First locomotion wheel mechanism, second locomotion wheel mechanism, and cleaning device

Abstract

Ａ first locomotion wheel mechanism (100), a second locomotion wheel mechanism (200), and a cleaning device (1000). The first locomotion wheel mechanism (100) is mounted on a device body (300), and comprises a first locomotion wheel assembly (10), a power assembly (20) and a flexible connection member (30). The flexible connection member (30) is arranged between the first locomotion wheel assembly (10) and the power assembly (20). By changing the length of the flexible connection member (30), the first locomotion wheel assembly (10) moves relative to the device body (300).

Description

First walking wheel mechanism, second walking wheel mechanism and cleaning device

[0001] Cross-reference to related applications

[0002] The present disclosure is based on and claims priority to Chinese Patent Application No. 202410715539.9, filed on June 4, 2024, Chinese Patent Application No. 202410715664.X, filed on June 4, 2024, Chinese Patent Application No. 202421260306.6, filed on June 4, 2024, Chinese Patent Application No. 202421264766.6, filed on June 4, 2024, and Chinese Patent Application No. 202421396452.1, filed on June 18, 2024, the contents of which are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0003] The present disclosure belongs to the technical field of cleaning devices, and particularly relates to a first walking wheel mechanism, a second walking wheel mechanism and a cleaning device. BACKGROUND

[0004] A cleaning device is a common intelligent cleaning appliance, such as a robot vacuum cleaner, an automatic sweeper, etc. The ability of the cleaning device to cross obstacles during automatic travel is crucial for the cleaning device, and the obstacle-crossing height limits the working range and operation reliability of the cleaning device.

[0005] Current solutions to the obstacle-crossing problem rely on software strategies, which adjust the angle and speed of the cleaning device approaching the obstacle to achieve the obstacle-crossing function. However, this solution is limited by physical limitations such as the ground clearance of the cleaning device and has limited effect.

[0006] During movement, in order to maintain balance and normal operation, the distance between the bottom of the cleaning device and the ground cannot be too far. However, in special scenarios, the distance between the bottom and the ground is too close, which affects the operation of the cleaning device. For example, in the case of encountering an obstacle, the bottom is too low, resulting in failure to cross the obstacle. In the case of encountering deep water, the bottom is too low, causing water to enter the interior of the cleaning device, causing damage to the cleaning device.

[0007] SUMMARY

[0008] To improve the obstacle-crossing ability of the cleaning device, the present disclosure provides a first walking wheel mechanism, a second walking wheel mechanism and a cleaning device.

[0009] The present disclosure provides a first walking wheel mechanism, which is installed on a device body, comprising:

[0010] the first walking wheel assembly;

[0011] the power assembly;

[0012] and a flexible connecting member arranged between the first walking wheel assembly and the power assembly, the first walking wheel assembly is moved relative to the device body by changing the length of the flexible connecting member.

[0013] In some embodiments, the power assembly comprises a rotating power element and a rotating disc, the rotating power element is used to drive the rotating disc to rotate in two opposite directions;

[0014] the flexible connecting member is arranged between the first walking wheel assembly and the rotating disc, and is used to change the length exposed between the first walking wheel assembly and the rotating disc during the rotation of the rotating disc, so as to rotate the first walking wheel assembly relative to the device body.

[0015] In some embodiments, the rotating angle of the rotating disc during the rotation of the first walking wheel assembly is not more than 360 degrees or not more than 720 degrees.

[0016] In some embodiments, the rotating angle of the rotating disc during the lifting or lowering of the first walking wheel assembly is 0-300 degrees.

[0017] In some embodiments, the connection between the flexible connecting member and the rotating disc is arranged eccentrically relative to the rotation axis of the rotating disc.

[0018] In some embodiments, the rotating angle of the rotating disc during the lifting or lowering of the first walking wheel assembly is 0-90 degrees.

[0019] In some embodiments, the rotating disc comprises a transmission disc, an inner fixed disc and an outer fixed disc connected in sequence, and the connection between the flexible connecting member and the rotating disc is located between the inner fixed disc and the outer fixed disc.

[0020] In some embodiments, the connection between the flexible connecting member and the rotating disc is provided with a tensioning mechanism or a torsional spring, so as to always pull the flexible connecting member tight when the rotating disc rotates.

[0021] In some embodiments, the rotating power element is a steering engine or a motor integrated with an encoder, and the output shaft of the steering engine or the motor is connected to the rotating disc.

[0022] In some embodiments, the first walking wheel mechanism further comprises a controller and a sensor for detecting the rotation angle of the first walking wheel assembly, the sensor and the rotation power element are electrically connected to the controller; the controller is configured to determine whether the rotation power element or the flexible connecting element is malfunctioning according to the rotation angle of the first walking wheel assembly and the rotation angle of the rotation power element.

[0023] In some embodiments, the sensor comprises a rotation sensor arranged on the rotation shaft of the first walking wheel assembly, and / or a light sensor arranged on the first walking wheel assembly.

[0024] In some embodiments, the device body is provided with an upper limit portion and a lower limit portion for limiting the upper limit position and the lower limit position of the first walking wheel assembly, respectively.

[0025] In some embodiments, the first walking wheel assembly comprises a support and a first walking wheel mounted on the support; the support comprises a main wheel portion and a free portion, the main wheel portion is closer to the first walking wheel relative to the free portion; the main wheel portion and the free portion are divided by the first walking wheel ground normal axis, and the free portion is closer to the advancing direction of the device body relative to the main wheel portion.

[0026] The free portion of the support is rotationally connected to the device body; the flexible connecting element is connected to the free portion of the support.

[0027] In some embodiments, the free portion of the support is provided with a mounting shaft seat, the mounting shaft seat is rotationally connected to the device body, and the support rotates with the rotation shaft of the mounting shaft seat as the center;

[0028] The free portion of the support is provided with a hanging point portion, and the flexible connecting element is connected to the hanging point portion.

[0029] In some embodiments, the mounting shaft seat is arranged at the lower portion of the free portion; and the hanging point portion is arranged at the upper portion of the free portion.

[0030] In some embodiments, the support comprises a reduction box and a driving device mounted on the reduction box, and the rotation shaft of the mounting shaft seat is different from the shaft center of the driving device.

[0031] In some embodiments, the first walking wheel mechanism further comprises a spring, one end of the spring is fixed to the free portion of the support, and the other end is fixed to the device body.

[0032] In some embodiments, the free part and the device body are provided with hooks, the two ends of the spring are hooked on the two hooks respectively, and the hooking directions of the two hooks are opposite.

[0033] In some embodiments, the support is a walking power device, and the first walking wheel is drivingly connected to the walking power device.

[0034] In some embodiments, the support is a bracket, and the first walking wheel is mounted on the bracket.

[0035] In some embodiments, when the rotating disc rotates in a first direction, the length of the flexible connecting member exposed between the first walking wheel assembly and the rotating disc is reduced and is pulled tight, and the flexible connecting member pulls the first walking wheel assembly to rotate relative to the device body.

[0036] When the rotating disc rotates in a second direction opposite to the first direction, the length of the flexible connecting member exposed between the first walking wheel assembly and the rotating disc is increased, and the first walking wheel assembly reversely rotates relative to the device body.

[0037] According to one or more embodiments of the present disclosure, a first walking wheel mechanism is provided, which comprises a first walking wheel assembly, a power assembly, and a flexible connecting member. The first walking wheel assembly is rotatably arranged on a device body, and the power assembly is also mounted on the device body and is used to provide driving force for lifting the first walking wheel assembly relative to the device body. The power assembly comprises a rotating power element and a rotating disc, and the rotating power element is used to drive the rotating disc to rotate in two opposite directions. The flexible connecting member is arranged between the first walking wheel assembly and the rotating disc, and the length of the flexible connecting member exposed between the first walking wheel assembly and the rotating disc changes during the rotation of the rotating disc, so that the first walking wheel assembly rotates relative to the device body to realize the lifting function relative to the device body.

[0038] The rotating angle of the rotating disc during the rotation of the first walking wheel assembly is not more than 360 degrees, so that the length of the flexible connecting member exposed between the first walking wheel assembly and the rotating disc can be reduced, and the flexible connecting member can be prevented from being relaxed and separated from the rotating disc due to the increase of the exposed length, or the first walking wheel mechanism can be prevented from being damaged due to the interference with surrounding components caused by the too long exposed length. The failure rate of the first walking wheel mechanism is reduced, and the working reliability of the first walking wheel mechanism is improved.

[0039] Since the first walking wheel assembly is always in contact with the ground during the driving process, the lifting of the first walking wheel assembly relative to the device body is reflected in the device as the change of the ground clearance of the device body. When the ground clearance of the device body is increased, the components below the device body can be higher than the obstacles, so that the device does not interfere with the obstacles during the obstacle crossing process, thereby achieving the effect of increasing the obstacle crossing height, and the obstacle crossing height, the escape ability, and the adaptability to different road surfaces of the device provided with the first walking wheel mechanism can be improved.

[0040] The embodiments of the present disclosure also provide a first walking wheel mechanism installed on a device body, comprising:

[0041] a first walking wheel assembly;

[0042] a power assembly;

[0043] and a flexible connecting piece connected between the first walking wheel assembly and the power assembly, used to drive the first walking wheel assembly to move relative to the device body under the driving of the power assembly, so that the first walking wheel assembly is lifted relative to the device body, and the first walking wheel assembly is always in contact with the ground during the driving process and the lifting process relative to the device body.

[0044] In some embodiments, the first walking wheel assembly comprises a support and a first walking wheel installed on the support, and the support is rotationally connected with the device body.

[0045] The flexible connecting piece is connected between the support and the power assembly, and is used to drive the support to rotate relative to the device body under the driving of the power assembly.

[0046] In some embodiments, the support comprises a main wheel part and a free part, the main wheel part is close to the first walking wheel relative to the free part, and the flexible connecting piece is connected between the free part of the support and the power assembly.

[0047] In some embodiments, the support is a bracket or a walking power device.

[0048] In some embodiments, the free part of the support is rotationally connected with the device body.

[0049] In some embodiments, the free part of the support is provided with a mounting shaft seat, the mounting shaft seat is rotationally connected with the device body, and the support rotates around the rotation shaft of the mounting shaft seat.

[0050] In some embodiments, the rotation shaft of the mounting shaft seat is different from the shaft center of the driving device.

[0051] In some embodiments, the mounting shaft seat is arranged on the lower side of the free portion.

[0052] In some embodiments, the main wheel portion and the free portion are separated by the first walking wheel ground contact normal axis, and the free portion is closer to the advancing direction of the device body than the main wheel portion.

[0053] In some embodiments, the free portion of the support member is provided with a hanging point portion, and the flexible connecting member is connected to the hanging point portion; the hanging point portion is arranged on the upper side of the free portion.

[0054] In some embodiments, the power assembly comprises a rotating power element; one end of the flexible connecting member is fixed to the free portion of the support member, and the other end is connected to the output shaft of the rotating power element; the rotating power element tightens or loosens the flexible connecting member when rotating.

[0055] In some embodiments, the rotating angle of the rotating power element during the lifting or lowering of the first walking wheel assembly is not more than 360 degrees or not more than 720 degrees.

[0056] In some embodiments, the rotating angle of the rotating power element during the lifting or lowering of the first walking wheel assembly is 0-300 degrees.

[0057] In some embodiments, the power assembly further comprises a rotating disc coaxially arranged with the output shaft of the rotating power element; the connection between the flexible connecting member and the rotating disc is arranged eccentrically relative to the output shaft of the rotating power element.

[0058] In some embodiments, the rotating angle of the rotating disc during the lifting or lowering of the first walking wheel assembly is 0-360 degrees or 0-720 degrees.

[0059] In some embodiments, the rotating disc comprises a transmission disc, an inner fixed disc and an outer fixed disc connected in sequence, and the connection between the flexible connecting member and the rotating disc is located between the inner fixed disc and the outer fixed disc.

[0060] In some embodiments, the connection between the flexible connecting member and the rotating disc is provided with a tensioning mechanism or a torsional spring.

[0061] In some embodiments, the rotating power element controls the rotating angle and / or rotating speed of the rotating disc.

[0062] In some embodiments, the rotating power element is a steering engine or a motor; the first walking wheel mechanism further comprises a controller, and the rotating power element is electrically connected to the controller.

[0063] In some embodiments, the first walking wheel mechanism further comprises a sensor for detecting the rotation angle of the first walking wheel assembly, and the sensor is electrically connected to the controller; the controller is configured to determine whether the rotation power element or the flexible connecting element is malfunctioning according to the rotation angle of the first walking wheel assembly and the rotation angle of the rotation power element.

[0064] In some embodiments, the sensor comprises a rotation sensor arranged on the rotation shaft of the first walking wheel assembly, and / or a light sensor arranged on the support.

[0065] In some embodiments, the device body comprises a base; the support is rotationally connected to the base.

[0066] In some embodiments, the base is provided with an upper limiting part and a lower limiting part for limiting the upper limit position and the lower limit position of the first walking wheel assembly, respectively.

[0067] In some embodiments, the first walking wheel mechanism further comprises a spring, one end of the spring is fixed to the free part of the support, and the other end of the spring is fixed to the base.

[0068] In some embodiments, the free part and the base are each provided with a hook part, the two ends of the spring are respectively hooked on the two hook parts, and the hooking directions of the two hook parts are opposite.

[0069] According to one or more embodiments of the present disclosure, a first walking wheel mechanism is provided, which comprises a first walking wheel assembly, a power assembly, and a flexible connecting element. The first walking wheel assembly comprises a driving device, a transmission device, and a first walking wheel, the transmission device is rotationally connected to a device body, and the power assembly is configured to provide driving force for the first walking wheel assembly when the first walking wheel assembly is lifted relative to the device body. The flexible connecting element is configured to transmit the driving force of the power assembly and act on the first walking wheel assembly, and the flexible connecting element is connected between the free part of the transmission device and the power assembly. Under the driving of the power assembly, the transmission device is driven to rotate relative to the device body, so that the first walking wheel assembly is lifted relative to the device body.

[0070] Since the first walking wheel assembly is always in contact with the ground during driving, the corresponding first walking wheel assembly also maintains contact with the ground during lifting relative to the device body. Therefore, the lifting of the first walking wheel assembly relative to the device body in the device is manifested as the change of the ground clearance of the device body. When the ground clearance of the device body increases, the components below the device body can be higher than the obstacles, so that the device does not interfere with the obstacles during obstacle crossing, thereby achieving the effect of increasing the obstacle crossing height, and improving the obstacle crossing height, the escape ability, and the adaptability to different road surfaces of the device provided with the first walking wheel mechanism.

[0071] The second walking wheel mechanism also comprises a second walking wheel assembly and a driving assembly, wherein the driving assembly is used to adjust the distance between the second walking wheel assembly and the cleaning device body.

[0072] In some embodiments, the second walking wheel mechanism further comprises a cam, the driving assembly is fixedly connected with the first shell of the cleaning device, and the driving assembly is drivingly connected with the cam.

[0073] The cam is in abutment with the second walking wheel assembly, the second walking wheel assembly is slidingly connected with the second shell of the cleaning device, and the sliding direction is the height direction.

[0074] In some embodiments, the driving assembly comprises a driving unit and a transmission shaft, the driving unit is fixedly connected with the first shell, the driving unit is drivingly connected with one end of the transmission shaft, and the other end of the transmission shaft is connected with the first shell through a bearing structure.

[0075] The cam is fixedly connected with the transmission shaft.

[0076] In some embodiments, the second walking wheel assembly comprises an abutment pressing plate, a sliding shaft sleeve, a walking wheel mounting seat and a second walking wheel, and the second walking wheel is mounted on the walking wheel mounting seat.

[0077] The sliding shaft sleeve is slidingly connected with the second shell, and the sliding shaft sleeve is connected with the walking wheel mounting seat.

[0078] The cam is in abutment with the abutment pressing plate, and the abutment pressing plate is fixed on the sliding shaft sleeve.

[0079] In some embodiments, the second walking wheel assembly further comprises an elastic member, one end of the elastic member is connected with the abutment pressing plate, and the other end of the elastic member is connected with the second shell.

[0080] In some embodiments, the abutment pressing plate is provided with an inclined surface and a horizontal surface, the inclined surface is arranged adjacent to the horizontal surface, and the inclined surface is higher than the horizontal surface.

[0081] In some embodiments, the cam is provided with an abutment pulley, and the cam is in abutment with the abutment pressing plate through the abutment pulley.

[0082] In some embodiments, the cam comprises a far center end away from the transmission shaft and a near center end close to the transmission shaft, and the abutment pulley is arranged on the far center end.

[0083] In some embodiments, the cam is in abutment with the abutment pressing plate through the curvature surface of the cam.

[0084] In some embodiments, the walking wheel mounting seat is provided with a universal rotating shaft, and the sliding shaft sleeve is provided with a rotating shaft mounting hole;

[0085] The walking wheel mounting seat is rotationally connected with the sliding shaft sleeve through the universal rotating shaft and the rotating shaft mounting hole.

[0086] In some embodiments, the rotating shaft mounting hole is provided with an anti-disengagement clamping structure, and the rotating shaft mounting hole is sleeved on the universal rotating shaft;

[0087] The anti-disengagement clamping structure is clamped with the universal rotating shaft.

[0088] By fixing the driving assembly with the first shell, abutting the cam with the second walking wheel assembly, and slidingly connecting the second walking wheel assembly with the second shell along the height direction, the cam can be rotated under the driving of the driving assembly, so that the second walking wheel assembly slides relative to the second shell under the abutting force, changes the height difference between the second walking wheel assembly and the second shell, and further changes the distance between the cleaning equipment body and the ground, so as to meet the needs of different working scenes of the cleaning equipment, that is, to improve the flexibility of the second walking wheel mechanism, and to improve the working flexibility of the cleaning equipment.

[0089] By setting the cam and the driving assembly, the height difference between the second walking wheel assembly and the second shell can be changed, avoiding the use of complex structures such as lead screws, and further simplifying the mechanical structure of the bottom of the cleaning equipment, and further reducing the manufacturing cost of the second walking wheel mechanism.

[0090] The embodiments of the present disclosure also provide a cleaning equipment, which comprises an equipment body and any one of the above-mentioned first walking wheel mechanisms and / or any one of the above-mentioned second walking wheel mechanisms.

[0091] The embodiments of the present disclosure also provide a cleaning equipment, which comprises an equipment body, two driving wheel mechanisms and one driven wheel mechanism, the two driving wheel mechanisms and the one driven wheel mechanism are triangularly distributed on the equipment body, the driven wheel mechanism is located on the front side of the forward direction of the cleaning equipment, and the driving wheel mechanisms are located on the rear side of the forward direction of the cleaning equipment.

[0092] Among them, the driving wheel mechanism is any one of the above-mentioned first walking wheel mechanisms, and the driven wheel mechanism is any one of the above-mentioned second walking wheel mechanisms.

[0093] In some embodiments, the two driving wheel mechanisms and the one driven wheel mechanism can independently control the lifting of the walking wheels thereof.

[0094] In some embodiments, the two driving wheel mechanisms and the one driven wheel mechanism can control the synchronous lifting of the walking wheels thereof. BRIEF DESCRIPTION OF DRAWINGS

[0095] In order to more clearly illustrate the technical solutions of the present disclosure, the drawings required to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0096] Fig. 1 shows a structural schematic diagram of the first walking wheel mechanism in a lifting state of the walking wheel assembly in one or more embodiments of the present disclosure;

[0097] Fig. 2 shows a structural schematic diagram of the first walking wheel mechanism in a lowering state of the walking power device in one or more embodiments of the present disclosure;

[0098] Fig. 3 shows a structural schematic diagram of the walking power device in the first walking wheel mechanism of Fig. 1 and Fig. 2;

[0099] Fig. 4 shows an assembly structure diagram of the walking power device and the spring in the first walking wheel mechanism of Fig. 1 and Fig. 2;

[0100] Fig. 5 shows an exploded view of the power assembly and the flexible connecting piece in the first walking wheel mechanism of Fig. 1 and Fig. 2;

[0101] Fig. 6 shows a schematic diagram of the obstacle crossing process of the cleaning device in one or more embodiments of the present disclosure;

[0102] Fig. 7 shows a schematic diagram of the obstacle crossing process of the cleaning device in some other embodiments of the present disclosure;

[0103] Fig. 8 shows a structural schematic diagram of the cleaning device in some embodiments of the present disclosure;

[0104] Fig. 9 is a structural schematic diagram of a second walking wheel mechanism provided by an embodiment of the present disclosure;

[0105] Fig. 10 is a structural schematic diagram of a driving assembly in the second walking wheel mechanism provided by an embodiment of the present disclosure;

[0106] Fig. 11 is an assembly schematic diagram of a bearing support in the second walking wheel mechanism provided by an embodiment of the present disclosure;

[0107] Fig. 12 is a structural schematic diagram of a walking wheel assembly in the second walking wheel mechanism provided by an embodiment of the present disclosure;

[0108] Fig. 13 is a structural schematic diagram of an abutting pressing plate in the second walking wheel mechanism provided by an embodiment of the present disclosure;

[0109] Fig. 14 is a structural schematic diagram of a cam in the second walking wheel mechanism provided by an embodiment of the present disclosure;

[0110] Fig. 15 is a schematic view of a cam structure in a second walking wheel mechanism according to another embodiment of the present disclosure;

[0111] Fig. 16 is an assembled view of a sliding sleeve and a walking wheel mounting seat in the second walking wheel mechanism according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0112] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0113] In addition, the present disclosure can repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity and does not indicate a relationship between the various embodiments and / or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0114] Herein, "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one implementation of the present disclosure. In the description of the present disclosure, it should be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second", are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can be explicitly or implicitly included one or more features. Moreover, the terms "first", "second", and the like are used to distinguish similar objects, and do not necessarily describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0115] In addition, the present disclosure can repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity and does not indicate a relationship between the various embodiments and / or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0116] The cleaning device needs to avoid obstacles or cross obstacles when encountering obstacles during automatic driving, and the obstacle crossing height limits the working range and operation reliability of the cleaning device. The solution to the obstacle crossing problem in the related art relies on software strategy to solve the problem, and the obstacle crossing function is realized by adjusting the angle and speed of the cleaning device approaching the obstacle. The solution is limited by the physical limitations such as the ground clearance of the cleaning device and has limited effect.

[0117] To improve the obstacle crossing ability of the cleaning device from a physical point of view, one or more embodiments of the present disclosure provide a walking wheel lifting mechanism and a cleaning device. The device body is actively lifted to increase the ground clearance, the components below the device are higher than the obstacles, and the device does not interfere with the obstacles during the obstacle crossing process, thereby achieving the effect of increasing the obstacle crossing height. The present disclosure will be described in detail below in conjunction with specific embodiments and drawings.

[0118] Embodiments of the present disclosure provide a walking wheel lifting mechanism. To distinguish from another embodiment, the walking wheel lifting mechanism in this embodiment is named as a first walking wheel mechanism 100. The first walking wheel mechanism 100 is installed on a device body 300 of an automated device that has a demand for obstacle crossing function, and can realize the function of lifting the first walking wheel 12 relative to the device body 300, thereby increasing the ground clearance of the device body 300 and achieving the effect of increasing the obstacle crossing height. The first walking wheel mechanism 100 can be applied to cleaning devices such as floor cleaning robots and automatic floor cleaning machines, and can also be applied to other automated driving devices that have a demand for obstacle crossing function, such as automatic food delivery robots and express delivery sorting robots.

[0119] The first walking wheel mechanism 100 can be a driven wheel lifting mechanism or a driven wheel lifting mechanism.

[0120] The first walking wheel 12 can be a driven wheel or a driven wheel, and the first walking wheel 12 includes but is not limited to a roller, a track wheel, a Mecanum wheel, etc.

[0121] In the following embodiments, if the first walking wheel 12 in the first walking wheel mechanism 100 is configured to be driven by a driving device, it can be understood that the first walking wheel mechanism 100 is a driven wheel lifting mechanism, the first walking wheel assembly 10 is a driven wheel assembly, and the first walking wheel 12 is a driven wheel.

[0122] Please refer to FIG. 1 and FIG. 2, which show the overall structure diagram of the first walking wheel mechanism 100. The first walking wheel mechanism 100 comprises a first walking wheel assembly 10, a power assembly 20 and a flexible connecting piece 30. The first walking wheel assembly 10 is rotatably arranged on the device body 300. The first walking wheel assembly 10 can be a driving wheel assembly that provides the walking power of the device, or a driven wheel assembly that follows the rotation of the driving wheel assembly, which is not limited in the present disclosure. The power assembly 20 is also mounted on the device body 300, which is used to provide the driving force when the first walking wheel assembly 10 is lifted relative to the device body 300. The flexible connecting piece 30 is used to transmit the power of the power assembly 20 and act on the first walking wheel assembly 10, so that the first walking wheel assembly 10 rotates relative to the base 310 to realize the lifting function relative to the device body 300. The power assembly 20 and the flexible connecting piece 30 can only drive the corresponding first walking wheel assembly 10 to swing and lift, or can simultaneously drive two first walking wheel assemblies 10 to swing and lift, which is not limited in the present disclosure.

[0123] When the first walking wheel assembly 10 is a driving wheel assembly that provides the walking power of the device, the driving wheel assembly is used to provide the walking power of the device. The power assembly 20 is also mounted on the device body 300, which is used to provide the driving force when the driving wheel assembly is lifted relative to the device body 300. The flexible connecting piece 30 is used to transmit the power of the power assembly 20 and act on the driving wheel assembly, so that the driving wheel assembly rotates relative to the device body 300 to realize the lifting function relative to the device body 300. Two driving wheel assemblies are usually required when the device is walking. The power assembly 20 and the flexible connecting piece 30 can only drive the corresponding driving wheel assembly to swing and lift, or can simultaneously drive two driving wheel assemblies to swing and lift, which is not limited in the present disclosure. Since the relative rotation of the driving wheel assembly and the driving of the driving wheel assembly itself are driven by different drivers, the driving action and the relative rotation action of the driving wheel assembly do not interfere with each other and can be performed simultaneously.

[0124] Since the first walking wheel assembly 10 is always in contact with the ground d during driving, when the corresponding first walking wheel assembly 10 is a driving wheel assembly, the driving wheel assembly is also always in contact with the ground d during lifting relative to the device body 300. Therefore, the lifting of the first walking wheel assembly 10 relative to the device body 300 in the device is that the ground clearance of the device body 300 changes. When the ground clearance of the device body 300 increases, the components below the device body 300 can be higher than the obstacle c, so that the device does not interfere with the obstacle c during obstacle crossing, thereby realizing the effect of increasing the obstacle crossing height, which can improve the obstacle crossing height, the escape ability and the adaptability to different road surfaces of the device provided with the first walking wheel mechanism 100.

[0125] In some embodiments, the power assembly 20 outputs rotational power. Referring to FIGS. 1 and 2, the power assembly 20 includes a rotational power element 21 and a rotating disc 22. The rotational power element 21 can be a steering engine or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.), and is configured to drive the rotating disc 22 to rotate in two opposite directions, such as a clockwise direction and an anticlockwise direction. The rotating disc 22 is fixedly connected to an output shaft 211 of the rotational power element 21, or can be a part protruding from the output shaft 211 of the rotational power element 21, and the specific structure is not limited in the present disclosure.

[0126] The flexible connecting member 30 is arranged between the first walking wheel assembly 10 and the rotating disc 22, and can be fixed at one end to the first walking wheel assembly 10 and at the other end to the rotating disc 22, and is configured to transmit the rotational power of the rotational power element 21. Alternatively, the flexible connecting member 30 can be connected to one of the first walking wheel assembly 10 and the rotating disc 22, and is arranged around the other one of the first walking wheel assembly 10 and the rotating disc 22, so as to change the spatial position of the free portion b of the first walking wheel assembly 10. During rotation of the rotating disc 22, the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 changes, so that the first walking wheel assembly 10 rotates relative to the device body 300 to realize the lifting function relative to the device body 300.

[0127] In some embodiments, the rotational power element 21 tightens or loosens the flexible connecting member 30 by driving the rotating disc 22 to rotate, that is, the effective length of the flexible connecting member 30 changes. When the rotating disc 22 rotates in a first direction (for example, a clockwise direction), the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 decreases, so that the flexible connecting member 30 is tightened, and the flexible connecting member 30 can transmit force when it is tightened. The first walking wheel assembly 10 can be pulled to rotate relative to the device body 300 to lift when the flexible connecting member 30 is tightened. When the rotating disc 22 rotates in a second direction opposite to the first direction (for example, an anticlockwise direction), the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 increases, and the flexible connecting member 30 is loosened. The first walking wheel assembly 10 can rotate in the opposite direction relative to the device body 300 under the action of the weight and / or the reset spring. Of course, in other embodiments, the rotational power element 21 can change the action position of the flexible connecting member 30 by driving the rotating disc 22 to rotate, and in this process, the flexible connecting member 30 is always tightened.

[0128] Exemplarily, the first walking wheel assembly 10 comprises a support member, which is rotatably connected to the device body 300, and comprises a main wheel portion a and a free portion b, the main wheel portion a being closer to the driving wheel relative to the free portion b; the flexible connecting member is connected between the free portion b of the support member and the power assembly 20, and is used to drive the support member to rotate relative to the device body 300 under the driving of the power assembly 20.

[0129] Exemplarily, the support member can be a support bracket or a walking power device 11. The walking power device 11 can also be named as a transmission device.

[0130] It can be understood that, when the first walking wheel 12 is a driving wheel, the support bracket is the walking power device 11; when the first walking wheel 12 is a driven wheel, the support bracket is a support bracket, which plays a supporting role.

[0131] Exemplarily, the first walking wheel assembly 10 is rotatably installed on the device body 300; the first walking wheel assembly 10 comprises a driving device and a driven driving wheel; the first walking wheel assembly 10 is rotatably arranged on the device body 300.

[0132] Please refer to FIG. 1 and FIG. 2, in some embodiments, the direction of the pulling force exerted by the flexible connecting member 30 on the walking power device 11 does not pass through the rotation axis 61 of the first walking wheel assembly 10 relative to the device body 300, so that the pulling force can generate a downward / outward torque on the first walking wheel assembly 10, so as to force the walking power device 11 to swing outward with the axis of the rotation axis 61 as the center.

[0133] In some embodiments, the rotation angle of the rotation power element 21 during the lifting or lowering of the first walking wheel assembly 10 is not more than 360 degrees. Specifically, the rotation angle of the rotation disc 22 during the rotation of the first walking wheel assembly 10 is not more than 360 degrees. That is, the one-way rotation of the rotation disc 22 during the lifting or lowering of the first walking wheel assembly 10 is not more than one circle, so as to reduce the total length of the flexible connecting member 30 when it is relaxed, avoid the flexible connecting member 30 from being separated from the rotation disc 22 after relaxation, or from interfering with the surrounding components due to being too long, or from being hooked on the surrounding components to cause failure to be normally tensioned or being pulled off. In some embodiments, the rotation angle of the rotation disc 22 during the lifting or lowering of the first walking wheel assembly 10 is 0-300 degrees, such as 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 300°, etc.

[0134] In some embodiments, the rotation angle of the rotation power element 21 during the lifting or lowering of the first walking wheel assembly 10 is no more than 720 degrees. Specifically, the rotation angle of the rotation disc 22 during the rotation of the first walking wheel assembly 10 is no more than 720 degrees. That is, the one-way rotation of the rotation disc 22 during the lifting or lowering of the first walking wheel assembly 10 is no more than two rounds. The rotation angle of the rotation disc 22 during the lifting or lowering of the first walking wheel assembly 10 is, for example, 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 360°, 400°, 450°, 500°, 550°, 600°, 650°, 700°, 720°, etc.

[0135] In some embodiments, the rotation power element 21 tightens or loosens the flexible connection 30 by driving the rotation of the rotation disc 22.

[0136] Referring to FIG. 3, a structural schematic diagram of the walking power device 11 in some embodiments is shown. The first walking wheel assembly 10 includes a driving device 112, the walking power device 11, and the driven first walking wheel 12. The driving device 112 drives the rotation of the first walking wheel 12 through the walking power device 11, thereby driving the walking of the entire cleaning device. The walking power device 11 includes a main wheel part a and a free part b. The main wheel part a is closer to the first walking wheel 12 relative to the free part b. The main wheel part a of the walking power device 11 has an overlapping area with the first walking wheel 12, for directly transmitting the walking driving torque to the first walking wheel 12. The free part b has a non-overlapping area with the first walking wheel 12, for realizing the connection and fixation of the walking power device 11 with the surrounding structure.

[0137] The flexible connection 30 is connected between the power assembly 20 and the free part b of the walking power device 11. The two ends of the flexible connection 30 can be connected to the power assembly 20 and the free part b of the walking power device 11, respectively. Alternatively, the flexible connection 30 is connected to the power assembly 20 and wound on the free part b of the walking power device 11, so as to change the spatial position of the free part b of the walking power device 11. Under the driving of the power assembly 20, the flexible connection 30 drives the rotation of the walking power device 11 relative to the device body 300, so that the first walking wheel assembly 10 is lifted or lowered relative to the device body 300.

[0138] In order to reduce the possibility of foreign objects hooking or escaping the rotating disc 22 when the flexible connection 30 is in a loose state, in some embodiments, a tensioning mechanism is provided at the connection between the flexible connection 30 and the rotating disc 22. The tensioning mechanism is used to provide a tensioning force, and the tensioning mechanism includes but is not limited to an elastic member, which can be a spring or a clockwork, etc. For example, the tensioning mechanism is a torsion spring, which can keep the flexible connection 30 taut in real time, so that the flexible connection 30 will not have the risk of escaping the rotating disc 22. In some embodiments, a clockwork can also be used to keep the flexible connection 30 taut in real time.

[0139] It should be understood that the flexible connection 30 as referred to in the present disclosure is not limited to being entirely flexible. The flexible connection 30 can be a flexible cable such as a steel cable or a nylon cable, or a combination of a flexible cable and a rigid connection, such as a combination of a flexible cable and a pull rod. That is, the flexible connection 30 is at least partially flexible, and the flexible structure is used as a power transmission medium, which can to some extent solve the problem of spatial arrangement of the first walking wheel mechanism 100. Through some fixed pulley structures, the power assembly 20 (such as a motor or a pneumatic cylinder) can be arranged at any position of the device body 300, thereby achieving optimal utilization of space.

[0140] Please refer to FIG. 1 and FIG. 2, which show the working principle of the flexible connection 30 of the first walking wheel mechanism 100 in some embodiments. The flexible connection 30 is a cable, one end of which is fixed in a cable hanging point on the first walking wheel assembly 10, and the other end is fixed in the rotating disc 22. The cable extends in a straight line as a whole, and is not wound on any reversing structure in the middle. The rotating disc 22 rotates by an angle of no more than 360 degrees, which means that the cable will not be wound on the rotating disc 22 for a full turn. This non-winding mode can reduce the problems of cable knotting and foreign objects hooking during the cable loosening process, compared with the scheme of winding and unwinding the cable.

[0141] In some embodiments, the rotating disc 22 is coaxially arranged with the output shaft 211 of the rotating power element 21, and the connection between the flexible connecting member 30 and the rotating disc 22 is arranged eccentrically relative to the rotation axis of the rotating disc 22, as shown in FIG. 5; or the connection between the flexible connecting member 30 and the rotating disc 22 is coaxially arranged relative to the rotation axis of the rotating disc 22, and the rotating disc 22 is arranged eccentrically relative to the output shaft 211 of the rotating power element 21. That is, during the rotation of the rotating disc 22, the spatial position of the connection between the flexible connecting member 30 and the rotating disc 22 changes with the rotation of the rotating disc 22, and the overall linear extension of the flexible connecting member 30 causes the spatial posture of the flexible connecting member 30 to change during the rotation of the rotating disc 22. The flexible connecting member 30 is always under tension during the rotation of the rotating disc 22, and due to the change in the spatial position of the end of the flexible connecting member 30 connected to the rotating disc 22, the spatial position of the end of the flexible connecting member 30 connected to the first walking wheel assembly 10 also changes accordingly under the condition that the length of the flexible connecting member 30 remains unchanged, thereby forcing the walking power device 11 to swing outward with the axis of the rotating shaft 61 as the center.

[0142] Since the flexible connecting member 30 is always under tension during the rotation of the rotating disc 22, that is, the effective length of the flexible connecting member 30 remains unchanged. Correspondingly, the rotation angle of the rotating disc 22 during the lifting or lowering of the first walking wheel assembly 10 is 0-90 degrees, such as 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, 85°, etc. When the rotation angle of the rotating disc 22 exceeds 90 degrees, such as 150 degrees, the spatial posture of the flexible connecting member 30 at this time is basically the same as that when the rotation angle of the rotating disc 22 is 30 degrees. Therefore, by setting the rotation angle of the rotating disc 22 during the lifting or lowering of the first walking wheel assembly 10 to be 0-90 degrees, on the one hand, the flexible connecting member 30 can form different spatial postures; on the other hand, the maximum rotation angle of the rotating disc 22 is only 90 degrees, which can shorten the time for the first walking wheel assembly 10 to switch between the lifting and lowering states compared to the scheme of winding and unwinding the flexible connecting member 30 for a full circle or multiple circles, thereby improving the obstacle crossing efficiency.

[0143] To facilitate the connection of the flexible connecting member 30 and the rotating disc 22, the rotating disc 22 is provided as a split structure, including at least two detachable parts, in which the connection of the flexible connecting member 30 and the rotating disc 22 is fixed. Referring to FIG. 5, which shows an exploded view of the power assembly 20 in some embodiments, the rotating disc 22 includes a transmission disc 221, an inner fixing disc 222 and an outer fixing disc 223 connected in sequence, the transmission disc 221 is fixedly connected with the output shaft 211 of the rotating power element 21, and the transmission disc 221, the inner fixing disc 222 and the outer fixing disc 223 are sequentially stacked and connected as a whole by threaded fasteners. The connection of the flexible connecting member 30 and the rotating disc 22 is located between the inner fixing disc 222 and the outer fixing disc 223, for example, one end of the flexible connecting member 30 is fixed on a pin shaft, and the pin shaft is fixed by passing through the pin hole opened on the edge of the inner fixing disc 222 and the outer fixing disc 223, as shown in FIG. 5. The gap between the inner fixing disc 222 and the outer fixing disc 223 allows the flexible connecting member 30 to move, and during the rotation of the rotating disc 22, the flexible connecting member 30 will not be wound on the pin shaft, but will change the spatial posture with the change of the position of the pin shaft.

[0144] Referring to FIG. 3, which shows a structural schematic diagram of the first walking wheel assembly 10 in some embodiments. The first walking wheel assembly 10 is a driving wheel assembly for providing walking power of the device, and the first walking wheel assembly 10 includes a walking power device 11 and a first walking wheel 12 driven thereby. The walking power device 11 can only include a power device, or can include a power device and a speed reduction mechanism. The walking power device 11 includes a main wheel part a and a free part b, the main wheel part a is closer to the first walking wheel 12 relative to the free part b. The main wheel part a of the walking power device 11 has an overlapping area with the first walking wheel 12, for directly transmitting torque to the first walking wheel 12. The free part b has a non-overlapping area with the first walking wheel 12, realizing the connection and fixation of the walking power device 11 and the surrounding structure.

[0145] In some embodiments, the main wheel part a and the free part b are divided by the ground contact normal axis of the first walking wheel 12. In other embodiments, the dividing line of the main wheel part a and the free part b can also be determined as the outer contour line of the first walking wheel 12. In some embodiments, the free part b is closer to the advancing direction of the device body 300 than the main wheel part a, so that the specific manifestation of the increase of the device ground clearance can be the overall lifting of the device body 300, the increase of the ground clearance, or the lifting of the front end of the device body 300, the increase of the ground clearance.

[0146] As the free portion b of the walking power device 11 is away from the first walking wheel 12, please refer to FIG. 1, FIG. 2 and FIG. 3, in some embodiments, the connection between the first walking wheel assembly 10 and the peripheral components is arranged at the free portion b. That is, the free portion b of the walking power device 11 is rotationally connected with the device body 300, and the flexible connecting member 30 is also connected to the free portion b of the walking power device 11.

[0147] The device body 300 can be a one-piece structure or a split structure. Please refer to FIG. 4, in some embodiments, the device body 300 is provided with a base 310 for mounting the first walking wheel assembly 10 and the power assembly 20, and the cleaning components, the guide wheels and other components of the cleaning device can also be mounted on the base 310. The walking power device 11 of the first walking wheel assembly 10 is rotationally connected with the base 310.

[0148] When the first walking wheel assembly 10 is a driving wheel assembly, the connection between the driving wheel assembly and the peripheral components is arranged at the free portion b. That is, the free portion b of the walking power device 11 is rotationally connected with the device body 300, and the flexible connecting member 30 is also connected to the free portion b of the walking power device 11. The device body 300 can be a one-piece structure or a split structure. Please refer to FIG. 4, in some embodiments, the device body 300 is provided with a base 310 for mounting the driving wheel assembly and the power assembly 20, and the cleaning components, the driven wheels and other components of the cleaning device can also be mounted on the base 310. The walking power device 11 of the driving wheel assembly is rotationally connected with the base 310, and the driving device 112 of the driving wheel assembly and the driving wheel are connected with the walking power device 11.

[0149] Please refer to FIG. 3, in some embodiments, the first walking wheel assembly 10 further comprises a wheel cover 113, which is connected with the side of the box shell of the walking power device 11, and is spacedly sleeved on the first walking wheel 12 to provide a mounting base for the bearing of the first walking wheel 12. In some embodiments, the wheel cover 113 can be integrally formed with the box shell of the walking power device 11.

[0150] In order to facilitate the connection between the first walking wheel assembly 10 and the peripheral components, in some embodiments, the free portion b of the walking power device 11 is provided with a mounting shaft seat 60, which is rotationally connected with the device body 300 (or the base 310 when the base 310 is provided), and the walking power device 11 rotates around the rotation shaft 61 of the mounting shaft seat 60. In some embodiments, the free portion b of the walking power device 11 is provided with a hanging point portion 80, and the flexible connecting member 30 is connected to the hanging point portion 80.

[0151] Since the mounting shaft base 60 is located at the free portion b of the walking power device 11, the distance between the rotating shaft 61 of the mounting shaft base 60 and the grounding point of the driving wheel is large, and the walking power device 11 only needs to rotate a small angle to significantly increase the device ground clearance.

[0152] Referring to FIG. 4, in some embodiments, the rotating shaft 61 of the mounting shaft base 60 is not coaxial with the shaft center of the driving device 112, so that the mounting shaft base 60 and the driving device 112 are located at different positions, avoiding the driving wheel assembly from being too large in the axial direction of the rotating shaft 61, thereby facilitating the arrangement of the mounting shaft base 60 and the driving device 112.

[0153] Referring to FIG. 4, in some embodiments, the mounting shaft base 60 is arranged at the lower side of the free portion b, and the shaft center of the driving device 112 is located above the rotating shaft 61 of the mounting shaft base 60, so that the driving device 112 is arranged at a relatively high position in the device body 300 compared with the rotating shaft 61 of the driving wheel assembly, preventing the driving device 112 from being exposed when the device body 300 lifts obstacles.

[0154] The flexible connecting member 30 is connected to the free portion b of the walking power device 11. Similarly, the distance between the hanging point of the flexible connecting member 30 on the free portion b and the grounding point of the first driving wheel 12 is large, so that the power arm is large, thereby reducing the requirement for the size of the output power of the power assembly 20. The flexible connecting member 30 can be directly connected to the free portion b of the walking power device 11. In some embodiments, a hanging point portion 80 can be arranged at the free portion b of the walking power device 11, and the flexible connecting member 30 is connected to the hanging point portion 80. In some embodiments, the hanging point portion 80 is arranged at the upper side of the free portion b, so that the flexible connecting member 30 is located at a relatively high position in the device body 300, preventing the flexible connecting member 30 from falling and contacting the ground when it is in a loosened state.

[0155] The power assembly 20 is an execution member for realizing the obstacle crossing function. The power assembly 20 can output rotating power or moving power, that is, the power assembly 20 can include rotating power elements such as motors and steering gears, and can include extension power elements such as air cylinders and electric telescopic rods. The present disclosure is not limited.

[0156] In some embodiments, the power assembly 20 outputs rotational power. Referring to FIGS. 1 and 2, the power assembly 20 includes a rotational power element 21. The rotational power element 21 can be a steering engine or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.). One end of the flexible connecting element 30 is fixed to the free portion b of the walking power device 11, and the other end is connected to the output shaft 211 of the rotational power element 21. As shown in FIG. 5, the flexible connecting element 30 is used to transmit the rotational power of the rotational power element 21.

[0157] When the rotational power element 21 rotates, the flexible connecting element 30 is tightened or loosened, that is, the length of the flexible connecting element 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 changes, and the flexible connecting element 30 can transmit force when it is tightened. In some embodiments, the rotational power element 21 can also change the action position of the flexible connecting element 30 when it rotates, and in this process, the flexible connecting element 30 is always tightened.

[0158] In some embodiments, the flexible connecting element 30 is tightened or loosened when the rotational power element 21 rotates, and the flexible connecting element 30 can pull the walking power device 11 when it is tightened, so that the driving wheel assembly rotates relative to the base 310 to lift or lower. The direction of the pulling force exerted by the flexible connecting element 30 on the walking power device 11 does not pass through the rotation shaft 61 of the mounting shaft seat 60 of the driving wheel assembly, so that the pulling force can generate a downward / outward torque on the driving wheel assembly, so that the walking power device 11 is forced to swing outward with the axis of the rotation shaft 61 as the center.

[0159] Referring to FIG. 5, in some embodiments, the power assembly 20 further includes a rotating disc 22 coaxially arranged with the output shaft 211 of the rotational power element 21, and the rotational power element 21 tightens or loosens the flexible connecting element 30 by driving the rotating disc 22 to rotate. The rotating disc 22 is fixedly connected with the output shaft 211 of the rotational power element 21, and the rotating disc 22 can also be a part protruding from the output shaft 211 of the rotational power element 21, and the specific structure is not limited by the present disclosure. The rotation angle of the rotational power element 21 during the lifting or lowering of the first walking wheel assembly 10 does not exceed 360 degrees or 720 degrees, and the rotation angle of the rotating disc 22 during the lifting or lowering of the driving wheel assembly also does not exceed 360 degrees or 720 degrees, so as to avoid the flexible connecting element 30 from being loosened and separated from the rotating disc 22, or interfering with the surrounding components due to being too long, or being hooked on the surrounding components to cause the flexible connecting element 30 to be unable to be normally tightened or be pulled off.

[0160] Please refer to Fig. 4, in some embodiments, the first walking wheel mechanism 100 further comprises a spring 70, one end of the spring 70 is fixed on the free part b of the walking power device 11, the other end is fixed on the device body 300 such as the base 310, the damping effect of the spring 70 enables the first walking wheel 12 to reduce vibration when passing over uneven road surface. Similarly, in order to facilitate the installation of the spring 70, in some embodiments, the free part b of the walking power device 11 and the base 310 of the device body 300 are both provided with a hook part 90, and the two ends of the spring 70 are respectively hooked on the two hook parts 90. In some embodiments, the hook part 90 of the free part b of the walking power device 11 and the hook part 90 of the device body 300 are reversely arranged, that is, the hanging point direction of the spring 70 is opposite, so that the fixation of the spring 70 is more stable.

[0161] Please refer to Fig. 1, in some embodiments, the extension direction of the flexible connecting piece 30 is substantially the same as the extension direction of the spring 70, which can be understood as that the two are parallel within the range of allowable installation error, for example, the included angle between the extension direction of the flexible connecting piece 30 and the extension direction of the spring 70 is not more than 10 degrees. And the flexible connecting piece 30 and the spring 70 both extend towards the opposite direction of the running direction, so that the hook part 90 of the device body 300 such as the base 310 and the power assembly 20 are all located behind the free part b of the walking power device 11, that is, even if the obstacle surmounting posture of the device body 300 is that the front end is raised, the positions of the hook part 90 of the device body 300 such as the base 310 and the power assembly 20 are relatively rear, and the spatial positions thereof will not change greatly. And the positions of the hook part 90 of the device body 300 and the power assembly 20 being relatively rear is more conducive to the front end of the device body 300 being raised, which is more conducive to obstacle surmounting and prevents skidding.

[0162] In some embodiments, the spring 70 is always in a stretched state, that is, the spring 70 always generates a pulling force on the walking power device 11, and in the case that the extension direction of the flexible connecting piece 30 is substantially the same as the extension direction of the spring 70, the spring 70 can assist the flexible connecting piece 30 to jointly pull the walking power device 11, so as to rotate the first walking wheel assembly 10 relative to the device body 300 and lift it.

[0163] Please refer to Fig. 4, in some embodiments, the mounting shaft seat 60 is arranged at the lower part of the free part b, and the hooking point part 80 and the hook part 90 are both arranged at the upper part of the free part b. The positions of the action points of the flexible connecting piece 30 and the spring 70 on the free part b are relatively high, so that the flexible connecting piece 30 and the spring 70 can be arranged at relatively high positions in the device body 300, preventing the flexible connecting piece 30 and the spring 70 from being exposed when the device body 300 is lifted to surmount obstacles.

[0164] Referring to FIG. 3, in some embodiments, the walking power device 11 comprises a reduction box 111 and a driving device 112 mounted on the reduction box 111, and the rotation shaft 61 of the mounting shaft seat 60 is different from the shaft center of the driving device 112. Specifically, the shaft center of the driving device 112 is above the rotation shaft 61 of the mounting shaft seat 60, so that the driving device 112 is arranged at a relatively high position in the equipment body 300 compared with the rotation shaft 61 of the first walking wheel assembly 10, preventing the driving device 112 from being exposed when the equipment body 300 lifts over obstacles. Referring to FIG. 3, in some embodiments, the walking power device 11 further comprises a wheel cover 113 connected with the side of the box shell of the reduction box 111, and the wheel cover 113 is spacedly sleeved on the first walking wheel 12 to provide a mounting base for the bearing of the first walking wheel 12. In some embodiments, the wheel cover 113 can be integrally formed with the box shell of the reduction box 111.

[0165] Exemplarily, the driving device comprises a driving motor, which can be a direct current motor or a servo motor, etc.

[0166] In order to prevent accidents caused by out-of-control rotation of the rotating power element 21, in some embodiments, the equipment body 300, such as the base 310, is provided with an upper limit position and a lower limit position for limiting the upper limit position and the lower limit position of the first walking wheel assembly 10, respectively. The first walking wheel assembly 10 swings between the upper limit position and the lower limit position. In the normal travel state, the first walking wheel assembly 10 is close to the upper limit position and does not cross the upper limit position; in the obstacle crossing state, the first walking wheel assembly 10 swings downward and is close to the lower limit position and does not cross the lower limit position.

[0167] The upper limit position and the lower limit position can be mechanical limiting structures or electronic limiting devices. In some embodiments, the lower limit position of the mechanical structure is arranged on the shell of the equipment body 300 to block the downward swing of the first walking wheel assembly 10. The hook portion 90 of the base 310 of the equipment body 300 is fixed with a downwardly extending bolt with adjustable length as the upper mechanical limit of the first walking wheel assembly 10 to block the upward swing of the first walking wheel assembly 10. In other embodiments, the upper limit position and the lower limit position are both electronic devices, such as micro switches, travel switches, photoelectric sensors, etc. The first walking wheel mechanism 100 further comprises a controller, and when the first walking wheel assembly 10 swings to the position triggering the electronic device, the electronic device feeds back a position signal to the controller, and the controller controls the rotating power element 21 to stop rotating.

[0168] In some embodiments, the rotating power element 21 controls the rotation angle and / or rotation speed of the rotating disc 22.

[0169] In some embodiments, in order to facilitate closed-loop control of the swing position of the first walking wheel assembly 10, the rotating power element 21 is a steering engine or motor with an integrated encoder, and the output shaft 211 of the steering engine or motor is connected to the rotating disc 22. The encoder can detect the actual rotation angle of the steering engine or motor. Correspondingly, the first walking wheel mechanism 100 also includes a controller, and the rotating power element 21 and the encoder thereof are electrically connected to the controller, so as to realize closed-loop control of the rotating speed and / or rotating angle of the rotating power element 21 through the controller. The rotating power element 21 is drivingly connected to the rotating disc 22, so as to realize control of the rotating angle and / or rotating speed of the rotating disc 22 by the rotating power element 21.

[0170] Please refer to FIG. 1 and FIG. 2. In some embodiments, the rotating power element 21 is a steering engine, which has the advantages of small overall space occupation due to the integrated reducer, motor and position encoder. The position encoder is used to provide feedback information for position closed-loop control of the motor. However, considering that active lifting usually only needs two positions, i.e., the retracted position and the extended position, in some embodiments, the steering engine can also be changed into a common brush or brushless motor, and the position closed-loop control of the common motor can be realized by setting position detection elements at the upper and lower limit positions of the first walking wheel assembly 10.

[0171] In some embodiments, the first walking wheel mechanism 100 further includes a sensor for detecting the rotating angle of the first walking wheel assembly 10. The number and type of the sensor are not limited in the present disclosure, and the sensor can only be capable of detecting the rotating angle of the first walking wheel assembly 10. The sensor is electrically connected to the controller, and the sensor feeds back the detected rotating angle of the first walking wheel assembly 10 to the controller. The controller can determine whether the rotating power element 21 and / or the flexible connecting element 30 has a fault according to the rotating angle of the first walking wheel assembly 10 and the rotation angle of the rotating power element 21.

[0172] Under normal circumstances, there is a certain mapping relationship between the rotating angle of the first walking wheel assembly 10 and the rotation angle of the rotating power element 21. If any one of the actually measured rotating angle of the first walking wheel assembly 10 and the actually measured rotation angle of the rotating power element 21 does not satisfy the mapping relationship, it indicates that the rotating power element 21 and / or the flexible connecting element 30 has a fault. At this time, the controller can control the device carrying the first walking wheel mechanism 100 to issue a prompt information, such as flashing of a fault light, popping up of a prompt box through a mobile phone APP, etc.

[0173] In some embodiments, the sensor includes a rotation sensor 40 arranged at the rotating shaft 61 of the first walking wheel assembly 10, and / or a light sensor 50 arranged at the walking power device 11. That is, the first walking wheel mechanism 100 can only be provided with the rotation sensor 40 or the light sensor 50, or can be provided with both the rotation sensor 40 and the light sensor 50.

[0174] Please refer to FIG. 1 and FIG. 2, a light sensor 50 is installed outside the main wheel part a shell of the reduction gearbox 111, which is used to determine whether the first walking wheel 12 is successfully retracted into the slot of the device body 300 when it recovers from the raised state to the normal traveling state. The light sensor 50 triggers the in-place signal after detecting the light sensing change of the retracted slot. Please refer to FIG. 3, a rotary sensor 40 is installed on the rotating shaft 61 of the first walking wheel assembly 10, which is used to detect and record the actual rotation angle of the first walking wheel assembly 10.

[0175] When the sensor only includes the rotary sensor 40 arranged on the rotating shaft 61 of the first walking wheel assembly 10, the rotary sensor 40 can detect the actual rotation angle of the first walking wheel assembly 10. When the rudder or motor position feedback fails, such as the rudder fails or the flexible connecting piece 30 breaks, etc., the controller can determine whether the first walking wheel 12 is truly rotated to the normal walking position or fully extended to the position for obstacle crossing through the feedback signal of the rotary sensor 40.

[0176] When the sensor only includes the light sensor 50 arranged on the walking power device 11, the light sensor 50 can detect whether the first walking wheel 12 is successfully retracted into the slot. When the rudder or motor position feedback fails, such as the rudder fails or the flexible connecting piece 30 breaks, etc., the controller can determine whether the first walking wheel 12 is fully retracted and restored to the normal walking position through the feedback signal of the light sensor 50.

[0177] When the sensor includes both the rotary sensor 40 and the light sensor 50, when the rudder or motor position feedback fails, such as the rudder fails or the flexible connecting piece 30 breaks, etc., the light sensor 50 and the rotary sensor 40 detect whether the first walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the first walking wheel assembly 10, which can determine whether the first walking wheel 12 is truly restored to the normal walking position. Moreover, by comparing the information of the rotation angle of the rotary power element 21 fed back by the encoder with the information of whether the first walking wheel 12 is successfully retracted into the slot and the actual rotation angle of the first walking wheel assembly 10 detected by the light sensor 50 and the rotary sensor 40, it can also be determined whether the rotary power element 21 or the flexible connecting piece 30 fails. Moreover, the simultaneous arrangement of the rotary sensor 40 and the light sensor 50 is equivalent to a redundant arrangement, which on the one hand improves the detection accuracy; on the other hand, when either the rotary sensor 40 or the light sensor 50 fails, it does not affect the normal use of the first walking wheel mechanism 100.

[0178] The working principle of the first walking wheel mechanism 100 is described below by taking a first walking wheel mechanism 100 of an embodiment as an example. In this embodiment, the first walking wheel mechanism 100 is applied to a sweeping robot, and two first walking wheel mechanisms 100 are provided in the sweeping robot. The power assembly 20 and the flexible connecting member 30 in each first walking wheel mechanism 100 drive the corresponding first walking wheel assembly 10 to swing and lift. The first walking wheel assembly 10 includes a driving device 112, a reducer, and a first walking wheel 12. The driving device 112 can be a driving motor. The flexible connecting member 30 is a cable. The power assembly 20 includes a rudder and a rotating disc 22. The first walking wheel assembly 10 is provided with a rotation sensor 40 and a light sensor 50 at the same time.

[0179] The position state of the first walking wheel assembly 10 when the sweeping robot normally travels is shown in FIG. 1. One end of the cable is fixed in a cable hanging point on the reducer box 111, and the other end is fixed in an inner fixed disc 222 and an outer fixed disc 223 of the rotating disc 22. The cable is in an elongated state. One end of the spring 70 is fixed at the hook portion 90 on the reducer box 111, and the other end is fixed at the hook portion 90 of the device body 300. The transmission disc 221, the inner fixed disc 222, and the outer fixed disc 223 are fixedly connected to the rudder by screws.

[0180] When the sweeping robot detects that it needs to overcome an obstacle during travel, the rudder rotates by about 120 degrees. The rotating disc 22 on the rudder drives the cable to rotate by about 120 degrees as well. The cable is in a shortened state and is wound in the gap between the inner fixed disc 222 and the outer fixed disc 223. The other end of the cable is connected to the cable hanging point, so that the first walking wheel assembly 10 rotates downward around the rotation shaft 61, as shown in FIG. 2.

[0181] The first walking wheel assemblies 10 on both sides of the sweeping robot rotate downward to the lower limit position at the same time, lifting the device body 300 of the sweeping robot as a whole to a height of 4 cm above the ground d, as shown in FIG. 6. The walking acceleration provided by the first walking wheel assembly 10 causes the front part of the sweeping robot to tilt and move forward to overcome the obstacle c, as shown in FIG. 7, achieving the purpose of overcoming the obstacle. The obstacle overcoming height of the sweeping robot is increased from 20 mm to 32 mm or more.

[0182] A light sensor 50 is installed outside the main wheel portion a of the housing of the reduction gearbox 111, which is used to determine whether the first walking wheel 12 is successfully retracted into the slot of the bottom shell when it is restored from the raised state to the normal running state. The light sensor 50 triggers the retraction signal after detecting the change in light sensing when the first walking wheel assembly 10 is retracted into the slot. A rotation sensor 40 is installed at the rotating shaft 61, which is used to detect and record the actual rotation angle of the first walking wheel assembly 10. An encoder is built in the steering engine, which can detect the actual rotation angle of the steering engine. When the steering engine position feedback fails, such as when the steering engine fails or the cable breaks, the actual rotation angle of the first walking wheel 12 detected by the light sensor 50 and the rotation sensor 40 can be used to determine whether the first walking wheel 12 is truly restored to the normal walking position. By comparing the rotation angle information of the steering engine, it can also be determined whether the steering engine or the cable has failed. The cleaning device 1000 provided by the embodiment of the present disclosure can be a sweeping robot or an automatic sweeper. Please refer to FIG. 6, FIG. 7 and FIG. 8, the cleaning device 1000 includes a device body 300 and the first walking wheel mechanism 100 of any of the above embodiments. The first walking wheel mechanism 100 is integrally installed in the device body 300, and the first walking wheel 12 of the first walking wheel mechanism 100 protrudes from the device body 300 and contacts the ground d, thereby driving the entire cleaning device 1000 to move.

[0183] When the cleaning device 1000 normally moves (including moving forward, backward and turning), the driving force is provided by the first walking wheel assembly 10. When the cleaning device 1000 detects that there is an obstacle c in front that cannot be crossed (which can be achieved by identifying the position and size of the obstacle through an ultrasonic sensor, a mechanical vision system, etc. arranged in front of the device body 300), or when the cleaning device 1000 is blocked and cannot move normally, it is determined that an obstacle is encountered. At this time, the controller controls the power assembly 20 to act on the first walking wheel assembly 10 through the flexible connecting member 30, so that the first walking wheel assembly 10 rotates relative to the device body 300 to realize the lifting function relative to the device body 300.

[0184] Since the first walking wheel assembly 10 is always in contact with the ground d during movement, the lifting of the first walking wheel assembly 10 relative to the device body 300 is manifested in the device as a change in the ground clearance of the device body 300. When the ground clearance of the device body 300 increases, the components below the device body 300 can be higher than the obstacle c, so that there is no interference between the device and the obstacle c during the obstacle crossing process, thereby achieving the effect of increasing the obstacle crossing height, and improving the obstacle crossing height, the ability to escape from trouble, and the adaptability to different road surfaces of the device provided with the first walking wheel mechanism 100.

[0185] Please refer to FIG. 6, in some embodiments, when the controller determines that the cleaning device 1000 encounters an obstacle c, the power assembly 20 drives the first walking wheel assembly 10 to rotate relative to the device body 300 to extend, so that the device body 300 is lifted as a whole to a height higher than that of the obstacle c. The first walking wheel assembly 10 drives the cleaning device 1000 to continue to travel, i.e. to cross the obstacle c.

[0186] Please refer to FIG. 7, in some embodiments, when the controller determines that the cleaning device 1000 encounters an obstacle c, the power assembly 20 drives the first walking wheel assembly 10 to rotate relative to the device body 300 to extend, so that the front end of the device body 300 is lifted to a height higher than that of the obstacle c. The first walking wheel assembly 10 drives the cleaning device 1000 to accelerate to travel, i.e. to cross the obstacle c.

[0187] In combination with FIG. 9, a walking wheel mechanism provided by an embodiment of the present disclosure is introduced, which is named as a second walking wheel mechanism 200 for distinguishing from the above-mentioned first walking wheel mechanism 100. The second walking wheel mechanism 200 comprises a second walking wheel assembly 1, a cam 2, and a driving assembly 3. The driving assembly 3 is fixedly connected with a first shell 4 of the cleaning device, and the driving assembly 3 is drivingly connected with the cam 2. The cam 2 is in abutment with the second walking wheel assembly 1. The second walking wheel assembly 1 is slidingly connected with a second shell 5 of the cleaning device, and the sliding direction is the height direction.

[0188] Exemplarily, the device body 300 comprises the first shell 4 and the second shell 5. The second walking wheel mechanism 200 can be a driving wheel walking mechanism or a driven wheel walking mechanism.

[0189] In an embodiment of the present disclosure, the second walking wheel assembly 1 is always in contact with the ground, and is used to drive the cleaning device to move. The cam 2 is used to drive the second walking wheel assembly 1 to slide relative to the second shell 5 under the driving of the driving assembly 3. The driving assembly 3 is used to drive the cam 2 to rotate.

[0190] In a specific embodiment of the present disclosure, the first shell 4 and the second shell 5 respectively refer to two different shell structures. Preferably, the first shell 4 can be detachably connected with the second shell 5.

[0191] In another preferred embodiment of the present disclosure, the first shell 4 and the second shell 5 are fixedly connected. Preferably, the first shell 4 and the second shell 5 are integrally formed.

[0192] In another specific embodiment of the present disclosure, in the case that the first shell 4 and the second shell 5 are integrally formed, it can be understood that the first shell 4 and the second shell 5 respectively refer to two different parts of the same shell.

[0193] In specific embodiments of the present disclosure, the first shell 4 and the second shell 5 are both shells at the bottom of the cleaning device, and the body of the cleaning device moves relative to the ground along with the movement of the second shell 5; specifically, in the case where the second shell 5 moves away from the second walking wheel assembly 1, the body of the cleaning device moves away from the ground; in the case where the second shell 5 moves towards the second walking wheel assembly 1, the cleaning device moves towards the ground.

[0194] In embodiments of the present disclosure, by fixing the driving assembly 3 to the first shell 4, abutting the cam 2 to the second walking wheel assembly 1, and slidingly connecting the second walking wheel assembly 1 to the second shell 5 along the height direction, the cam 2 can be driven to rotate by the driving assembly 3, and the second walking wheel assembly 1 can slide relative to the second shell 5 under the action of the abutting force; the height difference between the second walking wheel assembly 1 and the second shell 5 is changed, and thus the distance between the body of the cleaning device and the ground is changed, so as to meet the needs of different working scenarios of the cleaning device, that is, the flexibility of the walking wheel mechanism is improved, and the working flexibility of the cleaning device is improved.

[0195] In embodiments of the present disclosure, by providing the cam 2 and the driving assembly 3, the height difference between the second walking wheel assembly 1 and the second shell 5 can be changed, avoiding the use of complex structures such as lead screws, and thus simplifying the mechanical structure at the bottom of the cleaning device, and further reducing the manufacturing cost of the walking wheel mechanism.

[0196] Referring to FIGS. 9 and 10, in embodiments of the present disclosure, the driving assembly 3 includes a driving unit 31 and a transmission shaft 32, the driving unit 31 is fixedly connected to the first shell 4, the driving unit 31 is drivingly connected to one end of the transmission shaft 32, the other end of the transmission shaft 32 is connected to the first shell 4 through a bearing structure, and the cam 2 is fixedly connected to the transmission shaft 32.

[0197] In embodiments of the present disclosure, the driving unit 31 is configured to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is configured to drive the cam 2 to move under the driving of the driving unit 31; the other end of the transmission shaft 32 is connected to the first shell 4 through a bearing structure, which means that the transmission shaft 32 can rotate relative to the first shell 4; specifically, the transmission shaft 32 is arranged along the horizontal direction, the cam 2 is mounted on the transmission shaft 32, and bearing assemblies 33 are arranged on both sides of the cam 2.

[0198] In embodiments of the present disclosure, the driving assembly 3 is configured as the driving unit 31 and the transmission shaft 32 to drive the cam 2 to rotate, so as to achieve the driving of the cam 2 with a simple structure, and thus simplify the mechanical structure at the bottom of the cleaning device, and further reduce the manufacturing cost of the walking wheel mechanism.

[0199] In the specific embodiment of the present disclosure, the driving unit 31 is drivingly connected with the transmission shaft 32 through the coupling 34.

[0200] In the specific embodiment of the present disclosure, the driving unit 31 can be a steering engine, which can accurately control the driving position or angle; preferably, the driving angle can be set to 0°, at which the height difference between the second walking wheel assembly 1 and the second shell 5 is the smallest; the driving angle can be set to 90°, at which the height difference between the second walking wheel assembly 1 and the second shell 5 is the largest.

[0201] In the specific embodiment of the present disclosure, the first shell 4 comprises a steering engine mounting shell 41, and the steering engine is fixed on the steering engine mounting shell 41.

[0202] In another specific embodiment of the present disclosure, the cam 2 can be made into a camshaft, in which case the driving unit 31 can directly drive the cam 2 to rotate.

[0203] Referring to FIG. 11, in the specific embodiment of the present disclosure, the first shell 4 further comprises a bearing support 42, and the other end of the transmission shaft 32 is connected with the bearing support 42 through a bearing structure; preferably, the bearing support 42 is provided with a placement space for protecting the cam 2.

[0204] In another specific embodiment of the present disclosure, the driving unit 31 can also be a driving motor.

[0205] Referring to FIG. 12, in the embodiment of the present disclosure, the second walking wheel assembly 1 comprises an abutting pressing plate 110, a sliding shaft sleeve 120, a walking wheel mounting seat 13, and a second walking wheel 140, wherein the second walking wheel 140 is mounted on the walking wheel mounting seat 13; the sliding shaft sleeve 120 is slidingly connected with the second shell 5, and the sliding shaft sleeve 120 is connected with the walking wheel mounting seat 13; the cam 2 abuts against the abutting pressing plate 110, and the abutting pressing plate 110 is fixed on the sliding shaft sleeve 120.

[0206] In the embodiment of the present disclosure, the abutting pressing plate 110 is used to transmit the abutting force of the cam 2 to the sliding shaft sleeve 120, so as to make the sliding shaft sleeve 120 slide relative to the second shell 5.

[0207] In the specific embodiment of the present disclosure, the ground clearance of the cam 2 is higher than that of the abutting pressing plate 110, and in the case that the ground clearance of the cam 2 is higher than that of the abutting pressing plate 110, and the cam 2 presses the abutting pressing plate 110 downward toward the ground, the sliding shaft sleeve 120 slides relative to the second shell 5, the second walking wheel assembly 1 moves relatively away from the second shell 5, and the cleaning equipment body moves away from the ground, thereby lifting the cleaning equipment.

[0208] In specific embodiments of the present disclosure, the sliding sleeve 120 and the second shell 5 are alternatively provided with a sliding block, and the other is provided with a sliding groove, and the sliding block and the sliding groove are connected in cooperation. Specifically, the sliding block can be provided on the sliding sleeve 120, and the sliding groove can be provided on the second shell 5. Alternatively, the sliding block can be provided on the second shell 5, and the sliding groove can be provided on the sliding sleeve 120.

[0209] In specific embodiments of the present disclosure, the abutting pressing plate 110 is integrally formed with the sliding sleeve 120.

[0210] In specific embodiments of the present disclosure, the walking wheel mounting seat 13 can rotate relative to the sliding sleeve 120, and at this time, the second walking wheel 140 is a universal wheel.

[0211] In another specific embodiment of the present disclosure, the sliding sleeve 120 can also be fixedly connected with the walking wheel mounting seat 13, and at this time, the second walking wheel 140 is a directional wheel.

[0212] In the embodiments of the present disclosure, by providing the abutting pressing plate 110 and the sliding sleeve 120 in the second walking wheel assembly 1, the cam 2 abuts against the abutting pressing plate 110, and the sliding sleeve 120 is connected with the second shell 5 in sliding connection, so that the height difference change between the second walking wheel assembly 1 and the second shell 5 is realized by a simple structure, the complex structure such as a lead screw is avoided, and the mechanical structure of the bottom of the cleaning equipment is simplified, thereby reducing the manufacturing cost of the walking wheel mechanism.

[0213] In the embodiments of the present disclosure, the second walking wheel assembly 1 further comprises an elastic member 15, one end of the elastic member 15 is fixedly connected with the abutting pressing plate 110, and the other end of the elastic member 15 is fixedly connected with the second shell 5.

[0214] In the embodiments of the present disclosure, the elastic member 15 is used to provide a rebounding force when the second walking wheel assembly 1 moves close to the first shell 4.

[0215] In the embodiments of the present disclosure, by providing the elastic member 15 in the second walking wheel assembly 1, a rebounding force is provided when the second walking wheel assembly 1 moves close to the first shell 4, thereby avoiding relying only on the gravity of the cleaning equipment to fall back, avoiding mechanical loss in the process of falling back, improving the reliability of the walking wheel mechanism, and improving the reliability of the cleaning equipment.

[0216] Referring to FIG. 13, in the embodiments of the present disclosure, the abutting pressing plate 110 is provided with an inclined surface 1101 and a horizontal surface 1102, the inclined surface 1101 and the horizontal surface 1102 are arranged adjacent to each other, and the inclined surface 1101 is higher than the horizontal surface 1102.

[0217] In specific embodiments of the present disclosure, when the cam 2 is in abutment with the inclined surface 1101, the height difference between the second walking wheel assembly 1 and the second shell 5 is a first height difference; when the cam 2 is in abutment with the horizontal surface 1102, the height difference between the second walking wheel assembly 1 and the second shell 5 is a second height difference; it is predictable that the first height difference is smaller than the second height difference; since the second walking wheel assembly 1 is always in contact with the ground, if the ground clearance of the second walking wheel assembly 1 is set to zero, then both the first height difference and the second height difference can be equivalent to the ground clearance of the bottom of the cleaning device; that is, in the case where the cam 2 is in abutment with the inclined surface 1101, the ground clearance of the bottom of the cleaning device is smaller than that in the case where the cam 2 is in abutment with the horizontal surface 1102.

[0218] In specific embodiments of the present disclosure, the inclined surface 1101 can be an inclined plane or an inclined arc surface.

[0219] In embodiments of the present disclosure, by providing the inclined surface 1101, the height difference between the second walking wheel assembly 1 and the second shell 5 is affected by the height difference between the inclined surface 1101 and the horizontal surface 1102, thereby avoiding relying only on the height difference change caused by the curvature change of the cam 2 itself, and also reducing the influence of errors in the height difference change caused by the wear of the cam 2, improving the reliability of the walking wheel mechanism, and further improving the reliability of the cleaning device.

[0220] Referring to FIG. 14, in embodiments of the present disclosure, the cam 2 is provided with an abutment pulley 210, and the cam 2 is in abutment with the abutment pressing plate 110 through the abutment pulley 210.

[0221] In embodiments of the present disclosure, by providing the abutment pulley 210, the friction during the rotation of the cam 2 is reduced, the wear of the surface of the cam 2 is reduced, and the reliability of the cleaning device is improved; in addition, the abutment pulley 210 can also reduce the driving force for driving the cam 2 to move on the abutment pressing plate 110.

[0222] In specific embodiments of the present disclosure, the abutment pulley 210 is installed on the cam 2 through a sliding pulley shaft 220.

[0223] In embodiments of the present disclosure, the cam 2 includes a far heart end away from the transmission shaft 32 and a near heart end close to the transmission shaft 32, and the abutment pulley 210 is arranged on the far heart end.

[0224] In specific embodiments of the present disclosure, the far heart end of the cam 2 is an abutment plane, and when the abutment pulley 210 moves to a preset position, the cam 2 is in abutment with the horizontal surface 1102 through the abutment plane; by providing the abutment plane on the far heart end, the cam 2 can be self-locked when driven to a preset angle, thereby avoiding continuous driving force output and reducing energy consumption of the cleaning device.

[0225] Referring to FIG. 15, in another specific embodiment of the present disclosure, the cam 2 is in abutment with the abutment pressing plate 110 through the curved surface of the cam 2.

[0226] In another specific embodiment of the present disclosure, the cam 2 is in abutment with the abutment pressing plate 110 through the curved surface of the cam 2, so that the size of the walking wheel mechanism can be reduced, the force arm is shorter, and the load of the driving unit is reduced.

[0227] In another specific embodiment of the present disclosure, in the case where the cam 2 is in abutment with the abutment pressing plate 110 through the curved surface of the cam 2, the abutment pressing plate 110 can have and only have the horizontal surface 1102, further reducing the size of the walking wheel mechanism.

[0228] In another specific embodiment of the present disclosure, in the case where the cam 2 is in abutment with the abutment pressing plate 110 through the curved surface of the cam 2, the abutment pressing plate 110 has and only has the horizontal surface 1102, and the distal end of the cam 2 is in abutment with the abutment pressing plate 110, the height difference between the second walking wheel assembly 1 and the second shell 5 is a third height difference; in the case where the cam 2 is in abutment with the abutment pressing plate 110 through the curved surface of the cam 2, the abutment pressing plate 110 has and only has the horizontal surface 1102, and the proximal end of the cam 2 is in abutment with the abutment pressing plate 110, the height difference between the second walking wheel assembly 1 and the second shell 5 is a fourth height difference; the third height difference is greater than the fourth height difference.

[0229] In another specific embodiment of the present disclosure, in the case where the cam 2 is in abutment with the abutment pressing plate 110 through the curved surface of the cam 2, the abutment pressing plate 110 can also be provided with the inclined surface 1101 and the horizontal surface 1102.

[0230] Referring to FIG. 16, in an embodiment of the present disclosure, the walking wheel mounting seat 13 is provided with a universal rotating shaft 131, and the sliding shaft sleeve 120 is provided with a rotating shaft mounting hole 121; the walking wheel mounting seat 13 is rotationally connected with the sliding shaft sleeve 120 through the universal rotating shaft 131 and the rotating shaft mounting hole 121.

[0231] In a specific embodiment of the present disclosure, the rotating shaft mounting hole 121 is arranged along the height direction.

[0232] In an embodiment of the present disclosure, the walking wheel mounting seat 13 is rotationally connected with the sliding shaft sleeve 120 through the universal rotating shaft 131 and the rotating shaft mounting hole 121, so that the second walking wheel 140 can rotate relative to the first shell 4, and the universal rotation of the second walking wheel 140 is realized, the reliability of the walking wheel mechanism is improved, and the moving flexibility of the cleaning equipment is improved.

[0233] In specific embodiments of the present disclosure, the sliding shaft sleeve 120 comprises a sliding part and a fixed part, the height of the sliding part relative to the ground is higher than the height of the fixed part relative to the ground; the sliding part is fixedly connected with the fixed part through fasteners, and the fixed part is used to be connected with the walking wheel mounting seat 13; preferably, the fasteners are screws.

[0234] In specific embodiments of the present disclosure, the fixed part comprises a rotating shaft mounting hole 121 and at least one fixing hole, and the sliding part is fixed on the fixed part through the at least one fixing hole.

[0235] In embodiments of the present disclosure, the rotating shaft mounting hole 121 is provided with an anti-disengagement clamping structure 122, and the rotating shaft mounting hole 121 is sleeved outside the universal rotating shaft 131; the anti-disengagement clamping structure 122 is clamped with the universal rotating shaft 131.

[0236] In embodiments of the present disclosure, by providing the anti-disengagement clamping structure 122 in the rotating shaft mounting hole 121, the universal rotating shaft 131 is prevented from disengaging from the rotating shaft mounting hole 121, thereby improving the reliability of the walking wheel mechanism and the reliability of the cleaning equipment.

[0237] In the following, the specific working principle of the walking wheel mechanism in embodiments of the present disclosure is introduced:

[0238] Normal working state of the cleaning equipment: when the driving angle of the driving unit 31 (steering gear) is a first preset angle, and the abutting pulley 210 and the abutting pressing plate 110 abut, the abutting pulley 210 on the far end of the cam 2 abuts against the inclined surface 1101 of the abutting pressing plate 110; when the curvature surface of the cam 2 directly abuts against the abutting pressing plate 110 and the abutting pressing plate 110 has and only has the horizontal surface 1102, the near end of the cam 2 abuts against the abutting pressing plate 110; at this time, the height difference between the second walking wheel assembly 1 and the second shell 5 is the smallest, so as to keep the cleaning equipment balanced and normally working; preferably, the first preset angle is 0°.

[0239] Bottom lifting state of the cleaning equipment: when the driving angle of the driving unit 31 (steering gear) is a second preset angle, and the abutting pulley 210 and the abutting pressing plate 110 abut, the abutting plane of the far end of the cam 2 abuts against the horizontal surface 1102 of the abutting pressing plate 110; when the curvature surface of the cam 2 directly abuts against the abutting pressing plate 110 and the abutting pressing plate 110 has and only has the horizontal surface 1102, the far end of the cam 2 abuts against the abutting pressing plate 110; at this time, the height difference between the second walking wheel assembly 1 and the second shell 5 is the largest, so as to facilitate the cleaning equipment to overcome obstacles or other scenes requiring the bottom to be lifted; preferably, the second preset angle is 90°; specifically, from the normal working state to the bottom lifting state, the cam 2 presses the abutting pressing plate 110 downward in the direction of the ground.

[0240] In addition, the height difference between the second walking wheel assembly 1 and the second shell 5 can be adjusted when the driving angle of the driving unit 31 (steering wheel) is a third preset angle, the third preset angle being between the first preset angle and the second preset angle, so that the cleaning equipment can lift the bottom to different heights based on different driving angles of the driving unit 31; preferably, 0° < third preset angle < 90°.

[0241] The walking wheel mechanism in the embodiments of the present disclosure has the following beneficial effects:

[0242] By fixing the driving assembly 3 and the first shell 4, abutting the cam 2 and the second walking wheel assembly 1, and slidingly connecting the second walking wheel assembly 1 and the second shell 5 in the height direction, the cam 2 can be rotated under the driving of the driving assembly 3, so that the second walking wheel assembly 1 slides relative to the second shell 5 under the abutting force, changes the height difference between the second walking wheel assembly 1 and the second shell 5, and further changes the distance between the cleaning equipment body and the ground, to meet the needs of different working scenes of the cleaning equipment, that is, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.

[0243] By setting the cam 2 and the driving assembly 3, the height difference between the second walking wheel assembly 1 and the second shell 5 can be changed, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom of the cleaning equipment, and further reducing the manufacturing cost of the walking wheel mechanism.

[0244] The embodiments of the present disclosure also provide a cleaning equipment, which comprises the second walking wheel mechanism 200 in the embodiments of the present disclosure, the first shell 4, and the second shell 5.

[0245] The embodiments of the present disclosure also provide a cleaning equipment, which comprises the second walking wheel mechanism 200 in the embodiments of the present disclosure, the first shell 4, and the second shell 5.

[0246] Please refer to FIG. 8, the embodiments of the present disclosure also provide a cleaning equipment 1000, which comprises a device body 300 and a walking wheel mechanism, the walking wheel mechanism comprising walking wheels, three walking wheels being distributed in a triangular shape at the bottom of the device body 300. Exemplarily, one of the walking wheels is a driven wheel, located at the front side of the forward direction of the cleaning equipment 1000; the other two walking wheels are driving wheels, located at the rear side of the forward direction of the cleaning equipment 1000. The walking wheel mechanism where the driven wheel is located is the second walking wheel mechanism 200, and the walking wheel mechanism where the driving wheels are located is the first walking wheel mechanism 100.

[0247] The two first walking wheel mechanisms 100 and the second walking wheel mechanism 200 in this embodiment can be configured to control the three walking wheels to be lifted independently, for example, to control any one of the walking wheels to be lifted, or to control any two of the walking wheels to be lifted simultaneously, or to control all the three walking wheels to be lifted simultaneously. When two or three walking wheels are controlled to be lifted simultaneously, the lifting can be synchronized or unsynchronized, so as to adjust the posture of the device body 300.

[0248] The two first walking wheel mechanisms 100 and the second walking wheel mechanism 200 in this embodiment can also be configured to control the three walking wheels to be lifted synchronously, so as to lift the device body 300 as a whole.

[0249] In the embodiments of the present disclosure, the cleaning device can be a cleaning device such as a sweeper and a sweeping robot.

[0250] In the present disclosure, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature therebetween. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0251] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0252] It should be noted that all directional indications in the embodiments of the present disclosure are only used to explain the relative positional relationship, motion condition and the like between components in a certain specific posture, and if the specific posture changes, the directional indications will also change accordingly.

[0253] In the present disclosure, unless specifically defined otherwise and limited, the terms "connected", "fixed", and the like should be construed as being broad, for example, "fixed" can be fixed connection, or detachable connection, or integrated; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements, or interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0254] In addition, in the present disclosure, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0255] In the description of the present disclosure, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present disclosure, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present disclosure.

[0256] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present disclosure.

[0257] Although the embodiments of the present disclosure have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations of the embodiments can be made without departing from the principles and purposes of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

[0258] The above description has fully disclosed the specific embodiments of the present disclosure. It should be noted that any modification of the specific embodiments of the present disclosure made by those skilled in the art does not deviate from the scope of the claims of the present disclosure. Accordingly, the scope of the claims of the present disclosure is not limited to the foregoing specific embodiments.

Claims

1. A first walking wheel mechanism mounted on a device body, comprising: a first walking wheel assembly; a power assembly; and a flexible connecting member arranged between the first walking wheel assembly and the power assembly, the first walking wheel assembly being moved relative to the device body by changing the length of the flexible connecting member. The power assembly comprises a rotating power element and a rotating disc, the rotating power element being used to drive the rotating disc to rotate in two opposite directions. The flexible connecting member is arranged between the first walking wheel assembly and the rotating disc, and is used to change the length exposed between the first walking wheel assembly and the rotating disc during the rotation of the rotating disc, so as to rotate the first walking wheel assembly relative to the device body. The rotating angle of the rotating disc during the rotation of the first walking wheel assembly is not more than 360 degrees or not more than 720 degrees.

2. The first walking wheel mechanism according to claim 1, wherein The rotating angle of the rotating disc during the lifting or lowering of the first walking wheel assembly is 0-300 degrees. The connection of the flexible connecting member with the rotating disc is arranged eccentrically relative to the rotation axis of the rotating disc.

3. The first walking wheel mechanism according to claim 2, wherein The rotating angle of the rotating disc during the lifting or lowering of the first walking wheel assembly is 0-90 degrees.

4. The first walking wheel mechanism according to claim 3, wherein The rotating disc comprises a transmission disc, an inner fixed disc and an outer fixed disc connected in sequence, and the connection of the flexible connecting member with the rotating disc is located between the inner fixed disc and the outer fixed disc.

5. The first walking wheel mechanism according to claim 4, wherein, The connection of the flexible connecting member with the rotating disc is provided with a tensioning mechanism or a torsional spring, so as to always pull the flexible connecting member tight when the rotating disc rotates.

6. The first walking wheel mechanism according to claim 5, wherein The rotating power element is a steering engine or a motor integrated with an encoder, and the output shaft of the steering engine or the motor is connected with the rotating disc.

7. The first walking wheel mechanism according to any one of claims 2-6, wherein, The first walking wheel mechanism further comprises a controller and a sensor for detecting the rotating angle of the first walking wheel assembly, the sensor and the rotating power element are both electrically connected with the controller; the controller is configured to determine whether the rotating power element or the flexible connecting member is faulty according to the rotating angle of the first walking wheel assembly and the rotating angle of the rotating power element.

8. The first walking wheel mechanism according to any one of claims 2-6, wherein, The sensor comprises a rotation sensor arranged on the rotating shaft of the first walking wheel assembly, and / or an optical sensor arranged on the first walking wheel assembly.

9. The first walking wheel mechanism according to any one of claims 2-6, wherein, The device body is provided with an upper limit part and a lower limit part for limiting the upper limit position and the lower limit position of the first walking wheel assembly, respectively.

10. The first walking wheel mechanism according to claim 9, wherein, The first walking wheel assembly comprises a support and a first walking wheel mounted on the support; the support comprises a main wheel part and a free part, the main wheel part is closer to the first walking wheel relative to the free part; the main wheel part and the free part are divided by the first walking wheel ground normal axis, and the free part is closer to the advancing direction of the device body relative to the main wheel part; 11. The first walking wheel mechanism of claim 10, wherein, The free part of the support is rotationally connected with the device body; and the flexible connecting member is connected to the free part of the support.

12. The first walking wheel mechanism according to any one of claims 1-6, wherein, ​ 13. The first walking wheel mechanism according to any one of claims 1-6, wherein, ​ ​ 14. The first walking wheel mechanism of claim 13, wherein, The free part of the support is provided with a mounting shaft seat, which is rotationally connected with the equipment body, and the support rotates around the rotation shaft of the mounting shaft seat; The free part of the support is provided with a hanging point part, and the flexible connecting member is connected with the hanging point part.

15. The first walking wheel mechanism of claim 14, wherein, The mounting shaft seat is arranged at the lower part of the free part, and the hanging point part is arranged at the upper part of the free part.

16. The first walking wheel mechanism of claim 13, wherein, The support comprises a reduction box and a driving device mounted on the reduction box, and the rotation shaft of the mounting shaft seat is different from the shaft center of the driving device.

17. The first walking wheel mechanism of claim 13, wherein, The first walking wheel mechanism further comprises a spring, one end of the spring is fixed on the free part of the support, and the other end is fixed on the equipment body.

18. The first walking wheel mechanism of claim 17, wherein, The free part and the equipment body are both provided with hook parts, the two ends of the spring are respectively hooked on the two hook parts, and the hooking directions of the two hook parts are opposite.

19. The first walking wheel mechanism according to any one of claims 13-18, wherein, The support is a walking power device, and is drivingly connected with the first walking wheel.

20. The first track mechanism according to any one of claims 13-15, 17-18, wherein, The support is a bracket, and the first walking wheel is mounted on the bracket.

21. The first walking wheel mechanism according to any one of claims 2-6, wherein, When the rotating disc rotates in a first direction, the length of the flexible connecting member exposed between the first walking wheel assembly and the rotating disc is reduced and is pulled tight, the flexible connecting member pulls the first walking wheel assembly to rotate relative to the equipment body; When the rotating disc rotates in a second direction opposite to the first direction, the length of the flexible connecting member exposed between the first walking wheel assembly and the rotating disc is increased, and the first walking wheel assembly reversely rotates relative to the equipment body. 22.A first walking wheel mechanism mounted on an equipment body, comprising: a first walking wheel assembly; a power assembly; and a flexible connecting member connected between the first walking wheel assembly and the power assembly, used to drive the first walking wheel assembly to move relative to the equipment body under the driving of the power assembly, so that the first walking wheel assembly is lifted relative to the equipment body, and the first walking wheel assembly is always in contact with the ground during driving and lifting relative to the equipment body. The first walking wheel assembly comprises a support and a first walking wheel mounted on the support, and the support is rotationally connected with the equipment body.

23. The first track mechanism of claim 22, wherein, The flexible connecting member is connected between the support and the power assembly, used to drive the support to rotate relative to the equipment body under the driving of the power assembly. The support comprises a main wheel part and a free part, the main wheel part is close to the first walking wheel relative to the free part, and the flexible connecting member is connected between the free part of the support and the power assembly.

24. The first track mechanism of claim 23, wherein, The support is a bracket or a walking power device.

25. The first track mechanism according to claim 23 or 24, wherein, The free part of the support is rotationally connected with the equipment body.

26. The first track mechanism of claim 24, wherein, The free part of the support is provided with a mounting shaft seat, which is rotationally connected with the equipment body, and the support rotates around the rotation shaft of the mounting shaft seat.

27. The first track mechanism of claim 26, wherein, The rotation shaft of the mounting shaft seat is different from the shaft center of the driving device.

28. The first track mechanism of claim 27, wherein, The mounting shaft seat is arranged at the lower side of the free part.

29. The first track mechanism of claim 27, wherein, ​ 30. The first track mechanism according to any one of claims 24-29, wherein, The main wheel part and the free part are demarcated by the first walking wheel ground normal axis, and the free part is closer to the advancing direction of the device body than the main wheel part.

31. The first track mechanism according to any one of claims 24-29, wherein, The free part of the support is provided with a hanging point part, and the flexible connecting member is connected to the hanging point part; the hanging point part is arranged on the upper side of the free part.

32. The first track mechanism according to any one of claims 24-29, wherein, The power assembly comprises a rotating power element; one end of the flexible connecting member is fixed to the free part of the support, and the other end is connected to the output shaft of the rotating power element; the rotating power element is used to tighten or loosen the flexible connecting member when rotating.

33. The first track mechanism of claim 32, wherein, The rotating angle of the rotating power element during the lifting or lowering of the first walking wheel assembly is not more than 360 degrees or not more than 720 degrees.

34. The first track mechanism of claim 33, wherein, The rotating angle of the rotating power element during the lifting or lowering of the first walking wheel assembly is 0-300 degrees.

35. The first track mechanism of claim 32, wherein, The power assembly further comprises a rotating disc coaxially arranged with the output shaft of the rotating power element; the connection between the flexible connecting member and the rotating disc is arranged eccentrically relative to the output shaft of the rotating power element.

36. The first track mechanism of claim 35, wherein, The rotating angle of the rotating disc during the lifting or lowering of the first walking wheel assembly is 0-360 degrees or 0-720 degrees.

37. The first track mechanism of claim 35, wherein, The rotating disc comprises a transmission disc, an inner fixed disc and an outer fixed disc connected in sequence, and the connection between the flexible connecting member and the rotating disc is located between the inner fixed disc and the outer fixed disc.

38. The first track mechanism of claim 35, wherein, The connection between the flexible connecting member and the rotating disc is provided with a tensioning mechanism or a torsional spring.

39. The first track mechanism of claim 37, wherein, The rotating power element controls the rotating angle and / or rotating speed of the rotating disc.

40. The first walking wheel mechanism of claim 39, wherein, The rotating power element is a steering wheel or a motor; the first walking wheel mechanism further comprises a controller, and the rotating power element is electrically connected to the controller.

41. The first track mechanism of claim 40, wherein, The first walking wheel mechanism further comprises a sensor for detecting the rotating angle of the first walking wheel assembly, and the sensor is electrically connected to the controller; the controller is arranged to determine whether the rotating power element or the flexible connecting member is faulty according to the rotating angle of the first walking wheel assembly and the rotating angle of the rotating power element.

42. The first track mechanism of claim 41, wherein, The sensor comprises a rotation sensor arranged on the rotating shaft of the first walking wheel assembly and / or a light sensor arranged on the support.

43. The first track mechanism of any of claims 23-26, wherein, The device body comprises a base; the support is rotationally connected to the base.

44. The first track mechanism of claim 43, wherein, The base is provided with an upper limiting part and a lower limiting part for limiting the upper limit position and the lower limit position of the first walking wheel assembly, respectively.

45. The first track mechanism of claim 43, wherein, The first walking wheel mechanism further comprises a spring, one end of the spring is fixed to the free part of the support, and the other end is fixed to the base.

46. The first walking wheel mechanism of claim 45, wherein, The free part and the base are both provided with hook parts, the two ends of the spring are respectively hooked to the two hook parts, and the hooking directions of the two hook parts are opposite.

47. A second walking wheel mechanism comprising a second walking wheel assembly and a driving assembly, the driving assembly being used to adjust the distance between the second walking wheel assembly and the cleaning device body.

48. The second walking wheel mechanism of claim 47, wherein, The second walking wheel mechanism further comprises a cam, the driving assembly is fixedly connected to the first shell of the cleaning device, and the driving assembly is drivingly connected to the cam. The cam is in abutment with the second walking wheel assembly, the second walking wheel assembly is in sliding connection with a second shell of the cleaning device, and the sliding direction is the height direction.

49. The second walking wheel mechanism of claim 48, wherein, The driving assembly comprises a driving unit and a transmission shaft, the driving unit is fixedly connected with the first shell, the driving unit is drivingly connected with one end of the transmission shaft, and the other end of the transmission shaft is connected with the first shell through a bearing structure. The cam is fixedly connected with the transmission shaft.

50. The second walking wheel mechanism according to any one of claims 47-49, wherein, The second walking wheel assembly comprises an abutment pressing plate, a sliding shaft sleeve, a walking wheel mounting seat and a second walking wheel, and the second walking wheel is mounted on the walking wheel mounting seat. The sliding shaft sleeve is in sliding connection with the second shell, and the sliding shaft sleeve is connected with the walking wheel mounting seat. The cam is in abutment with the abutment pressing plate, and the abutment pressing plate is fixed on the sliding shaft sleeve.

51. The second walking wheel mechanism of claim 50, wherein, The second walking wheel assembly further comprises an elastic member, one end of the elastic member is connected with the abutment pressing plate, and the other end of the elastic member is connected with the second shell.

52. The second walking wheel mechanism of claim 50, wherein, An inclined surface and a horizontal surface are arranged on the abutment pressing plate, the inclined surface is arranged adjacent to the horizontal surface, and the inclined surface is higher than the horizontal surface.

53. The second walking wheel mechanism of claim 52, wherein, An abutment pulley is arranged on the cam, and the cam is in abutment with the abutment pressing plate through the abutment pulley.

54. The second walking wheel mechanism of claim 53, wherein, The cam comprises a far center end away from the transmission shaft and a near center end close to the transmission shaft, and the abutment pulley is arranged on the far center end.

55. The second walking wheel mechanism of claim 50, wherein, The cam is in abutment with the abutment pressing plate through the curvature surface of the cam.

56. The second walking wheel mechanism of claim 50, wherein, A universal rotating shaft is arranged on the walking wheel mounting seat, and a rotating shaft mounting hole is arranged in the sliding shaft sleeve. The walking wheel mounting seat is in rotating connection with the sliding shaft sleeve through the universal rotating shaft and the rotating shaft mounting hole.

57. The second walking wheel mechanism of claim 56, wherein, A anti-loosing clamping structure is arranged in the rotating shaft mounting hole, and the rotating shaft mounting hole is sleeved on the universal rotating shaft. The anti-loosing clamping structure is clamped with the universal rotating shaft.

58. A cleaning device comprising a device body and the first walking wheel mechanism according to any one of claims 1-21 and / or the first walking wheel mechanism according to any one of claims 22-46 and / or the second walking wheel mechanism according to any one of claims 47-57.

59. A cleaning device comprising a device body, two driving wheel mechanisms and one driven wheel mechanism, the two driving wheel mechanisms and one driven wheel mechanism are distributed in a triangle shape on the device body, the driven wheel mechanism is located on the front side of the advancing direction of the cleaning device, and the driving wheel mechanisms are located on the rear side of the advancing direction of the cleaning device. wherein, The driving wheel mechanism is the first walking wheel mechanism according to any one of claims 1-21 or the first walking wheel mechanism according to any one of claims 22-46, and the driven wheel mechanism is the second walking wheel mechanism according to any one of claims 47-57. The two driving wheel mechanisms and one driven wheel mechanism can independently control the lifting of the respective walking wheels.

60. The cleaning apparatus of claim 59, wherein, The two driving wheel mechanisms and one driven wheel mechanism can control the synchronous lifting of the respective walking wheels.

61. The cleaning apparatus of claim 59, wherein, ​

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