TRANSLATION MECHANISM, CLEANING APPARATUS AND CLEANING SYSTEM

Abstract

The present disclosure relates to the technical field of obstacle surmounting of cleaning apparatuses, and in particular to a traveling mechanism. The traveling mechanism is arranged on a machine body of a cleaning apparatus, and comprises traveling wheels, an auxiliary mechanism and a driving assembly, wherein the driving assembly is configured to drive the auxiliary mechanism and the traveling wheels to rotate in the same direction, and in a rotating state, at least part of the auxiliary mechanism protrudes from the traveling wheels in the advancing direction of the traveling wheels, such that the auxiliary mechanism abuts against an obstacle and supports the machine body.

Description

Traveling mechanisms, cleaning equipment and cleaning systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on Chinese patent application number 202420210936.6, filed on January 29, 2024, and Chinese patent application number 202421848852.1, filed on August 1, 2024, and claims the priority of the above two Chinese patent applications. The entire contents of the above two Chinese patent applications are hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the technical field of cleaning equipment, and in particular to a walking mechanism, a cleaning equipment and a cleaning system. Background Art

[0004] With the development of modern society, in order to save time and maintain home hygiene, more and more people have begun to purchase cleaning equipment so that they can clean their homes in a timely and convenient manner. Cleaning equipment, with a certain degree of artificial intelligence, can automatically complete the floor cleaning work in the room.

[0005] Cleaning equipment typically has automatic travel capabilities. However, when encountering obstacles like thresholds and steps, the equipment must simply drive its wheels to overcome them, or increase the driving force of the wheels before retreating and trying again. Using only its wheels to overcome obstacles significantly limits the height of the obstacles it can overcome. Furthermore, the success rate and time required to overcome obstacles are difficult to control, resulting in low efficiency.

[0006] Summary of the Invention

[0007] In order to overcome at least one of the above-mentioned shortcomings, the present disclosure provides a walking mechanism, a cleaning device, and a cleaning system. The purpose of the present disclosure can be achieved by adopting the following technical solutions:

[0008] The present disclosure provides a walking mechanism, which is provided on a machine body of a cleaning device, and the walking mechanism includes:

[0009] Travel wheels;

[0010] auxiliary institutions;

[0011] The driving assembly is used to drive the auxiliary mechanism to rotate in the same direction as the walking wheel. In the rotating state, at least part of the auxiliary mechanism protrudes from the walking wheel in the forward direction of the walking wheel, so that the auxiliary mechanism is against the obstacle and supports the machine body.

[0012] In some embodiments, in the rotating state, the portion of the auxiliary mechanism protruding from the running wheel is placed above the transverse centerline of the running wheel and / or,

[0013] In the rotating state, the portion of the auxiliary mechanism protruding from the running wheel is placed below the transverse center line of the running wheel.

[0014] In some embodiments, the auxiliary mechanism is arranged on a side of the traveling wheel away from the longitudinal centerline of the machine body; or,

[0015] The auxiliary mechanism is arranged on a side of the traveling wheel close to the longitudinal center line of the machine body.

[0016] In some embodiments, the lowest point of the auxiliary mechanism in the rotating state is not lower than the lowest point of the running wheel.

[0017] In some embodiments, the height difference between the lowest point of the auxiliary mechanism and the lowest point of the walking wheel is at least 5 mm.

[0018] In some embodiments, the height difference between the lowest point of the auxiliary mechanism and the lowest point of the walking wheel is 5 to 20 mm; or,

[0019] The height difference between the lowest point of the auxiliary mechanism and the lowest point of the walking wheel is greater than or equal to 10 mm.

[0020] In some embodiments, the walking mechanism is configured to assist the walking wheel to cross an obstacle that is not less than the radius of the walking wheel through the auxiliary mechanism.

[0021] In some embodiments, the auxiliary mechanism rotates synchronously or asynchronously with the walking wheel.

[0022] In some embodiments, the rotational speed of the auxiliary mechanism is not greater than the rotational speed of the traveling wheel.

[0023] In some embodiments, the auxiliary mechanism is provided with at least one groove, which can be rotated to the forward direction side of the running wheel, so as to abut against the obstacle when the auxiliary wheel moves over the obstacle.

[0024] In some embodiments, the auxiliary mechanism includes at least one climbing claw, which can be rotated to the forward direction side of the walking wheel, and is used to abut against the obstacle when the auxiliary mechanism moves over the obstacle.

[0025] In some embodiments, the auxiliary mechanism further includes a rotating shaft portion, one end of each of the plurality of climbing claws is connected to the rotating shaft portion, and the plurality of climbing claws are distributed at preset angles in the circumferential direction of the rotating shaft portion.

[0026] In some embodiments, the preset angles between two adjacent climbing claws on the auxiliary mechanism are the same.

[0027] In some embodiments, the preset angle between two adjacent climbing claws on the auxiliary mechanism is less than or equal to 90°.

[0028] In some embodiments, the auxiliary mechanism is provided with an anti-slip structure, and the auxiliary mechanism abuts against the obstacle through the anti-slip structure.

[0029] In some embodiments, among the multiple climbing claws on the auxiliary mechanism, at least one climbing claw is provided with a friction structure on an end away from the rotating shaft portion.

[0030] In some embodiments, among the multiple climbing claws on the auxiliary mechanism, at least one climbing claw is provided with a protrusion at one end away from the rotating shaft portion, and the protrusion protrudes toward the side of the auxiliary mechanism's rotation direction relative to the main body of the climbing claw.

[0031] In some embodiments, an anti-slip sleeve is provided on one end of the climbing claw away from the rotating shaft.

[0032] In some embodiments, at least a portion of the anti-slip cover is provided with an anti-slip structure.

[0033] In some embodiments, in the radial direction of the auxiliary mechanism, the extension length of the climbing claw is L, the distance between the rotation axis of the auxiliary mechanism and the outer contour of the auxiliary mechanism is r, and L≥r×30%.

[0034] In some embodiments, the end of the climbing claw includes a curved surface and / or a flat surface.

[0035] In some embodiments, the number of the climbing claws is at least two, and at least two of the climbing claws are arranged on the outer peripheral side of the auxiliary mechanism, and there is an arc surface transition and / or a plane transition between two adjacent climbing claws.

[0036] In some embodiments, the drive assembly includes:

[0037] A walking drive unit, a first transmission mechanism and a second transmission mechanism, the walking drive unit drives the walking wheel to rotate through the first transmission mechanism, the first transmission mechanism cooperates with the second transmission mechanism, and the walking drive unit is connected to the auxiliary mechanism through the first transmission mechanism and the second transmission mechanism to drive the auxiliary mechanism to rotate in the same direction as the walking wheel.

[0038] In some embodiments, the first transmission mechanism includes a first gear set, the second transmission mechanism includes a second gear set, and the first gear set is meshed with the second gear set.

[0039] In some embodiments, the drive assembly includes:

[0040] A walking drive unit, an auxiliary drive unit, a first transmission mechanism and a second transmission mechanism, wherein the walking drive unit drives the walking wheel to rotate along the traveling direction through the first transmission mechanism, and the auxiliary drive unit drives the auxiliary mechanism to rotate along the traveling direction through the second transmission mechanism.

[0041] In some embodiments, the first transmission mechanism includes a first gear set, the second transmission mechanism includes a second gear set, and the first gear set is separated from the second gear set.

[0042] In some embodiments, the first transmission mechanism includes one or a combination of a belt, a synchronous belt, and a gear.

[0043] In some embodiments, the second gear set includes:

[0044] A connecting shaft is connected to the auxiliary mechanism to drive the auxiliary mechanism to rotate.

[0045] In some embodiments, a limiting member is provided at one end of the connecting shaft, and a mounting groove corresponding to the limiting member is provided on the auxiliary mechanism. The limiting member is inserted into the mounting groove to drive the auxiliary mechanism to rotate synchronously with the connecting shaft.

[0046] In some embodiments, the drive assembly further comprises:

[0047] The swing arm assembly is rotatably connected to the machine body, and the first gear set and the second gear set are arranged inside the swing arm assembly.

[0048] In some embodiments, the walking mechanism further comprises:

[0049] The elastic member is in a stretched state when the machine body is in a horizontal traveling state; when the machine body is in an obstacle-crossing and / or climbing state in the forward direction, the swing arm assembly can be rotated toward the traveling surface relative to the machine body through the restoring force of the elastic member.

[0050] In some embodiments, the distance between the middle position of the line connecting the rotation axis of the walking wheel and the rotation axis of the swing arm assembly and the rotation axis of the auxiliary mechanism does not exceed 10 mm in the forward direction of the machine body, and / or does not exceed 5 mm in the direction perpendicular to the traveling surface.

[0051] In some embodiments, among the intersection points of the outer contour of the swing arm assembly and the outer contour of the running wheel, the intersection point close to the running surface is A, and any point on the outer contour of the auxiliary mechanism within the area enclosed by the swing arm assembly, the running wheel and the running surface is B. The distance between point A and point B is S, and the value of S is between 30% of R and 50% of R.

[0052] In some embodiments, the swing arm assembly is placed between the running wheel and the auxiliary mechanism; or,

[0053] The swing arm assembly is placed on a side of the auxiliary mechanism away from the walking wheel.

[0054] In some embodiments, the walking wheel includes a first walking half wheel and a second walking half wheel, an annular cavity is formed between the first walking half wheel and the second walking half wheel, and the auxiliary mechanism is arranged in the cavity between the first walking half wheel and the second walking half wheel.

[0055] In some embodiments, the rotation axis of the auxiliary mechanism is located on one side of the rotation axis of the walking wheel in the forward direction of the machine body, and in the orthographic projection of the auxiliary mechanism and the walking wheel on a preset reference plane perpendicular to the rotating axis of the walking wheel, the closest distance between the rotation axis of the auxiliary mechanism and the outer contour of the walking wheel is less than 10 mm.

[0056] In some embodiments, the distance between the rotation axis of the auxiliary mechanism and the rotation axis of the walking wheel is k, the radius of the walking wheel is R, the distance between the rotation axis of the auxiliary mechanism and the outer contour of the auxiliary mechanism is r, and R≥r, r+k>R.

[0057] In some embodiments, when the machine body is in a horizontal traveling state, the rotation axis of the traveling wheel relative to the traveling surface is higher than or equal to the rotation axis of the auxiliary mechanism, and the height difference is h.

[0058] In some embodiments, when the machine body is in a horizontal traveling state, the height of the rotation axis of the auxiliary mechanism relative to the traveling surface is higher than the height of the rotation axis of the traveling wheel, and the height difference is h.

[0059] In some embodiments, h≤r×30%.

[0060] In some embodiments, the value of Rhr is between 10% of R and 30% of R.

[0061] In some embodiments, the radius of the running wheel is greater than the distance between the rotation axis of the auxiliary mechanism and the rotation axis of the running wheel.

[0062] In some embodiments, the value of (r+kR) / r is between 0.2 and 0.7.

[0063] In some embodiments, the rotational speed ratio of the auxiliary mechanism to the travel wheel is 1:1 to 1:10.

[0064] In some embodiments, the auxiliary mechanism has a diameter of 30 mm to 70 mm.

[0065] In some embodiments, the walking mechanism further comprises:

[0066] The roller is provided on the machine body, and the roller is located on one side of the traveling wheel in the backward direction of the machine body.

[0067] An embodiment of the present application further provides a cleaning device, comprising a machine body and any one of the above-mentioned walking mechanisms, wherein the walking mechanism is arranged on the machine body.

[0068] The present application also provides a cleaning system, comprising:

[0069] The cleaning equipment described above;

[0070] A base station is used to connect to the cleaning device.

[0071] Beneficial technical effects of the present disclosure: According to the content of the present disclosure, the walking mechanism, cleaning equipment and cleaning system assist in overcoming obstacles by setting up auxiliary mechanisms. During the movement of the cleaning equipment, the auxiliary mechanism first contacts the obstacle, and the auxiliary mechanism supports the machine body during rotation, thereby reducing the height difference between the obstacle and the bottom of the walking wheel, increasing the height and pass rate of the obstacle, shortening the time spent on obstacle overcoming, and improving the efficiency of obstacle overcoming.

[0072] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0074] In the accompanying drawings, the following are given by way of example and not limitation:

[0075] FIG1 is a schematic diagram of the overall structure of a walking mechanism provided by some embodiments of the present disclosure;

[0076] FIG2 is a front view of the overall structure of a walking mechanism provided by some embodiments of the present disclosure;

[0077] FIG3 is a schematic diagram of the force applied to a climbing claw of a walking mechanism abutting against an obstacle according to some embodiments of the present disclosure;

[0078] FIG4 is a schematic diagram of the force of a groove of a walking mechanism abutting against an obstacle provided by some embodiments of the present disclosure;

[0079] FIG5 is a front view of the position structure of a first auxiliary mechanism and a traveling wheel provided in some embodiments of the present disclosure;

[0080] FIG6 is a front view of the position structure of a second auxiliary mechanism and running wheels provided in some embodiments of the present disclosure;

[0081] FIG7 is a front view of the position structure of a third auxiliary mechanism and running wheels provided in some embodiments of the present disclosure;

[0082] FIG8 is a front view of the position structure of a fourth auxiliary mechanism and running wheels provided by some embodiments of the present disclosure;

[0083] FIG9 is a schematic diagram of an auxiliary mechanism provided by some embodiments of the present disclosure;

[0084] FIG10 is a schematic diagram of an auxiliary mechanism provided in some other embodiments of the present disclosure;

[0085] FIG11 is a structural perspective view of an auxiliary mechanism (with an anti-slip structure) provided in some embodiments of the present disclosure;

[0086] FIG12 is a front view of the structure of a first auxiliary mechanism provided by some embodiments of the present disclosure;

[0087] FIG13 is a front view of the structure of a second auxiliary mechanism provided by some embodiments of the present disclosure;

[0088] FIG14 is a front view of the structure of a third auxiliary mechanism provided by some embodiments of the present disclosure;

[0089] FIG15 is a front view of the structure of a fourth auxiliary mechanism provided by some embodiments of the present disclosure;

[0090] FIG16 is a front view of the structure of a fifth auxiliary mechanism provided by some embodiments of the present disclosure;

[0091] FIG17 is a schematic diagram of a structure of a position-limiting member provided in some embodiments of the present disclosure;

[0092] FIG18 is a structural perspective view of a first transmission mechanism and a second transmission mechanism provided in some embodiments of the present disclosure;

[0093] FIG19 is a front view of the structure of the first transmission mechanism and the second transmission mechanism provided in some embodiments of the present disclosure;

[0094] FIG20 is a schematic diagram of the position structure of a first auxiliary mechanism, a traveling wheel, and a swing arm assembly provided by some embodiments of the present disclosure;

[0095] FIG21 is a schematic diagram of the position structure of a second auxiliary mechanism, a traveling wheel, and a swing arm assembly provided by some embodiments of the present disclosure;

[0096] FIG22 is a schematic diagram of the position structure of a third auxiliary mechanism, a traveling wheel, and a swing arm assembly provided in some embodiments of the present disclosure;

[0097] FIG23 is a schematic diagram of the position structure of a fourth auxiliary mechanism, a traveling wheel, and a swing arm assembly provided by some embodiments of the present disclosure;

[0098] FIG24 is a schematic diagram of a machine body and a traveling mechanism provided by some embodiments of the present disclosure;

[0099] FIG25 is a schematic diagram of a machine body and a traveling mechanism from another perspective provided by some embodiments of the present disclosure;

[0100] FIG26 is a schematic diagram of a walking mechanism provided by some embodiments of the present disclosure;

[0101] FIG27 is a schematic diagram of a cleaning device provided by some embodiments of the present disclosure in a horizontal traveling state;

[0102] FIG28 is a schematic diagram of a cleaning device provided by some embodiments of the present disclosure in a climbing state in a forward direction;

[0103] FIG29 is a schematic diagram of the transmission connection between the driver, the travel wheel and the auxiliary mechanism provided by some embodiments of the present disclosure;

[0104] FIG30 is a schematic diagram of a driving gear set and a transmission gear set provided by some embodiments of the present disclosure;

[0105] FIG31 is an exploded view of a walking mechanism provided by some embodiments of the present disclosure;

[0106] FIG32 is a schematic diagram of a swing arm assembly provided by some embodiments of the present disclosure

[0107] FIG33 is a front view of the structure of a cleaning device provided by some embodiments of the present disclosure;

[0108] FIG34 is a structural front view of a cleaning device in an obstacle-crossing process according to some embodiments of the present disclosure;

[0109] FIG35 is a schematic diagram of a cleaning device provided by some embodiments of the present disclosure;

[0110] 36 is a bottom view of a cleaning device provided in accordance with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0111] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0112] Although relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used herein for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It will be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via the other structure.

[0113] The terms "a," "an," "the," "said," and "at least one" are used to indicate the presence of one or more elements / components, etc.; the terms "including" and "having" are used to indicate an open-ended inclusiveness and indicate that additional elements / components, etc. may be present in addition to the listed elements / components, etc. In the following detailed disclosure, reference is made to the accompanying drawings to fully describe these embodiments. To make the technical solutions of the present disclosure more clear and understood by those skilled in the art, the following description of the embodiments is not limited thereto. The present disclosure will be further described in detail below in conjunction with the embodiments and drawings.

[0114] In the present disclosure, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as limiting the quantity of their objects, nor as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. Terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0115] In the description of the present disclosure, it is to be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, cannot be understood as a limitation on the present disclosure.

[0116] The present disclosure provides an embodiment, as shown in Figures 1 to 32, of a walking mechanism 20 for use in cleaning equipment, such as automated cleaning devices such as sweeping robots. The walking mechanism 20 includes a walking wheel 211, a drive assembly 2140, and an auxiliary mechanism 212. The drive assembly 2140 is configured to drive the auxiliary mechanism 212 to rotate in the same direction as the walking wheel 211. When rotating, at least a portion of the auxiliary mechanism 212 protrudes from the walking wheel 211 in the forward direction of the walking wheel 211, allowing the auxiliary mechanism 212 to contact obstacles and support the main body of the machine.

[0117] The embodiment of the present disclosure further provides a cleaning device 200, which includes a machine body and a traveling mechanism, wherein the traveling mechanism 20 is arranged on the machine body.

[0118] The walking mechanism 20 assists in overcoming obstacles by setting up an auxiliary mechanism 212. As shown in Figure 2, in the rotating state, at least part of the auxiliary mechanism 212 protrudes from the walking wheel 211 in the forward direction of the walking wheel 211. During the movement of the cleaning equipment 200, the auxiliary mechanism 212 first contacts the obstacle. During the rotation of the auxiliary mechanism 212, the machine body is supported, and the height difference between the obstacle and the bottom of the walking wheel 211 is reduced, thereby increasing the height and pass rate of the obstacle, shortening the time spent on obstacle overcoming, and improving the efficiency of obstacle overcoming.

[0119] During the movement of the cleaning equipment 200, the driving component 2140 drives the auxiliary mechanism 212 to rotate in the same direction as the walking wheel 211. As shown in Figures 3 and 4, the auxiliary mechanism 212 first abuts against the upper end of the obstacle. After abutting against the upper end of the obstacle, the auxiliary mechanism 212 continues to rotate, providing an oblique upward thrust for the machine body, supporting the machine body, and then supporting the walking wheel 211, reducing the height difference between the bottom end of the walking wheel 211 and the upper end of the obstacle, reducing the height that the walking wheel 211 needs to cross, improving the obstacle crossing ability of the walking wheel 1, and further improving the obstacle crossing height and pass rate of the cleaning equipment 200.

[0120] It can be understood that during the process of the auxiliary mechanism 212 overcoming the obstacle, when the auxiliary mechanism 212 rotates to a state where it just contacts the obstacle, there are two possible positions between the side wall of the obstacle and the walking wheel 211: as shown in Figure 3, one is that the side wall of the obstacle contacts the walking wheel 211, and the auxiliary walking wheel 211 is assisted to overcome the obstacle through the thrust of the obstacle on the auxiliary mechanism 212 and the friction between the rotation of the walking wheel 211 and the obstacle; as shown in Figure 4, the second is that the side wall of the obstacle is separated from the walking wheel 211. During the process of the auxiliary mechanism 212 rotating to overcome the obstacle, if the walking wheel 211 and the side wall of the obstacle are always kept separated, the auxiliary walking wheel 211 is assisted to overcome the obstacle only through the thrust of the obstacle on the auxiliary mechanism 212.

[0121] It can be understood that the obstacles can be steps, door sills, sliding door tracks and other obstacles. The obstacles have a certain height and are located on the driving path of the self-cleaning device 200; the forward direction of the walking wheel 211 is the direction of travel of the cleaning device 200 when it moves forward, not the backward direction of the cleaning device 200.

[0122] In the first embodiment of this implementation, as shown in Figure 5 , the portion of the auxiliary mechanism 212 protruding from the running wheel 211 in the rotating state is positioned below the transverse centerline of the running wheel 211. The auxiliary mechanism 212 rotates to support the machine body. Under the action of the auxiliary mechanism 212, the height required for the running wheel 211 to climb over obstacles can be reduced to the height difference between the lowest point of the auxiliary mechanism 212 protruding from the running wheel 211 and the lowest point of the running wheel 211, thereby meeting the requirements of increasing the obstacle climbing height and improving the smoothness of the obstacle climbing. Given that the running wheel 211 is typically located at the bottom of the machine body, the installation position of the auxiliary mechanism 212 and the running wheel 211 provided in this embodiment is more suitable.

[0123] In the second embodiment of this embodiment, as shown in Figure 6, the part of the auxiliary mechanism 212 protruding from the walking wheel 211 in the rotating state is placed above the horizontal center line of the walking wheel 211, and the auxiliary mechanism 212 is rotated to support the machine body. Under the action of the auxiliary mechanism 212, the height required for the walking wheel 211 to climb over the obstacle during the obstacle climbing process can be reduced to the height difference between the lowest point of the part of the auxiliary mechanism 212 protruding from the walking wheel 211 and the lowest point of the walking wheel 211, that is, the obstacle climbing height of the walking wheel 211 can be reduced to the minimum radius height of the walking wheel 211. When the obstacle itself is lower than the radius height of the walking wheel 211, the auxiliary mechanism 212 has no contact with the obstacle, which is suitable for the walking wheel 211 to have the obstacle climbing ability of at least exceeding its own radius height, meeting the need to further increase the obstacle climbing height.

[0124] In a third embodiment of this embodiment, as shown in FIG7 , the portion of the auxiliary mechanism 212 protruding from the travel wheel 211 in the rotating state is positioned above and below the transverse centerline of the travel wheel 211. The auxiliary mechanism 212 rotates to support the machine body. Under the action of the auxiliary mechanism 212, the height required for the travel wheel 211 to traverse an obstacle can be reduced to the height difference between the lowest point of the portion of the auxiliary mechanism 212 protruding from the travel wheel 211 and the lowest point of the travel wheel 211. This embodiment reduces the required height to traverse during obstacle traversal, improves obstacle traversal capability, and enhances smoothness. Furthermore, the obstacle traversal height can be increased to meet the needs of traversing obstacles of varying heights.

[0125] The auxiliary mechanism 212 of the second and third embodiments in this embodiment is generally suitable for the case where the walking wheels 211 are arranged on both sides of the machine body, providing sufficient installation space for the auxiliary mechanism 212; when the walking wheels 211 are placed at the bottom of the machine body, the auxiliary mechanism 212 of the third embodiment in this embodiment requires an installation space to be provided in the machine body for the rotation of the auxiliary mechanism 212.

[0126] In some embodiments, the auxiliary mechanism 212 rotates synchronously with the traveling wheel 211 .

[0127] In some embodiments, the auxiliary mechanism 212 rotates asynchronously with the travel wheel 211. For example, when an obstacle is detected ahead during the travel of the cleaning device, the auxiliary mechanism 212 is activated to rotate.

[0128] In some embodiments, the rotational speed of the auxiliary mechanism 212 is less than or equal to the rotational speed of the running wheels 211. This configuration can increase the rotational torque of the auxiliary mechanism 212 during rotation, thereby increasing the force exerted by the auxiliary mechanism 212 upon contact with an obstacle. For example, by adjusting the transmission ratio of the transmission gear set, the rotational speed of the auxiliary mechanism 212 can be set to be less than the rotational speed of the running wheels 211.

[0129] In some embodiments, the lowest point of the auxiliary mechanism 212 in the rotating state is not lower than the lowest point of the walking wheel 211 .

[0130] In the first embodiment of this embodiment, as shown in Figures 5, 6, and 7, the lowest point of the auxiliary mechanism 212 in the rotating state is higher than the lowest point of the running wheel 211. Under the action of the auxiliary mechanism 212, the height required for the running wheel 211 to climb over an obstacle can be reduced to the height difference between the lowest point of the auxiliary mechanism 212 protruding from the running wheel 211 and the lowest point of the running wheel 211, thereby reducing the height difference between the running wheel 211 and the obstacle when climbing over the obstacle. When the running wheel 211 is traveling on a platform such as the ground, the auxiliary mechanism 212 has no contact with the platform and is in an idling state to avoid scratches and resistance caused by contact with the platform.

[0131] In the second embodiment of this embodiment, as shown in Figure 8 , the lowest point of the auxiliary mechanism 212 and the lowest point of the running wheel 211 are located on the same horizontal plane when in rotation. Under the action of the auxiliary mechanism 212, the lowest point of the running wheel 211 is essentially aligned with the upper end surface of the obstacle, further improving the obstacle-crossing capability of the running wheel 211. When the running wheel 211 travels on the platform, the auxiliary mechanism 212 comes into contact with the platform. To reduce scratches and resistance caused by contact between the auxiliary mechanism 212 and the platform, a softer protective layer, typically rubber, can be provided on the outer wall of the auxiliary mechanism 212. Furthermore, when the auxiliary mechanism 212 rotates synchronously with the running wheel 211, the rotational lengths of the auxiliary mechanism 212 and the running wheel 211 can be set to be as equal as possible. During movement of the machine body, the length of contact between the running wheel 1 and the auxiliary mechanism 2 is the same, minimizing the impact between the auxiliary mechanism 212 and the running wheel 211.

[0132] In some embodiments, the height difference between the lowest point of the auxiliary mechanism 212 and the lowest point of the walking wheel 211 is at least 5 mm.

[0133] Furthermore, the height difference between the lowest point of the auxiliary mechanism 212 and the lowest point of the traveling wheel 211 is within the range of 5 to 20 mm.

[0134] Exemplarily, the height difference between the lowest point of the auxiliary mechanism 212 and the lowest point of the walking wheel 211 is greater than or equal to 10 mm.

[0135] As shown in Figures 6 and 8, in an embodiment where the lowest point of the auxiliary mechanism 212 and the walking wheel 211 are located at different horizontal planes, the machine body can be supported with the assistance of the auxiliary mechanism 212, thereby reducing the height difference between the walking wheel 211 and the upper end surface of the obstacle to the height difference between the lowest point of the protruding part of the auxiliary mechanism 212 from the walking wheel 211 and the lowest point of the walking wheel 211.

[0136] Among them, the height difference between the lowest point of the auxiliary mechanism 212 and the lowest point of the walking wheel 211 is at least 5 mm, which greatly reduces the actual obstacle crossing height of the walking wheel 211, so that the walking wheel 211 can cross the obstacle through its own driving force, thereby improving the obstacle crossing pass rate, shortening the time spent on obstacle crossing, and improving the efficiency of obstacle crossing.

[0137] Furthermore, the height difference between the lowest point of the auxiliary mechanism 212 and the lowest point of the traveling wheel 211 is within the range of 5 to 20 mm, so as to meet different obstacle crossing requirements of the cleaning device 200 in daily use.

[0138] In some embodiments, as shown in Figures 9 to 15, the auxiliary mechanism 212 is provided with at least one climbing claw 2122, which can be rotated to the forward direction side of the walking wheel 211 to abut against the obstacle when the auxiliary mechanism 212 moves over the obstacle.

[0139] It is understood that the climbing claw 2122 of the auxiliary mechanism 212 is the portion of the auxiliary mechanism 212 that protrudes radially outward. During the obstacle surmounting process, the driving assembly 2140 drives the auxiliary mechanism 212 to rotate, and the outer wall of the climbing claw 2122 first contacts the obstacle, and then the climbing claw 2122 rotates until the end of the climbing claw 2122 contacts the obstacle. The obstacle exerts an oblique upward force on the climbing claw 2122, and the auxiliary mechanism 212 continues to rotate to support the machine body, reducing the height difference between the upper end of the obstacle and the machine body, that is, the height difference between the upper end of the obstacle and the lower end of the running wheel 211, thereby assisting the running wheel 211 in surmounting the obstacle.

[0140] It can be understood that, as shown in Figures 9 to 15, the number of the climbing claws 2122 can be one, two, three, four, five, six, or other integers.

[0141] During specific implementation, the number and specific structure of the climbing claws 2122 are set according to the size and installation position of the auxiliary mechanism 212 to meet different obstacle crossing needs.

[0142] In some embodiments, as shown in FIG9 , the auxiliary mechanism 212 includes a rotating shaft portion 2121, and one end of a plurality of climbing claws 2122 is connected to the rotating shaft portion 2121, and the climbing claws 2122 are distributed at predetermined angles around the rotating shaft portion 2121. By providing the plurality of climbing claws 2122, when the cleaning device encounters an obstacle during travel, the climbing claws 2122 on the auxiliary mechanism 212 can rotate to contact the obstacle. As the auxiliary mechanism 212 rotates, the climbing claws 2122 can apply force to the machine body 10 in both the front-rear axis X direction and the center vertical axis Z direction, thereby cooperating with the travel wheels 211 to enable the travel wheels 211 to pass over the obstacle or climb onto the obstacle.

[0143] In some embodiments, at least one of the multiple climbing claws 2122 on the auxiliary mechanism 212 has a friction structure on the end away from the rotating shaft 2121. This friction structure is used to contact obstacles. Providing a friction structure on the end of the climbing claw 2122 away from the rotating shaft 2121 increases the friction between the climbing claw 2122 and the obstacle, thereby increasing the force that the climbing claw 2122 can exert on the machine body 10 in both the forward direction and in a direction perpendicular to the obstacle. This also reduces the probability of the climbing claw 2122 slipping on the obstacle due to insufficient grip.

[0144] In some embodiments, among the multiple climbing claws 2122 on the auxiliary mechanism 212, at least one climbing claw 2122 is provided with a friction structure at a position where it may come into contact with an obstacle.

[0145] In some embodiments, the friction structure may be a rough surface, or a granular structure, a striped structure, or a mesh structure on the climbing claw 2122, and the present disclosure does not limit this.

[0146] In some embodiments, as shown in FIG9 , among the multiple climbing claws 2122 on the auxiliary mechanism 212, at least one climbing claw 2122 has a protrusion 2123 on the end away from the rotating shaft 2121. The protrusion 2123 protrudes relative to the main body of the climbing claw 2122 on the side facing the rotation direction of the auxiliary mechanism 212. The protrusion 2123 on the end of the climbing claw 2122 away from the rotating shaft 2121 forms an abutment structure between the climbing claw 2122 and the obstacle, thereby enhancing the lifting effect of the climbing claw 2122 on the walking wheel 211.

[0147] In some embodiments, as shown in FIG9 , in the radial direction of the assist mechanism 212 , the extension length of the climbing claw 2122 from the rotating shaft portion 2121 of the assist mechanism 212 is L, and the distance from the rotation axis of the assist mechanism 212 to the outer contour of the assist mechanism 212 is r, where L ≥ r × 30%, for example, 30%, 35%, 40%, 45%, 50%, 55%, 60%, etc. The climbing claw 2122 has sufficient length to provide a sufficient recessed depth between adjacent climbing claws 2122 , thereby reducing contact between the rotating shaft portion 2121 between adjacent climbing claws 2122 and obstacles, thereby enhancing the assist mechanism 212's obstacle-crossing capability.

[0148] In some embodiments, the preset angles between two adjacent climbing claws 2122 on the assist mechanism 212 are the same. By setting the preset angles between two adjacent climbing claws 2122 on the assist mechanism 212 to be the same, the stability of the assist mechanism 212 when assisting in navigating obstacles can be improved. In other embodiments, the preset angles between two adjacent climbing claws 2122 on the assist mechanism 212 are different, which is not specifically limited in this disclosure.

[0149] In some embodiments, the preset angle between two adjacent climbing claws 2122 on the auxiliary mechanism 212 is less than or equal to 90°. By ensuring that the preset angle between two adjacent climbing claws 2122 on the auxiliary mechanism 212 is less than or equal to 90°, the auxiliary mechanism 212 can continuously provide lifting force to the running wheel 211 when assisting the running wheel 211 to overcome an obstacle. For example, four climbing claws 2122 may be provided, with the angle between two adjacent climbing claws 2122 forming a right angle. It is understood that other numbers of climbing claws 2122 may also be provided, and this disclosure is not particularly limited thereto.

[0150] In some embodiments, as shown in FIG10 , at least one climbing claw 2122 is provided with an anti-slip sleeve 2124 on at least one end distal from the rotating shaft portion 2121. The provision of the anti-slip sleeve 2124 can enhance the anti-slip performance of the climbing claw 2122, thereby increasing the ability of the climbing claw 2122 to exert force on the machine body 10 in both the X-axis and Z-axis directions. Furthermore, the provision of the anti-slip sleeve 2124 allows the anti-slip sleeve 2124 to be replaced after repeated use, reducing its anti-slip performance. This improves the maintenance efficiency of the climbing claw 2122 and enhances its anti-slip performance. In some embodiments, the anti-slip sleeve 2124 can completely cover the climbing claw 2122 or the auxiliary mechanism 212. Specifically, the anti-slip sleeve 2124 can be provided at any location on the auxiliary mechanism 2122 where it may come into contact with an obstacle, although this disclosure is not limited thereto.

[0151] In some embodiments, an anti-slip structure 2125 may be provided at a location on the anti-slip cover 2124 where it may come into contact with an obstacle, thereby increasing the friction between the anti-slip cover 2124 and the obstacle. The anti-slip structure 2125 may be a striped structure, a rough surface, a granular structure, or a mesh structure.

[0152] In some embodiments, the anti-slip cover 2124 may be a rubber cover, which has low cost and good toughness and lifespan.

[0153] In some embodiments, as shown in FIG. 11 , an anti-slip structure 2125 is provided on the auxiliary mechanism 212 , and the auxiliary mechanism 212 abuts against the obstacle through the anti-slip structure 2125 .

[0154] The anti-slip structure 2125 may be an anti-slip layer.

[0155] In a specific implementation, as shown in FIG11 , an anti-slip structure 2125 can be provided on the outer wall of the auxiliary mechanism 212. The anti-slip structure 2125 can be in the form of sheets, dots, strips, or other shapes, or a combination thereof, and can be made of a material with a certain degree of elasticity, such as rubber. When the auxiliary mechanism 212 contacts an obstacle via the anti-slip structure 2125, the anti-slip structure 2125 deforms, increasing the contact area with the obstacle and improving the anti-slip effect.

[0156] When the anti-skid structure 2125 is a sheet-like anti-skid structure, during the process in which the auxiliary mechanism 212 abuts against the obstacle and continuously rotates to overcome the obstacle, the auxiliary mechanism 212 abuts against the obstacle through the sheet-like anti-skid structure.

[0157] When the anti-slip structure 2125 is a strip-shaped, dot-shaped or other shaped anti-slip structure, and there is a certain gap between the anti-slip structures, the gap can be set along the normal direction of the auxiliary mechanism 212 itself. In the process of the auxiliary mechanism 212 abutting against the obstacle and continuously rotating to overcome the obstacle, if the width of the obstacle is small, for example, the obstacle is a thin threshold, a sliding door track, etc., the contact area between the auxiliary mechanism 212 and the obstacle is small, resulting in insufficient friction to support the machine body at the abutment position as a fulcrum, and the two are prone to sliding and shifting; by setting the anti-slip structure 2125 with a gap, when the auxiliary mechanism 212 and the obstacle abut against each other, the top of the obstacle is inserted into the gap between the anti-slip structures. At this time, the anti-slip structure has a limiting function, which reduces the relative sliding between the auxiliary mechanism 212 and the obstacle, so that the auxiliary mechanism 212 can support the machine body with the abutment position with the obstacle as a fulcrum.

[0158] It can be understood that the anti-slip structure 2125 can fully cover the outer peripheral side of the auxiliary mechanism 212; as shown in Figure 11, it can also partially cover the outer peripheral side of the auxiliary mechanism 212. The position of the auxiliary mechanism 212 used to abut against the obstacle is covered with the anti-slip structure 2125, which increases the friction between the auxiliary mechanism 212 and the obstacle and reduces the relative sliding between the auxiliary mechanism 212 and the obstacle.

[0159] In some possible embodiments provided by the present disclosure, as shown in Figures 12, 13 and 14, the number of climbing claws 2122 of an auxiliary mechanism 212 is four, wherein the angles between two adjacent climbing claws 2122 shown in Figures 12 and 13 are the same, and the angles between two adjacent climbing claws 2122 shown in Figure 14 are different; the larger the angle between two adjacent climbing claws 2122, the larger the space between the corresponding two adjacent climbing claws 2122, thereby increasing the distance range between the contact point between the climbing claw 2122 and the obstacle and the axis of the auxiliary mechanism 212, reducing the probability of slippage between the obstacle and the climbing claw 2122 and the obstacle, and further improving the obstacle crossing rate. The number of climbing claws 2122 and the angle between two adjacent climbing claws 2122 can be specifically designed according to actual needs.

[0160] In some possible embodiments provided by the present disclosure, the number of climbing claws 2122 of an auxiliary mechanism 212 as shown in Figure 15 is two, the number of climbing claws 2122 of an auxiliary mechanism 212 as shown in Figures 12, 13 and 14 is four, and the number of climbing claws 2122 of an auxiliary mechanism 212 as shown in Figure 16 is six.

[0161] It is understood that the fewer the number of climbing claws 2122, the larger the angle between two adjacent climbing claws 2122, and thus the greater the distance range between the point where the climbing claws 2122 abut the obstacle and the axis of the auxiliary mechanism 212, the higher the stability of the auxiliary mechanism 212 after abutting the obstacle, and the higher the obstacle clearance rate. Conversely, the more the number of climbing claws 2122, the smaller the angle between two adjacent climbing claws 2122, and thus the smaller the distance range between the point where the climbing claws 2122 abut the obstacle and the axis of the auxiliary mechanism 212, and the relatively higher probability of slippage between the auxiliary mechanism 212 and the obstacle.

[0162] It is understood that the fewer the number of climbing claws 2122, the longer it takes for the climbing claws 2122 to rotate and contact an obstacle, and thus the longer it takes to overcome the obstacle. Conversely, the more the number of climbing claws 2122, the shorter it takes for the climbing claws 2122 to rotate and contact an obstacle, and thus the shorter it takes to overcome the obstacle.

[0163] In some embodiments, as shown in Figures 11-14, at least one groove 22 is provided on the auxiliary mechanism 212, for example, there is only one groove 22, or a groove 22 is formed between two adjacent climbing claws 2122, and the groove 22 can be rotated to the forward direction side of the walking wheel 211, and is used to abut against the obstacle when the auxiliary mechanism 212 moves over the obstacle.

[0164] It is understood that the groove 22 of the auxiliary mechanism 212 is the portion of the auxiliary mechanism 212 that is radially inwardly recessed, that is, the recessed portion between two adjacent climbing claws 2122 when the auxiliary mechanism 212 includes at least two climbing claws 2122. During the obstacle surmounting process, the drive assembly 2140 drives the auxiliary mechanism 212 to rotate, and the inner wall of the groove 22 first abuts against the obstacle. The groove 22 then rotates until the end of the groove 22 abuts against the obstacle. The obstacle applies an oblique upward force to the end of the groove 22. The auxiliary mechanism 212 continues to rotate to support the machine body, and the height difference between the upper end of the obstacle and the machine body is reduced, that is, the height difference between the upper end of the obstacle and the lower end of the running wheel 211 is reduced, thereby assisting the running wheel 211 in surmounting the obstacle.

[0165] In some possible embodiments provided by the present disclosure, as shown in Figures 12, 13 and 14, the number of grooves 22 of an auxiliary mechanism 212 is four, wherein the adjacent grooves 22 shown in Figures 12 and 13 have the same angle, and the adjacent grooves 22 shown in Figure 14 have different angles; the greater the degree of inward depression of the groove 22, the larger the angle of the groove 22, and the greater the distance range between the contact point between the climbing claw 2122 and the obstacle and the axis of the auxiliary mechanism 212, thereby reducing the probability of slippage between the groove 22 and the obstacle. The angle of the groove 22 and the degree of inward depression are specifically designed according to actual needs.

[0166] It is understood that the fewer the number of grooves 22, the larger the angle between adjacent grooves 22, the greater the distance range between the point where the climbing claw 2122 contacts the obstacle and the axis of the auxiliary mechanism 212, the lower the probability of the auxiliary mechanism 212 slipping off the obstacle, and the higher the obstacle clearance rate. Conversely, the more the number of grooves 22, the smaller the angle between adjacent grooves 22, the smaller the distance range between the point where the climbing claw 2122 contacts the obstacle and the axis of the auxiliary mechanism 212, the higher the probability of the auxiliary mechanism 212 slipping off the obstacle, the lower the stability between the auxiliary mechanism 212 and the obstacle, and the lower the obstacle clearance rate.

[0167] It is understood that the fewer the number of grooves 22, the longer it takes for the grooves 22 to rotate and contact the obstacle, and thus the longer it takes to overcome the obstacle. Conversely, the more the number of grooves 22, the shorter it takes for the grooves 22 to rotate and contact the obstacle, and thus the shorter it takes to overcome the obstacle.

[0168] In some embodiments, as shown in FIG. 11-FIG . 15 , the end of the climbing claw 2122 includes a curved surface and / or a flat surface.

[0169] In a first embodiment of this embodiment, as shown in FIG11 , the end of the climbing claw 2122 comprises a curved surface. During the obstacle surmounting process of the auxiliary mechanism 212, the sidewall of the climbing claw 2122 first contacts the obstacle, and then the auxiliary mechanism 212 continues to rotate to cause the end of the climbing claw 2122 to contact the obstacle. In this embodiment, firstly, the end of the climbing claw 2122 comprises a curved surface with a uniform curvature. After the end of the climbing claw 2122 contacts the obstacle, the obstacle surmounting process is smoother, reducing vibration to the machine body. Secondly, the middle region of the end of the climbing claw 2122 comprises a curved surface with a larger curvature, while the transition region between the middle region and the sidewall of the climbing claw 2122 comprises a curved surface with a smaller curvature. This not only improves the smoothness of the obstacle surmounting process after the end of the climbing claw 2122 contacts the obstacle, but also further increases the contact area between the end of the climbing claw 2122 and the obstacle, reducing the probability of slippage between the auxiliary mechanism 212 and the obstacle, and improving the friction between the auxiliary mechanism 212 and the obstacle, as well as the stability of the obstacle surmounting process.

[0170] In the second embodiment of this embodiment, as shown in Figures 12 to 15, the end of the climbing claw 2122 includes an arc surface and a plane. The end of the climbing claw 2122 is an arc surface and a plane, that is, the middle area of ​​the end is a plane, and the transition area between the plane and the side wall of the climbing claw 2122 is an arc surface. It can have the stability of the movement process of the auxiliary mechanism 212 overcoming obstacles in the first embodiment of this embodiment, reduce the vibration of the machine body, and at the same time increase the contact area between the end of the climbing claw 2122 and the obstacle, reduce the probability of slippage between the auxiliary mechanism 212 and the obstacle, and improve the friction between the auxiliary mechanism 212 and the obstacle and the stability of the obstacle overcoming process.

[0171] In the third embodiment of this embodiment, the end of the climbing claw 2122 includes a plane. After the climbing claw 2122 abuts against the obstacle, the resistance that needs to be overcome for rotation is greater, and the climbing claw 2122 and the obstacle are prone to slippage, resulting in poor stability.

[0172] In some embodiments, the number of the climbing claws 2122 is at least two, and at least two of the climbing claws 2122 are arranged on the outer peripheral side of the auxiliary mechanism 212, and there is an arc surface transition and / or plane transition between the two adjacent climbing claws 2122, that is, the groove 22 is a concave arc surface and / or a concave plane.

[0173] In the first example of this embodiment, as shown in FIG14 , there is an arcuate transition between two adjacent climbing claws 2122 , that is, the groove 22 is a concave arcuate surface.

[0174] In a second example of this embodiment, as shown in FIG13 , a plane transition is formed between two adjacent climbing claws 2122 , that is, the groove 22 is a concave plane, and at least two planes intersect at one point.

[0175] In the third embodiment of this embodiment, as shown in Figures 12, 14 and 16, there is an arc surface transition and a plane transition between two adjacent climbing claws 2122, that is, the middle area of ​​the groove 22 is a concave arc surface, and the part connecting the concave arc surface and the end of the climbing claw 2122 is a concave plane.

[0176] In some embodiments, as shown in Figures 18 and 19, the driving assembly 2140 includes a walking drive unit, a first transmission mechanism 215 and a second transmission mechanism 216. The walking drive unit drives the walking wheel 211 to rotate through the first transmission mechanism 215. The first transmission mechanism 215 cooperates with the second transmission mechanism 216. The walking drive unit is connected to the auxiliary mechanism 212 through the first transmission mechanism 215 and the second transmission mechanism 216 to drive the auxiliary mechanism 212 to rotate in the same direction as the walking wheel 211, for example, along the direction of travel.

[0177] The walking drive unit is used to output power. The walking drive unit can be a motor. The walking drive unit is connected to the first transmission mechanism 215, the first transmission mechanism 215 is connected to the walking wheel 211, the first transmission mechanism 215 cooperates with the second transmission mechanism 216, and the second transmission mechanism 216 is connected to the auxiliary mechanism 212, thereby driving the auxiliary mechanism 212 to rotate in the same direction as the walking wheel 211.

[0178] In some embodiments, the first transmission mechanism 215 includes one or a combination of a belt, a synchronous belt, and a gear.

[0179] It can be understood that the walking drive part can rotate through a belt-driven auxiliary mechanism 212, or through a synchronous belt-driven auxiliary mechanism 212, or through a combination of a belt / synchronous belt and a gear to drive the auxiliary mechanism 212, so as to ensure that the driving auxiliary mechanism 212 rotates in the same direction as the walking wheel 211.

[0180] In some embodiments, the first transmission mechanism 215 includes a first gear set, and the second transmission mechanism 216 includes a second gear set, and the first gear set is meshed with the second gear set.

[0181] Among them, the first gear group includes a first gear and a second gear, the first gear is coaxially arranged with the output end of the walking drive unit, and finally meshes with the second gear, the second gear is coaxially arranged with the walking wheel 211, the second gear group includes a third gear and a fourth gear, the fourth gear is coaxially arranged with the auxiliary mechanism 212, and finally meshes with the third gear, and the third gear finally meshes with the second gear or the first gear, so that the walking drive unit drives the first gear, the second gear, the third gear and the fourth gear to rotate, and then drives the walking wheel 211 and the auxiliary mechanism 212 to rotate in the same direction.

[0182] In some embodiments, as shown in Figures 18 and 19, the driving assembly 2140 includes a walking drive unit, an auxiliary drive unit, a first transmission mechanism 215 and a second transmission mechanism 216. The walking drive unit drives the walking wheel 211 to rotate along the traveling direction through the first transmission mechanism 215, and the auxiliary drive unit drives the auxiliary mechanism 212 to rotate along the traveling direction through the second transmission mechanism 216.

[0183] The travel drive unit is used to output power. The travel drive unit may be a motor. The travel drive unit is connected to the first transmission mechanism 215 . The first transmission mechanism 215 is connected to the travel wheel 211 , thereby driving the travel wheel 211 to rotate.

[0184] The auxiliary driving part is used to output power. The auxiliary driving part can be a motor. The auxiliary driving part is connected to the second transmission mechanism 216. The second transmission mechanism 216 is connected to the auxiliary mechanism 212, thereby driving the auxiliary mechanism 212 to rotate.

[0185] The auxiliary drive unit can drive the auxiliary mechanism 212 to rotate continuously. When there is an obstacle on the driving path of the cleaning device 200, the auxiliary mechanism 212 rotates to contact the obstacle and prop up the machine body to assist in overcoming the obstacle.

[0186] The sensor system can be configured to detect an obstacle in the path of the cleaning device 200 and activate the auxiliary drive unit to rotate the auxiliary mechanism 212. The auxiliary mechanism 212 rotates until it contacts the obstacle and props up the main body of the cleaning device to assist in overcoming the obstacle. In other words, the auxiliary mechanism 212 can rotate asynchronously with the travel wheels 211.

[0187] In some embodiments, the first transmission mechanism 215 includes one or a combination of a belt, a synchronous belt, and a gear.

[0188] Furthermore, when the machine body drives the walking wheel 211 to rotate and propel the cleaning device 200 to walk on the ground during the cleaning process, the sensor system, such as an infrared sensor, can detect one or more events in the driving path of the cleaning device 200. The cleaning device 200 can control the driving component 2140 to respond to the obstacle, such as moving away from the obstacle or crossing the obstacle, based on the events detected by the sensor system, such as obstacles and walls.

[0189] In some embodiments, the first transmission mechanism 215 includes a first gear set, the second transmission mechanism 216 includes a second gear set, and the first gear set is separated from the second gear set.

[0190] Among them, the first gear group includes a first gear and a second gear. The first gear is coaxially arranged with the output end of the walking drive unit and finally meshes with the second gear. The second gear is coaxially arranged with the walking wheel 211, so that the walking drive unit drives the first gear and the second gear to rotate, and then drives the walking wheel to rotate.

[0191] Among them, the second gear set includes a third gear and a fourth gear. The third gear is coaxially arranged with the output end of the auxiliary drive unit and finally meshes with the third gear. The fourth gear is coaxially arranged with the auxiliary mechanism 212, so that the auxiliary drive unit drives the third gear and the fourth gear to rotate, and then drives the auxiliary mechanism 212 to rotate.

[0192] In some embodiments, as shown in FIG. 18 , the second gear set includes a connecting shaft connected to the auxiliary mechanism 212 to drive the auxiliary mechanism 212 to rotate.

[0193] It is understood that the auxiliary mechanism 212 is connected to one end of the connecting shaft, which is sleeved with a fourth gear. The rotation of the fourth gear drives the auxiliary mechanism 212 to rotate synchronously. The connecting shaft and the auxiliary mechanism 212 can be detachably connected, facilitating the removal and replacement of auxiliary mechanisms 212 of different sizes to meet different obstacle crossing needs.

[0194] In some embodiments, as shown in Figures 17 and 18, a limit member 2126 is provided at one end of the connecting shaft. As shown in Figure 11, an installation groove 2127 corresponding to the limit member 2126 is provided on the auxiliary mechanism 212. The limit member 2126 is inserted into the installation groove 2127 to drive the auxiliary mechanism 212 to rotate synchronously with the connecting shaft.

[0195] By setting matching limit members 2126 and mounting grooves 2127, the engagement between the connecting shaft and the auxiliary mechanism 212 is achieved. The cross section of the limit member 2126 is non-circular. The limit member 2126 is inserted into the mounting groove 2127 and abuts against the side wall of the mounting groove 2127. The connecting shaft rotates and drives the auxiliary mechanism 212 to rotate synchronously.

[0196] In some embodiments, as shown in FIG. 18 and FIG. 19 , the driving assembly 2140 further includes a swing arm assembly 214 , and the first gear set and the second gear set are disposed inside the swing arm assembly 214 .

[0197] The swing arm assembly 214 may be a gear box.

[0198] Among them, the first transmission mechanism 215 and the second transmission mechanism 216 are both located in the swing arm assembly, the driving assembly 2140 is located outside the swing arm assembly 214, the output shaft of the driving assembly is passed through the swing arm assembly and is dynamically connected to the first transmission mechanism 215, and the connecting shaft is passed through the swing arm assembly 214 and is connected to the auxiliary mechanism 212.

[0199] Among them, the first gear, the second gear, the third gear and the fourth gear are all located in the swing arm assembly 214. Therefore, the swing arm assembly 214 plays a good protective role, which is beneficial to extending the service life and reliability, and at the same time, is beneficial to ensuring good transmission accuracy.

[0200] Specifically, the swing arm assembly 214 may include a first housing and a second housing that are detachably connected, thereby facilitating assembly and disassembly of the swing arm assembly 214, as well as facilitating assembly and disassembly of the first, second, third, and fourth gears, thereby facilitating assembly and disassembly of the first transmission mechanism 215 and the second transmission mechanism 216. Specifically, the first and second housings may be detachably connected using at least one of screws, a snap-fit ​​structure, a mortise and tenon structure, and a magnetic structure.

[0201] In some embodiments, the auxiliary mechanism 212 is disposed on a side of the traveling wheel 211 away from the longitudinal centerline of the machine body.

[0202] In some embodiments, the auxiliary mechanism 212 is disposed on a side of the traveling wheel 211 close to the longitudinal centerline of the machine body.

[0203] It can be understood that the number of running wheels 211 is at least two, and at least two running wheels 211 are mirror-imaged on both sides of the longitudinal center line of the machine body, and the number of auxiliary mechanisms 212 of the cleaning equipment 200 is at least two, for example, arranged corresponding to the running wheels 211.

[0204] In the first embodiment of this embodiment, as shown in Figures 20 and 22, the auxiliary mechanism 212 is arranged on the side of the walking wheel 211 away from the longitudinal center line of the machine body, that is, the auxiliary mechanism 212 is arranged on the outside of the walking wheel 211.

[0205] In the second embodiment of this embodiment, as shown in FIG21 , the auxiliary mechanism 212 is arranged on the side of the traveling wheel 211 away from the longitudinal center line of the machine body, that is, the auxiliary mechanism 212 is arranged on the inner side of the traveling wheel 211 .

[0206] In some embodiments, when the driving assembly 2140 includes the swing arm assembly 214 , the swing arm assembly 214 is placed between the walking wheel 211 and the auxiliary mechanism 212 .

[0207] In some embodiments, the swing arm assembly 214 is placed on a side of the auxiliary mechanism 212 away from the traveling wheels 211 .

[0208] In the first embodiment of this embodiment, as shown in Figures 20 and 21, the swing arm assembly 214 is placed between the walking wheel 211 and the auxiliary mechanism 212, the first transmission mechanism 215 is connected to the walking wheel 211 through one side of the swing arm assembly 214, and the second transmission mechanism 216 is connected to the auxiliary mechanism 212 through the other side of the swing arm assembly 214.

[0209] In the second embodiment of this embodiment, as shown in Figure 22, the swing arm assembly 214 is placed on the side of the auxiliary mechanism 212 away from the walking wheel 211, the first transmission mechanism 215 is connected to the walking wheel 211 through one side of the swing arm assembly 214, and the second transmission mechanism 216 is connected to the auxiliary mechanism 212 through the same side of the swing arm assembly 214.

[0210] In some embodiments, the walking wheel 211 includes a first walking half wheel 11 and a second walking half wheel 12, an annular cavity is formed between the first walking half wheel 11 and the second walking half wheel 12, and the auxiliary mechanism 212 is arranged in the cavity between the first walking half wheel 2111 and the second walking half wheel 12.

[0211] In an embodiment of the present embodiment, as shown in Figure 23, the swing arm assembly 214 and the auxiliary mechanism 212 are placed in a cavity between the first walking half wheel 2111 and the second walking half wheel 2112, the first transmission mechanism 215 is connected to the first walking half wheel 2111 through one side of the swing arm assembly 214, the first transmission mechanism 215 is connected to the second walking half wheel 2112 through the other side of the swing arm assembly 214, and the second transmission mechanism 216 is connected to the auxiliary mechanism 212 through one side of the swing arm assembly 214.

[0212] In the related art, cleaning equipment may encounter obstacles such as high thresholds or steps during the cleaning process. For example, if a user's home is equipped with a sliding door, the slide below the sliding door will usually form a relatively high threshold, and most thresholds are higher than 3.5 cm. In this scenario, the cleaning equipment cannot cross such a high threshold and will be stuck or blocked outside the threshold, thereby affecting the cleaning effect. In some embodiments, the walking mechanism 20 provided in this application can cross higher obstacles, especially obstacles that are not less than the height of the cleaning equipment's walking wheel radius (for example, more than 4 cm).

[0213] As shown in Figures 24 and 25, the running mechanism 20 includes a first running mechanism 210 and a second running mechanism 220. The first running mechanism 210 and the second running mechanism 220 each include a running wheel 211 and a drive assembly. The drive assembly is used to rotate the running wheel 211 to drive the cleaning device. The first running mechanism 210 is a right running mechanism, and the second running mechanism 220 is a left running mechanism. The left and right running mechanisms are symmetrically arranged along the front-rear axis X defined by the machine body 10. The following detailed discussion of the running mechanism will use the first running mechanism 210 as an example. The specific structure and beneficial effects of the second running mechanism 220 can be referred to in the detailed discussion of the first running mechanism 210.

[0214] In some embodiments, the first traveling mechanism 210 includes an auxiliary mechanism 212 . The auxiliary mechanisms 212 in the first traveling mechanism 210 and the second traveling mechanism 220 are respectively located on a side of the traveling wheel 211 close to the periphery of the machine body 10 .

[0215] As shown in Figure 26, the rotation axis of the auxiliary mechanism 212 in the walking mechanism 20 is located on the side of the rotation axis of the walking wheel 211 in the forward direction of the machine body 10, and the distance between the axis of the auxiliary mechanism 212 and the axis of the walking wheel 211 is k, that is, the distance between the rotation axis of the auxiliary mechanism 212 and the rotation axis of the walking wheel 211 is k, the radius of the walking wheel 211 is R, and the distance from the axis of the auxiliary mechanism 212 to its outer contour is r, R>r, and r+k>R.

[0216] In some embodiments, the distance r may be 15mm to 35mm, for example, 15mm, 20mm, 25mm, 30mm, 35mm, etc., that is, the diameter of the auxiliary mechanism may be 30mm to 70mm; the radius R of the walking wheel 211 may be 30mm to 70mm, for example, 30mm, 35mm, 40mm, 45mm, 50mm, 55mm, 60mm, 65mm, 70mm, etc.

[0217] As shown in Figure 27, when the machine body 10 is in a horizontal traveling state, the walking wheel 211 of the first walking mechanism 210 contacts the traveling surface under the drive of the driving component to drive the machine body 10 to travel, and the auxiliary mechanism 212 is in a suspended state at this time; as shown in Figure 28, when the machine body 10 encounters an obstacle with a certain height in the forward direction, the cleaning equipment enters an obstacle crossing and / or climbing state, and one of the auxiliary mechanisms 212 of the first walking mechanism 210 and the second walking mechanism 220 contacts the obstacle first or both contact the obstacle at the same time, and then the walking wheel 211 and the auxiliary mechanism 212 drive the machine body 10 to travel under the drive of the driving component.

[0218] In some embodiments, the walking mechanism 20 is configured to assist the walking wheel 211 to cross obstacles that are not less than the radius of the walking wheel 211 through the auxiliary mechanism 212. The walking mechanism 20 provided by the present disclosure, when the machine body 10 is in a horizontal driving state, the walking wheel 211 contacts the driving surface under the drive component to drive the machine body 10 to travel, and the suspended setting of the auxiliary mechanism 212 can reduce the impact on the driving of the cleaning device, and can also reduce the increase in energy consumption caused by the increase in driving force required by the driving component due to the contact between the auxiliary mechanism 212 and the driving surface, thereby improving the endurance of the cleaning device; when the machine body 10 is in an obstacle crossing and / or climbing state in the forward direction, since the auxiliary mechanism 212 is located in front of the walking wheel 211, after the auxiliary mechanism 212 contacts the obstacle, it will generate a dragging force along the front-rear axis X and a lifting force along the central vertical axis Z on the machine body 10, thereby assisting the walking wheel 211 to lift, so that the cleaning device can cross obstacles that are not less than the radius of the walking wheel 211, thereby improving the cleaning ability of the cleaning device.

[0219] In some embodiments, in order for the walking mechanism 20 to be able to move stably on the ground, the cleaning equipment may include one or more guide wheels 30, as shown in Figures 27 and 28. Among them, the guide wheel 30 can be a driven wheel or a driving wheel, and its structural form includes but is not limited to a directional wheel; the guide wheel 30 can be located in front of the auxiliary mechanism 212. When the machine body 10 is in a horizontal driving state, the walking wheel 211 and the guide wheel 30 are in contact with the driving surface, forming a stable support for the machine body 10; for example, when the guide wheel 30 is a driven wheel, the rotation speed of the walking wheel 211 of the first walking mechanism 210 and the second walking mechanism 220 can be controlled to cooperate with the guide wheel 30 to adjust the driving route of the cleaning equipment. When the machine body 10 encounters an obstacle of a certain height in the forward direction, the cleaning equipment enters the obstacle crossing and / or climbing state. At this time, the guide wheel 30 can first climb onto the obstacle. Since the obstacle has a certain height, the walking wheel 211 may get stuck and cannot cross the obstacle; at this time, the auxiliary mechanism 212 of the first walking mechanism 210 and the second walking mechanism 220 can assist the walking wheel 211 to achieve obstacle crossing.

[0220] In some embodiments, to enhance the obstacle-crossing capability of the traveling mechanism 20, the traveling mechanism 20 may include one or more rollers. These rollers may be located on the machine body 10, for example, at the rear, behind the traveling wheels 211. These rollers are located on the side of the traveling wheels 211 that faces the rearward direction of the machine body. When the cleaning device traverses an obstacle, the front portion of the cleaning device tilts upward, tilting the entire structure. The rollers at the rear of the machine body allow the rear portion of the cleaning device to contact the running surface, thereby reducing friction between the rear portion of the machine body 10 and the running surface. This also increases resistance after contact, improving the cleaning device's obstacle-crossing capability.

[0221] In some embodiments, the roller can be a driven wheel or a driving wheel, and its structural form includes but is not limited to a directional wheel. By setting the roller as a driving wheel, the obstacle-crossing ability of the cleaning device can be further improved.

[0222] In some embodiments, when the machine body 10 is traveling on a horizontal surface, as shown in FIG26 , the rotation axis of the running wheel 211 can be higher than the rotation axis of the auxiliary mechanism 212 relative to the traveling surface. Specifically, the rotation axis of the running wheel 211 is higher than the rotation axis of the auxiliary mechanism 212, with a height difference of h. The higher height of the rotation axis of the running wheel 211 than the rotation axis of the auxiliary mechanism 212 indicates that the auxiliary mechanism 212 is positioned relatively close to the traveling surface. After the auxiliary mechanism 212 contacts an obstacle, the running wheel 211 can overcome higher obstacles, further enhancing the obstacle-crossing capability of the running wheel 211. In other embodiments, the rotation axis of the running wheel 211 can be at the same level as the rotation axis of the auxiliary mechanism 212, or the rotation axis of the running wheel 211 can be lower than the rotation axis of the auxiliary mechanism 212, indicating that the rotation axis of the auxiliary mechanism 212 is positioned upward, which facilitates the auxiliary mechanism 212 applying force to the obstacle.

[0223] In some embodiments, h≤r×30%, for example, 30%, 25%, 20%, 15%, 10%, 5%, etc.; by setting h≤r×30%, on the one hand, the height difference between the walking wheel 211 and the auxiliary mechanism 212 relative to the horizontal plane is smaller, so that the two can work together to achieve obstacle crossing when crossing obstacles; on the other hand, sufficient space can be reserved for the auxiliary mechanism 212 to avoid the auxiliary mechanism 212 having a small diameter and failing to assist the walking wheel 211 in crossing obstacles.

[0224] In some embodiments, Rhr=R×(10%~30%), that is, the distance between the lowest point of the auxiliary mechanism 212 and the driving surface is 10%~30% of the radius of the walking wheel 211, for example 10%, 15%, 20%, 25%, 30%, etc. The height of the lowest point of the auxiliary mechanism 212 from the driving surface is relatively small, so that the radius of the auxiliary mechanism 212 can be set relatively large, thereby enhancing the auxiliary lifting effect of the auxiliary mechanism 212 on the walking wheel 211.

[0225] In some embodiments, the height difference between the lowest point of the auxiliary mechanism 212 and the driving surface is not less than 10 mm to reduce the contact between the auxiliary mechanism 212 and obstacles with raised parts such as carpets and cables, which may affect the normal movement of the cleaning equipment.

[0226] In some embodiments, R>k, meaning that the orthographic projection of the rotation axis of the auxiliary mechanism 212 along its axial direction lies within the rotation range of the running wheels 211. The rotation ranges of the auxiliary mechanism 212 and the running wheels 211 partially overlap, and the rotation range of the auxiliary mechanism 212 partially exceeds the rotation range of the running wheels 211 in the forward direction. After the auxiliary mechanism 212 contacts an obstacle and lifts the running wheels 211, the running wheels 211 can traverse the obstacle or climb onto it.

[0227] In some embodiments, (r+kR) / r=0.2~0.7, that is, the rotation range of the auxiliary mechanism 212 exceeds the width of the rotation range of the walking wheel 211 in the forward direction, which is 20%~70% of the radius of the auxiliary mechanism 212, for example, 20%, 25%, 30%, 35%, 40%, 45%, 50%, 55%, 60%, 65%, 70%; so that the auxiliary mechanism 212 has sufficient forward extension relative to the walking wheel 211, so that the auxiliary mechanism 212 can assist the walking wheel 211 to cross over obstacles or climb onto obstacles.

[0228] In some embodiments, to enhance the driving stability and obstacle-crossing capability of the cleaning equipment, as shown in FIG26 , the traveling mechanism 20 further includes an elastic member. One end of the swing arm assembly 214 facing in the forward direction is rotatably connected to the machine body 10, and the traveling wheel 211 is provided on the other end of the swing arm assembly 214 facing away from the forward direction. One end of the elastic member is connected to the end of the swing arm assembly 214 facing in the forward direction, and the other end is connected to a portion of the machine body 10 near the traveling wheel 211. In some embodiments, the elastic member may be a spring, and both ends of the spring may be connected to the swing arm assembly 214 and the machine body 10 by hanging. The machine body 10 includes a bottom shell, and one end of the spring may be fixedly connected to the bottom shell.

[0229] When the machine body 10 is in a horizontal traveling state, the elastic member is in a stretched state; when the machine body 10 is in an obstacle-crossing and / or climbing state in the forward direction, one end of the swing arm assembly 214 provided with the traveling wheel 211 can move toward the traveling surface relative to the machine body 10 through the elastic restoring force of the elastic member. At this time, the rotation axis position of the auxiliary mechanism 212 is relatively above the rotation axis position of the traveling wheel 211, so as to facilitate the auxiliary mechanism 212 to apply force to the obstacle.

[0230] In some embodiments, as shown in Figure 26, among the intersection points of the outer contour of the swing arm assembly 214 and the outer contour of the running wheel 211, the intersection point close to the driving surface side is set as A, and any point on the outer contour of the auxiliary mechanism 212 in the area enclosed by the swing arm assembly 214, the driving surface, and the running wheel 211 is set as B. The distance between point A and point B is S, and S=R×(30%~50%), for example, 30%, 35%, 40%, 45%, 50%, etc., so that the auxiliary mechanism 212 extends a sufficient distance relative to the running wheel 211 and the swing arm assembly 214, which is more conducive to the auxiliary mechanism 212 applying force to the obstacle.

[0231] In some embodiments, as shown in Figure 26, when the machine body 10 is in a horizontal driving state, in the direction of the X-axis, the middle position of the line connecting the rotation axis of the walking wheel 211 and the rotation axis of the swing arm assembly 214 is at a distance n from the rotation axis of the auxiliary mechanism 212, and n = -10mm~10mm, for example, -10mm, -8mm, -6mm, -4mm, -2mm, 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, etc., that is, the middle position is located within 10mm in front of the rotation axis of the auxiliary mechanism 212, or within 10mm behind the rotation axis of the auxiliary mechanism 212.

[0232] In some embodiments, in the direction of the Z-axis, the middle position of the line connecting the rotation axis of the walking wheel 211 and the rotation axis of the swing arm assembly 214 is at a distance m from the rotation axis of the auxiliary mechanism 212, and m = -5mm~5mm, for example, -5mm, -3mm, -1mm, 0mm, 1mm, 3mm, 5mm, etc., that is, the middle position is located within 5mm above the rotation axis of the auxiliary mechanism 212, or within 5mm below the rotation axis of the auxiliary mechanism 212.

[0233] In some embodiments, the rotation axis of the auxiliary mechanism 212 is located on one side of the rotation axis of the walking wheel 211 in the forward direction of the machine body 10, and in the orthographic projection of the auxiliary mechanism 212 and the walking wheel 211 on a preset reference plane perpendicular to the rotation axis of the walking wheel 211, the closest distance between the rotation axis of the auxiliary mechanism 212 and the outer contour of the walking wheel 211 is less than 10 mm, for example, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, so that the forces of the walking wheel 211 and the auxiliary mechanism 212 can be applied to obstacles at the same time, which can further help improve the obstacle-crossing ability of the cleaning device.

[0234] In the technical solution disclosed herein, the running wheel 211 and the auxiliary mechanism 212 need to be driven by a driving component to provide driving force for rotation. In some embodiments, as shown in Figures 29 and 30, the driving component includes: a driver 213, and the driver 213 is configured to drive the running wheel 211 and the auxiliary mechanism 212 to rotate. By simultaneously driving the running wheel 211 and the auxiliary mechanism 212 to rotate by the same driver, there is no need to add a separate driver to drive the auxiliary mechanism 212, which can effectively reduce manufacturing costs. Among them, the driver 213 can be a motor to facilitate system control.

[0235] In some embodiments, the drive assembly further includes a first transmission assembly that connects the output shaft of the driver 213 to the rotating shaft of the travel wheel 211, so that the driver 213 can drive the travel wheel 211 to rotate. By providing the first transmission assembly, it is easy to adjust the transmission ratio between the driver 213 and the travel wheel 211.

[0236] In some embodiments, as shown in Figures 29 and 30, the first transmission assembly includes a drive gear set 215, which connects the output shaft of the driver 213 and the rotating shaft of the travel wheel 211, so that the driver 213 can drive the travel wheel 211 to rotate. Exemplarily, the drive gear set 215 includes a first drive gear 2151, a second drive gear 2152, a third drive gear 2153, a fourth drive gear 2154, and a fifth drive gear 2155, which are meshed in sequence. The first drive gear 2151 is provided on the output shaft of the driver 213, and the fifth drive gear 2155 is provided on the rotating shaft of the travel wheel 211. The meshing gear set drives the travel wheel 211 and adjusts the transmission ratio. Of course, the driver 213 and the travel wheel 211 can also be connected by a chain, a belt, a transmission shaft, etc., and this disclosure is not limited to this.

[0237] In some embodiments, the drive assembly further includes a second transmission assembly that connects the running wheel 211 and the auxiliary mechanism 212 to achieve synchronous rotation of the running wheel 211 and the auxiliary mechanism 212. By providing the second transmission assembly, it is easy to adjust the transmission ratio between the running wheel 211 and the auxiliary mechanism 212.

[0238] In some embodiments, as shown in Figures 29 and 30, the second transmission assembly includes a transmission gear set 216, which connects the running wheel 211 and the auxiliary mechanism 212 to achieve synchronous rotation of the running wheel 211 and the auxiliary mechanism 212. The transmission connection between the running wheel 211 and the auxiliary mechanism 212 via the transmission gear set 216 not only has high reliability and high transmission efficiency, but also facilitates the setting of the transmission ratio. Exemplarily, the transmission gear set 216 includes a first transmission gear 2161, a second transmission gear 2162, and a third transmission gear 2163 that mesh in sequence. The first transmission gear 2161 is disposed on the rotating shaft of the running wheel 211, and the third transmission gear 2163 is disposed on the rotating shaft of the auxiliary mechanism 212. The second transmission gear 2162 meshes with the first transmission gear 2161 and the third transmission gear 2163 located on either side, thereby achieving synchronous rotation of the running wheel 211 and the auxiliary mechanism 212. Of course, the traveling wheel 211 and the auxiliary mechanism 212 may also be connected via a chain, a belt, a transmission shaft, etc., and the present disclosure does not impose any limitation on this.

[0239] In some embodiments, the speed ratio of the speed walking wheel 211 to the auxiliary mechanism 212 can be 1:1 to 1:10, for example, 1:1, 1:2, 1:3, 1:4, 1:5, 1:6, 1:7, 1:8, 1:9, 1:10, etc., which are not listed here one by one in the present disclosure.

[0240] In some embodiments, in order to better protect the driving gear set 215 and the transmission gear set 216, as shown in Figures 31 and 32, the swing arm assembly 214 may be a box structure, and the swing arm assembly 214 includes a swing arm assembly body 2141 and a first cover plate 2142. The swing arm assembly body 2141 is formed with a accommodating space 2144, and each gear in the driving gear set 215 is accommodated in the accommodating space. The first cover plate 2142 is engaged with the swing arm assembly body 2141 to form a sealed installation for the driving gear set 215, thereby forming protection for the driving gear set 215 and reducing foreign matter from entering the driving gear set 215 and causing the gears to get stuck.

[0241] In some embodiments, another box structure may be provided on the outside of the swing arm assembly 214. In some embodiments, as shown in FIG31 , the swing arm assembly 214 further includes a second cover plate 2143, and the second cover plate 2143 is engaged with the first cover plate 2142 to form an accommodating space to accommodate each gear in the transmission gear set 216 in the accommodating space, thereby forming a sealed installation for the drive gear set 215, thereby forming protection for the transmission gear set 216 and reducing foreign matter from entering the transmission gear set 216 and causing the gears to become stuck.

[0242] The embodiments provided by the present disclosure, as shown in Figures 33 to 36, provide a cleaning device 200, including any one of the walking mechanisms 20 described above.

[0243] Furthermore, the cleaning device includes a machine body 10, a sensing system, a control module, a cleaning module, an energy system and a human-computer interaction system.

[0244] It is understood that the cleaning device 200 is a device that automatically cleans an area to be cleaned without user intervention. The cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a vacuum robot, etc. The cleaning device can include a machine body 10, a walking mechanism 20, a sensing system, a control system, a cleaning module, an energy system, and a human-machine interaction system.

[0245] In some embodiments, the machine body 10 is configured to automatically move in a target direction on a driving surface, which can be the surface to be cleaned by the cleaning device. The cleaning device can be a sweeping and mopping robot, in which case the cleaning device operates on the ground, which serves as the operating surface. This disclosure uses a sweeping and mopping robot as an example.

[0246] In some embodiments, the machine body 10 can be either an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that the machine body 10 can automatically and adaptively make operational decisions based on unexpected environmental inputs. A non-autonomous mobile platform means that the machine body 10 cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute predetermined programs or operate according to certain logic. The machine body 10 includes a forward-facing portion and a backward-facing portion.

[0247] In order to more clearly describe the behavior of the cleaning device, the following directions are defined: the cleaning device can move on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the machine body 10: the front and rear axis X, the transverse axis Y and the central vertical axis Z. The forward drive direction along the front and rear axis X is marked as "forward", and the rearward drive direction along the front and rear axis X is marked as "rearward". The transverse axis Y essentially extends between the right and left running wheels of the cleaning device along the axis defined by the center point of the walking mechanism 20. In some embodiments, the cleaning device can rotate around the Y axis. When the forward part of the cleaning device is tilted upward and the rear part is tilted downward, it is "tilting up", and when the forward part of the cleaning device is tilted downward and the rear part is tilted upward, it is "tilting down". In addition, the cleaning device can rotate around the Z axis. In the forward direction of the cleaning device, when the cleaning device is tilted to the right of the X axis, it is "turning right", and when the cleaning device is tilted to the left of the Y axis, it is "turning left".

[0248] In some embodiments, the sensing system includes a position determination device located above the machine body 10, a buffer located at the forward portion of the machine body 10, and a cliff sensor and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers, and other sensing devices located at the bottom of the machine body 10, providing the control system with various position information and motion state information of the machine body 10. For example, the forward portion of the machine body 10 is provided with a buffer. During the cleaning process, when the traveling mechanism 20 propels the cleaning device to travel on the ground, the buffer detects one or more events (or objects) in the travel path of the cleaning device via a sensor system, such as an infrared sensor. The cleaning device can control the driving mechanism to respond to the events (or objects), such as steps, obstacles, and walls, by detecting the events (or objects) detected by the buffer, such as steps, obstacles, and walls, and thereby causing the cleaning device to cross a step.

[0249] In some embodiments, the control system can combine distance and speed information fed back by sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current operating state of the sweeper, such as climbing stairs, crossing thresholds, getting on carpets, being on cliffs, being stuck above or below, having a full dust box, being picked up, etc. It can also provide specific next-step action strategies for different situations, making the cleaning device's operation more in line with the owner's requirements and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the cleaning device.

[0250] In some embodiments, the cleaning module may include a dry cleaning module and / or a wet cleaning module. The dry cleaning module may include a side brush 40, a roller brush, etc., and the wet cleaning module may include a mopping module, a water tank, etc. These components are common components in cleaning equipment and will not be described in detail here.

[0251] In some embodiments, the traveling mechanism 20 may execute a driving command based on specific distance and angle information to manipulate the cleaning device to travel across the ground.

[0252] The embodiments provided by the present disclosure further provide a cleaning system, including any one of the walking mechanisms described above; or, including a base station and the above-mentioned cleaning equipment, wherein the cleaning equipment is suitable for docking to the base station.

[0253] When the cleaning device 200 starts working, it starts from the base station to perform the cleaning task. When the cleaning device 200 completes the cleaning task or needs to stop the cleaning task, the cleaning device 200 can return to the base station to dock with the base station, such as to perform operations such as charging, water replenishment, cleaning, and / or dust collection.

[0254] The beneficial effects of the cleaning system provided by the present disclosure can be found in the detailed discussion in the above-mentioned cleaning equipment embodiments, which will not be repeated here.

[0255] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0256] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0257] The above are merely specific embodiments of the present disclosure and are not intended to limit the present disclosure. Those skilled in the art will readily appreciate that the present disclosure may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

[0258] In view of the detailed description above, these and other changes can be made to the embodiments, and this written description, including the best mode examples, discloses the present disclosure. The scope of the patent obtained by the present disclosure is defined by the claims, which are not limited by the content of the present disclosure. The scope of protection of the present disclosure is not limited thereto. Any person skilled in the art can make equivalent substitutions or changes based on the technical solutions and concepts of the present disclosure within the scope of the present disclosure, and they are all within the scope of protection of the present disclosure.

Claims

1. A walking mechanism, provided on a machine body of a cleaning device, comprising: Travel wheels; auxiliary institutions; The driving assembly is used to drive the auxiliary mechanism to rotate in the same direction as the travel wheel. In the rotating state, at least part of the auxiliary mechanism protrudes from the travel wheel in the forward direction of the travel wheel, so that the auxiliary mechanism is against the obstacle and supports the machine body.

2. The walking mechanism according to claim 1, wherein: In the rotating state, the portion of the auxiliary mechanism protruding from the running wheel is placed above the transverse centerline of the running wheel; and / or, In the rotating state, the portion of the auxiliary mechanism protruding from the running wheel is placed below the transverse center line of the running wheel.

3. The walking mechanism according to claim 1, wherein: The auxiliary mechanism is arranged on a side of the traveling wheel away from the longitudinal center line of the machine body; or, The auxiliary mechanism is arranged on a side of the traveling wheel close to the longitudinal center line of the machine body.

4. The walking mechanism according to any one of claims 1 to 3, wherein: The lowest point of the auxiliary mechanism in the rotating state is not lower than the lowest point of the running wheel.

5. The traveling mechanism according to claim 4, wherein: The height difference between the lowest point of the auxiliary mechanism and the lowest point of the walking wheel is at least 5 mm.

6. The traveling mechanism according to claim 5, wherein: The height difference between the lowest point of the auxiliary mechanism and the lowest point of the running wheel is 5 to 20 mm; or The height difference between the lowest point of the auxiliary mechanism and the lowest point of the walking wheel is greater than or equal to 10 mm.

7. The walking mechanism according to any one of claims 1 to 6, wherein: The traveling mechanism is configured to assist the traveling wheel to cross an obstacle no less than a radius of the traveling wheel through the assist mechanism.

8. The walking mechanism according to any one of claims 1 to 7, wherein: The auxiliary mechanism rotates synchronously or asynchronously with the walking wheel.

9. The traveling mechanism according to claim 8, wherein: The rotation speed of the auxiliary mechanism is not greater than the rotation speed of the running wheel.

10. The walking mechanism according to any one of claims 1 to 9, wherein: The auxiliary mechanism is provided with at least one groove, which can be rotated to the forward direction side of the running wheel, and is used for the auxiliary wheel to abut against the obstacle during the movement of climbing over the obstacle.

11. The walking mechanism according to any one of claims 1 to 9, wherein: The auxiliary mechanism includes at least one climbing claw, which can be rotated to the forward direction side of the walking wheel and is used to abut against the obstacle when the auxiliary mechanism is moving over the obstacle.

12. The walking mechanism according to claim 11, wherein: The auxiliary mechanism further includes a rotating shaft portion, one end of each of the plurality of climbing claws is connected to the rotating shaft portion, and the plurality of climbing claws are distributed at preset angles in the circumferential direction of the rotating shaft portion.

13. The walking mechanism according to claim 12, wherein: The preset angles between two adjacent climbing claws on the auxiliary mechanism are the same.

14. The walking mechanism according to claim 12, wherein: The preset angle between two adjacent climbing claws on the auxiliary mechanism is less than or equal to 90°.

15. The walking mechanism according to any one of claims 12 to 14, wherein: The auxiliary mechanism is provided with an anti-slip structure, and the auxiliary mechanism abuts against the obstacle through the anti-slip structure.

16. The walking mechanism according to any one of claims 12 to 14, wherein: Among the multiple climbing claws on the auxiliary mechanism, at least one climbing claw is provided with a friction structure on one end away from the rotating shaft portion.

17. The walking mechanism according to any one of claims 12 to 14, wherein: Among the multiple climbing claws on the auxiliary mechanism, at least one climbing claw is provided with a protrusion at one end away from the rotating shaft portion, and the protrusion protrudes towards the side of the auxiliary mechanism rotation direction relative to the main body of the climbing claw.

18. The walking mechanism according to any one of claims 12 to 14, wherein: An anti-slip sleeve is sleeved on one end of the climbing claw away from the rotating shaft portion.

19. The walking mechanism according to claim 18, wherein: At least a portion of the anti-slip cover is provided with an anti-slip structure.

20. The walking mechanism according to any one of claims 12 to 14, wherein: In the radial direction of the auxiliary mechanism, the extension length of the climbing claw is L, the distance between the rotation axis of the auxiliary mechanism and the outer contour of the auxiliary mechanism is r, and L≥r×30%.

21. The walking mechanism according to any one of claims 11 to 14, wherein: The end of the climbing claw includes a curved surface and / or a flat surface.

22. The walking mechanism according to any one of claims 11 to 14, wherein: The number of the climbing claws is at least two, and at least two of the climbing claws are arranged on the outer peripheral side of the auxiliary mechanism, and there is an arc surface transition and / or a plane transition between two adjacent climbing claws.

23. The walking mechanism according to any one of claims 1 to 22, wherein: The drive assembly includes: A walking drive unit, a first transmission mechanism and a second transmission mechanism, the walking drive unit drives the walking wheel to rotate through the first transmission mechanism, the first transmission mechanism cooperates with the second transmission mechanism, and the walking drive unit is connected to the auxiliary mechanism through the first transmission mechanism and the second transmission mechanism to drive the auxiliary mechanism to rotate in the same direction as the walking wheel.

24. The walking mechanism according to claim 23, wherein: The first transmission mechanism includes a first gear set, and the second transmission mechanism includes a second gear set, and the first gear set is meshed with the second gear set.

25. The walking mechanism according to any one of claims 1 to 22, wherein: The drive assembly includes: A walking drive unit, an auxiliary drive unit, a first transmission mechanism and a second transmission mechanism, wherein the walking drive unit drives the walking wheel to rotate along the traveling direction through the first transmission mechanism, and the auxiliary drive unit drives the auxiliary mechanism to rotate along the traveling direction through the second transmission mechanism.

26. The walking mechanism according to claim 25, wherein: The first transmission mechanism includes a first gear set, the second transmission mechanism includes a second gear set, and the first gear set is separated from the second gear set.

27. The walking mechanism according to claim 23 or 25, wherein: The first transmission mechanism includes one or a combination of a belt, a synchronous belt, and a gear.

28. The walking mechanism according to claim 23 or 25, wherein: The second gear set includes: A connecting shaft is connected to the auxiliary mechanism to drive the auxiliary mechanism to rotate.

29. The walking mechanism according to claim 28, wherein: A limiting piece is provided at one end of the connecting shaft, and a mounting groove corresponding to the limiting piece is provided on the auxiliary mechanism. The limiting piece is inserted into the mounting groove to drive the auxiliary mechanism to rotate synchronously with the connecting shaft.

30. The walking mechanism according to claim 24 or 26, wherein: The drive assembly further includes: The swing arm assembly is rotatably connected to the machine body, and the first gear set and the second gear set are arranged inside the swing arm assembly.

31. The walking mechanism according to claim 30, wherein: The walking mechanism also includes: The elastic member is in a stretched state when the machine body is in a horizontal traveling state; when the machine body is in an obstacle-crossing and / or climbing state in the forward direction, the swing arm assembly can be rotated toward the traveling surface relative to the machine body through the restoring force of the elastic member.

32. The walking mechanism according to claim 30, wherein: The distance between the middle position of the line connecting the rotation axis of the traveling wheel and the rotation axis of the swing arm assembly and the rotation axis of the auxiliary mechanism does not exceed 10 mm in the forward direction of the machine body, and / or does not exceed 5 mm in the direction perpendicular to the traveling surface.

33. The walking mechanism according to claim 30 or 31, wherein: Among the intersection points of the outer contour of the swing arm assembly and the outer contour of the running wheel, the intersection point close to the running surface is A, and any point on the outer contour of the auxiliary mechanism within the area enclosed by the swing arm assembly, the running wheel and the running surface is B. The distance between point A and point B is S, and the value of S is between 30% of R and 50% of R.

34. The walking mechanism according to any one of claims 30 to 33, wherein: The swing arm assembly is placed between the running wheel and the auxiliary mechanism; or, The swing arm assembly is placed on a side of the auxiliary mechanism away from the walking wheel.

35. The walking mechanism according to any one of claims 1 to 22, wherein: The traveling wheel includes a first traveling half wheel and a second traveling half wheel, an annular cavity is formed between the first traveling half wheel and the second traveling half wheel, and the auxiliary mechanism is arranged in the cavity between the first traveling half wheel and the second traveling half wheel.

36. The walking mechanism according to any one of claims 1 to 22, wherein: The rotation axis of the auxiliary mechanism is located on one side of the rotation axis of the walking wheel in the forward direction of the machine body, and in the orthographic projection of the auxiliary mechanism and the walking wheel on a preset reference plane perpendicular to the rotating axis of the walking wheel, the closest distance between the rotation axis of the auxiliary mechanism and the outer contour of the walking wheel is less than 10 mm.

37. The walking mechanism according to any one of claims 1 to 22, wherein: The distance between the rotation axis of the auxiliary mechanism and the rotation axis of the travel wheel is k, the radius of the travel wheel is R, the distance between the rotation axis of the auxiliary mechanism and the outer contour of the auxiliary mechanism is r, and R≥r, r+k>R.

38. The walking mechanism according to claim 37, wherein: When the machine body is in a horizontal traveling state, the rotation axis of the traveling wheel relative to the traveling surface is higher than or equal to the rotation axis of the auxiliary mechanism, and the height difference is h.

39. The walking mechanism according to claim 37, wherein: When the machine body is in a horizontal traveling state, the height of the rotation axis of the auxiliary mechanism relative to the traveling surface is higher than the height of the rotation axis of the traveling wheel, and the height difference is h.

40. The walking mechanism according to claim 38 or 39, wherein: h≤r×30％。 41. The walking mechanism according to claim 38 or 39, wherein: The value of Rhr is between 10% of R and 30% of R.

42. The walking mechanism according to any one of claims 37 to 41, wherein: The radius of the running wheel is greater than the distance between the rotation axis of the auxiliary mechanism and the rotation axis of the running wheel.

43. The walking mechanism according to claim 37, wherein: The value of (r+kR) / r is between 0.2 and 0.

7.

44. The walking mechanism according to any one of claims 1 to 43, wherein: The rotational speed ratio of the auxiliary mechanism and the running wheel is 1:1 to 1:

10.

45. The walking mechanism according to any one of claims 1 to 43, wherein: The diameter of the auxiliary mechanism is 30 mm to 70 mm.

46. The walking mechanism according to any one of claims 1 to 43, wherein: The walking mechanism also includes: The roller is provided on the machine body, and the roller is located on one side of the traveling wheel in the backward direction of the machine body.

47. A cleaning device, comprising a machine body and the walking mechanism according to any one of claims 1 to 46, wherein the walking mechanism is arranged on the machine body.

48. A cleaning system comprising: The cleaning device of claim 47; A base station is used to connect to the cleaning device.