: Moving wheel mechanism and cleaning device

Abstract

The present invention relates to the technical field of cleaning devices and, in particular, to a movable wheel mechanism and a cleaning device. The movable wheel mechanism shown here is mounted on a device body. The movable wheel mechanism comprises a movable wheel assembly and a drive assembly. The movable wheel assembly is pivotally connected to the device body, and the drive assembly can selectively extend and retract, can abut against the movable wheel assembly or the device body, and can slide relative to the movable wheel assembly or the device body. The present invention makes it possible to increase and improve the obstacle clearance height, the ability to free oneself from a blockage, and the adaptability to different running surfaces of a device equipped with a movable wheel mechanism. Figure 22 for the abstract

Description

Title of the invention: Moving wheel mechanism and cleaning device. Technical field

[0001] This disclosure relates to the technical field of cleaning devices and, in particular, a moving wheel mechanism and a cleaning device. Technological background

[0002] Cleaning devices are common intelligent cleaning devices, such as a robotic sweeper or an autonomous sweeper. The ability to overcome obstacles during autonomous movement is crucial for cleaning devices, and the height at which obstacles can be overcome limits the operational range and reliability of cleaning devices. Summary of the present invention

[0003] The present invention proposes a mobile wheel mechanism and a cleaning device to improve the obstacle-crossing ability of cleaning devices.

[0004] According to a first aspect, the present invention relates to a movable wheel mechanism mounted on a device body, said mechanism comprising: • a set of movable wheels connected by a pivot joint to the body of the device; and • a drive assembly, the drive assembly being capable of selectively extending and retracting, of making contact with the moving wheel assembly or the device body, and of sliding relative to the moving wheel assembly or the device body.

[0005] According to one variant, the drive assembly is provided with a telescopic output shaft, the movable wheel assembly or the body of the device is provided with a sliding groove, and the output shaft of the drive assembly is slidably engaged in the sliding groove.

[0006] According to one variant, an end portion of the output shaft of the drive assembly is arc-shaped.

[0007] According to one variant, an end part of the output shaft of the drive assembly is equipped with a rotating contact wheel.

[0008] According to one variant, the drive assembly is fixed to the body of the device or to the moving wheel assembly, or the drive assembly is pivotally connected to the body of the device or to the moving wheel assembly.

[0009] According to one embodiment, the movable wheel assembly comprises a support element and a movable wheel mounted on the support element; the support element comprises a main wheel part and a free part, and the main wheel part is closer to the moving wheel than the free part; in which the free part of the support element is rotationally connected to the body of the device, an output shaft of the drive assembly is capable of selectively butting against the support element, or the drive assembly is rigidly or pivotally connected to the support element.

[0010] According to one variant, the movable wheel mechanism further includes a spring, in which one end of the spring is integral with the free part of the support element, and the other end of the spring is integral with the body of the device.

[0011] According to one variant, the free part and the body of the device are each provided with a hook part, and the two ends of the spring are respectively attached to the two hook parts.

[0012] According to one variant, the movable wheel mechanism further includes a spring, at least a part of the output shaft of the drive assembly being threaded through the spring.

[0013] According to a second aspect, the present invention relates to a cleaning device, comprising a device body and a moving wheel mechanism according to the first aspect of the present invention, in which the moving wheel mechanism is mounted on the device body.

[0014] According to one variant, the body of the device is provided with an upper stop and a lower stop to limit an upper limit position and a lower limit position of the entire moving wheel assembly, respectively. Brief description of the figures

[0015] For a clearer description of the technical solutions in the embodiments of the present invention, the figures to be used in the description of the embodiments are briefly presented below. It is evident that the figures in the description below represent only certain embodiments of the present invention, and for those skilled in the art, other figures can be obtained from the drawings without requiring creative effort.

[0016] [Fig.1] shows a schematic structural diagram of a moving wheel mechanism when a moving wheel assembly is in a lifted state according to an embodiment of the present invention;

[0017] [Fig.2] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a lowered state according to an embodiment of the present invention;

[0018] [Fig.3] shows a schematic structural diagram of a power device movement in the moving wheel mechanism of figures 1 and 2;

[0019] [Fig.4] shows an assembly structure diagram of the power device of displacement and of a spring in the moving wheel mechanism of figures 1 and 2;

[0020] [Fig. 5] shows an exploded view of a drive assembly and an element of flexible link in the mechanism of the moving wheel in figures 1 and 2;

[0021] [Fig.6] shows a schematic diagram of a crossing process obstacle of a cleaning device according to one or more embodiments of the present invention;

[0022] [Fig.7] shows a schematic diagram of a crossing process obstacle of a cleaning device according to other embodiments of the present invention;

[0023] [Fig.8] shows a schematic structural diagram of a moving wheel mechanism when a moving wheel assembly is in a lifted state according to an embodiment of the present invention;

[0024] [Fig.9] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a lowered state according to an embodiment of the present invention;

[0025] [Fig. 10] shows a schematic structural diagram of a power assembly in figures 8 and 9;

[0026] [Fig. 11] shows a schematic structural diagram of a flexible connecting element in Figures 8 and 9;

[0027] [Fig. 12] shows a schematic structural diagram of a motor element of the [Fig.10];

[0028] [Fig. 13] shows a structural diagram of another motor element;

[0029] [Fig. 14] shows a partial structural diagram of a free part of an element of support;

[0030] [Fig. 15] shows a schematic structural diagram of a movable wheel mechanism equipped with a tension element;

[0031] [Fig. 16] shows a schematic structural diagram of a movable wheel mechanism equipped with a steering element;

[0032] [Fig. 17] shows a schematic structural diagram of a moving wheel mechanism when a moving wheel assembly is in a lifted state according to an embodiment of the present invention;

[0033] [Fig. 18] shows a schematic structural diagram of a moving wheel mechanism when a moving wheel assembly is in a lowered state according to an embodiment of the present invention;

[0034] [Fig. 19] shows a schematic diagram of the assembly of a first end of a flexible connecting element and a first end of a spring with a drive assembly in the moving wheel mechanism;

[0035] [Fig.20] shows a schematic diagram of the assembly of a second end of the flexible connecting element and a second end of the spring with the moving wheel assembly in the moving wheel mechanism;

[0036] [Fig.21] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a lowered state according to an embodiment of the present invention;

[0037] [Fig.22] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a raised state according to an embodiment of the present invention;

[0038] [Fig.23] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a lowered state according to an embodiment of the present invention;

[0039] [Fig.24] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a raised state according to an embodiment of the present invention;

[0040] [Fig.25] shows a schematic structural diagram of a power assembly in figures 21 to 24;

[0041] [Fig.26] shows a schematic assembly structure diagram of the power assembly and the moving wheel assembly of figures 21 to 24;

[0042] [Fig.27] shows another assembly structure diagram of the assembly of power and assembly of the moving wheel in the moving wheel mechanism;

[0043] [Fig.28] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a lowered state according to an embodiment of the present invention;

[0044] [Fig.29] shows a schematic structural diagram of a wheel mechanism mobile when a mobile wheel assembly is in a raised state according to an embodiment of the present invention;

[0045] [Fig.30] shows a schematic structural diagram of the wheel assembly mobile of figures 28 and 29;

[0046] [Fig.31] shows a schematic structural diagram of a power assembly in figures 28 and 29; and

[0047] [Fig. 32] shows a schematic structural diagram of a cleaning device according to certain embodiments of the present invention. Description of examples of achievements

[0048] In order that persons in the trade to which the present invention belongs may better understand the present invention, the technical solutions in the embodiments of the present invention shall be clearly and completely described below with reference to the figures of the embodiments of the present invention. It is evident that the embodiments described represent only a portion of all the embodiments of the present invention. Based on these embodiments of the present invention, all other embodiments obtained by persons skilled in the art without creative effort fall within the scope of protection of the present invention.

[0049] When encountering an obstacle during autonomous movement, a cleaning device must either avoid the obstacle or cross it, and the obstacle clearance height limits the cleaning device's operating range and reliability. In the prior art, the solution to the obstacle crossing problem often relies on software strategies that enable the obstacle crossing function by adjusting the approach angle and speed of the cleaning device when it encounters obstacles. However, the effectiveness of this solution is limited by physical constraints such as the ground clearance of the cleaning device.

[0050] To improve the physical obstacle-crossing ability of the cleaning device, one or more embodiments of the present invention provide a mechanism for raising and lowering the travel wheels and a cleaning device. Ground clearance is increased by actively raising the body of the device, so that the components located under the device are raised relative to the obstacle, thus preventing the device from interfering with the obstacle while crossing it and increasing the obstacle clearance height. The present invention will be described in detail below with reference to specific embodiments and figures.

[0051] According to the cleaning device provided by the present invention, a movable wheel mechanism mounted on a device body comprises a movable wheel assembly and a drive assembly. The drive assembly can selectively extend and retract, can abut against the movable wheel assembly or the drive assembly, and can also slide relative to the movable wheel assembly or the drive assembly. Therefore, by driving the extension of an output shaft of the power unit, the movable wheel assembly can be driven in rotation relative to the device body, so that the movable wheel assembly is raised or lowered relative to the device body. Since the movable wheel is always in contact with the ground during movement, it is also in contact with the ground during raising or lowering relative to the device body.Therefore, in the device, raising or lowering the entire moving wheel assembly relative to the device body results in a change in the ground clearance of the device body. When the ground clearance of the device body increases, the components located beneath the device body can be raised relative to the obstacle, so that no part of the device interferes with the obstacle during the operation. crossing it increases the obstacle clearance height. The present invention can improve the obstacle clearance height, the ability to free itself from a blockage, and the adaptability to different road surfaces of a device equipped with a movable wheel mechanism.

[0052] One embodiment of the present invention provides a mechanism for raising and lowering the movable wheel. To distinguish it from another embodiment, the movable wheel raising and lowering mechanism of this embodiment is referred to as the movable wheel mechanism 100a. The movable wheel mechanism 100a is mounted on the body 300 of an automation device requiring obstacle-crossing capability and can raise or lower the movable wheel 12 relative to the body 300, thereby increasing the ground clearance of the body 300 and the obstacle-crossing height. The movable wheel mechanism 100a can be applied to cleaning devices, such as a sweeping robot and an autonomous sweeper, and can also be applied to other autonomous mobility devices requiring obstacle-crossing capability, such as an autonomous food delivery robot and a parcel sorting robot.The 100a moving wheel mechanism can be a drive wheel raising and lowering mechanism or a driven wheel raising and lowering mechanism. The 12 moving wheel can be a drive wheel or a driven wheel. The 12 moving wheel includes, but is not limited to, a rolling wheel, a track wheel, a Mecanum™ wheel, etc.

[0053] In the following embodiments, if the movable wheel 12 of the movable wheel mechanism 100a is configured to be driven by a drive device, it can be concluded that the movable wheel mechanism 100a is a drive wheel lifting and lowering mechanism, that the movable wheel assembly 10 is a drive wheel assembly, and that the movable wheel 12 is a drive wheel.

[0054] With reference to Figures 1 and 2, an overall structural diagram of a movable wheel mechanism 100a is illustrated. The movable wheel mechanism 100a comprises a movable wheel assembly 10, a drive assembly 20, and a flexible connecting element 30. The movable wheel assembly 10 is connected by a pivot joint to a device body 300. The movable wheel assembly 10 can be a driving wheel assembly that provides the power to move the device, or it can be a driving wheel assembly that rotates with a drive wheel. This is not limited in this document. The drive assembly 20 is also mounted on the device body 300 and is configured to provide a driving force for raising or lowering the movable wheel assembly 10 relative to the device body 300.The flexible linkage element 30 is configured to transmit the power from the drive assembly 20 and act on the movable wheel assembly 10, so that the movable wheel assembly 10 rotates relative to a base 310 and thus achieves lifting or lowering relative to the body. of the device 300. The drive assembly 20 and the flexible connecting element 30 can either drive only the corresponding set of movable wheels 10 to pivot and thus perform lifting or lowering, or they can simultaneously drive two sets of movable wheels 10 to pivot and thus perform lifting or lowering. This is not limited in the present invention.

[0055] When the drive wheel assembly 10 is a drive wheel assembly that provides the power to move the device, the drive wheel assembly is configured to provide the power to move the device. The drive assembly 20 is further mounted on the device body 300 and is configured to provide a driving force for raising or lowering the drive wheel assembly relative to the device body 300. The flexible linkage element 30 is configured to transmit the power from the drive assembly 20 and act on the drive wheel assembly, so that the drive wheel assembly rotates relative to the device body 300 and thus achieves the raising or lowering relative to the device body 300. Two drive wheel assemblies are generally required when the device is moving.The drive unit 20 and the flexible linkage element 30 can either drive only the corresponding set of drive wheels to pivot and thus achieve lifting or lowering, or they can simultaneously drive both sets of drive wheels to pivot and thus achieve lifting or lowering. This is not limited to the present invention. Since the relative rotation of the set of drive wheels and the movement of the set of drive wheels itself are driven by different motors, the movement action and the relative rotation action of the set of drive wheels do not interfere with each other and can be performed simultaneously.

[0056] Since the mobile wheel assembly 10 is always in contact with the ground d during movement, when the mobile wheel assembly 10 is a drive wheel assembly, the drive wheel assembly is consequently also always in contact with the ground d during lifting or lowering relative to the body of the device 300. Therefore, in the device, lifting or lowering the drive wheel assembly 10 relative to the body of the device 300 results in a change in the ground clearance of the body of the device 300. When the ground clearance of the body of the device 300 increases, the components located under the body of the device 300 can be raised above an obstacle c, so that no part of the device interferes with the obstacle c during crossing the obstacle, thus increasing the obstacle crossing height.The present invention can improve the obstacle clearance height, the ability to free itself from a blockage and the adaptability to different road surfaces of a device equipped with the mobile wheel mechanism 100a.

[0057] In some embodiments, the drive assembly 20 delivers rotational power. With reference to Figures 1 and 2, the drive assembly 20 comprises a motor element 21 and a rotating disk 22. The motor element 21 may be a servomotor or a motor (not limited to a brushed motor, a brushless motor, a stepper motor, etc.). The motor element 21 is configured to drive the rotating disk 22 to rotate in two opposite directions, for example, clockwise and counterclockwise. The rotating disk 22 is rigidly connected to an output shaft 211 of the motor element 21, and the rotating disk 22 may also be a projecting portion on the output shaft 211 of the motor element 21. The specific structure is not limited in the present invention.

[0058] The flexible connecting element 30 is connected by a pivot joint to the rotating disk 22. It is possible that one end of the flexible connecting element 30 is connected by a pivot joint to the movable wheel assembly 10 and that the other end is connected to the rotating disk 22, thus transmitting the rotational power of the driving element 21. It is also possible that the flexible connecting element 30 is connected by a pivot joint to one of the movable wheel assemblies 10 and the rotating disk 22 and wound around the other movable wheel assembly 10 and the rotating disk 22, which modifies the spatial position of a free part b of the movable wheel assembly 10.During the rotation of the rotating disc 22, the length of the exposed flexible linkage element 30 between the movable wheel assembly 10 and the rotating disc 22 changes, so that the movable wheel assembly 10 rotates relative to the body of the device 300 and thus achieves lifting or lowering relative to the body of the device 300.

[0059] In some embodiments, the drive element 21 tensions or releases the flexible connecting element 30, thereby causing the rotating disk 22 to rotate. In other words, the effective length of the flexible connecting element 30 changes. When the rotating disk 22 rotates in a first direction (for example, clockwise), the length of the exposed flexible connecting element 30 between the movable wheel assembly 10 and the rotating disk 22 decreases, so that the flexible connecting element 30 is tensioned. A force can be transmitted when the flexible connecting element 30 is tensioned, and the flexible connecting element 30 can pull the movable wheel assembly 10 when it is tensioned, so that the movable wheel assembly 10 rotates relative to the body of the device 300 and thus achieves lifting or lowering.When the rotating disk 22 rotates in a second direction (for example, counterclockwise) opposite to the first direction, the length of the exposed flexible linking element 30 between the movable wheel assembly 10 and the rotating disk 22 increases, the flexible linking element 30 is released, and the movable wheel assembly 10 can rotate in the opposite direction relative to the body of the device 300 under the action of its own weight. and / or a return spring. Of course, in other embodiments, the driving element 21 can also change the acting position of the flexible linking element 30 by driving the rotation of the rotating disc 22, and in this process, the flexible linking element 30 is always connected in a pivot joint.

[0060] In certain embodiments, the movable wheel assembly 10 includes a support element connected by a pivot joint to the body of the device 300. The support element comprises a main wheel portion a and a free portion b, and the main wheel portion a is closer to the driving wheel than the free portion b. The flexible linkage element is pivotally connected between the free portion b of the support element and the drive assembly 20, and is configured to drive the support element in rotation relative to the main body 300 under the drive of the drive assembly 20.

[0061] In some embodiments, the support element may be a support or a drive device 11. The drive device 11 may further be called a transmission device.

[0062] It can be understood that when the movable wheel 12 is a driving wheel, the support element is the drive device 11; and when the movable wheel 12 is a free wheel, the support element is a support which plays a supporting role.

[0063] In some embodiments, the moving wheel assembly 10 is rotatably mounted on the body of the device 300; the moving wheel assembly 10 includes a motor and a driven wheel; and the moving wheel assembly 10 is rotatably arranged on the body of the device 300.

[0064] With reference to Figures 1 and 2, in some embodiments, an extension line of direction of the tension force exerted by the flexible linking element 30 on the drive device 11 does not pass through a rotation shaft 61 of the movable wheel assembly 10 for rotation relative to the device body 300, so that the tension force can generate a downward / outward torque on the movable wheel assembly 10, causing the drive device 11 to swing outward around the axial direction of the rotation shaft 61.

[0065] In certain embodiments, the angle of rotation of the drive element 21 during the raising or lowering of the movable wheel assembly 10 does not exceed 360 degrees. More precisely, the angle of rotation of the rotating disc 22 during the rotation of the movable wheel assembly 10 does not exceed 360 degrees. In other words, the unidirectional rotation of the rotating disc 22 during the raising or lowering of the movable wheel assembly 10 does not exceed one revolution, which makes it possible to reduce the overall length of the flexible linkage element 30 when it is released. This prevents the flexible linkage element 30 from disengaging from the rotating disc 22 when released, and from interfering with peripheral components due to a excessive length, or that it catches on peripheral components and therefore cannot be normally tensioned or that it is broken. In some cases, the angle of rotation of the rotating disc 22 during the raising or lowering of the mobile wheel assembly 10 is between 0° and 300°, for example 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290° or 300°.

[0066] In certain embodiments, the angle of rotation of the drive element 21 during the raising or lowering of the movable wheel assembly 10 does not exceed 720 degrees. More specifically, the angle of rotation of the rotating disc 22 during the rotation of the movable wheel assembly 10 does not exceed 720 degrees. In other words, the unidirectional rotation of the rotating disc 22 during the raising or lowering of the movable wheel assembly 10 does not exceed two revolutions. The angle of rotation of the rotating disc 22 during the raising or lowering of the mobile wheel assembly 10 is, for example, 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 360°, 400°, 450°, 500°, 550°, 600°, 650°, 700° or 720°.

[0067] In some embodiments, the driving element 21 puts tension on or releases the flexible linking element 30 by causing the rotation of the rotating disk 22.

[0068] With reference to [Fig. 3], a schematic structural diagram of a drive device 11 in certain embodiments is shown. The set of moving wheels 10 comprises a motor 112, a drive device 11, and a moving wheel 12 that is either driven or free-spinning. The motor 112 drives the moving wheel 12 to rotate through the drive device 11, thereby causing the entire cleaning apparatus to move. The drive device 11 comprises a main wheel portion a and a free-spinning portion b, and the main wheel portion a is closer to the moving wheel 12 than the free-spinning portion b. The main wheel portion a of the drive device 11 includes an overlap area with the moving wheel 12 to directly transmit the drive torque for movement to the moving wheel 12.The free part b includes a region which does not overlap with the movable wheel 12, so as to achieve the connection and fixing of the drive device 11 to the peripheral structures.

[0069] The flexible connecting element 30 is connected between the drive assembly 20 and the free part b of the drive device 11. It is possible that the two ends of the flexible connecting element 30 are connected respectively to the drive assembly 20 and to the free part b of the drive device 11, or it is also possible that the flexible connecting element 30 is connected to the drive assembly 20 and wound around the free part b of the drive device 11 to change the spatial position of the free part b of the drive device 11. The flexible connecting element 30 drives the drive device 11 in a pivot joint with the body of the device 300 under the drive of the drive assembly 20. so that the set of movable wheels 10 is raised or lowered relative to the body of the device 300.

[0070] To reduce the probability that the flexible connecting element 30 will snag on a foreign object or disengage from the rotating disk 22 when released and thus become difficult to retract, in some embodiments, a tensioning mechanism is provided at the junction between the flexible connecting element 30 and the rotating disk 22. The tensioning mechanism is configured to provide a tensioning force. The tensioning mechanism includes, but is not limited to, an elastic element, and the elastic element may be a spring, a spiral spring, or similar. For example, the tensioning mechanism may be a torsion spring. The torsion spring can tension the flexible connecting element 30 in real time, thereby preventing the flexible connecting element 30 from disengaging from the rotating disk 22. In some embodiments, a spiral spring may also be used to tension the flexible connecting element 30 in real time.

[0071] It should be understood that the flexible connecting element 30 referred to in the present invention is not limited to being made entirely of a flexible material. The flexible connecting element 30 may be a flexible cable, such as a steel cable or a nylon cable, or may be a combined structure of a flexible cable and a rigid connecting element, such as a combined structure of a flexible cable and a connecting rod. In other words, the flexible connecting element 30 is at least partially made of a flexible structure, and the use of the flexible structure as a means of power transmission can solve the problem of the spatial arrangement of the movable wheel mechanism 100a to some extent.Thanks to certain fixed pulley structures, the drive assembly 20 (such as a motor or an air cylinder) can be arranged in any position on the device body 300, thus achieving optimal use of space.

[0072] With reference to Figures 1 and 2, the operating principle of the flexible connecting element 30 of the movable wheel mechanism 100a in certain embodiments is illustrated. The flexible connecting element 30 is a cable, one end of which is connected to a cable attachment point on the movable wheel assembly 10, and the other end of which is connected to the rotating disk 22. The cable extends linearly along its entire length and is not wound around a direction-change structure. The angle of rotation does not exceed 360 degrees during the rotation of the rotating disk 22, indicating that the cable will not be wound around the rotating disk 22 in a complete revolution. Compared to a coil-based winding and unwinding solution, this non-winding method can reduce problems such as cable tangling and snagging on foreign objects during the cable release process.

[0073] In some embodiments, the rotating disk 22 is arranged coaxially with the output shaft 211 of the drive element 21, and the junction between the flexible linkage element 30 and the rotating disk 22 is arranged eccentrically with respect to the axis of rotation of the rotating disk 22, as illustrated in [Fig. 5]. Alternatively, the junction between the flexible linkage element 30 and the rotating disk 22 is pivotally connected with respect to the axis of rotation of the rotating disk 22, and the rotating disk 22 is arranged eccentrically with respect to the output shaft 211 of the drive element 21. In other words, during the rotation of the rotating disk 22, the spatial position of the junction between the flexible linkage element 30 and the rotating disk 22 changes with the rotation of the rotating disk 22.In combination with the linear extension of the flexible linkage element 30 as a whole, the spatial attitude of the flexible linkage element 30 changes during the rotation of the rotating disk 22. The flexible linkage element 30 is always connected by a pivot joint with the rotation of the rotating disk 22. Since the spatial position of the end of the flexible linkage element 30 connected to the rotating disk 22 changes, in the case where the length of the flexible linkage element 30 remains unchanged, the spatial position of the end of the flexible linkage element 30 connected to the set of movable wheels 10 will also change accordingly, so that the drive device 11 is forced to swing outwards around the axial direction of the rotating shaft 61.

[0074] Since the flexible connecting element 30 is always under tension during the rotation of the rotating disk 22, the effective length of the flexible connecting element 30 remains unchanged. Consequently, the angle of rotation of the rotating disk 22 during the raising or lowering of the movable wheel assembly 10 is between 0° and 90°, for example 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, or 85°. When the angle of rotation of the rotating disk 22 is greater than 90 degrees, such as 150 degrees, the spatial attitude of the flexible connecting element 30 is substantially the same as the spatial attitude of the flexible connecting element 30 when the angle of rotation of the rotating disk 22 is 30 degrees.Therefore, by setting the rotation angle of the rotating disc 22 to 0-90 degrees during the raising or lowering of the mobile wheel assembly 10, in one aspect, the flexible linking element 30 can assume different spatial attitudes, and in another aspect, the maximum rotation angle of the rotating disc 22 being only 90 degrees, compared to a full-turn or multi-turn winding and unwinding solution for the flexible linking element 30, shortens the switching time of the mobile wheel assembly 10 between the two states of raising and lowering, thus improving the efficiency of obstacle crossing.

[0075] To facilitate the connection between the flexible connecting member 30 and the rotating disc 22, the rotating disc 22 is pivotally connected with a split structure. It comprises at least two detachable components, and the connection between the flexible connecting element 30 and the rotating disc 22 are fixed to it. With reference to [Fig. 5], an exploded view of the drive assembly 20 in certain embodiments is shown. The rotating disc 22 comprises a transmission disc 221, an inner fixed disc 222, and an outer fixed disc 223 connected in sequence. The transmission disc 221 is fixed to the output shaft 211 of the drive element 21, and the transmission disc 221, the inner fixed disc 222, and the outer fixed disc 223 are stacked in sequence and connected into a single unit by means of a threaded fastener. The connection between the flexible linkage element 30 and the rotating disc 22 is pivotally connected to the inner fixed disc 222 and the outer fixed disc 223.For example, one end of the flexible connecting element 30 is fixed to a spindle shaft, and the spindle shaft passes through spindle holes formed in the edges of the inner fixed disk 222 and the outer fixed disk 223 to be fixed, as shown in [Fig. 5]. There is a gap between the inner fixed disk 222 and the outer fixed disk 223 to allow movement of the flexible connecting element 30. During rotation of the rotating disk 22, the flexible connecting element 30 will not be wrapped around the spindle shaft, but will change its spatial attitude with the change in position of the spindle shaft.

[0076] With reference to [Fig. 3], a schematic structural diagram of the moving wheel assembly 10 in certain embodiments is shown. The moving wheel assembly 10 is a drive wheel assembly for providing the driving power of the device, and the moving wheel assembly 10 includes a drive device 11 and a moving wheel 12 driven by the driving power device. The drive device 11 may include only a drive device or may include a drive device and a deceleration mechanism. The drive device 11 includes a main wheel portion a and a free wheel portion b, and the main wheel portion a is closer to the moving wheel 12 than the free wheel portion b. The main wheel portion a of the drive device 11 includes an overlap area with the moving wheel 12 to directly transmit torque to the moving wheel 12.The free part b includes a region which does not overlap with the movable wheel 12, so as to achieve the connection and fixing of the drive device 11 to the peripheral structures.

[0077] In some cases, the boundary between the main part of the wheel a and the free part b is the normal axis of contact with the ground of the movable wheel 12. In other embodiments, the boundary between the main part of the wheel a and the free part b can also be determined as the outer contour line of the movable wheel 12. In some embodiments, the free portion b is closer to the direction of travel of the device body 300 than the main wheel portion a, so that the specific manifestation of the increased ground clearance of the device may be that the device body 300 is raised as a whole and that the ground clearance is ground clearance is increased, or the body 300 of the device tilts upwards at the front end and the ground clearance is increased.

[0078] Since the free part b of the drive device 11 is away from the movable wheel 12, with reference to Figures 1, 2 and 3, in certain embodiments, the junctions between the movable wheel assembly 10 and the peripheral components are all arranged in the free part b. In other words, the free part b of the drive device 11 is connected by pivot to the body of the device 300, and the flexible connecting element 30 is also connected by pivot to the free part b of the drive device 11.

[0079] The body of the device 300 may have an integrated structure or a divided structure. With reference to [Fig. 4], in some embodiments, the body of the device 300 is provided with a base 310 for mounting the movable wheel assembly 10 and the drive assembly 20. Parts such as a cleaning component and a guide wheel for the cleaning device may also be mounted on the base 310. The drive device 11 of the movable wheel assembly 10 is connected to the base 310 by a pivot joint.

[0080] When the movable wheel assembly 10 is a drive wheel assembly, the connections between the drive wheel assembly and the peripheral components are all arranged at the free part b. In other words, the free part b of the drive device 11 is pivotally connected to the body of the device 300, and the flexible connecting element 30 is also pivotally connected to the free part b of the drive device 11. The body of the device 300 may have an integrated or a split structure. With reference to [Fig. 4], in some embodiments, the body of the device 300 is provided with a base 310 for mounting the drive wheel assembly and the drive assembly 20. Parts such as a cleaning component and a drive wheel of the cleaning device may also be mounted on the base 310.The drive unit 11 of the drive wheel assembly is connected by pivot joint to the base 310, and the motor 112 of the drive wheel assembly and the drive wheel are both connected to the drive unit 11.

[0081] With reference to [Fig. 3], in some embodiments, the drive wheel assembly 10 also includes a wheel cover 113. The cover 113 is connected to a side surface of the housing of the drive device 11, and the cover 113 is fitted onto the movable wheel 12 with a gap between the two and can provide a mounting base for the bearing of the movable wheel 12. In some cases, the cover 113 can be formed as a single piece with the housing of the drive device 11.

[0082] To facilitate the connection between the entire movable wheel assembly 10 and the peripheral components, in certain embodiments, the free part b of the drive device 11 is provided with a mounting shaft seat 60. The shaft seat The mounting 60 is pivotally connected to the body of the device 300 (the mounting shaft seat is pivotally connected to the base 310 when the base 310 is supplied), and the drive device 11 rotates around the rotation shaft 61 of the mounting shaft seat 60. In some embodiments, the free part b of the drive device 11 is provided with an attachment point 80, and the flexible linking element 30 is connected to the attachment point 80.

[0083] As the seat of the mounting shaft 60 is located in the free part b of the drive device 11, the distance between the rotation shaft 61 of the seat of the mounting shaft 60 and the ground contact point of the drive wheel is large, and the ground clearance of the device can be considerably increased by rotating the drive device 11 by a small angle.

[0084] With reference to [Fig.4], in some embodiments, the rotation shaft 61 of the mounting shaft seat 60 is different from the axis of the motor 112, so that the mounting shaft seat 60 and the motor 112 are located in different positions, thus preventing an excessively large size of the drive wheel assembly in the axial direction of the rotation shaft 61 of the latter caused by the coaxial arrangement of the rotation shaft 61 of the mounting shaft seat 60 and the motor 112, and facilitating the arrangement of the mounting shaft seat 60 and the motor 112.

[0085] With reference to [Fig.4], in some embodiments, the seat of the mounting shaft 60 is disposed on a lower side of the free part b, and the shaft of the motor 112 is located above the rotation shaft 61 of the seat of the mounting shaft 60, so that the motor 112 is disposed in a relatively higher position in the body of the device 300 relative to the rotation shaft 61 of the drive wheel assembly, thus preventing the motor 112 from being exposed to the outside when the body of the device 300 is raised for crossing obstacles.

[0086] The flexible connecting element 30 is connected to the free part b of the drive device 11. Similarly, the distance between the attachment point of the flexible connecting element 30 on the free part b and the point of contact with the ground of the movable wheel 12 is large, so that the lever arm is large, thus reducing the requirement for the magnitude of the power delivered by the drive assembly 20. The flexible connecting element 30 can be directly connected to the free part b of the drive device 11. In some embodiments, the free part b of the drive device 11 can also be provided with an attachment point 80, and the flexible connecting element 30 is connected to the attachment point 80.In some embodiments, the attachment point 80 is disposed on an upper part of the free part b, so that the flexible connecting element 30 is located in a relatively upper region inside the body of the device 300, thus preventing. the flexible connecting element 30 to fall and be exposed outside the body of the device 300 and to be in contact with the ground when released.

[0087] The drive assembly 20 is an actuator that implements an obstacle-crossing function. The drive assembly 20 can deliver rotational or kinematic power. In other words, the drive assembly 20 can include a drive element 21, such as a motor and a servo, and can also include a telescopic drive element 21, such as a cylinder and an electric telescopic rod. This possibility is not limited in this document.

[0088] In some embodiments, the drive assembly 20 produces rotational power. Referring to Figures 1 and 2, the drive assembly 20 comprises a motor element 21. The motor element 21 can be a servo or a motor (not limited to a brushed motor, a brushless motor, a stepper motor, etc.). One end of the flexible linkage element 30 is fixed to the free part b of the drive device 11, and the other end of the flexible linkage element is connected to the output shaft 211 of the motor element 21. As shown in [Fig. 5], the flexible linkage element 30 is connected by a pivot joint to the output shaft 211 of the motor element 21.

[0089] When the drive element 21 rotates, the flexible linkage element 30 is connected by a pivot joint to the output shaft 211 of the drive element 21. In other words, the length of the exposed flexible linkage element 30 between the movable wheel assembly 10 and the rotating disk 22 changes, and force can be transmitted when the flexible linkage element 30 is under tension. In some embodiments, the drive element 21 can also change the operating position of the flexible linkage element 30 during rotation, and during this process, the flexible linkage element 30 remains under tension.

[0090] In some embodiments, the flexible connecting element 30 is connected in a pivot joint or released when the drive element 21 rotates, and the flexible connecting element 30 can pull the drive device 11 when connected in a pivot joint, so that the drive wheel assembly rotates relative to the base 310 and thus achieves lifting or lowering. An extension line of the direction of the tension force exerted by the flexible connecting element 30 on the drive device 11 does not pass through the rotation shaft 61 of the mounting shaft 60 seat of the drive wheel assembly, so that the tension force can generate a downward / outward torque on the drive wheel assembly, causing the drive device 11 to swing outward around the axial direction of the rotation shaft 61.

[0091] With reference to [Fig. 5], in some embodiments, the drive assembly 20 also includes a rotating disk 22 arranged coaxially with the output shaft 211 of the drive element 21. The drive element 21 tensions or releases the flexible linkage element 30, thereby causing the rotating disk to rotate. 22. The rotating disc 22 is fixedly connected to an output shaft 211 of the drive element 21, and the rotating disc 22 can also be a projecting part on the output shaft 211 of the drive element 21. The specific structure is not limited in the present invention. The angle of rotation of the drive element 21 during the raising or lowering of the drive wheel assembly 10 is not greater than 360 degrees or 720 degrees, and furthermore the angle of rotation of the rotating disc 22 during the raising or lowering of the drive wheel assembly is not greater than 360 degrees or 720 degrees, in order to prevent the flexible linking element 30 from disengaging from the rotating disc 22 when relaxed, from interfering with the peripheral components due to excessive length, or from catching on the peripheral components and thus being unable to be tensioned normally or being broken.

[0092] With reference to [Fig.4], in some embodiments, the movable wheel mechanism 100a also includes a spring 70. One end of the spring 70 is fixed to the free part b of the drive device 11, and the other end of the spring is fixed to the body of the device 300, such as the base 310. The damping effect of the spring 70 allows the movable wheel 12 to absorb vibrations when it travels over an uneven road surface. Similarly, to facilitate the mounting of the spring 70, in certain embodiments, the free part b of the drive device 11 and the base 310 of the device body 300 are each provided with a hook part 90, and two ends of the spring 70 are respectively hooked to the two hook parts 90. In some cases, the hook 90 of the free part b of the drive device 11 and the hook 90 of the device body 300 are oriented in opposite directions.In other words, the directions of the attachment points of spring 70 are opposite, so the attachment of spring 70 is more stable.

[0093] With reference to [Fig. 1], in certain embodiments, the extension direction of the flexible connecting element 30 is substantially the same as the extension direction of the spring 70, which can be understood as the fact that the two are parallel within a permissible assembly error range, such that the extension direction of the flexible connecting element 30 and the spring 70 are arranged in an offset manner. For example, the angle between the extension direction of the flexible connecting element 30 and the extension direction of the spring 70 does not exceed 10 degrees. Furthermore, the flexible connecting element 30 and the spring 70 extend in a direction opposite to the direction of movement, so that the hook portion 90 of the body of the device 300, such as the base 310, and the drive assembly 20 are located at the rear with respect to the free portion b of the drive device 11.Even though the obstacle crossing attitude of device 300 is inclined upwards at the front, the hook part 90 of device 300, such as the base 310, and the drive assembly 20 are located at the rear, and their spatial positions do not change. too. In addition, with the 90 hook of the 300 device and the 20 electrical assembly located at the rear, it is easier to tilt upwards at the front end of the 300 device, and easier to overcome obstacles and prevent slippage.

[0094] In some embodiments, the spring 70 is always stretched. That is to say, the spring 70 always generates a tension force on the drive device 11. In the case where the extension direction of the flexible connecting element 30 is substantially the same as the extension direction of the spring 70, the spring 70 can help the flexible connecting element 30 to pull the drive device 11 together, so that the movable wheel assembly 10 rotates relative to the body of the device 300 and thus achieves the lifting or lowering.

[0095] With reference to [Fig.4], in some embodiments, the seat of the mounting shaft 60 is disposed in a lower part of the free part b, and the part of the attachment point 80 and the part of the hook 90 are both disposed in an upper part of the free part b. The points of action of the flexible linking element 30 and the spring 70 on the free part b are positioned relatively high, so that the flexible linking element 30 and the spring 70 can be disposed in a relatively high position in the body of the device 300, thus preventing the flexible linking element 30 and the spring 70 from being exposed externally when the body of the device 300 is lifted to cross obstacles.

[0096] With reference to [Fig. 3], in some embodiments, the drive device 11 comprises a gearbox 111 and a motor 112 mounted on the gearbox 111, and the rotational shaft 61 of the mounting shaft seat 60 is different from the axis of the motor 112. More specifically, the axis of the motor 112 is located above the rotational shaft 61 of the mounting shaft seat 60, so that the motor 112 is arranged in a relatively higher position in the body of the device 300 compared to the rotational shaft 61 of the wheel assembly 10, which prevents the motor 112 from being exposed when the body of the device 300 is lifted to overcome obstacles. With reference to [Fig. 3], in some embodiments, the drive device 11 also comprises a wheel cover 113.The trim ring 113 is connected to a side surface of the gearbox housing 111, and the trim ring 113 is fitted onto the wheel 12 with a gap between the two and can provide a mounting base for the bearing of the wheel 12. In some cases, the trim ring 113 can be integrated into the gearbox housing 111.

[0097] In some embodiments, the drive device includes a drive motor, which may be a DC motor, a servomotor or the like.

[0098] To prevent the drive element 21 from losing control and causing accidents, in certain embodiments, the body of the device 300, such as the base 310, is provided with an upper stop and a lower stop to limit a The movable wheel assembly 10 has two upper and lower limit positions, respectively. The movable wheel assembly 10 oscillates between the upper and lower limit positions. In normal movement mode, the movable wheel assembly 10 approaches the upper limit position but does not cross it. When encountering an obstacle, the wheel assembly 10 pivots downward, approaches the lower limit position, but does not cross it.

[0099] The upper and lower limiting portions may be mechanical limiting structures or electronic limiting devices. In some embodiments, a lower mechanical limiting portion is disposed on the body of the device 300 to prevent the movable wheel assembly 10 from swinging downwards. A length-adjustable bolt extending downwards is attached to the hook portion 90 of the device body 300, such as the base 310, and the bolt serves as an upper mechanical limit for the movable wheel assembly 10 to prevent it from swinging upwards. In other embodiments, the upper and lower stops are electronic devices, such as microswitches, limit switches, or photoelectric sensors. The movable wheel mechanism 100a also includes a driver.When the entire movable wheel assembly 10 oscillates to a position where the electronic device is triggered, the electronic device sends a position signal back to the controller, and the controller drives the motor element 21 to stop rotating.

[0100] In some embodiments, the drive element 21 controls the angle of rotation and / or the speed of rotation of the rotating disk 22.

[0101] In certain embodiments, to facilitate closed-loop control of the oscillation position of the movable wheel assembly 10, the drive element 21 is a servo or a motor with an integrated encoder, and the output shaft 211 of the servo or motor is connected to the rotating disk 22. The encoder can measure the actual angle of rotation of the servo or motor. Correspondingly, the movable wheel mechanism 100a also includes a controller. The drive element 21 and its encoder are both electrically connected to the controller, and the rotational speed and / or angle of rotation of the drive element 21 are controlled in a closed loop by the controller. The drive element 21 is pivotally connected to the rotating disk 22, so that the drive element 21 controls the angle of rotation and / or the rotational speed of the rotating disk 22.

[0102] With reference to Figures 1 and 2, in certain embodiments, the motor element 21 is a servomotor. The advantages of the servo lie in the fact that it integrates a speed reducer, a motor, and a position encoder, and that it occupies a space relatively small overall. The position encoder is configured to provide feedback information for closed-loop motor position control. However, since active raising and lowering generally only require two positions, namely the retracted and extended positions, in some embodiments the servo can also be replaced by a common brushed or brushless motor, and position sensing elements are arranged at the upper and lower limit positions of the moving wheel assembly 10 to achieve closed-loop position control of the common motor.

[0103] In some embodiments, the movable wheel mechanism 100a also includes a sensor for measuring the angle of rotation of the movable wheel assembly 10. The number and type of sensors are not limited in this document, as long as they can measure the angle of rotation of the movable wheel assembly 10. The sensor is connected via a pivot joint to the controller, and the sensor returns the measured angle of rotation of the movable wheel assembly 10 to the controller. The controller can determine the malfunction of the drive element 21 and the flexible linkage element 30 based on the angle of rotation of the movable wheel assembly 10 and the angle of rotation of the drive element 21.

[0104] Under normal conditions, there is a specific relationship between the rotation angle of the wheel assembly 10 and the rotation angle of the drive element 21. If either of the measured rotation angles of the wheel assembly 10 or the measured rotation angle of the drive element 21 fails to meet this relationship, it means that the drive element 21 and / or the flexible linkage element 30 is not functioning correctly. In this case, the controller can activate the device equipped with the wheel mechanism 100a to send rapid information, such as flashing a fault indicator or displaying a dialog box via a mobile phone application.

[0105] In some embodiments, the sensor comprises a rotation sensor 40 disposed on the rotation shaft 61 of the movable wheel assembly 10 and / or an optical sensor 50 disposed on the drive device 11. In other words, the movable wheel mechanism 100a can be equipped only with the rotation sensor 40 or the optical sensor 50, or can be equipped with both the rotation sensor 40 and the optical sensor 50.

[0106] With reference to Figures 1 and 2, an optical sensor 50 is mounted on an outer side of the housing of the main wheel part a of the reducer 111, and is configured to determine whether the movable wheel 12 has successfully retracted into the recess of the main body 300 when the movable wheel returns to its normal moving state from the raised state. The optical sensor 50 triggers a positioning signal after detecting a change in the direction of light caused by the retraction. in the recess. With reference to [Fig.3], a rotation sensor 40 is mounted on the rotation shaft 61 of the wheel assembly 10 to measure and record the actual angle of rotation of the wheel assembly 10.

[0107] When the sensor only includes the rotation sensor 40 arranged on the rotation shaft 61 of the movable wheel assembly 10, the rotation sensor 40 can measure the actual angle of rotation of the movable wheel assembly 10. When the position feedback from the servo or motor fails, for example in the event of servo malfunction or breakage of the flexible linkage element 30, the controller can determine, based on the feedback signal from the rotation sensor 40, whether the movable wheel 12 actually rotates to the normal travel position or whether it moves completely out to cross the obstacle.

[0108] When the sensor consists only of the optical sensor 50 arranged on the drive device 11, the optical sensor 50 can detect whether the movable wheel 12 has successfully retracted into the recess. When the position feedback from the servo or motor fails, for example, when the servo malfunctions or the flexible linkage element 30 is broken, the controller can determine, based on the feedback signal from the optical sensor 50, whether the movable wheel 12 retracts completely and returns to its normal travel position.

[0109] In the case where the sensor includes both the rotation sensor 40 and the optical sensor 50, when the position feedback of the servo or the motor fails, for example when the servo malfunctions or the flexible linkage element 30 is broken, the optical sensor 50 and the rotation sensor 40 detect whether the movable wheel 12 has successfully retracted into the recess and measure the actual angle of rotation of the movable wheel assembly 10, thus determining whether the movable wheel 12 actually returns to the normal moving position. In addition, the malfunction of the drive element 21 or the flexible link element 30 can also be determined by comparing the result of the successful retraction of the movable wheel 12 into the recess and the actual angle of rotation of the movable wheel assembly 10 detected and measured by the optical sensor 50 and the rotation sensor 40 with the angle of rotation information of the drive element 21 returned by the encoder.Furthermore, the deployment of the rotation sensor 40 and the optical sensor 50 constitutes a redundant design. On the one hand, this improves the accuracy of the detection and, on the other hand, in the event of a malfunction of either the rotation sensor 40 or the optical sensor 50, the normal operation of the movable wheel mechanism 100a is not affected.

[0110] The operating principle of the movable wheel mechanism 100a will be described below, taking as an example the movable wheel mechanism 100a of a certain embodiment. In this embodiment, the movable wheel mechanism 100a is applied to a scanning robot. Two movable wheel mechanisms 100a are arranged in the scanning robot, and the drive assembly 20 and the flexible linkage element 30 in each movable wheel mechanism 100a drive a corresponding movable wheel assembly 10 to swing and thus perform lifting or lowering. The movable wheel assembly 10 comprises a motor 112, a speed reducer, and a movable wheel 12; the motor 112 can be a drive motor; the flexible linkage element 30 is a cable; the drive assembly 20 comprises a servo and a rotating disk 22; and the movable wheel assembly 10 is equipped with a rotation sensor 40 and an optical sensor 50.

[0111] The position of the movable wheel assembly 10 when the scanning robot is moving normally is illustrated in [Fig. 1]. One end of the cable is attached to a cable suspension point on the gearbox 111, and the other end is fixed to the inner fixed disc 222 and the outer fixed disc 223 of the rotating disc 22, and the cable is in its extended position. One end of the spring 70 is attached to the latching portion 90 on the gearbox 111, and the other end is fixed to the latching portion 90 of the body of the device 300. The transmission disc 221, the inner fixed disc 222, and the outer fixed disc 223 are securely connected to the servo by means of screws.

[0112] When the sweeping robot detects that it is necessary to cross an obstacle during movement, the servo rotates by approximately 120 degrees, the rotating disc 22 on the servo causes the cable to also rotate by approximately 120 degrees, and the cable is in a shortened state and wound in a space between the inner fixed disc 222 and the outer fixed disc 223. The other end of the cable is connected in a pivot joint, so that the movable wheel assembly 10 rotates downwards around the rotating shaft 61, as shown in [Fig.2].

[0113] The movable wheel assemblies 10 on both sides of the sweeper robot rotate simultaneously downwards to a lower limit position, and raise the entire body of the sweeper robot device 300 to a height of 4 cm above the ground d, as shown in [Fig. 6]. Thanks to the acceleration provided by the movable wheel assembly 10, the sweeper robot tilts upwards at the front end and moves forward to overcome an obstacle c, as shown in [Fig. 7], in order to achieve the obstacle-crossing objective. The obstacle-crossing height of the sweeper robot increases from 20 mm to 32 mm and more.

[0114] An optical sensor 50 is mounted on an outer side of the main wheel portion a of the gearbox housing 111 and is configured to determine whether the movable wheel 12 has successfully retracted into the recess in the lower housing when the movable wheel returns to its normal moving state from the raised state. The optical sensor 50 triggers a retraction signal after detecting a change in the direction of light caused by the retraction into the recess. A rotation sensor 40 is mounted on the rotation shaft 61. to measure and record the actual rotation angle of the entire movable wheel 10. The servo is equipped with an integrated encoder that can measure the servo's actual rotation angle. When the servo's position feedback fails, for example, in the event of a servo malfunction or cable breakage, it is possible to determine whether the movable wheel 12 effectively returns to its normal movement position based on the successful retraction of the movable wheel 12 into the recess and the actual rotation angle of the rotation shaft 61 detected and measured by the optical sensor 50 and the rotation sensor 40. It is also possible to determine whether the servo or the cable is malfunctioning by comparing the servo's rotation angle information returned by the servo. Embodiments of the present invention provide a cleaning device 1000, which can be a sweeping robot or an autonomous sweeper.Referring to Figures 6, 7 and 32, the cleaning device 1000 comprises a device body 300 and the mobile wheel mechanism 100a according to one of the above embodiments. The mobile wheel mechanism 100a is fully mounted in the device body 300, and the mobile wheel 12 of the mobile wheel mechanism 100a partially protrudes from the device body 300 and is in contact with the ground d to cause the entire cleaning device 1000 to move.

[0115] When the cleaning device 1000 is moving normally (including forward, backward and turning), the set of movable wheels 10 provides a driving force for movement. When the cleaning device 1000 detects an obstacle c that cannot be crossed in front of the cleaning device (the position and size of the obstacle can be identified by an ultrasonic sensor, a mechanical vision system or similar located at the front of the body of the device 300), or when the cleaning device 1000 is blocked during movement and cannot move normally, it is determined that the cleaning device is encountering an obstacle.In this case, the controller drives the movement of the drive assembly 20 and acts on the movable wheel assembly 10 via the flexible linkage element 30, so that the movable wheel assembly 10 rotates relative to the body of the device 300 and thus achieves the lifting or lowering relative to the body of the device 300.

[0116] Since the mobile wheel assembly 10 is always in contact with the ground d during movement, in the device, raising or lowering the mobile wheel assembly 10 relative to the device body 300 results in a change in the ground clearance of the device body 300. When the ground clearance of the device body 300 increases, the components located under the device body 300 can be raised above the obstacle c, so that no part of the device interferes with the obstacle c during crossing the obstacle. thus increasing the obstacle clearance height. The present invention makes it possible to improve the obstacle clearance height, the ability to free oneself from a blockage and the adaptability to different road surfaces of a device equipped with the mobile wheel mechanism 100a.

[0117] With reference to [Fig. 6], in certain embodiments, when the controller determines that an obstacle c is encountered, the drive assembly 20 drives the movable wheel assembly 10 to rotate relative to the body of the device 300 and extend, so that the body of the device 300 is raised as a whole to a height greater than the obstacle c. The movable wheel assembly 10 drives the cleaning device 1000 to continue moving, thus crossing the obstacle c.

[0118] With reference to [Fig.7], in certain embodiments, when the controller determines that an obstacle c is encountered, the drive assembly 20 causes the movable wheel assembly 10 to rotate relative to the body of the device 300 and to extend, so that the body of the device 300 tilts upwards at the front end and is thus raised to a height greater than the obstacle c. The movable wheel assembly 10 causes the cleaning device 1000 to accelerate, which enables it to cross the obstacle c.

[0119] Based on the same design idea, the present invention provides another movable wheel mechanism 100b. The movable wheel mechanism 100b is similar to the movable wheel mechanism 100a described above, and the movable wheel mechanism 100b also comprises a movable wheel assembly 10, a drive assembly 20, and a flexible linkage element 30. The main difference lies in the fact that the flexible linkage element 30 of the movable wheel mechanism 100b is connected to the drive assembly 20 and to the movable wheel assembly 10 in different ways. The connection of the flexible linkage element 30 to the drive assembly 20 and to the movable wheel assembly 10 in the movable wheel mechanism 100b will now be described in more detail with reference to the figures.

[0120] With reference to Figures 8 and 9, Figures 8 and 9 show overall structural diagrams of a movable wheel mechanism 100b. The movable wheel mechanism 100b is mounted on a device body 300, and the movable wheel mechanism 100b comprises a movable wheel assembly 10, a drive assembly 20, and a flexible linkage element 30. The movable wheel assembly 10 is connected by a pivot joint to the device body 300. The movable wheel assembly 10 can be a driving wheel assembly that provides the power to move the device, or it can be a driven wheel assembly that rotates with a driving wheel. This is not limited in this document. The drive assembly 20 is also mounted on the device body 300 and is configured to provide a driving force for raising or lowering the movable wheel assembly 10 relative to the device body. Device 300. The flexible linkage element 30 is configured to transmit power from the drive assembly 20 and act on the movable wheel assembly 10, so that the movable wheel assembly 10 rotates relative to a base 310 and thus lifts or lowers the device body 300. The drive assembly 20 and the flexible linkage element 30 can drive only the corresponding movable wheel assembly 10 to rotate and thus lift or lower, or they can simultaneously drive two movable wheel assemblies 10 to rotate and thus lift or lower. This is not limited to the scope of the present invention.

[0121] With reference to Figures 8 to 10, the drive assembly 20 is provided with a rotating motor output shaft 25, and the motor output shaft 25 can rotate in two opposite directions, for example, clockwise and counterclockwise. The drive assembly 20 includes a motor element 21. The motor element 21 can be a servo or a motor (not limited to a brushed motor, a brushless motor, a stepper motor, and the like), and a drive shaft of the motor element 21 is configured as the output shaft 25 of the drive assembly 20.

[0122] With reference to figures 8 to 11, the flexible connecting element 30 is disposed between the movable wheel assembly 10 and the output shaft 25 of the drive assembly 20, the flexible connecting element 30 comprises a first end and a second end, the first end of the flexible connecting element 30 is connected to the output shaft 25 of the drive assembly 20 and can be wound around the output shaft 25 of the drive assembly 20, and the second end of the flexible connecting element 30 is connected to the movable wheel assembly 10.By driving the rotation of the output shaft 25 of the drive assembly 20, the first end of the flexible linking element 30 is wound around the output shaft 25 of the drive assembly 20, and thus the length of the exposed flexible linking element 30 between the movable wheel assembly 10 and the output shaft 25 of the drive assembly 20 changes, so that the movable wheel assembly 10 rotates relative to the body of the device 300, thus enabling the movable wheel assembly 10 to lift or lower relative to the body of the device 300.

[0123] With reference to Figures 8 and 9, in certain embodiments, the drive element 21 of the drive assembly 20 is driven to rotate, such that the first end of the flexible connecting element 30 is wound around the output shaft 25 of the drive assembly 20 or is released from the output shaft 25 of the drive assembly 20, and thus the flexible connecting element 30 is tensioned or released; that is, the effective length of the flexible connecting element 30 is changed. When the output shaft 25 of the drive assembly 20 rotates in a first direction (for example, in a clockwise direction), the length of the exposed flexible link element 30 between the movable wheel assembly 10 and the output shaft 25 of the drive assembly 20 decreases, so that the flexible link element 30 is under tension, a force can be transmitted when the flexible link element 30 is under tension, and the flexible link element 30 can pull the movable wheel assembly 10 when under tension, so that the movable wheel assembly 10 rotates relative to the body of the device 300 and thus achieves lifting or lowering.When the output shaft 25 of the drive assembly 20 rotates in a second direction (for example, counterclockwise) opposite to the first direction, the length of the exposed flexible link 30 between the movable wheel assembly 10 and the rotating disc 22 increases, the flexible link 30 is released, and the movable wheel assembly 10 can rotate in the opposite direction relative to the body of the device 300 under the action of its own weight and / or a return spring. Compared to the movable wheel mechanism 100a, the movable wheel mechanism 100b can drive the motor output shaft 25 of the drive assembly 20 to rotate half a turn, one turn, two turns, or more, depending on the height of the obstacle, so as to effectively overcome the obstacle.

[0124] According to one embodiment of the present invention, a circumferential side of the output shaft 25 is provided with a mounting piece, and the first end of the flexible linking element 30 is connected to the mounting piece, so as to assemble the flexible linking element to the circumferential side of the output shaft 25, to drive the output shaft 25 of the drive assembly 20 to rotate, and thus allow the first end of the flexible linking element 30 to wrap around the circumferential side of the output shaft 25 of the drive assembly 20.

[0125] With reference to [Fig. 12], in certain embodiments, the circumferential side of the output shaft 25 is provided with a mounting groove 24, the first end of the flexible linkage element 30 is connected in the mounting groove 24, and the mounting groove 24 is configured as the mounting part described above. Compared to the wheel mechanism 100a, the technical solution in which the first end of the flexible linkage element 30 is connected in the mounting groove 24 can increase the length of the flexible linkage element 30 between the wheel assembly 10 and the output shaft 25 of the drive assembly 20, so that the lever arm is large, thus reducing the requirement on the magnitude of the output power of the drive assembly 20.

[0126] With reference to [Fig. 12], a portion of the end of the output shaft 25 away from the drive element 21 (an outer end of the output shaft 25) is provided with an assembly hole 243. The assembly hole 243 extends to a wall of the mounting groove 24 along the axial direction of the output shaft 25. In other In terms, the assembly hole 243 is disposed on the wall of the mounting groove 24 along the axial direction of the output shaft 25, so that the first end of the flexible linking element 30 can be assembled in the mounting groove 24 of the output shaft 25 through the assembly hole 243.

[0127] With reference to Figures 11 and 12, a first hole 241 is formed in the middle of an end portion of the output shaft 25 away from the driving element 21 (an axially external end of the output shaft 25), and a second hole 242 is formed outside the end portion of the output shaft 25 away from the driving element 21 (the axially external end of the output shaft 25). The second hole 242 is arranged along a radial direction of the output shaft 25, and the second hole 242 communicates with the first hole 241 to construct the mounting groove 24, where the projection of the second hole 242 along the radial direction of the output shaft 25 falls into the first hole 241; The first end of the flexible connecting element 30 is integral with a fixing element 31, and the fixing element 31 is assembled in the first hole 241.Since the opening size of the second hole 242 is smaller than the size of the first hole 241, the fastener 31 cannot be disengaged from the output shaft 25 via the second hole 242. Referring to [Fig. 11], the fastener 31 may be cylindrical, the first hole 241 is also cylindrical with a diameter slightly larger than that of the fastener 31, and the fastener 31 is assembled in the first hole 241 with a gap between the two. The second hole 242 has a square shape with an opening slightly larger than the diameter of the first end of the flexible connecting element 30, so that the first end of the flexible connecting element 30 can pass through the second hole 242.

[0128] With reference to [Fig. 13], in another embodiment, the circumferential side of the output shaft 25 is formed with an assembly protrusion 26, and the first end of the flexible connecting element 30 is connected to the assembly protrusion 26, so that the flexible connecting element can also be assembled on the circumferential side of the drive element. The assembly protrusion 26 can be formed integrally on the circumferential side of the output shaft 25, and the first end of the flexible connecting element 30 can be connected to the assembly protrusion 26 or suspended from the assembly protrusion 26. This is not limited in the present invention.

[0129] With reference to [Fig. 10], one end of the output shaft 25 away from the drive element 21 (an axially external end of the output shaft 25) is fitted with a stop 23, and the first end of the flexible connecting element 30 is wound around the drive shaft between the stop 23 and the drive element 21 to limit the winding position of the first end of the flexible connecting element 30 on the output shaft 25, thus preventing an abnormal phenomenon caused by the inability of the flexible connecting element 30 to wrap around the output shaft 25. The stop 23 may have a plate-shaped structure, and may be removably assembled to the axially outer end of the output shaft 25 by means of threads, a snap-fit, etc. to facilitate the assembly of the first end of the flexible connecting element 30 onto the output shaft 25.

[0130] With reference to [Fig. 14], the second end of the flexible connecting element 30 is connected to the free part b of the support element to drive the support element in rotation relative to the body of the device 300 under the action of the drive assembly 20, thus allowing the movable wheel assembly 10 to rise or fall relative to the body of the device 300 to effectively overcome the obstacle.

[0131] With reference to [Fig. 14], an outer circumferential side of the free part b of the support element is provided with a connecting shaft 62, the second end of the flexible connecting element 30 is equipped with a connecting shaft sleeve 32, and the connecting shaft sleeve 32 is rotatably fitted onto the connecting shaft 62. When the first end of the flexible connecting element 30 is wound around the drive shaft of the drive assembly 20 or when it is disengaged from the drive shaft of the drive assembly 20, the connecting shaft sleeve 32 at the second end of the flexible connecting element 30 rotates around the connecting shaft 62 and causes the support element to rotate relative to the body of the device 300.Two opposing mounting seats 63 are also connected to the outer circumferential side of the free portion b of the support element. The connecting shaft 62 is connected to the two mounting seats 63, and the sleeve of the connecting shaft 32 at the second end of the flexible linking element 30 is disposed between the two mounting seats 63 to limit the position of the sleeve of the connecting shaft 32, thus preventing any interference between the flexible linking element 30 and other components during the tensioning and release process. In another embodiment, the connection of the second end of the flexible linking element 30 to the support element can also be likened to the connection of the flexible linking element 30 to the support element in the movable wheel mechanism 100a. This is not limited to the present invention.

[0132] In the movable wheel mechanism 100a and the movable wheel mechanism 100b described above, during the process of driving the operation of the drive assembly, the exposed flexible linkage 30 between the drive assembly and the movable wheel assembly 10 moves from a tensed state to a relaxed state. During this process, the relaxed portion of the flexible linkage 30 can interfere with the spring 70 or other machine components, thereby causing a failure. Based on this technical problem, the present invention further improves the moving wheel mechanism 100a and the moving wheel mechanism 100b to ensure that the relaxed part of the flexible linking element 30 does not interfere with the peripheral elements when the spring is in the state of maximum contraction, thus preventing the occurrence of a failure.

[0133] With reference to [Fig. 15], in one embodiment, the movable wheel mechanism 100 also includes at least one tension element 320, the at least one tension element 320 is connected to at least one of the device body 300 and the movable wheel assembly 10, and the flexible linking element 30 is wound around the at least one tension element 320. In the process of driving the operation of the drive assembly 20, thanks to the support of the at least one tension element 320, the flexible linking element 30 is kept on a predefined trajectory as much as possible, and is kept taut between the drive assembly 20 and the movable wheel assembly 10, thus preventing the flexible linking element 30 from interfering with the peripheral members and ensuring the normal operation of the cleaning device.The tension element 320 can be a wheel structure and can be connected by a pivot joint to at least one of the device body 300 and the movable wheel assembly 10, such that the flexible connecting element 30 is subject to rolling friction with the tension element 320, and thus the flexible connecting element 30 rotates smoothly. The tension element 320 can be disposed at the first end of the flexible connecting element 30 or at the second end of the flexible connecting element 30, or at both the first and second ends of the flexible connecting element 30. This is not limited within the scope of the present invention.

[0134] In another embodiment, at least a portion of the flexible connecting element 30 is elastic. In some embodiments, the first end, the second end, and / or a certain end of the central portion of the flexible connecting element 30 is elastic. In the process of controlling the operation of the drive assembly 20, by deforming the elastic portion of the flexible connecting element 30, the flexible connecting element 30 can also be kept taut between the drive assembly 20 and the movable wheel assembly 10, thus preventing the flexible connecting element 30 from interfering with the peripheral members and ensuring the normal operation of the cleaning device. A portion of the flexible connecting element 30 may include an elastic element or be made of an elastic material, such that at least a portion of the flexible connecting element 30 is elastic.

[0135] It should be noted that in the condition where the movable wheel mechanism 100 also includes the tension element 320, at least a part of the flexible connecting element 30 is also elastic. Thus, thanks to the support of the element tension 320 and deformation of the elastic part of the flexible connecting element 30, the flexible connecting element 30 is kept under tension between the drive assembly 20 and the mobile wheel assembly 10, which prevents the flexible connecting element 30 from interfering with the peripheral elements and ensures the normal operation of the cleaning device.

[0136] In the moving wheel mechanism 100a and the moving wheel mechanism 100b described above, to avoid any interference between the flexible connecting element 30 and the spring 70 during the process of the flexible connecting element 30 moving from the stretched to the relaxed state, the extension direction of the flexible connecting element 30 and the spring 70 are staggered. For some compact designs, there may not be enough space for the extension direction of the flexible connecting element 30 and the spring 70 to be staggered. Based on this, the present invention further improves the moving wheel mechanism 100a and the moving wheel mechanism 100b, so that the flexible connecting element 30 and the spring 70 can be arranged in a compact design.

[0137] With reference to [Fig. 16], in one embodiment, the flexible connecting element 30 is threaded through the spring 70. When the flexible connecting element 30 moves from tension to slack, it moves back and forth inside the spring 70, causing the movable wheel assembly 10 to be raised or lowered relative to the body of the device 300. Meanwhile, the internal space of the spring 70 can also be used, allowing the flexible connecting element 30 and the spring 70 to be arranged in a compact configuration. The length of the flexible connecting element 30 must be greater than the length of the spring 70, so that at least one end of the flexible connecting element 30 can pass through the spring 70.The attachment parts of the flexible connecting element 30 and the spring 70 on the free part b of the support element can be integrated in a single position to simplify the structure of the support element.

[0138] With reference to [Fig. 16], the movable wheel mechanism 100 also includes a steering element 330. The steering element 330 is connected to the body of the device 300, the steering element 330 is disposed on an outside side of an end part of the spring 70, and the flexible linking element 30 is wound around the steering element 330, so that the part of the flexible linking element 30 that is threaded through the spring 70 is always on the axis of the spring 70, thus preventing the flexible linking element 30 from touching the spring 70 during movement. This allows the flexible connecting element 30 to move smoothly, so that the movable wheel assembly 10 is driven in a pivot joint relative to the device body 300, and the movable wheel assembly 10 can thus be raised or lowered relative to the device body 300. Furthermore, the steering element 330 It can also maintain tension on the flexible linkage element 30, preventing the flexible linkage element 30 from interfering with the outside due to its release. In one embodiment, the steering element 330 may have a cylindrical structure or a rotating wheel structure, and may be connected by a pivot joint to the hook portion 90 to connect the spring 70.

[0139] With reference to Figures 17 and 18, in another embodiment, the present invention provides a movable wheel mechanism 100c. Similar to the movable wheel mechanisms 100a and 100b described above, the movable wheel mechanism 100c also comprises a movable wheel assembly 10, a drive assembly 20, a flexible linkage element 30, and a spring 70. The principal difference is that the spring 70 in the movable wheel mechanism 100c is connected to the drive assembly 20 and the movable wheel assembly 10, and the flexible linkage element 30 is threaded through the spring 70 to allow the flexible linkage element 30 and the spring 70 to be arranged in a compact configuration. Specific details of the movable wheel mechanism 100c will now be described in more detail with reference to the figures.

[0140] With reference to Figures 17 and 18, Figures 17 and 18 show overall structural diagrams of a movable wheel mechanism 100c. The movable wheel mechanism 100c is mounted on a device body 300, and the movable wheel mechanism 100c comprises a movable wheel assembly 10, a drive assembly 20, a flexible linkage element 30, and a spring 70. The movable wheel assembly 10 is connected to the device body 300 by a pivot joint. The movable wheel assembly 10 can be a driving wheel assembly that provides the power to move the device, or it can be a driven wheel assembly that rotates with a driving wheel. This is not limited to the scope of this document. The drive assembly 20 is also mounted on the body of the device 300 and is configured to provide driving force for raising or lowering the movable wheel assembly 10 relative to the body of the device 300.The flexible linkage element 30 is configured to transmit power from the drive assembly 20 and act on the movable wheel assembly 10, causing the movable wheel assembly 10 to rotate relative to a base 310 and thus lift or lower relative to the body of the device 300. The drive assembly 20 and the flexible linkage element 30 can either drive only the corresponding movable wheel assembly 10 to rotate and thus lift or lower, or they can simultaneously drive two movable wheel assemblies 10 to rotate and thus lift or lower. This is not limited to the present invention. The spring 70 is connected to the drive assembly 20 and the movable wheel assembly 10, and the damping effect of the spring 70 allows the movable wheel 12 to absorb vibrations when it travels over a rolling surface. irregular. The flexible connecting element 30 of the present invention is threaded through the spring 70, so that the flexible connecting element 30 can move within the spring 70, and the flexible connecting element is coaxial or nearly coaxial with the spring. Thus, only the space occupied by the spring 70 is required, and the flexible connecting element 30 and the spring 70 can be arranged in a compact configuration.

[0141] With reference to [Fig. 19], the drive assembly 20 is supplied with a motor output shaft 25, and the motor output shaft 25 can rotate in two opposite directions, for example, clockwise and counterclockwise. The drive assembly 20 includes a motor element 21. The motor element 21 can be a servo or a motor (not limited to a brushed motor, a brushless motor, a stepper motor, and the like), and a drive shaft of the motor element 21 is configured as the output shaft 25 of the drive assembly 20.

[0142] With reference to [Fig. 19], the flexible connecting element 30 comprises a first end and a second end, and the first end of the flexible connecting element 30 is connected to the output shaft 25 of the drive assembly 20. For the connection between the two, reference can be made to the connection of the first end of the flexible connecting element 30 to the output shaft of the drive assembly 20 in the wheel mechanism 100b. This will not be repeated in this document.

[0143] With reference to [Fig. 19], the spring 70 comprises a first end and a second end. The first end of the spring 70 is attached to the output shaft 25 of the drive assembly, and the first end of the spring 70 may be provided with a first suspension ring 71. The first suspension ring 71 is attached to the output shaft 25 of the drive assembly 20, and the first suspension ring 71 can slide on the output shaft 25 to accommodate the winding of the first end of the flexible connecting element 30 on the output shaft 25 of the drive assembly.

[0144] With reference to [Fig. 20], the free part b of the drive device 11 is provided with a fixed shaft 64, and the second end of the flexible connecting element 30 is connected to the fixed shaft 64. For the assembly of the second end of the flexible connecting element 30 to the fixed shaft 64, reference can be made to the connection of the first end of the flexible connecting element 30 to the motor output shaft 25 of the drive assembly 20 in the wheel mechanism 100b. This will not be repeated in the present invention.

[0145] With reference to [Fig. 20], the second end of the spring 70 is provided with a second suspension ring 72. The second suspension ring 72 is hooked to a portion of the hook 90 of the free part b of the drive device 11, and the portion of the hook 90 is integrated into the fixed shaft 64, so that the second The end of the flexible linking element 30 and the second end of the spring 70 are substantially located in the same position, and thus the flexible linking element 30 and the spring 70 are coaxial or almost coaxial, and the movable wheel assembly 10 is driven by the flexible linking element 30 to achieve lifting or lowering relative to the body of the device 300.

[0146] To solve the problem of interference between the flexible connecting element 30 and the spring 70 when the flexible connecting element 30 moves from a stretched position to a relaxed position during the raising or lowering of the entire movable wheel assembly relative to the device body, the present invention provides a movable wheel mechanism lOOd. In the movable wheel mechanism lOOd, the flexible connecting element is not included, and the movable wheel assembly is driven to perform the raising or lowering relative to the device body by means of a drive assembly 20 that can extend and retract. Specific details of the movable wheel mechanism lOOd will now be described in more detail with reference to the figures.

[0147] With reference to Figures 21 to 24, Figures 21 to 24 show overall structural diagrams of a moving wheel mechanism lOOd. The moving wheel mechanism lOOd is mounted on a device body 300, and the moving wheel mechanism lOOd comprises a moving wheel assembly 10 and a drive assembly 20. The moving wheel assembly 10 is connected by a pivot joint to the device body 300. The moving wheel assembly 10 can be a driving wheel assembly that provides driving power for the device, or it can be a driven wheel assembly that rotates with a driving wheel. This is not limited in the present invention.The drive assembly 20 is also mounted on the body of the device 300, and the drive assembly 20 can selectively extend and retract, come against the movable wheel assembly 10 or the body of the device 300, and slide relative to the movable wheel assembly 10 or the body of the device 300, thus causing the movable wheel assembly 10 to rotate relative to the body of the device 300.

[0148] With reference to Figures 21 to 24, the drive assembly 20 is configured to provide a driving force for raising or lowering the movable wheel assembly 10 relative to the body of the device 300. The drive assembly 20 can drive only the corresponding movable wheel assembly 10 to pivot and thus perform the lifting or lowering, or it can simultaneously drive two movable wheel assemblies 10 to pivot and thus perform the lifting or lowering. This is not limited in the present invention. The drive assembly 20 is provided with a telescopic output shaft 25, and the output shaft 25 can extend or retract, for example, extend downwards or retract upwards. With reference to [Fig. 25], the drive assembly 20 includes a drive element 21. The drive element 21 It can be a linear reciprocating motion structure such as a linear motor or a cylinder; a telescopic shaft of the motor element 21 is configured as an output shaft 25 of the drive assembly 20, and the output shaft 25 of the drive assembly 20 comes against the movable wheel assembly 10 and slides relative to the movable wheel assembly 10. When the body of the device 300 does not need to be lifted, the output shaft 25 of the drive assembly 20 does not extend, the end part of the output shaft 25 is not in contact or just in contact with the movable wheel assembly 10, and the spring 70 has a large length and is in a stretched state, which does not affect the damping effect of the spring 70.When the body of the device 300 needs to be lifted, the output shaft 25 of the drive assembly 20 is driven to extend and abut against the movable wheel assembly 10 and slide relative to the movable wheel assembly 10, causing the movable wheel assembly 10 to rotate relative to the body of the device 300, thus raising or lowering the movable wheel assembly 10 relative to the body of the device 300. Since the movable wheel assembly 10 is always in contact with the ground during movement, it is consequently also in contact with the ground during lifting or lowering relative to the body of the device 300. Therefore, in the device, raising or lowering the movable wheel assembly 10 relative to the body of the device 300 results in a change in the ground clearance of the body of the device 300.When the ground clearance of the device body 300 increases, the components located beneath the device body 300 can be raised relative to the obstacle, so that no part of the device interferes with the obstacle during its crossing, thus increasing the obstacle clearance height. The present invention improves the obstacle clearance height, the ability to free itself from a blockage, and the adaptability to different road surfaces of a device equipped with a movable wheel mechanism. In this case, the spring 70 comprises the shortest length and can be in a stretched state, a normal state, or a slightly compressed state.

[0149] With reference to [Fig. 26], the upper part of the movable wheel assembly 10 is provided with a sliding groove 13. The length of the sliding groove 13 is perpendicular to the axial direction of the movable wheel 12. The output shaft 25 of the drive assembly 20 abuts against the sliding groove 13, and the output shaft 25 of the drive assembly 20 can slide within the sliding groove 13. The sliding groove 13 can limit the direction of sliding of the output shaft 25 of the drive assembly 20, so that the output shaft 25 of the drive assembly 20 slides in a predetermined direction, thus preventing the output shaft of the drive assembly 20 from moving away from the movable wheel assembly 10.

[0150] With reference to [Fig. 26], in one embodiment, the top of the main part of the wheel a of the movable wheel assembly 10 is provided with the sliding groove 13 described above, which allows a short extension / retraction stroke of the drive assembly 20. In another embodiment, the sliding groove 13 may also be provided on one side of the main wheel part a of the movable wheel assembly 10. This is not limited in the present invention.

[0151] With reference to Figures 25 and 26, in one embodiment, the end of the output shaft 25 of the drive assembly 20 is equipped with a rotating contact wheel 27, so that the end of the output shaft 25 of the drive assembly 20 is in sliding contact with the bottom of the sliding groove 13, thus reducing friction between the two and facilitating the smooth movement of the end of the output shaft 25 of the drive assembly 20 in the sliding groove 13.In another embodiment, the end part of the output shaft 25 of the drive assembly 20 can be arc-shaped, such as spherical or hemispherical, so that the end part of the output shaft 25 of the drive assembly 20 is in point contact with the bottom of the sliding groove 13, thus reducing the contact area between the two, and allowing the smooth movement of the end part of the motor output shaft 25 of the drive assembly 20 in the sliding groove 13.

[0152] With reference to [Fig.27], in another embodiment, at least one of the two opposite side walls of the sliding groove 13 is provided with a guide piece 14, the output shaft 25 of the drive assembly 20 is provided with a guide protrusion 27, and the guide protrusion 27 is slidably connected to the guide piece 14. The guide part 14 may have a groove or hole structure, the length direction of the guide part 14 is consistent with the length direction of the sliding groove 13, and the guide protrusion 27 is slidably connected in the corresponding guide part 14.This can also achieve the effect of causing the movable wheel assembly 10 to rotate relative to the body of the device 300 by driving the output shaft 25 of the drive assembly 20 out, and the movement of the output shaft 25 of the drive assembly 20 on the movable wheel assembly 10 can be guided and corrected.

[0153] With reference to Figures 21 and 23, in one embodiment, the drive assembly 20 is fixed to the body of the device 300. With reference to Figures 22 and 24, in another embodiment, the drive assembly 20 is pivotally connected to the body of the device 300. This can have the effect of causing the movable wheel assembly 10 to rotate relative to the body of the device 300. driving the output shaft 25 of the drive assembly 20 so that it extends outwards.

[0154] In another embodiment, the drive assembly 20 is connected to the movable wheel assembly 10, and the motor output shaft 25 of the drive assembly 20 abuts against the body of the device 300 and can slide relative to the body of the device 300. This can also have the effect of allowing the movable wheel assembly 10 to be raised or lowered relative to the body of the device 300 by driving the extension and retraction of the output shaft 25 of the drive assembly 20, so as to cause the movable wheel assembly 10 to rotate relative to the body of the device 300. In other words, by replacing the connection method between the drive assembly 20 and the body of the device 300 with that between the drive assembly and the movable wheel assembly 10, the technical objective of allowing the movable wheel assembly 10 to be Raising or lowering it relative to the body of the device can also be achieved.

[0155] With reference to Figures 21 and 23, in one embodiment, for the assembly method of the spring 70 of the movable wheel mechanism 100d, one can refer to the assembly method of the spring 70 in the movable wheel mechanism 100a or 100b, and one, two, or more springs 70 may be provided. This will not be repeated in this document.

[0156] With reference to Figures 22 and 24, in another embodiment, at least a portion of the output shaft of the drive unit 20 is threaded through the spring 70 to save the space occupied by the drive unit 20 and the spring 70. This is suitable for arrangement on certain models where space is limited. When the body of the device 300 does not need to be lifted, the spring 70 is substantially arranged vertically, the output shaft 25 of the drive unit 20 does not extend, the end portion of the output shaft 25 is not in contact or is only in contact with the wheel assembly 10, and the spring 70 comprises its shortest length and is in a compressed state, which does not affect the damping effect of the spring 70.When the body of the device 300 needs to be lifted, the motor output shaft 25 of the drive assembly 20 is driven to extend and come against the movable wheel assembly 10 and slide relative to the movable wheel assembly 10, and the drive assembly 20 rotates relative to the body of the device 300 to push the movable wheel assembly 10 to rotate relative to the body of the device 300, so that the movable wheel assembly 10 is raised or lowered relative to the body of the device 300. In this case, the spring 70 is arranged obliquely and comprises the greatest length, and can be in a slightly compressed state, a normal state or a stretched state.

[0157] When at least a portion of the output shaft of the drive assembly 20 is threaded through the spring 70, one end of the spring 70 can be connected to the driving element 21 of the drive assembly 20, and the other end of the spring 70 can be connected to the outer wall of the main wheel part a. Furthermore, the spring 70 can be a profiled spring. For example, the diameter of the spring 70 located on the driving element 21 is smaller than the diameter of the spring 70 located on the main wheel part a, and the cross-section of the spring 70 located on the main wheel part a can be circular, elliptical, or of another shape.In other words, the output shaft of the drive assembly 20 is freely adjustable inside the spring 70, so that in the process of extension and retraction of the output shaft 25, the sliding of the terminal part of the output shaft on the outer wall of the main wheel part does not cause contact with the spring 70, which ensures the normal operation of the device.

[0158] To solve the problem of interference between the flexible connecting element 30 and the spring 70 when the flexible connecting element 30 moves from a tensioned to a relaxed position during the raising or lowering of the movable wheel assembly relative to the device body, the present invention also provides a movable wheel mechanism 100e. In the movable wheel mechanism 100e, the pivoting connecting element 30 described above is not included, and the movable wheel assembly 10 is driven to achieve the raising or lowering relative to the device body 300 by means of a drive assembly 20 that can rotate. Specific details of the movable wheel mechanism 100e will now be described in more detail with reference to the figures.

[0159] With reference to Figures 28 and 29, Figures 28 and 29 show overall structural diagrams of a 100e moving wheel mechanism. The movable wheel mechanism 100e is mounted on a device body 300. The movable wheel mechanism 100e comprises a movable wheel assembly 10 and a drive assembly 20. The movable wheel assembly 10 is connected to the device body 300 by a pivot joint. The movable wheel assembly 10 has a driven part 15, the drive assembly 20 is connected to the device body 300, and the drive assembly 20 can drive the driven part 15 of the movable wheel assembly 10, so that the movable wheel assembly 10 rotates relative to the device body 300, and thus the movable wheel assembly 10 extends relative to the device body 300.

[0160] With reference to Figures 28 and 29, the movable wheel assembly 10 can be a driving wheel assembly that provides the power to move the device, or it can be a driven wheel assembly that rotates with a driving wheel. This is not limited in this document. The movable wheel assembly 10 is provided with a driven part 15. The drive assembly 20 is further mounted on the body of the device 300 and is configured to provide a driving force for raising or lowering the set of movable wheels 10 relative to the body of the device 300. The drive assembly 20 can drive only the corresponding set of movable wheels 10 to pivot and thus perform the lifting or lowering, or it can simultaneously drive two sets of movable wheels 10 to pivot and thus perform the lifting or lowering. This is not limited in the present invention. The drive assembly 20 has a transmission element 210, the transmission element 210 has a driving part 28, and the driving part 28 can rotate synchronously with the transmission element 210. At least one part of the driving element 15 and the driving element 28 has a toggle groove 29, and the other part of the driving element 15 and the driving element 28 moves back and forth in the toggle groove 29.In one embodiment, the transmission element 210 can be arranged in a rotatable manner. In another embodiment, the transmission element 210 can be telescopic to drive the driven part 15 of the movable wheel assembly 10, and thus allow the movable wheel assembly 10 to rotate relative to the body of the device 300, so that the movable wheel assembly 10 extends relative to the body of the device 300.

[0161] With reference to Figures 30 and 31, in one embodiment, the movable wheel assembly 10 is provided with a toggle joint 16. The toggle joint 16 may be a rod-shaped or block-shaped structure, and the toggle joint 16 is configured as the driven part 15. The transmission element 210 is provided with a toggle groove 29, the toggle groove 29 being configured as the driving part 28, and a support shaft moves back and forth in the toggle groove 29.

[0162] With reference to [Fig.28], when the body of the device 300 does not need to be lifted, the transmission element 210 of the drive assembly 20 does not rotate, the toggle element 16 on the movable wheel assembly 10 remains stationary in the toggle groove 29 of the transmission element 210, the toggle element 16 is disposed in the top of the toggle groove 29, and the toggle element 16 may or may not be in contact with the top of the toggle groove 29 to limit the toggle element 16 in the top of the toggle groove 29.

[0163] With reference to [Fig.29], when the body of the device 300 is to be lifted, the transmission element 210 of the drive assembly 20 is driven to rotate counterclockwise, and the toggle element 16 of the movable wheel assembly 10 comes to rest against the top of the toggle groove 29. Due to the rotation of the transmission element 210, the toggle element 16 rotates with the transmission element 210, so that the movable wheel assembly 10 extends outwards relative to the body of the device 300. Since the mobile wheel assembly 10 is always in contact with the ground during movement, it is also in contact with the ground during lifting or lowering relative to the device body 300. Therefore, in the device, lifting or lowering the mobile wheel assembly 10 relative to the device body 300 results in a change in the ground clearance of the device body 300. When the ground clearance of the device body 300 increases, the components located under the device body 300 can be raised relative to the obstacle, so that no part of the device interferes with the obstacle when crossing it, thus increasing the obstacle clearance height.The present invention makes it possible to improve the obstacle clearance height, the ability to free oneself from a blockage and the adaptability to different road surfaces of a device equipped with a movable wheel mechanism.

[0164] In some embodiments, the movement path of the rocking element 16 is arc-shaped, and the movement path of the rocking element 16 is concentric with the axis of rotation of the transmission element 210, and / or the movement path of the rocking element 16 is concentric with the axis of rotation of the link of the moving wheel assembly 10 relative to the device body 300.

[0165] To allow the movable wheel assembly 10 to extend in a controllable manner, at least a portion of the toggle groove 29 on the transmission element 210 is arc-shaped, and the central angle of the arc-shaped portion of the toggle groove 29 can be adjusted to be less than or equal to 180°. Consequently, the rotation angle of the transmission element 210 can be controlled to be less than or equal to 180°. In some embodiments, the central angle of the arc-shaped portion of the toggle groove 29 on a rotating disk is between 90° and 150°, for example 150°, 120°, or 90°, which can be adjusted accordingly based on the design of the cleaning device. This is not limited within the scope of the present invention.At least a portion of the toggle groove 29 being arc-shaped means that: the entire toggle groove 29 is arc-shaped to guide and limit the movement of the toggle element 16 within the toggle groove. The toggle groove 29 may also be fan-shaped and irregularly shaped, provided that sufficient space is ensured within the toggle groove 29 for the toggle element 16 to rotate. In some cases, the toggle groove 29 is a through-hole groove. In another embodiment, the toggle groove 29 is a blind groove, provided that at least a portion of the knee joint element 16 may penetrate it. This is not limited within the scope of the present invention.

[0166] With reference to [Fig.30], in some embodiments, the drive assembly 20 includes a motor element 21. The motor element 21 may be a servo or a motor (not limited to a brushed motor, a brushless motor, a stepper motor, and the like), a drive shaft of the motor element 21 is mounted with the transmission element 210, the transmission element 210 may be disc-shaped, fan-shaped, square, or in other structural shapes, the transmission element 210 rotates synchronously with the drive shaft of the motor element 21, and the toggle groove 29 on the transmission element 210 and the drive shaft of the motor element 21 are arranged coaxially. In some embodiments, the axis of rotation of the transmission member 210 is not coaxial with the axis of rotation of the link of the moving wheel assembly 10 relative to the device body 300.In other embodiments, the axis of rotation of the transmission element 210 is coaxial with the axis of rotation of the connection of the set of moving wheels 10 relative to the body of the device 300, and the arrangement can be specifically arranged according to the internal space of the device.

[0167] In accordance with the moving wheel assembly described above, the moving wheel assembly 10 of the moving wheel mechanism 100e also includes a support element and a moving wheel 12 mounted on the support element, where a free-moving portion of the support element is pivotally connected to the body of the device 300, and the toggle element 16 is disposed on the free-moving portion of the support element. In one embodiment, the toggle element 16 may be integrally formed at the bottom of one side of the free portion b of the support element to prevent the drive assembly 20 from occupying the space above the moving wheel assembly 10 and interfering with the spring 70.

[0168] In accordance with the moving wheel assembly 100 described above, the moving wheel mechanism 100e also includes a spring 70. For the assembly method of the spring 70, reference can be made to the assembly method of the spring 70 in the moving wheel mechanism 100a or 100b, and one, two, or more springs 70 may be provided. The spring 70 is always stretched and always generates a tension force on the moving wheel assembly 10.

[0169] When the cleaning device is lifted or pivoted away from the ground, under the action of the spring 70, the toggle element 16 slides in the toggle groove 29, positioning the entire movable wheel assembly 10 in an extended and suspended state. In this case, the curvature of the toggle groove 29 serves only to limit the minimum extension height of the movable wheel assembly.

[0170] In another embodiment, the toggle groove 29 is arranged on the movable wheel assembly 10, for example on one side of the free part b of the movable wheel assembly 10. The toggle groove 29 on the movable wheel assembly 10 is configured as the driven part 15, the central axis of the toggle groove 29 and that of the transmission element 210 are arranged concentrically. The toggle element 16 is arranged on the transmission element 210, the central axis of the toggle element 16 and that of the transmission element 210 are arranged eccentrically, and the toggle element 16 is configured as the driving part 28. Under the action of the drive assembly 20, the toggle element 16 of the transmission element 210 moves back and forth in the toggle groove 29 of the moving wheel assembly.In other words, by exchanging the position of the driving part 28 with that of the driven part 15 in the drive mechanism 100e described above, the movable wheel assembly 10 can also be extended relative to the body of the device 300 by controlling the rotation of the transmission element 210 of the drive assembly 20. This changes the ground clearance of the device body 300, and no part of the device interferes with the obstacle during its crossing, thus increasing the obstacle clearance height. The present invention improves the obstacle clearance height, the ability to free itself from a blockage, and the adaptability to different road surfaces of a device equipped with the movable wheel mechanism. We will not elaborate further on this point in this document.

[0171] Embodiments of the present invention also provide a cleaning device. The cleaning device comprises a device body 300 and the movable wheel mechanism described above.

[0172] With reference to [Fig. 32], embodiments of the present invention also provide a cleaning device 1000. The cleaning device comprises a device body 300 and a wheel mechanism, which includes wheeled wheels. Three wheeled wheels are arranged in a triangle at the bottom of the device body 300. In some embodiments, one of the wheeled wheels is a driven wheel 200 located at the front of the cleaning device 1000 relative to its direction of travel, and the other two wheeled wheels are drive wheels located at the rear of the cleaning device 1000 relative to its direction of travel, where a wheeled mechanism in which the drive wheel is located is any one of the wheeled mechanisms 100 described above.

[0173] In the present invention, unless otherwise clearly stated and defined, a first feature being "on" or "under" a second feature may include the first and second features being in direct contact and the first and second features not being in direct contact but are in contact via an additional feature between the two. Furthermore, a first feature being "on," "above," or "above" a second feature means that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is in a higher horizontal position than the second feature. A first feature being "under," "below," or "below" a second feature means that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is in a lower horizontal position than the second feature.

[0174] In the description of this document, it should be understood that the orientation or position relationships indicated by the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "inside," "outside," "clockwise," and "counterclockwise" are those shown on the basis of the figures and are intended simply to describe the present invention and simplify the description rather than to indicate or imply that the indicated apparatus or element must have a specific orientation and be configured and operated in that specific orientation. These relationships should not be interpreted as a limitation of the present invention.

[0175] In the present invention, unless otherwise clearly specified and agreed, the terms "connect," "fix," and others shall be interpreted broadly. For example, the term "fix" may refer to a fixed connection, a detachable connection, or an integration; a mechanical connection or an electrical connection; a direct connection or an indirect connection via an intermediary; or internal communication between two elements or interaction between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention may be understood under specific conditions.

[0176] Furthermore, in this document, descriptions using the terms "first," "second," and others are used for descriptive purposes only and shall not be construed as indicating or implying relative importance or implicitly indicating the number of technical features specified. Therefore, the features defined by "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise clearly and specifically defined, the term "plurality" refers to two or more.

[0177] Although embodiments of the present invention have been illustrated and described, it can be understood by persons skilled in the art with ordinary competence that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principle and purpose of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

Demands

1. A movable wheel mechanism (100), mounted on a device body (300), comprising: • a movable wheel assembly (10) connected by pivot joint with the device body (300); and • a drive assembly (20), the drive assembly being capable of selectively extending and retracting, of contacting the movable wheel assembly (10) or the device body (300), and of sliding relative to the movable wheel assembly (10) or the device body (300).

2. Moving wheel mechanism according to claim 1, wherein the drive assembly (20) is provided with a telescopic output shaft (25), the moving wheel assembly (10) or the body of the device (300) being provided with a sliding groove (13), and the output shaft of the drive assembly being slidably engaged in the sliding groove (13).

3. Moving wheel mechanism according to claim 2, wherein an end portion of the output shaft of the drive assembly is arc-shaped.

4. Movable wheel mechanism according to claim 2, wherein an end portion of the output shaft of the drive assembly is equipped with a rotating contact wheel (27).

5. Moving wheel mechanism according to any one of claims 1 to 4, wherein the drive assembly (20) is integral with the body of the device (300) or with the moving wheel assembly (10), or the drive assembly (20) is pivotally connected to the body of the device (300) or with the moving wheel assembly (10).

6. A moving wheel mechanism according to claim 5, wherein the moving wheel assembly (10) comprises a support element and a moving wheel (12) mounted on the support element, the support element comprising a main wheel portion (a) and a free portion (b), and the main wheel portion (a) being closer to the moving wheel (12) than the free portion (b); wherein the free portion (b) of the support element is rotatably connected to the body of the device (300), an output shaft (25) of the drive assembly being capable of selectively coming into abutment against the support element, or the drive assembly (20) is connected in a fixed or pivotal manner to the support element.

7. Movable wheel mechanism according to claim 6, further comprising a first spring (70), in which one end of the first spring is integral with the free part (b) of the support element, and the other end of the first spring is integral with the body of the device (300).

8. Movable wheel mechanism according to claim 7, wherein the free part (b) and the body of the device (300) are each provided with a hook part (90), and the two ends of the first spring are respectively hooked to the two hook parts.

9. Movable wheel mechanism according to claim 6, further comprising a second spring (70), in which at least a portion of the output shaft (25) of the drive assembly (20) is threaded through the second spring.

10. Cleaning device (1000), comprising a device body (300) and a moving wheel mechanism (100) according to any one of claims 1 to 9, wherein the moving wheel mechanism (100) is mounted on the device body (300).

11. Cleaning device according to claim 10, wherein the body of the device (300) is provided with an upper stop and a lower stop to limit respectively an upper limit position and a lower limit position of the entire moving wheel assembly (10).

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