component is 0 ~ 300°.

[0048] In some embodiments, the power component further comprises a rotating disk which is arranged coaxially with the output shaft of the rotating power element; a connection position between the flexible connector and the rotating disk is eccentric with respect to the output shaft of the rotating power element.

[0049] In certain embodiments, the angle of rotation of the rotating disc during the raising or lowering of the first movable wheel component is 0 360° or 0 ~ 720°.

[0050] In some embodiments, the rotating disc comprises a transmission disc, an internal retaining disc and an external retaining disc, which are connected in turn, and a connection position between the flexible connector and the rotating disc is located between the internal retaining disc and the external retaining disc.

[0051] In some embodiments, the connection position between the flexible connector and the rotating disc is provided with a tensioning mechanism or a torsion spring.

[0052] In some embodiments, the rotating power element controls the angle of rotation and / or the speed of rotation of the rotating disk.

[0053] In some embodiments, the rotating power element is an actuator or a motor; the first moving wheel mechanism further includes a control member, and the rotating power element is electrically connected to the control member.

[0054] In some embodiments, the first moving wheel mechanism further includes a sensor for detecting the angle of rotation of the first moving wheel component, and the sensor is electrically connected to the control member; the control member is configured to determine, according to the angle of rotation of the first moving wheel component and the angle of rotation of the rotating power element, whether a failure occurs at the level of the rotating power element or the flexible connector.

[0055] In some embodiments, the sensor comprises a rotary sensor arranged on the rotation shaft of the first moving wheel component and / or an optical sensor arranged on the support.

[0056] In some embodiments, the apparatus body includes a base; the support is connected to the base in a rotational manner.

[0057] In certain embodiments, an upper limit part and a lower limit part which are arranged on the base, are configured to limit an upper limit position and a lower limit position of the first movable wheel component, respectively.

[0058] In some embodiments, the first movable wheel mechanism further includes a spring, one end of which is fixed on the free part of the support and the other end of which is fixed on the base.

[0059] In some embodiments, both the free part and the base are provided with hook parts, two ends of the spring are hooked to the two hook parts, respectively, and the hooking directions of the two hook parts are opposite.

[0060] In one or more embodiments of this disclosure, a first moving wheel mechanism is provided, comprising a first moving wheel component, a power component, and a flexible connector. The first moving wheel component comprises a drive device, a transmission device, and a first moving wheel. The transmission device is rotationally connected to the device body, and the power component is configured to provide a force to drive the first moving wheel component up or down relative to the device body.The flexible connector is configured to transfer power from the power component, which acts on the first moving wheel component, and the flexible connector is connected between the free part of the transmission device and the power component, and configured to cause the transmission device to rotate relative to the device body with the drive of the power component, thus causing the first moving wheel component to move up or down relative to the device body.

[0061] When the first movable wheel component is in contact with the ground at all times during the movement process, and also maintains contact with the ground during the ascent or descent relative to the apparatus body, the ascent or descent of the first movable wheel component relative to the apparatus body manifests itself in the form of a change in height of the apparatus body relative to the ground.When the height of the device body relative to the ground increases, the components under the device body are higher than the obstacles, so that the device has no part that interferes with the obstacles during the obstacle crossing process, thus achieving the effect of increasing the obstacle crossing height, allowing the device designed with the first mobile wheel lifting mechanism to increase the obstacle crossing height and improving the ability to get out of trouble as well as the adaptability to different running surfaces.

[0062] One embodiment of the present disclosure further proposes a second movable wheel mechanism, comprising a second movable wheel component and a drive component. The drive component is configured to adjust the distance between the second movable wheel component and a body of a cleaning device.

[0063] In some embodiments, the second movable wheel mechanism further includes a cam, the drive component is connected to a first housing of the cleaning device in a fixed manner, and the drive component is connected to the cam by drive.

[0064] The cam comes to rest against the second moving wheel component, the second moving wheel component is connected to a second housing of the cleaning device in a sliding manner, with the sliding direction being the height direction.

[0065] In some embodiments, the drive component comprises a drive unit and a drive shaft, the drive unit is connected to the first housing in a fixed manner and connected to one end of the drive shaft by drive, and the other end of the drive shaft is connected to the first housing via a bearing structure.

[0066] The cam is connected to the transmission shaft in a fixed manner.

[0067] In some embodiments, the second movable wheel component includes a stop plate, a sliding sleeve, a movable wheel mounting seat and a second movable wheel mounted on the movable wheel mounting seat.

[0068] The sliding sleeve is connected to the second housing in a sliding manner and connected to the movable wheel mounting seat.

[0069] The cam comes to rest against the stop plate, and the stop plate is fixed on the sliding sleeve.

[0070] In some embodiments, the second movable wheel component further comprises an elastic part, one end of which is connected to the stop plate and the other end of which is connected to the second housing.

[0071] In some embodiments, an inclined surface and a horizontal surface are arranged on the stop plate, and the inclined surface is adjacent to and higher than the horizontal surface.

[0072] In some embodiments, a stop pulley is arranged on the cam and the cam comes to rest against the stop plate via the stop pulley.

[0073] In some embodiments, the cam comprises a distal end opposite the transmission shaft and a proximal end adjacent to the transmission shaft, and the thrust pulley is arranged on the distal end.

[0074] In some embodiments, the cam comes to rest against the stop plate via the cam's curvature surface.

[0075] In some embodiments, a cardan shaft is arranged on the movable wheel mounting seat, and a shaft mounting hole is arranged inside the sliding sleeve.

[0076] The movable wheel mounting seat is connected to the sliding sleeve in a rotational manner, via the cardan shaft and the shaft mounting hole.

[0077] In some embodiments, an anti-stop locking structure is arranged inside the shaft mounting hole, and the cardan shaft is sheathed with the shaft mounting hole.

[0078] The anti-stop locking structure is connected to the cardan shaft by locking.

[0079] The drive component is connected to the first housing in a fixed manner, the cam comes against the second movable wheel component, and the second movable wheel component is connected to the second housing in a sliding manner along the height direction, so that the cam can rotate with the drive of the drive component, causing the second movable wheel component to slide relative to the second housing with the action of a stop force and thus changing the height difference between the second movable wheel component and the second housing, thereby changing the distance between the body of the cleaning device and the ground, in order to meet the requirements of the cleaning device under different operating scenarios as well as to improve the flexibility of the second movable wheel mechanism and the operating flexibility of the cleaning device.

[0080] By arranging the cam and the drive component, the change in height difference between the second moving wheel component and the second housing can be achieved, avoiding complex structures such as a lead screw, thus simplifying the mechanical structure for changing the bottom of the cleaning device and reducing the manufacturing cost of the second moving wheel mechanism.

[0081] Some embodiments of this disclosure further propose a cleaning apparatus which includes an apparatus body, the first moving wheel mechanism according to any one of the embodiments described above and / or the second moving wheel mechanism according to any one of the embodiments described above.

[0082] Other embodiments propose a cleaning device comprising a body of device (300), and a movable wheel mechanism (10) according to any one of the embodiments described above.

[0083] Some embodiments of this disclosure further provide a cleaning apparatus, comprising an apparatus body, two drive wheel mechanisms and one driven wheel mechanism. The two drive wheel mechanisms and the one driven wheel mechanism are distributed in a triangular manner on the apparatus body, where the driven wheel mechanism is positioned on the front side in the forward direction of the cleaning apparatus, and the drive wheel mechanism is positioned on the rear side in the forward direction of the cleaning apparatus.

[0084] The driving wheel mechanism is the first moving wheel mechanism according to any one of the embodiments described above and the driven wheel mechanism is the second moving wheel mechanism according to any one of the embodiments described above.

[0085] In certain embodiments, the two drive wheel mechanisms and the driven wheel mechanism can independently control the raising and lowering of their respective movable wheels.

[0086] In certain embodiments, the two drive wheel mechanisms and the driven wheel mechanism can control the synchronous raising and lowering of their respective moving wheels. Brief description of the drawings

[0087] In order to describe the technical diagrams in this disclosure more clearly, the drawings to be used in the description of the embodiments or prior art will be briefly described below. The drawings in the description below represent only certain embodiments of this disclosure. A person skilled in the art can also obtain other drawings without creative work based on these drawings.

[0088] [Fig-1] Fig. 1 is a schematic structural view of a first mechanism of moving wheel in the mounted state of a moving wheel component according to one or more embodiments of this disclosure.

[0089] [Fig.2] The [Fig.2] is a schematic structural view of a first moving wheel mechanism in the descending state of a moving power device according to one or more embodiments of the present disclosure.

[0090] [Fig.3] The [Fig.3] is a schematic structural view of a moving power device in the first moving wheel mechanism of the [Fig.1] and the [Fig.2].

[0091] [Fig.4] The [Fig.4] is a structural view illustrating the assembly of the moving power device and a spring in the first moving wheel mechanism of the [Fig.1] and the [Fig.2].

[0092] [Fig.5] The [Fig.5] is an exploded view of a power component and a flexible connector in the first movable wheel mechanism of the [Fig.1] and the [Fig.2],

[0093] [Fig.6] The [Fig.6] is a schematic view illustrating the obstacle crossing process of a cleaning device according to one or more embodiments of the present disclosure.

[0094] [Fig.7] The [Fig.7] is a schematic view illustrating the obstacle crossing process of a cleaning device according to certain other embodiments of the present disclosure.

[0095] [Fig-8] The [Fig.8] is a schematic structural view of a cleaning apparatus according to certain embodiments of the present disclosure.

[0096] [Fig.9] The [Fig.9] is a schematic structural view of a second movable wheel mechanism according to certain embodiments of the present disclosure.

[0097] [Fig. 10] The [Fig. 10] is a schematic structural view of a drive component in the second moving wheel mechanism according to certain embodiments of the present disclosure.

[0098] [Fig. 11] The [Fig. 11] is a schematic view illustrating the assembly of a bearing chair in the second movable wheel mechanism according to certain embodiments of the present disclosure.

[0099] [Fig. 12] The [Fig. 12] is a schematic structural view of a moving wheel component in the second moving wheel mechanism according to certain embodiments of the present disclosure.

[0100] [Fig. 13] The [Fig. 13] is a schematic structural view of a thrust plate in the second movable wheel mechanism according to certain embodiments of the present disclosure.

[0101] [Fig. 14] The [Fig. 14] is a schematic structural view of a cam in the second moving wheel mechanism according to certain embodiments of the present disclosure.

[0102] [Fig. 15] The [Fig. 15] is a schematic structural view of a cam in the second moving wheel mechanism according to certain other embodiments of the present disclosure.

[0103] [Fig. 16] The [Fig. 16] is a cross-sectional view illustrating the assembly of a sliding sleeve and a movable wheel mounting seat in the second movable wheel mechanism according to certain embodiments of this disclosure. Description of the implementation methods

[0104] Technical diagrams according to certain embodiments of this disclosure will be clearly and fully described below in conjunction with the drawings of the embodiments of this disclosure. The embodiments described represent only some, but not all, of the embodiments of this disclosure. All other embodiments obtained by a person skilled in the art without creative work on the basis of the embodiments of this disclosure will be within the scope of protection of this disclosure.

[0105] Furthermore, in this disclosure, reference numbers and / or reference letters may be repeated in different examples for the sake of simplicity and clarity, without thereby indicating the relationship between the different embodiments and / or configurations discussed. In addition, this disclosure proposes examples of the different specific processes and materials, but a person skilled in the art may be aware of the application of other processes and / or the use of other materials.

[0106] The term "an embodiment" or "implementation" herein means the specific elements, structures, or features that may be included in at least one implementation of this disclosure. In describing this disclosure, it should be understood that terms indicating directional or positional relationships such as "above," "below," "left," "right," "top," and "bottom" are based on the directional or positional relationships depicted in the drawings. They are intended only to facilitate and simplify the description of this disclosure and do not indicate or imply that the devices or elements discussed must have specific directions or be constructed and operated in specific directions; therefore, they should not be construed as limitations to this disclosure.Furthermore, the terms "first" and "second" are intended for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the demonstrated technical features. Therefore, features limited to "first" or "second" may explicitly or implicitly include one or more features. Moreover, the terms "first," "second," etc., are used to distinguish similar items and are not necessarily used to describe a particular order or sequence. It should be understood that the data thus used are interchangeable where appropriate, so that the embodiments of this disclosure described herein may be implemented in a different order than those illustrated or described herein.

[0107] Furthermore, in this disclosure, reference numbers and / or reference letters may be repeated in different examples for the sake of simplicity and clarity, without thereby indicating the relationship between the different embodiments and / or configurations discussed. In addition, this disclosure provides examples of different specific processes and materials, but those skilled in the art may be aware of the application of other processes and / or the use of other materials.

[0108] When the cleaning device encounters obstacles during the automatic movement process, it must either avoid or overcome them, and the obstacle clearance height limits the operating range and reliability of the cleaning device. Solutions for obstacle avoidance rely primarily on software strategies. The obstacle avoidance function is achieved by adjusting the angle and speed of the cleaning device as it approaches obstacles. These solutions are limited by constraints. physical factors, such as the height of the cleaning device relative to the ground, have a limited effect.

[0109] To physically improve the obstacle-crossing capability of the cleaning device, this disclosure provides a movable wheel lifting mechanism and a cleaning device in one or more embodiments. By actively lifting the device body, ground clearance is increased, so that the components under the device are higher than the obstacles and the device has no parts that interfere with the obstacles during obstacle crossing, thus achieving the effect of increasing the obstacle-crossing height. The following is a detailed description of this disclosure together with specific embodiments and drawings.

[0110] Some embodiments of this disclosure provide a movable wheel lifting mechanism. To distinguish it from another embodiment, the movable wheel lifting mechanism in this embodiment is referred to as the first movable wheel mechanism 100. The first movable wheel mechanism 100 is mounted on the device body 300 of an automation device that requires an obstacle-crossing function, and can perform the function of raising and lowering the first movable wheel 12 relative to the device body 300, thereby increasing the ground clearance of the device body 300 and the obstacle-crossing height.The first 100 mobile wheel mechanism can be applied to a cleaning device, such as a robot vacuum cleaner and an automatic sweeper, or applied to other automatic mobile devices that need to overcome obstacles, such as automatic food delivery robots and express sorting robots.

[0111] The first movable wheel mechanism 100 can be a drive wheel lifting mechanism or a driven wheel lifting mechanism.

[0112] The first movable wheel 12 can be a drive wheel or a driven wheel, and includes but is not limited to a roller, a track wheel, a Mecanum wheel and the like.

[0113] In the following embodiments, in the first movable wheel mechanism 100, if the first movable wheel 12 is configured to be driven by a drive device, it must be understood that the first movable wheel mechanism 100 is a drive wheel lifting mechanism, the first movable wheel component 10 is a drive wheel component and the first movable wheel 12 is a drive wheel.

[0114] Figures 1 and 2 represent an overall structure of a first wheel mechanism 100. The first wheel mechanism 100 comprises a first wheel component 10, a power component 20, and a flexible connector 30. The first wheel component 10 is arranged on the The device body 300 is rotatable and can be a drive wheel component that provides motive power for the device or a driven wheel component that rotates with a drive wheel, and this disclosure is not limited to this. Similarly, the power component 20 is mounted in the device body 300 and configured to provide a force to drive the first movable wheel component 10 to move up or down relative to the device body 300. The flexible connector 30 is configured to transfer power from the power component 20, which acts on the first movable wheel component 10, thereby causing the first movable wheel component 10 to rotate relative to the base 310 and thus achieving the function of moving up and down relative to the device body 300.The power component 20 and the flexible connector 30 can cause only one corresponding first wheel component 10 to oscillate up or down, or cause both first wheel components 10 simultaneously to oscillate up or down, and this disclosure is not limited to that.

[0115] When the first movable wheel component 10 is a drive wheel component that provides the driving power for the device, the drive wheel component is configured to provide the driving power for the device. Similarly, the power component 20 is mounted on the device body 300 and configured to provide a force to drive the drive wheel component to move up or down relative to the device body 300. The flexible connector 30 is configured to transfer the power from the power component 20, which acts on the drive wheel component, thus causing the drive wheel component to rotate relative to the device body 300 and achieving the function of moving up and down relative to the device body 300.The device typically requires two drive wheel components during movement, and the power component 20 and the flexible connector 30 can only drive one corresponding drive wheel component to oscillate upwards or downwards, or drive two drive wheel components simultaneously to oscillate upwards or downwards, and this disclosure is not limited to this. Since the relative rotation of the drive wheel component and the movement of the drive wheel component known in itself are driven by different drive devices, the movement and the relative rotation of the drive wheel component do not interfere with each other and can be achieved simultaneously.

[0116] Since the first movable wheel component 10 is always in contact with the ground d during the movement process, when the corresponding first movable wheel component 10 is a drive wheel component, the drive wheel component is also always in contact with the ground d during the upward or downward movement relative to the apparatus body 300. Therefore, the upward or downward movement of the movable wheel component 10 relative to the apparatus body 300 is manifests itself in the form of a change in the height of the device body 300 relative to the ground. When the height of the device body 300 relative to the ground increases, the components below the device body 300 are higher than the obstacles c, so that the device has no part that interferes with the obstacles c during the obstacle crossing process, thus obtaining the effect of increasing the obstacle crossing height, allowing the device with the first mobile wheel lifting mechanism 100 to increase the obstacle crossing height, and improving the ability to get out of trouble as well as the adaptability to different running surfaces.

[0117] In some embodiments, the power component 20 produces the rotational power. With reference to [Fig. 1] and [Fig. 2], the power component 20 comprises a rotary power element 21 and a rotary disk 22. The rotary power element 21 may be an actuator or a motor (not limited to a brushed motor, brushless motor, stepper motor, etc.) and is configured to drive the rotary disk 22 to rotate in two opposite directions, such as clockwise and counterclockwise. The rotary disk 22 is fixedly connected to the output shaft 211 of the rotary power element 21. Alternatively, the rotary disk 22 may also be a convex portion on the output shaft 211 of the rotary power element 21, and this disclosure does not limit its specific structure.

[0118] The flexible connector 30 is arranged between the first movable wheel component 10 and the rotating disk 22. One end of the flexible connector 30 can be fixed to the first movable wheel component 10 and the other end can be fixed to the rotating disk 22, in order to transfer the rotational power of the rotating power element 21. Alternatively, the flexible connector 30 can be connected to one of the first movable wheel component 10 and the rotating disk 22, and wound around the other of the first movable wheel component 10 and the rotating disk 22, in order to change the spatial position of the free part b of the first movable wheel component 10.During the rotation of the rotating disc 22, a length of the exposed flexible connector 30 between the first movable wheel component 10 and the rotating disc 22 changes, causing the first movable wheel component 10 to rotate relative to the device body 300 and performing the function of raising and lowering relative to the device body 300.

[0119] In certain embodiments, the rotating power element 21 tightens or loosens the flexible connector 30 by causing the rotating disc 22 to rotate, i.e., the effective length of the flexible connector 30 changes. When the rotating disc 22 rotates along a first direction (for example, clockwise), the length of the exposed flexible connector 30 between the first The length of the movable wheel component 10 and the rotating disc 22 is reduced, causing the flexible connector 30 to be tightened. When the flexible connector 30 is tightened, it can transfer a force. When the flexible connector 30 is tightened, it can pull the first movable wheel component 10, causing the first movable wheel component 10 to rotate relative to the device body 300 and thus to move up or down. When the rotating disc 22 rotates along a second direction (for example, counterclockwise) opposite to the first direction, the length of the exposed flexible connector 30 between the first movable wheel component 10 and the rotating disc 22 increases, the flexible connector 30 is loosened, and the first movable wheel component 10 can rotate in the opposite direction relative to the device body 300 under the action of its own weight and / or a reset spring.Alternatively, in other embodiments, the rotating power element 21 can also change the operating position of the flexible connector 30 by causing the rotating disc 22 to rotate. In this process, the flexible connector 30 is always clamped.

[0120] By way of example, the first movable wheel component 10 comprises a support, the support is connected to the device body 300 in a rotational manner, and comprises a main wheel part a and a free part b, where the main wheel part a is closer to the driving wheel than the free part b. The flexible connector is connected between the free part b of the support and the power component 20 and configured to drive the support to rotate relative to the device body 300 by driving the power component 20.

[0121] By way of example, the support may be a console or a mobile power device 11. The mobile power device 11 may also be referred to as a transmission device.

[0122] It can be understood that when the first movable wheel 12 is a driving wheel, the support frame is a movable power device 11; when the first movable wheel 12 is a driven wheel, the support frame is a bracket, playing a support role.

[0123] By way of example, the first movable wheel component 10 is mounted on the apparatus body 300 in a rotational manner; the first movable wheel component 10 includes a drive device and a drive wheel which is driven; the first movable wheel component 10 is arranged on the apparatus body 300 in a rotational manner.

[0124] With reference to [Fig. 1] and [Fig. 2], in certain embodiments, the extension line of the direction of the traction force applied by the flexible connector 30 to the mobile power device 11 does not pass through the rotating shaft 61 around which the first movable wheel component 10 rotates relative to the device body 300. Consequently, the traction force can generate a downward / upward torque the outside on the first moving wheel component 10, thus causing the moving power device 11 to be forced to oscillate with an axis of the rotation shaft 61 as the center of the circle.

[0125] In certain embodiments, the angle of rotation of the rotating power element 21 during the raising or lowering of the first movable wheel component 10 does not exceed 360°. Specifically, the angle of rotation of the rotating disc 22 during the rotation of the first movable wheel component 10 does not exceed 360°. In other words, the rotating disc 22 does not rotate more than one revolution in any direction during the raising or lowering of the first movable wheel component 10, thus reducing the overall length when the flexible connector 30 is relaxed, and preventing the flexible connector 30 from detaching from the rotating disc 22 after being relaxed, or from interfering with the peripheral components due to excessive length, or from being caught on the peripheral components and resulting in the inability to be properly tightened or removed.In some embodiments, the angle of rotation of the rotating disc 22 during the raising or lowering of the first movable wheel component 10 is 0 ~ 300°, such as 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290° or 300°.

[0126] In certain embodiments, the angle of rotation of the rotating power element 21 during the raising or lowering of the first movable wheel component 10 does not exceed 720°. Specifically, the angle of rotation of the rotating disc 22 during the rotation of the first movable wheel component 10 does not exceed 720°. In other words, the rotating disc 22 does not rotate more than two revolutions in one direction during the raising or lowering of the first movable wheel component 10. The angle of rotation of the rotating disc 22 during the raising or lowering of the first movable wheel component 10 is for example 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 360°, 400°, 450°, 500°, 550°, 600°, 650°, 700° or 720°.

[0127] In some embodiments, the rotating power element 21 tightens or loosens the flexible connector 30 by causing the rotating disc 22 to rotate.

[0128] Figure 3 is a schematic structural view of a mobile power device 11 in certain embodiments. The first mobile wheel component 10 comprises a drive device 112, a mobile power device 11, and a first mobile wheel 12 which is driven. The drive device 112 causes the first mobile wheel 12 to rotate via the mobile power device 11, thereby causing the entire cleaning apparatus to move. The mobile power device 11 comprises a main wheel portion a and a free wheel portion b, and the main wheel portion a is closer to the first mobile wheel 12 than the free wheel portion b. The main wheel portion a of the mobile power device connects an overlapping area with the first mobile wheel 12, thereby transferring torque drive for movement directly to the first mobile wheel 12. The free part has a non-overlapping zone with the first mobile wheel 12, in order to achieve the connection and fixing of the mobile power device 11 with the peripheral structures.

[0129] The flexible connector 30 is connected between the power component 20 and the free part b of the movable power device 11. Two ends of the flexible connector 30 can be connected respectively to the power component 20 and to the free part b of the movable power device 11. Alternatively, the flexible connector 30 can be connected to the power component 20 and wound around the free part b of the movable power device 11, in order to change the spatial position of the free part b of the movable power device 11. The flexible connector 30 causes the movable power device 11 to rotate relative to the device body 300 by driving the power component 20, thus causing the first movable wheel component 10 to move up or down relative to the device body 300.

[0130] In order to reduce the possibility that the flexible connector 30, in its unclamped state, may be caught by a foreign object or detach from the rotating disc 22, resulting in difficulty in retraction, in certain embodiments, the connection point between the flexible connector 30 and the rotating disc 22 is provided with a tensioning mechanism. The tensioning mechanism is configured to provide a tensioning force and includes, but is not limited to, an elastic portion, which may be a spring, a mechanical spring, etc. For example, the tensioning mechanism may be a torsion spring, which can clamp the flexible connector 30 in real time, so that the flexible connector 30 is not at risk of detaching from the rotating disc 22. In certain embodiments, a mechanical spring may be used to tension the flexible connector 30 in real time.

[0131] It should be understood that the flexible connector 30 referred to in this disclosure is not limited to a flexible material in its entirety. The flexible connector 30 may be a flexible cable such as a wire rope or a nylon cable; and may also be a combined structure consisting of a flexible cable and a rigid connector, such as a combined structure consisting of a flexible cable and a tie rod. In other words, the flexible connector 30 is at least partially a flexible structure. Using a flexible structure as a means of power transmission can solve the spatial arrangement problem of the first moving wheel mechanism 100 to some extent. Through certain fixed pulley structures, the power component 20 (such as a motor and cylinder) can be arranged in any position within the apparatus body 300, thus achieving optimal use of space.

[0132] Figures 1 and 2 illustrate the operating principle of the flexible connector 30 of the first movable wheel mechanism 100 in certain embodiments. The flexible connector 30 uses a cable; one end of the cable is fixed to a cable mounting point on the first movable wheel mechanism 10, and the other end is fixed to the rotating disc 22. The cable extends in a straight line without winding around a central reversing structure. The rotation angle of the rotating disc 22 does not exceed 360° during the rotation process, indicating that the cable will not wind around the rotating disc 22 in a complete circle. Compared to a winding and unwinding arrangement, this winding-free arrangement can reduce problems of cable tangling and cable snagging by foreign objects during cable release.

[0133] In some embodiments, the rotating disk 22 is arranged coaxially with the output shaft 211 of the rotating power element 21, and the connection position between the flexible connector 30 and the rotating disk 22 is eccentric with respect to the axis of rotation of the rotating disk 22, as shown in [Fig. 5]; or the connection position between the flexible connector 30 and the rotating disk 22 is arranged coaxially with the axis of rotation of the rotating disk 22, and the rotating disk 22 is eccentric with respect to the output shaft 211 of the rotating power element 21. In other words, during the rotation of the rotating disk 22, the spatial position of the connection between the flexible connector 30 and the rotating disk 22 will change with the rotation of the rotating disk 22.Furthermore, the flexible connector 30 extends along a straight line in its entirety, so that the spatial attitude of the flexible connector 30 changes during the rotation of the rotating disk 22. The flexible connector 30 is always clamped during the rotation of the rotating disk 22. Since the spatial position of one end of the flexible connector 30 connecting the rotating disk 22 changes, the spatial position of the other end of the flexible connector 30 connecting the first movable wheel component 10 will also change, while the length of the flexible connector 30 remains unchanged, thus causing the movable power device 11 to be forced to oscillate with the axis of the rotating shaft 61 as the center of the circle.

[0134] The flexible connector 30 is always clamped during the rotation of the rotating disc 22, meaning that the effective length of the flexible connector 30 remains unchanged. Therefore, the rotation angle of the rotating disc 22 during the raising or lowering of the first movable wheel component 10 is 0 to 90°, such as 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, or 85°. When the rotation angle of the rotating disc 22 exceeds 90°, such as 150°, the spatial attitude of the flexible connector 30 is essentially the same as that of the flexible connector 30 when the rotation angle of the rotating disc 22 is 30°. Therefore, by adjusting the rotation angle of the rotating disc 22 during the raising or lowering of the first movable wheel component 10 so that it is from 0 to 90°, on the one hand, it can allow the flexible connector 30 to assume different spatial positions; on the other hand, the maximum rotation angle of the rotating disc 22 is only 90°. Compared to the winding and unwinding pattern of the flexible connector 30 over a complete circle or over a plurality of circles, this can shorten the switching time between the raising and lowering states of the first movable wheel component 10 and improve obstacle-crossing efficiency.

[0135] To facilitate the connection between the flexible connector 30 and the rotating disc 22, the rotating disc 22 is provided in the form of a two-part structure, comprising at least two detachable components for fixing the connection between the flexible connector 30 and the rotating disc 22. [Fig. 5] is an exploded view of the power component 20 according to certain embodiments, the rotating disc 22 comprises a transmission disc 221, an internal retaining disc 222 and an external retaining disc 223, which are connected in turn, where the transmission disc 221 is connected to the output shaft 211 of the rotating power element 21 in a fixed manner, the transmission disc 221, the internal retaining disc 222 and the external retaining disc 223 are stacked in turn and connected in a body via threaded fasteners.The connection point between the flexible connector 30 and the rotating disk 22 is located between the internal retaining disk 222 and the external retaining disk 223. For example, one end of the flexible connector 30 is fixed to a spindle shaft, and the spindle shaft is fixed by passing through the spindle holes open on the edges of the internal retaining disk 222 and the external retaining disk 223, as shown in [Fig. 5]. The clearance between the internal retaining disk 222 and the external retaining disk 223 is provided to allow for the movement of the flexible connector 30. During the rotation of the rotating disk 22, the flexible connector 30 will not be wrapped around the spindle shaft, but will change its spatial orientation with the change in the position of the spindle shaft.

[0136] Figure 3 shows a schematic structural view of a first movable wheel component 10 in certain embodiments. The first movable wheel component 10 is a drive wheel component that provides the driving power for the apparatus and includes a movable power device 11 and a first movable wheel 12 driven by it. The movable power device 11 may include only a power device or may include a power device and a reduction mechanism. The movable power device 11 includes a main wheel portion a and a free wheel portion b, and the main wheel portion a is closer to the first movable wheel 12 than the free wheel portion b. The main wheel portion a of the movable power device connects an overlapping area with the first wheel mobile 12, which is used to transfer torque directly to the first mobile wheel 12. The free part has a non-overlapping area with the first mobile wheel 12 to achieve the connection and fixing of the mobile power device 11 with peripheral structures.

[0137] In some embodiments, the main wheel part a and the free part b are divided by the normal grounding axis of the first movable wheel 12. In other embodiments, the boundary between the main wheel part a and the free part b can also be determined as the external contour of the first movable wheel 12. In some embodiments, with respect to the main wheel part a, the free part b is closer to the forward direction of the apparatus body 300, so that the increase in the ground clearance of the apparatus can manifest itself in the form of a lifting and an increase in ground clearance of the overall apparatus body 300, or in the form of a lifting and an increase in ground clearance of the front end of the apparatus body 300.

[0138] The free part b of the mobile power device 11 is opposite the first movable wheel 12. With reference to [Fig. 1], [Fig. 2] and [Fig. 3], in some embodiments, the connections between the first movable wheel component 10 and the peripheral components are all arranged on the free part b. That is to say, the free part b of the mobile power device 11 is connected to the device body 300 in a rotational manner, and the flexible connector 30 is also connected to the free part b of the mobile power device 11.

[0139] The apparatus body 300 can be a single unit or a two-part structure. With reference to [Fig. 4], in some embodiments, the apparatus body 200 is provided with a base 310 for mounting the first movable wheel component 10 and the power component 20, while the cleaning components, guide wheels, and other parts of the cleaning apparatus can also be mounted on the base 310. The movable power device 11 of the first movable wheel component 10 is connected to the base 310 in a rotatable manner.

[0140] When the first movable wheel component 10 is a drive wheel component, the connections between the drive wheel component and the peripheral components are all arranged on the free part b. That is, the free part b of the movable power device 11 is connected to the device body 300 in a rotational manner, and the flexible connector 30 is also connected to the free part b of the movable power device 11. The device body 300 may be a single unit or a two-part structure. With reference to [Fig. 4], in some embodiments, the device body 300 is provided with a base 310 for mounting the drive wheel component and the power component 20, while the cleaning components, the driven wheel, and the other parts of the cleaning device may can also be mounted on the base 310. The mobile power device 11 of the drive wheel component is connected to the base 310 in a rotational manner and the drive device 112 and the drive wheel of the drive wheel component are both connected to the mobile power device 11.

[0141] With reference to [Fig.3], in some embodiments, the first movable wheel component 10 further comprises a wheel cover 113, the wheel cover 113 is connected to a lateral surface of the housing of the movable power device 11 and the first movable wheel 12 is sheathed with the wheel cover 113 at intervals, which can provide a mounting base for the support of the first movable wheel 12. In some embodiments, the wheel cover 113 can be formed integrally with the housing of the movable power device 11.

[0142] To facilitate connections between the first movable wheel component 10 and the peripheral components, in certain embodiments, the free portion b of the movable power device 11 is provided with a mounting seat 60. The mounting seat 60 is connected to the device body 300 in a rotatable manner (and specifically, connected to the base 310, if necessary, in a rotatable manner), and the movable power device 11 rotates with the rotation shaft 61 of the mounting seat 60 as its center of rotation. In certain embodiments, the free portion b of the movable power device 11 is provided with a mounting portion 80, and the flexible connector 30 is connected to the mounting portion 80.

[0143] Since the mounting seat 60 is positioned in the free part b of the mobile power device 11, the distance between the rotation shaft 61 of the mounting seat 60 and the point of contact with the ground of the drive wheel is important, and the mobile power device 11 can considerably increase the ground clearance of the device by turning at a small angle.

[0144] With reference to [Fig.4], in some embodiments, the rotation shaft 61 of the mounting seat 60 has a different axis from the axis of the drive device 112, so the mounting seat 60 and the drive device 112 are positioned in different positions, avoiding an excessive size of the drive wheel component in the axial direction of its rotation shaft 61, due to the coaxial adjustment between the rotation shaft 61 of the mounting seat 60 and the drive device 112, thus facilitating the arrangement of the mounting seat 60 and the drive device 112.

[0145] With reference to [Fig. 4], in certain embodiments, the mounting seat 60 is arranged in the lower part of the free portion b, and the axis of the drive device 112 is positioned above the rotation shaft 61 of the mounting seat 60, so that the drive device 112 is arranged in a relatively higher position of the apparatus body 300 relative to the rotation shaft 61 of the drive wheel component, thus preventing the drive device 112 from being exposed when the apparatus body 300 is lifted to overcome obstacles.

[0146] The flexible connector 30 is connected to the free part b of the mobile power device 11. Similarly, the distance between the mounting point of the flexible connector 30 on the free part b and the point of contact with the ground of the first mobile wheel 12 is significant, resulting in a longer force arm, thus reducing the output power requirement of the power component 20. The flexible connector 30 can be directly connected to the free part b of the mobile power device 11. In some embodiments, alternatively, the free part b of the mobile power device 11 is provided with a mounting part 80, and the flexible connector 30 is connected to the mounting part 80.In some embodiments, the mounting part 80 is arranged in the upper part of the free part b, so that the flexible connector 30 is positioned in the upper part inside the device body 300, thus preventing the flexible connector 30 from falling out to be exposed outside the device body 300 and from being in contact with the ground when released.

[0147] The power component 20 is a part implementing the obstacle-crossing function. The power component 20 can produce rotational power or displacement power. In other words, the power component 20 can include a rotating power element, such as a motor or actuator, and can also include a telescopic power element such as an electric telescopic cylinder or rod, and this disclosure is not limited to this.

[0148] In some embodiments, the power component 20 produces the rotational power. With reference to [Fig. 1] and [Fig. 2], the power component 20 comprises a rotary power element 21. The rotary power element 21 can be an actuator or a motor (not limited to brushed motors, brushless motors, stepper motors, etc.). One end of the flexible connector 30 is fixed to the free portion b of the movable power device 11, and the other end is connected to the output shaft 211 of the rotary power element 21, as shown in [Fig. 5]. The flexible connector 30 is configured to transfer the rotational power from the rotary power element 21.

[0149] The rotating power element 21 tightens or loosens the flexible connector 30 during rotation; that is, the length of the exposed flexible connector 30 between the first movable wheel component 10 and the rotating disc 22 changes. When the flexible connector 30 is tightened, it can transfer force. In some embodiments, when the rotating power element 21 rotates, it can also change the operating position of the flexible connector 30. In this process, the flexible connector 30 is always tightened.

[0150] In some embodiments, the rotating power element 21 tightens or loosens the flexible connector 30 during rotation. When the flexible connector 30 is tightened, it can pull the movable power device 11, thereby causing the drive wheel component to rotate relative to the base 310 to move up or down. The extension line of the direction of the pulling force applied by the flexible connector 30 to the movable power device 11 does not pass through the rotation shaft 61 of the mounting seat 60 of the drive wheel component. Consequently, the pulling force can generate a downward / outward torque on the drive wheel component, thus causing the movable power device 11 to be forced to oscillate with the axis of the rotation shaft 61 as its center of rotation.

[0151] With reference to [Fig. 5], in some embodiments, the power component 20 further comprises a rotating disk 22 which is arranged coaxially with the output shaft 211 of the rotating power element 21, and the rotating power element 21 tightens or loosens the flexible connector 30, thereby causing the rotating disk 22 to rotate. The rotating disk 22 is fixedly connected to the output shaft 211 of the rotating power element 21. Alternatively, the rotating disk 22 may also be a convex portion on the output shaft 211 of the rotating power element 21, and this disclosure is not limited to its specific structure.The angle of rotation of the rotating power element 21 during the raising or lowering of the first movable wheel component 10 does not exceed 360° or does not exceed 720° and consequently, the angle of rotation of the rotating disc 22 during the raising or lowering of the drive wheel component also does not exceed 360° or does not exceed 720°, thus preventing the flexible connector 30 from detaching from the rotating disc 22 after release, or from interfering with the peripheral components due to excessive length or from failing to tighten properly or from being removed due to being caught on the peripheral components.

[0152] With reference to [Fig. 4], in certain embodiments, the first movable wheel mechanism 100 further comprises a spring 70, one end of which is fixed to the free part b of the movable power device 11 and the other end of which is fixed to the device body 300, for example, the base 310. The damping effect of the spring 70 allows the shock to be absorbed when the first movable wheel 12 moves over uneven surfaces. Similarly, to facilitate the installation of the spring 70, in certain embodiments, both the free part b of the movable power device 11 and the base 310 of the device body 300 are provided with hook portions 90, and two ends of the spring 70 are hooked onto the two hook portions 90 respectively. In some embodiments, the hook part 90 of the free part b of the mobile power device 11 is reversed with respect to the hook part 90 of the apparatus body 300.That is to say, the spring mounting points. 70 are in opposite directions, so that spring 70 is fixed more stably.

[0153] With reference to [Fig. 1], in certain embodiments, the flexible connector 30 extends in approximately the same direction as the spring 70. It should be understood that the two are parallel within the permissible range of installation error. For example, the angle between the extension direction of the flexible connector 30 and the extension direction of the spring 70 does not exceed 10°. Furthermore, the flexible connector 30 and the spring 70 both extend in the opposite direction to the direction of travel, so that the hook portion 90 of the device body 300, such as the base 310, and the power component 20 are both positioned behind the free portion b of the movable power device 11.In other words, when the device body 300 crosses an obstacle, its front end is raised, the hook portion 90 of the device body 300, such as the base 310, and the power component 20 are in rear positions, and no significant change occurs in their spatial positions. Furthermore, the hook portion 90 of the device body 300 and the power component 20 are in rear positions, thus being more conducive to raising the front end of the device body 300 and more conducive to obstacle crossing and preventing slippage.

[0154] In some embodiments, the spring 70 is always in a stretched state, i.e. the spring 70 always exerts a pulling force on the mobile power device 11. In the case where the flexible connector 30 extends approximately in the same direction as the spring 70, the spring 70 can help the flexible connector 30 to pull the mobile power device 11, thus causing the first movable wheel component 10 to rotate relative to the apparatus body 300 to achieve the raising and lowering.

[0155] With reference to [Fig.4], in some embodiments, the mounting seat 60 is arranged in the lower part of the free part b, and the mounting part 80 and the hook part 90 are both arranged in the upper part of the free part b. The flexible connector 30 and the spring 70 both act on the upper part of the free part b, so that the flexible connector 30 and the spring can both be arranged in relatively upper positions of the device body 300, thus preventing the flexible connector 30 and the spring 70 from being exposed when the device body 300 is lifted.

[0156] With reference to [Fig. 3], in certain embodiments, the mobile power device 11 comprises a gearbox 111 and a drive device 112 mounted on the gearbox 111, and the rotating shaft 61 of the mounting seat 60 has a different axis than the axis of the drive device 112. Specifically, the axis of the drive device 112 is positioned above the rotating shaft 61 of the Mounting seat 60, such that the drive device 112 is arranged in a relatively higher position on the device body 300 relative to the rotation shaft 61 of the first movable wheel component 10, thus preventing the drive device 112 from being exposed when the device body 300 is raised to overcome obstacles. Referring to [Fig. 3], in some embodiments, the movable power device 11 further includes a wheel cover 113. The wheel cover 113 is connected to a lateral surface of the gearbox housing 111. The first movable wheel 12 is sheathed with the wheel cover 113 at intervals, thus providing a mounting base for the support of the first movable wheel 12. In some embodiments, the wheel cover 113 may be integrally formed with the gearbox housing 111.

[0157] By way of example, the drive device includes a drive motor, which may be a DC motor or a servomotor, for example.

[0158] In certain embodiments, in order to prevent an accident caused by the runaway of the rotating power element 21, an upper limit portion and a lower limit portion arranged on the apparatus body 300, on the base 310, for example, are configured to limit the upper limit position and the lower limit position of the first movable wheel component 10, respectively. The first movable wheel component 10 oscillates between the upper limit position and the lower limit position. In a normal travel state, the first movable wheel component 10 is adjacent to the upper limit position and does not go beyond the upper limit position; in an obstacle crossing state, the first movable wheel component 10 oscillates downwards and is adjacent to the lower limit position but does not go beyond the lower limit position.

[0159] The upper and lower limit portions may be mechanical limit structures or electronic limit devices. In some embodiments, a lower limit portion with a mechanical structure is arranged on the housing of the device body 300 to prevent the first movable wheel component 10 from oscillating downwards. A downward-projecting bolt with an adjustable length is fixed to the hook portion 90 of the device body 300, for example, of the base 310, which serves as the upper mechanical limit of the first movable wheel component 10 to prevent it from oscillating upwards. In other embodiments, both the upper and lower limit portions are electronic devices, such as microswitches, movable switches, and photoelectric sensors.The first moving wheel mechanism 100 further includes a control element, and when the first moving wheel component. 10 oscillates in the position in which the electronic device is triggered, the electronic device indicates a position signal to the control member, and the control member orders the rotation of the rotating power element 21 to stop.

[0160] In some embodiments, the rotating power element 21 controls the angle of rotation and / or the speed of rotation of the rotating disk 22.

[0161] In certain embodiments, to facilitate closed-loop control of the oscillation position of the first movable wheel component 10, the rotary power element 21 is an actuator or motor integrated with an encoder, and the output shaft 211 of the actuator or motor is connected to the rotating disk 22. The encoder can detect the actual angle of rotation of the actuator or motor. Therefore, the first movable wheel mechanism 100 further includes a control member, and the rotary power element 21 and its encoder are electrically connected to the control member, through which the rotational speed and / or angle of the rotary power element 21 are controlled in a closed loop. The rotary power element 21 is connected to the rotating disk 22 by drive, thus controlling the rotational angle and / or speed of the rotating disk 22.

[0162] With reference to [Fig. 1] and [Fig. 2], in some embodiments, the rotary power element 21 is an actuator, and the advantage of the actuator lies in the fact that it integrates a gearbox, a motor, and a position encoder, with a small overall footprint. The position encoder is configured to provide feedback information to the closed-loop motor position control. However, considering that active raising and lowering typically require only two positions, i.e., a retracted position and an extended position, a conventional brushed motor or a brushless motor can be used instead of the actuator in some embodiments. By arranging position sensing elements in the upper and lower limit positions of the first movable wheel component 10, closed-loop control of the position of a common motor is achieved.

[0163] In certain embodiments, the first movable wheel mechanism 100 further includes a sensor for detecting the angle of rotation of the first movable wheel component 10. This disclosure does not limit the quantity and types of sensors as long as they can detect the angle of rotation of the first movable wheel component 10. The sensor is electrically connected to the control member and indicates the detected angle of rotation of the first movable wheel component 10 to the control member. The control member can determine whether a failure has occurred in the rotating power element 21 and the flexible connector 30. the base of the rotation angle of the first moving wheel component 10 and that of the rotating power element 21.

[0164] Normally, there is a defined mapping relationship between the rotation angle of the first moving wheel component 10 and that of the rotating power element 21. If any of the measured rotation angles of the first moving wheel component 10 and the measured rotation angle of the rotating power element 21 do not satisfy the mapping relationship, this indicates that a failure may occur in the rotating power element 21 and / or the flexible connector 30. In this case, the control unit can command the device with the first moving wheel mechanism 100 to send rapid information, such as the flashing of a fault indicator or a pop-up of an assistance button on a mobile app.

[0165] In some embodiments, the sensor comprises a rotary sensor 40 arranged on the rotation shaft 61 of the first wheel component 10 and / or an optical sensor 50 arranged on the mobile power device 11. In other words, the first mechanical wheel 100 can be provided with the rotary sensor 40 or the optical sensor 50 only or both with the rotary sensor 40 and the optical sensor 50.

[0166] With reference to [Fig. 1] and [Fig. 2], an optical sensor 50 is mounted outside the housing of the main wheel part a of the reducer 111, which is configured to determine whether the first movable wheel 12 has successfully retracted into the slotted position of the device body 300, when it returns from the raised state to the normal moving state. After detecting a photosensitive change during retraction into the slotted position, the optical sensor 50 triggers a signal. With reference to [Fig. 3], a rotary sensor 40 is mounted on the rotation shaft 61 of the first movable wheel component 10, which is configured to detect and record the true angle of rotation of the first movable wheel component 10.

[0167] When the sensor comprises only a rotary sensor 40 arranged on the rotation shaft 61 of the first movable wheel component 10, the rotary sensor 40 can detect the true angle of rotation of the first movable wheel component 10. When the position feedback from the actuator or motor has a failure, for example, when the actuator is faulty or the flexible connector 30 is broken, the control element can determine, on the basis of the feedback signals from the rotary sensor 40, whether the first movable wheel 12 has actually rotated into the normal travel position or a fully extended position in order to achieve obstacle crossing.

[0168] When the sensor comprises only the optical sensor 50 arranged on the movable power device 11, the optical sensor 50 can detect whether the first movable wheel 12 is successfully retracted into the slotted position. When the return of the position of If the actuator or motor has a failure, for example, when the actuator is faulty or the flexible connector 30 is broken, the control unit can determine, based on the feedback signals from the optical sensor 50, whether the first movable wheel 12 is fully retracted and returns to the normal moving position.

[0169] When the sensor includes both the rotary sensor 40 and the optical sensor 50, and when the position feedback of the actuator or motor has a failure, for example, when the actuator is faulty or the flexible connector 30 is broken, the optical sensor 50 and the rotary sensor 40 detect whether the first movable wheel 12 is successfully retracted into the slotted position, and the true angle of rotation of the first movable wheel component 10, thus determining whether the first movable wheel 12 really returns to the normal moving position.Furthermore, by comparing whether the first movable wheel 12 is successfully retracted into the slotted position and the actual rotation angle of the first movable wheel component 10, as detected by the optical sensor 50 and the rotary sensor 40, with the rotation angle of the rotary power element 21, as indicated by the encoder, it is possible to determine whether a failure has occurred in the rotary power element 21 or the flexible connector 30. Moreover, adjusting both the rotary sensor 40 and the optical sensor 50 is equivalent to a redundant adjustment which, on the one hand, improves detection accuracy and, on the other hand, does not affect the normal operation of the first movable wheel mechanism 100 when the rotary sensor 40 or the optical sensor 50 is faulty.

[0170] The operating principle of the first movable wheel mechanism 100 is described below, taking the first movable wheel mechanism 100 as an example, according to certain embodiments. In this embodiment, the first movable wheel mechanism 100 is applied to a robot vacuum cleaner, two first movable wheel mechanisms 100 are arranged in the robot vacuum cleaner, and the power component 20 and the flexible connector 30 in each first movable wheel mechanism 100 cause the corresponding first movable wheel component 10 to oscillate upwards or downwards.The first movable wheel component 10 includes a drive device 112, a reducer and a first movable wheel 12, the drive device 112 can be a drive motor, the flexible connector 30 is a cable, the power component 20 includes an actuator and a rotating disc 22 and both a rotary sensor 40 and an optical sensor 50 are arranged on the first movable wheel component 10.

[0171] The position of the first movable wheel component 10 during normal movement of the robot vacuum cleaner is as shown in [Fig. 1]. One end of the cable is fixed in the cable mounting point on the reducer 111, the other end is fixed between the internal retaining disc 222 and the external retaining disc 223 of the The rotating disc 22 and the cable are in a deployed state. One end of the spring 70 is fixed to the hook part 90 on the reducer 111 and the other end is fixed to the hook part 90 of the device body 300. The transmission disc 221, the internal retaining disc 222 and the external retaining disc 223 are connected to the actuator via screws in a fixed manner.

[0172] When the robot vacuum cleaner detects that it must overcome an obstacle during the movement process, the actuator rotates approximately 120°, the rotating disc 22 on the actuator causes the cable to rotate approximately 120° as well, and the cable is in a shortened and coiled state with slack between the internal retaining disc 222 and the external retaining disc 223. The other end of the cable is connected to the cable mounting point, thus causing the first movable wheel component 10 to rotate downwards with the rotating shaft 61 as its center, as shown in [Fig. 2].

[0173] The first movable wheel components 10 on both sides of the robot vacuum cleaner rotate downwards into the lower limit position simultaneously, in order to raise the overall height of the robot vacuum cleaner body 300 above the floor d by 4 cm, as shown in [Fig. 6]. The acceleration provided by the movable wheel component 10 causes the robot vacuum cleaner to tilt its front part upwards and move towards an obstacle c, as shown in [Fig. 7], thus achieving the obstacle crossing goal. The obstacle crossing height of the robot vacuum cleaner increases from the previous 20 mm to 32 mm or more.

[0174] An optical sensor 50 is mounted on the outside of the main wheel portion a of the gearbox housing 111. This sensor is configured to determine whether the first movable wheel 12 is successfully retracted into the slotted position of the lower housing when it transitions from the lifted state to the normal travel state. After detecting a photosensitive change in the retraction into the slotted position, the optical sensor 50 triggers a retraction-in-place signal. A rotary sensor 40 is mounted on the rotary shaft 61. This sensor is configured to detect and record the true angle of rotation of the first movable wheel component 10. An encoder is integrated into the actuator, which can detect the true angle of rotation of the actuator.When the actuator's position return fails, for example, when the actuator is faulty or the cable is broken, it can be determined whether the first movable wheel 12 truly returns to its normal travel position by comparing the first movable wheel 12's successful retraction into the slotted position and the actual rotation angle of the rotating shaft 61, as detected by the optical sensor 50 and the rotary sensor 40. It can also be determined whether a failure has occurred in the actuator or the cable by comparing the above detection result with the actuator's rotation angle, as indicated by the actuator.

[0175] One embodiment of the present disclosure proposes a cleaning device 1000, which may be a robotic vacuum cleaner or an automatic sweeper. With reference to [Fig. 6], [Fig. 7], and [Fig. 8], the cleaning device 1000 comprises a device body 300 and a first wheel mechanism 100 according to any one of the preceding embodiments. The first wheel mechanism 100 is fixedly mounted in the device body 300, and the first wheel 12 of the first wheel mechanism 100 partially protrudes from the device body 300, makes contact with the floor d, and causes the entire cleaning device 1000 to move.

[0176] When the cleaning device 1000 is moving normally (including forward, backward, and turning), the first moving wheel component 10 provides a driving force for movement. When the cleaning device 1000 detects an obstacle c in front of it that cannot be overcome (this can be achieved by identifying the location and size of the obstacle by means of an ultrasonic sensor, a mechanical vision system, etc., arranged in front of the device body 300), or when the cleaning device 1000 is blocked during movement and cannot move normally, it is determined that it has encountered an obstacle.In this case, the control unit controls the action of the power component 20 and acts on the first movable wheel component 10 via the flexible connector 30, thus causing the first movable wheel component 10 to rotate relative to the device body 300 in order to perform the function of raising and lowering relative to the device body 300.

[0177] When the first mobile wheel component 10 is in constant contact with the ground d during the movement process, the raising or lowering of the first mobile wheel component 10 relative to the device body 300 manifests as a change in the height of the device body 300 relative to the ground. As the height of the device body 300 relative to the ground increases, the components below the device body 300 are higher than the obstacles c, so that the device has no part that interferes with the obstacles c in the obstacle crossing process, thus achieving the effect of increasing the obstacle crossing height, allowing the device equipped with the first mobile wheel lifting mechanism 100 to increase the obstacle crossing height, and improving the ability to get out of trouble as well as the adaptability to different running surfaces.

[0178] With reference to [Fig. 6], in certain embodiments, when the control element determines that an obstacle c is encountered, the power component 20 causes the first movable wheel component 10 to rotate and move beyond the apparatus body 300, in order to lift the apparatus body 300 as a whole to the- above the height of the obstacle c. The first moving wheel component 10 causes the cleaning device 1000 to move to cross the obstacle c.

[0179] With reference to [Fig.7], in certain embodiments, when the control member determines that an obstacle c is encountered, the power component 20 causes the first movable wheel component 10 to rotate and move beyond the apparatus body 300, in order to raise the front end of the apparatus body 300 above the height of the obstacle c. The first movable wheel component 10 causes the cleaning apparatus 1000 to move in an accelerated manner to cross the obstacle c.

[0180] With reference to [Fig. 9], a movable wheel mechanism is presented according to an embodiment of the present disclosure. To distinguish it from the preceding first movable wheel mechanism 100, this movable wheel mechanism is designated as the second movable wheel mechanism 200. The second movable wheel mechanism 200 comprises a second movable wheel component 1, a cam 2, and a drive component 3. The drive component 3 is fixedly connected to a first housing 4 of the cleaning device, and the drive component 3 is slidably connected to the cam 2; the cam 2 abuts against the second movable wheel component 1, and the second movable wheel component 1 is slidably connected to a second housing 5 of the cleaning device, with the sliding direction being the vertical direction.

[0181] By way of example, the apparatus body 300 comprises a first housing 4 and a second housing 5. The second wheel mechanism 200 can be a drive wheel mechanism or a driven wheel mechanism.

[0182] According to certain embodiments of this disclosure, the second movable wheel component 1 is always in contact with the ground and is configured to drive the cleaning device to move; the cam 2 is configured to drive the second movable wheel component 1 to slide relative to the second housing 5 with the drive of the drive component 3; the drive component 3 is configured to drive the cam 2 to rotate.

[0183] In a specific embodiment of this disclosure, the first housing 4 and the second housing 5 respectively refer to two different housing structures; preferably, the first housing 4 can be connected to the second housing 5 in a detachable manner.

[0184] In another preferred embodiment of this disclosure, the first housing 4 is connected to the second housing 5 in a fixed manner; preferably, the first housing 4 and the second housing 5 are formed in a fixed manner.

[0185] In another specific embodiment of this disclosure, in the case where the first housing 4 and the second housing 5 are formed as a single unit, It must be understood that the first case 4 and the second case 5 respectively refer to two different parts of the same case.

[0186] In a specific embodiment of this disclosure, the first housing 4 and the second housing 5 are two housings at the bottom of the cleaning device, and the body of the cleaning device moves relative to the ground with the movement of the second housing 5. Specifically, in the case where the second housing 5 moves away from the second movable wheel component 1, the body of the cleaning device moves away from the ground; in the case where the second housing 5 moves towards the second movable wheel component 1, the cleaning device moves towards the ground.

[0187] According to certain embodiments of this disclosure, the drive component 3 is fixedly connected to the first housing 4, the cam 2 abuts against the second movable wheel component 1, and the second movable wheel component 1 is slidably connected to the second housing 5 along the vertical direction, so that the cam 2 can rotate by the drive of the drive component 3 and the second movable wheel component 1 slides relative to the second housing 5 by the action of a stop force, in order to change the vertical difference between the second movable wheel component 1 and the second housing 5, thereby changing the distance between the body of the cleaning device and the ground, thus meeting the requirements of the cleaning device in different operating scenarios. Consequently, the flexibility of the movable wheel mechanism and the operational flexibility of the cleaning device can be improved.

[0188] According to certain embodiments of the present disclosure, by arranging the cam 2 and the drive component 3, the change in height difference between the second moving wheel component 1 and the second housing 5 can be achieved, avoiding complex structures such as a lead screw, thus simplifying the mechanical structure for changing the bottom of the cleaning device, and reducing the manufacturing cost of the moving wheel mechanism.

[0189] With reference to [Fig.9] and [Fig.10], according to certain embodiments of this disclosure, the drive component 3 comprises a drive unit 31 and a drive shaft 32, the drive unit 31 is connected to the first housing 4 in a fixed manner and connected to one end of the drive shaft 32 by drive, and the other end of the drive shaft 32 is connected to the first housing 4 via a bearing structure; the cam 2 is connected to the drive shaft 32 in a fixed manner.

[0190] According to certain embodiments of this disclosure, the drive unit 31 is configured to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is configured to drive the cam 2 to move by means of the drive unit 31; the other end of the transmission shaft 32 is connected to the first housing 4 via a bearing structure, indicating that the drive shaft 32 can rotate relative to the first housing 4. Specifically, the drive shaft 32 is arranged along the horizontal direction, the cam 2 is mounted on the drive shaft 32, and two sides of the cam 2 are respectively provided with a bearing component 33 configured as an assembly. Specifically, the bearing component 33 comprises two snap-fit ​​springs and a bearing.

[0191] According to certain embodiments of this disclosure, by providing the drive component 3 as a drive unit 31 and a drive shaft 32 to drive the cam 2 to rotate, the drive of the cam 2 is realized in the form of a simple structure, thereby simplifying the mechanical structure for changing the bottom of the cleaning device, and reducing the manufacturing cost of the moving wheel mechanism.

[0192] In a specific embodiment of this disclosure, the drive unit 31 is connected to the transmission shaft 32 via a coupler 34 by drive.

[0193] In a specific embodiment of this disclosure, the drive unit 31 may be an actuator, which can precisely control the position or angle of drive. Preferably, it can be determined that when the drive angle is 0°, the height difference between the second movable wheel component 1 and the second housing 5 is at its smallest; and it can be determined that when the drive angle is 90°, the height difference between the second movable wheel component 1 and the second housing 5 is at its largest.

[0194] In a specific embodiment of this disclosure, the first housing 4 includes an actuator mounting housing 41 and the actuator is fixed to the actuator mounting housing 41.

[0195] In another specific embodiment of this disclosure, the cam 2 may be provided in the form of a camshaft, and in that case, the drive unit 31 may directly drive the cam 2 to rotate.

[0196] With reference to [Fig. 11], in a specific embodiment of this disclosure, the first housing 4 further comprises a bearing bracket 42, and the other end of the drive shaft 32 is connected to the bearing bracket 42 via a bearing structure. Preferably, the bearing bracket 42 is provided with a housing space to protect the cam 2.

[0197] In another specific embodiment of this disclosure, the drive unit 31 may also be a drive motor.

[0198] With reference to [Fig. 12], according to certain embodiments of this disclosure, the second movable wheel component 1 comprises a stop plate 110, a sliding sleeve 120, a movable wheel mounting seat 13, and a second movable wheel 140, where the second movable wheel 140 is mounted on the movable wheel mounting seat 13; the sliding sleeve 120 is connected to the second housing 5 in a sliding manner, and the sliding sleeve 120 is connected to the movable wheel mounting seat 13; the cam 2 comes against the stop plate 110, and the stop plate 110 is fixed on the sliding sleeve 120.

[0199] According to certain embodiments of this disclosure, the stop plate 110 is configured to transfer the stop force from the cam 2 to the sliding sleeve 120, thereby causing the sliding sleeve 120 to slide relative to the second housing 5.

[0200] In a specific embodiment of this disclosure, the height of the cam 2 relative to the ground is greater than the height of the stop plate 110 relative to the ground. In the case where the height of the cam 2 relative to the ground is greater than the height of the stop plate 110 relative to the ground and the cam 2 compresses the stop plate 110 towards the ground, the sliding sleeve 120 slides relative to the second housing 5 and the second movable wheel component 1 moves relatively away from the second housing 5, thus causing the body of the cleaning device to move away from the ground and the cleaning device to be lifted.

[0201] In a specific embodiment of this disclosure, one of the sliding sleeve 120 and the second housing 5 is provided with a sliding block, the other is provided with a sliding slot, and the sliding block is connected to the sliding slot in a fitted manner. Specifically, the sliding block can be arranged on the sliding sleeve 120 and the sliding slot can be arranged on the second housing 5. Alternatively, the sliding block can be arranged on the second housing 5, and the sliding slot can be arranged on the sliding sleeve 120.

[0202] In a specific embodiment of this disclosure, the stop plate 110 and the sliding sleeve 120 are formed as a single unit.

[0203] In a specific embodiment of this disclosure, the movable wheel mounting seat 13 can rotate relative to the sliding sleeve 102. In this case, the second movable wheel 140 can be a universal wheel.

[0204] In another specific embodiment of this disclosure, alternatively, the sliding sleeve 120 can also be fixedly connected to the movable wheel mounting seat 13. In this case, the second movable wheel 140 can be a steerable wheel.

[0205] According to certain embodiments of this disclosure, a stop plate 110 and a sliding sleeve 120 are arranged in the second movable wheel component 1, the cam 2 abuts against the stop plate 110, and the sliding sleeve 120 is connected to the second housing 5 in a sliding manner, so that the change in height difference between the second moving wheel component 1 and the second housing 5 can be achieved in a simple structure, thus avoiding complex structures such as a lead screw, simplifying the mechanical structure for changing the bottom of the cleaning device and reducing the manufacturing cost of the moving wheel mechanism.

[0206] According to certain embodiments of this disclosure, the second movable wheel component 1 further comprises an elastic part 15, one end of which is connected to the stop plate 110 in a fixed manner and the other end of which is connected to the second housing 5 in a fixed manner.

[0207] According to certain embodiments of this disclosure, the elastic portion 15 is configured to provide a resilient force when the second movable wheel component 1 moves towards the first housing 4.

[0208] According to certain embodiments of this disclosure, by arranging the elastic part 15 in the second movable wheel component 1, a resilient force is provided in the case in which the second movable wheel component 1 moves towards the first housing 4, thus avoiding falling back by relying only on the gravity of the cleaning device, and the mechanical loss during the falling process, in order to improve the reliability of the movable wheel mechanism and the cleaning device.

[0209] With reference to [Fig. 13], according to certain embodiments of this disclosure, an inclined surface 1101 and a horizontal surface 1102 are arranged on the stop plate 110 and the inclined surface 1101 is provided adjacent to and higher than the horizontal surface 1102.

[0210] In a specific embodiment of this disclosure, when the cam 2 abuts the inclined surface 1101, the height difference between the second movable wheel component 1 and the second housing 5 is a first height difference; when the cam 2 abuts the horizontal surface 1102, the height difference between the second movable wheel component 1 and the second housing 5 is a second height difference. It can be seen that the first height difference is less than the second height difference. Since the second movable wheel component 1 is always in contact with the ground, if the height of the second movable wheel component 1 relative to the ground is set to zero, then the first and second height differences can be equivalent to the bottom heights of the cleaning apparatus relative to the ground.In other words, the bottom height of the cleaning device relative to the ground in the case where the cam 2 comes against the inclined surface 1101 is less than the bottom height of the cleaning device relative to the ground in the case where the cam 2 comes against the horizontal surface 1102.

[0211] In a specific embodiment of this description, the inclined surface 1101 may be an inclined plane or an inclined surface in the shape of an arc.

[0212] According to certain embodiments of this disclosure, by arranging an inclined surface 1101, the height difference between the inclined surface 1101 and the horizontal surface 1102 is provided to influence the change in height difference between the second moving wheel component 1 and the second housing 5, thus avoiding the change in height difference solely by relying on the change in curvature of the cam 2, reducing the impact of wear on the cam 2 on the change in height difference, and improving the reliability of the moving wheel mechanism as well as the reliability of the cleaning device.

[0213] With reference to [Fig. 14], according to certain embodiments of this disclosure, a stop pulley 210 is arranged on the cam 2 and the cam 2 comes to rest against the stop plate 110 via the stop pulley 210.

[0214] According to certain embodiments of this disclosure, by arranging a thrust pulley 210, the friction force and surface loss of the cam 2 are reduced during the rotation of the cam 2, thereby improving the reliability of the cleaning device. In addition, the thrust pulley 210 can also reduce the drive force required to move the cam 2 on the thrust plate 110.

[0215] In a specific embodiment of this disclosure, the thrust pulley 210 is mounted on the cam 2 via the sliding wheel shaft 220.

[0216] According to certain embodiments of this disclosure, the cam 2 comprises a distal end opposite the transmission shaft 32 and a proximal end adjacent to the transmission shaft 32, and the thrust pulley 210 is arranged on the distal end.

[0217] In a specific embodiment of this disclosure, the distal end of the cam 2 is a stop plane, and when the stop pulley 210 moves to a predetermined position, the cam 2 abuts against the horizontal surface 1102 via the stop plane. By arranging a stop plane on the distal end, the cam 2 can be self-locked when driven at a predetermined angle, thus preventing the continuous output of a driving force and reducing energy loss in the cleaning device.

[0218] With reference to [Fig. 15], in another specific embodiment of this disclosure, the cam 2 comes to rest against the stop plate 110 via the curvature surface of the cam 2.

[0219] In another specific embodiment of the present disclosure, the cam 2 comes directly against the stop plate 110 via the curvature surface of the cam 2, thus reducing the dimensions of the moving wheel mechanism, and at the same time reducing the load on the drive unit with a short force arm.

[0220] In another specific embodiment of this disclosure, in the case where the cam 2 comes directly against the stop plate 110 via the curvature surface of the cam 2, the stop plate 110 may have and may only have a horizontal surface 1102 to further reduce the dimensions of the moving wheel mechanism.

[0221] In another specific embodiment of this disclosure, where the cam 2 abuts the stop plate 110 via the cam's curvature surface, the stop plate 110 has only a horizontal surface 1102, and the distal end of the cam 2 abuts the stop plate 110, the height difference between the second movable wheel component 1 and the second housing 5 is a third height difference. Where the cam 2 abuts the stop plate 110 via the cam's curvature surface, the stop plate 110 has only a horizontal surface 1102, and the proximal end of the cam 2 abuts the stop plate 110, the height difference between the second movable wheel component 1 and the second housing 5 is a fourth height difference. The third height difference is greater than the fourth height difference.

[0222] In another specific embodiment of this disclosure, in the case where the cam 2 comes to rest against the stop plate 110 via the curvature surface of the cam 2, the stop plate 110 may also be provided with an inclined surface 1101 and a horizontal surface 1102.

[0223] With reference to [Fig. 16], according to certain embodiments of this disclosure, a cardan shaft 131 is arranged on the movable wheel mounting seat 13 and a shaft mounting hole 121 is arranged inside the sliding sleeve 120; the movable wheel mounting seat 13 is connected to the sliding sleeve 120 in a rotational manner via the cardan shaft 131 and the shaft mounting hole 121.

[0224] In a specific embodiment of this disclosure, the shaft mounting hole 121 is arranged along the height direction.

[0225] According to certain embodiments of this disclosure, the movable wheel mounting seat 13 is connected to the sliding sleeve 120 in a rotational manner via the cardan shaft 131 and the shaft mounting hole 121, thereby enabling the rotation of the second movable wheel 140 relative to the first housing 4, achieving universal rotation of the second movable wheel 140, and improving the reliability of the movable wheel mechanism as well as the flexibility of movement of the cleaning device.

[0226] In a specific embodiment of this disclosure, the sliding sleeve 120 comprises a sliding portion and a fixing portion, where the height of the sliding portion relative to the ground is greater than the height of the fixing portion relative to the ground; the sliding portion is connected to the fixing portion fixed in a fixed manner via a fastener, and the fastener part is configured to connect the movable wheel mounting seat 13. Preferably, the fastener is a screw.

[0227] In a specific embodiment of this disclosure, the fastening portion includes a shaft mounting hole 121 and at least one fastening hole, and the sliding portion is fastened to the fastening portion via at least one fastening hole.

[0228] According to certain embodiments of this disclosure, an anti-stop locking structure 122 is arranged inside the shaft mounting hole 121, a cardan shaft 131 is sheathed with the shaft mounting hole 121; the anti-stop locking structure 122 is connected to the cardan shaft 131 by locking.

[0229] According to certain embodiments of this disclosure, an anti-stop locking structure 122 is arranged inside the shaft mounting hole 121 to prevent the cardan shaft 131 from detaching from the shaft mounting hole 121, thereby improving the reliability of the moving wheel mechanism and the cleaning device.

[0230] The specific operating principle of the moving wheel mechanism according to certain embodiments of this disclosure is presented below.

[0231] In the normal operating state of the cleaning device, in the case where the drive angle of the drive unit 31 (actuator) is a first predetermined angle, if the stop pulley 210 comes against the stop plate 110, the stop pulley 210 on the distal end of the cam 2 comes against the inclined surface 1101 of the stop plate 110; if the stop plate 110 comes directly against the curvature surface of the cam 2 and the stop plate 110 has only a horizontal surface 1102, the proximal end of the cam 2 comes against the stop plate 110. At this moment, the height difference between the second movable wheel component 1 and the second housing 5 is the smallest, so that the cleaning device maintains balance and operates normally. Preferably, the first predetermined angle is 0°.

[0232] In the bottom lifting position of the cleaning device, if the drive angle of the drive unit 31 (actuator) is a second predetermined angle, and the thrust pulley 210 abuts the thrust plate 110, the thrust surface at the distal end of the cam 2 abuts the horizontal surface 1102 of the thrust plate 110. If the thrust plate 110 abuts directly via the curved surface of the cam 2, and the thrust plate 110 has only a horizontal surface 1102, the distal end of the cam 2 abuts the thrust plate 110. At this point, the height difference between the second movable wheel component 1 and the second housing 5 is at its greatest to facilitate the scenario in which the cleaning device overcomes obstacles. or other scenarios in which the bottom needs to be raised. Preferably, the second predetermined angle is 90°. Specifically, from the normal operating state to the bottom lifting state, cam 2 compresses stop plate 110 towards the ground.

[0233] Furthermore, in the case where the drive angle of the drive unit 31 (actuator) is a third predetermined angle, the height difference between the second movable wheel component 1 and the second housing 5 is set and the third predetermined angle is between the first predetermined angle and the second predetermined angle, thus achieving the bottom lifting of the cleaning device to different heights on the basis of different drive angles of the drive unit 31. Preferably, 0° < the third predetermined angle < 90°.

[0234] The moving wheel mechanism according to certain embodiments of this disclosure has the following beneficial effects.

[0235] The drive component 3 is fixedly connected to the first housing 4. The cam 2 bears against the second movable wheel component 1, and the second movable wheel component 1 is slidably connected to the second housing 5 along the vertical axis. Thus, the cam 2 can rotate via the drive component 3, and the second movable wheel component 1 slides relative to the second housing 5 under the action of a stop force to change the vertical difference between the second movable wheel component 1 and the second housing 5. This changes the distance between the body of the cleaning device and the floor to meet the requirements of different operating scenarios. Consequently, the flexibility of the movable wheel mechanism and the operational flexibility of the cleaning device can be improved.

[0236] By arranging the cam 2 and the drive component 3, the change in height difference between the second moving wheel component 1 and the second housing 5 can be achieved, thus avoiding complex structures, such as a lead screw, simplifying the mechanical structure for changing the bottom of the cleaning device, and reducing the manufacturing cost of the moving wheel mechanism.

[0237] One embodiment of this disclosure further proposes a cleaning apparatus which includes a first housing 4, a second housing 5 and a second moving wheel mechanism 200, according to certain embodiments of this disclosure.

[0238] Some embodiments of this disclosure further provide a cleaning apparatus, comprising an apparatus body 300 and any of the moving wheel mechanisms described above.

[0239] With reference to [Fig. 8], certain embodiments of this disclosure further propose a cleaning apparatus 1000, comprising an apparatus body 300 and a wheel mechanism. The wheel mechanism comprises wheels, where three wheels are arranged in a triangular pattern at the bottom of the apparatus body 300. For example, one of the wheels is a driven wheel, located on the front side in the forward direction of the cleaning apparatus 1000; and two other wheels are drive wheels, located on the rear side in the forward direction of the cleaning apparatus 1000. The wheel mechanism where the driven wheel is positioned is the second wheel mechanism 200, and the wheel mechanisms where the drive wheels are positioned are the first wheel mechanisms 100.

[0240] The first two movable wheel mechanisms 100 and the second movable wheel mechanism 200 in this embodiment can be configured to control the three movable wheels to raise and lower independently, in order to locally raise the device body 300, for example, by separately controlling any one of the movable wheels to raise or lower, or by simultaneously controlling two of the movable wheels to raise or lower, or by simultaneously controlling all three movable wheels to raise or lower. When two or three of the movable wheels are simultaneously controlled to raise or lower, the raising or lowering can be synchronous or asynchronous in order to adjust the height of the device body 300.

[0241] The first two movable wheel mechanisms 100 and a second movable wheel mechanism 200, in this embodiment, can be configured to control the three movable wheels to move up or down synchronously in order to lift the apparatus body 300 as a whole.

[0242] In a specific embodiment of this disclosure, the cleaning device may be a sweeper, a robot vacuum cleaner, or other cleaning devices.

[0243] In this disclosure, unless expressly specified and defined, a first feature that is "above" or "below" a second feature may include the case where the first feature is in direct contact with the second feature, and the case where the first and second features are not in direct contact but are in contact through another feature. Furthermore, a first feature that is "on," "above," or "over" a second feature includes the case where the first feature is just or approximately above the second feature and the case where the first feature is taller than the second feature. A first feature that is "under," "below," or "under" a second feature includes the case where the the first characteristic is exactly or approximately below the second characteristic, and the case in which the first characteristic is lower than the second characteristic.

[0244] In the description of this disclosure, it should be understood that terms indicating directional or positional relationships such as "center," "longitudinal," "transverse," "length," "width," "thickness," "above," "below," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "internal," "external," "clockwise," and "counterclockwise" are based on the directional or positional relationships depicted in the drawings. They are intended only to facilitate and simplify the description of this disclosure and do not indicate or imply that the devices or features discussed must represent specific directions or be interpreted and operated in specific directions; therefore, they cannot be construed as limitations to this disclosure.

[0245] It should be noted that all directional indications according to certain embodiments of this disclosure are only intended to explain the relative position relationship and movement between components in a specific attitude; and if the specific attitude changes, the directional indication changes accordingly.

[0246] In this disclosure, unless expressly specified and defined, the terms "connection," "fastening," etc., shall be understood in their broadest sense. For example, "fastening" may be a fixed connection, a detachable connection, or a connection formed as a unit; may be a mechanical connection or an electrical connection; may be a direct connection, an indirect connection via an intermediate means, or an internal communication between two elements or an interaction between two elements, unless otherwise specified. A person skilled in the art may understand the specific meanings of the above terms in this disclosure on a case-by-case basis.

[0247] In addition, the terms “first” and “second” in this disclosure are intended for descriptive purposes only and shall not be construed to indicate or imply relative importance or implicitly indicate the quantity of technical features demonstrated. Accordingly, features limited to “first” or “second” may explicitly or implicitly include one or more relative features. In the description of this disclosure, unless otherwise stated, “a plurality of” or “more” means two or more than two.

[0248] Here, the description refers to the terms "an embodiment", "certain embodiments", "example", "specific example", "certain examples" "etc." means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment(s) or example(s) are included in at least one embodiment or example of this disclosure. The schematic representation of the term mentioned above does not necessarily refer to a single embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, a person skilled in the art may assemble and combine different embodiments or examples described in the description.

[0249] Furthermore, technical drawings in the various embodiments may be combined, but only on the basis that they can be carried out by a person skilled in the art. Where the combination of technical drawings is contradictory or cannot be carried out, consideration must be given to the fact that such a combination of technical drawings does not exist and is not part of the scope of protection claimed by this disclosure.

[0250] Although certain embodiments of this disclosure have been represented and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of this disclosure and that the scope of this disclosure is defined by the claims and their equivalents.

[0251] The above description has fully described certain specific embodiments of this disclosure. It should be noted that any changes made by those skilled in the art to the specific embodiments of this disclosure do not depart from the scope of the claims of this disclosure. Therefore, the scope of the claims of this disclosure is not limited to the preceding specific embodiments.

Claims

Demands

1. A wheel mechanism that is mounted on an apparatus body (300) and that includes: a wheel component (10), arranged on the apparatus body in a rotatable manner; a power component (20) mounted on the apparatus body (300), the power component (20) comprising a rotating power element (21) and a rotating disk (22), and the rotating power element (21) being configured to drive the rotating disk (22) to rotate in two opposite directions; and a flexible connector (30) arranged between the movable wheel component (10) and the rotating disc (22), and causing the movable wheel component (10) to rotate relative to the apparatus body (300) by changing a length of the flexible connector (30) exposed between the movable wheel component (10) and the rotating disc (22) during the rotation of the rotating disc, wherein an angle of rotation of the rotating disc (22) during the rotation of the movable wheel component does not exceed 360°.

2. Moving wheel mechanism according to claim 1, wherein the angle of rotation of the rotating disc (22) during the raising or lowering of the moving wheel component (10) is from 0 to 300°.

3. Moving wheel mechanism according to claim 2, wherein a connection position between the flexible connector (30) and the rotating disc (22) is eccentric with respect to an axis of rotation of the rotating disc.

4. Movable wheel mechanism according to claim 3, wherein the angle of rotation of the rotating disc (22) during the raising or lowering of the movable wheel component (10) is from 0 to 90°.

5. Moving wheel mechanism according to any one of claims 1 to 4, wherein the rotating disc (22) comprises a transmission disc (221), an internal retaining disc (222) and an external retaining disc (223) connected in that order and a connection position between the flexible connector (30) and the rotating disc (22) is located between the internal retaining disc (222) and the external retaining disc (223).

6. A movable wheel mechanism according to any one of claims 1 to 5, wherein a connection position between The flexible connector (30) and the rotating disc (22) is provided with a tensioning mechanism or torsion spring, configured to cause the flexible connector (30) to be tightened during the rotation of the rotating disc (22).

7. Moving wheel mechanism according to any one of claims 1 to 6, wherein the rotating power element (21) is an actuator or motor integrated with an encoder, and an output shaft of the actuator or motor is connected to the rotating disk (22).

8. Moving wheel mechanism according to claim 7, wherein the moving wheel mechanism further comprises a control member and a sensor for detecting a rotation angle of the moving wheel component (10) and the sensor and the rotating power element (21) are both electrically connected to the control member; the control member is configured to determine, according to the rotation angle of the moving wheel component (10) and a rotation angle of the rotating power element (21), whether a failure occurs at the level of the rotating power element (21) or the flexible connector (30).

9. Moving wheel mechanism according to claim 8, wherein the sensor comprises a rotary sensor arranged on a rotating shaft of the moving wheel component (10) and / or an optical sensor arranged on the moving wheel component (10).

10. Cleaning apparatus comprising an apparatus body (300) and a movable wheel mechanism (10) according to any one of claims 1 to 9.