Traveling wheel mechanism and cleaning apparatus

Abstract

A first traveling wheel mechanism (100a, 100b, 100c), a second traveling wheel mechanism (200), and a cleaning apparatus. The first traveling wheel mechanism (100a, 100b, 100c) is mounted on an apparatus body (300), and comprises a first traveling wheel assembly (10), a power assembly (20) and a flexible connector (30), the flexible connector (30) being arranged between the first traveling wheel assembly (10) and the power assembly (20). By means of changing the length of the flexible connector (30), the first traveling wheel assembly (10) moves relative to the apparatus body (300).

Description

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. 202421264766.6, filed on June 04, 2024, Chinese Patent Application No. 202421260306.6, filed on June 04, 2024, Chinese Patent Application No. 202421396452.1, filed on June 18, 2024, and Chinese Patent Application No. 202421396452.1, filed on June 18, 2024, the contents of all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0003] The present disclosure belongs to the technical field of cleaning devices, and particularly relates to a 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 a 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 the physical limitations such as the ground clearance of the cleaning device and has limited effect.

[0006] SUMMARY

[0007] To improve the obstacle-crossing ability of a cleaning device, the present disclosure provides a walking wheel mechanism and a cleaning device.

[0008] The present disclosure provides a first walking wheel mechanism, which is installed on a device body, and includes a first walking wheel assembly, a power assembly, and a flexible connecting piece. The flexible connecting piece is arranged between the first walking wheel assembly and the power assembly, and by changing the length of the flexible connecting piece, the first walking wheel assembly is moved relative to the device body.

[0009] According to the first walking wheel mechanism provided in the present disclosure, the first walking wheel assembly is driven to rotate 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. Since the first walking wheel assembly is always in contact with the ground during driving, the corresponding first walking wheel assembly also keeps in contact with the ground during the lifting relative to the device body, and thus the lifting of the first walking wheel assembly relative to the device body is reflected 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, 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.

[0010] The embodiment of the present disclosure further provides a second walking wheel mechanism, which comprises a second walking wheel assembly and a driving assembly. The driving assembly is used to adjust the distance between the second walking wheel assembly and the cleaning device body, so as to change the distance between the cleaning device body and the ground, so as to meet the requirements of different working scenes of the cleaning device, that is, to improve the flexibility of the second walking wheel mechanism, and improve the working flexibility of the cleaning device.

[0011] The embodiment of the present disclosure further provides a cleaning device, which comprises a device body and the first walking wheel mechanism according to any one of the above and / or the second walking wheel mechanism according to any one of the above. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0013] Fig. 1 shows a structure schematic diagram of the first walking wheel mechanism 100a in the lifting state of the walking wheel assembly in an embodiment of the present disclosure;

[0014] Fig. 2 shows a structure schematic diagram of the first walking wheel mechanism 100a in the descending state of the walking wheel assembly in an embodiment of the present disclosure;

[0015] Fig. 3 shows a structure schematic diagram of the walking power device in the first walking wheel mechanism 100a of Fig. 1 and Fig. 2;

[0016] Fig. 4 shows an assembly structure diagram of the walking power device and the spring in the first walking wheel mechanism 100a of Fig. 1 and Fig. 2;

[0017] Fig. 5 shows an exploded view of the power assembly and the flexible connecting piece in the first walking wheel mechanism 100a of Fig. 1 and Fig. 2;

[0018] Fig. 6 shows a schematic diagram of an obstacle crossing process of the cleaning device in one or more embodiments of the present disclosure;

[0019] Fig. 7 shows a schematic diagram of an obstacle crossing process of the cleaning device in some other embodiments of the present disclosure;

[0020] Fig. 8 shows a schematic diagram of the structure of the first walking wheel mechanism 100b in a lifting state of the walking wheel assembly in an embodiment of the present disclosure;

[0021] Fig. 9 shows a schematic diagram of the structure of the first walking wheel mechanism 100b in a lowering state of the walking wheel assembly in an embodiment of the present disclosure;

[0022] Fig. 10 shows a schematic diagram of the structure of the power assembly in Figs. 8 and 9;

[0023] Fig. 11 shows a schematic diagram of the structure of the flexible connecting piece in Figs. 8 and 9;

[0024] Fig. 12 shows a schematic diagram of the structure of the power element in Fig. 10;

[0025] Fig. 13 shows a schematic diagram of the structure of another power element;

[0026] Fig. 14 shows a schematic diagram of the structure of a free portion of the support;

[0027] Fig. 15 shows a schematic diagram of the structure of the first walking wheel mechanism with a tensioning piece;

[0028] Fig. 16 shows a schematic diagram of the structure of the first walking wheel mechanism with a steering piece;

[0029] Fig. 17 shows a schematic diagram of the structure of the first walking wheel mechanism 100c in a lifting state of the walking wheel assembly in an embodiment of the present disclosure;

[0030] Fig. 18 shows a schematic diagram of the structure of the first walking wheel mechanism 100c in a lowering state of the walking power device in an embodiment of the present disclosure;

[0031] Fig. 19 shows an assembly schematic diagram of the first end of the flexible connecting piece and the first end of the spring with the power assembly in the first walking wheel mechanism 100c;

[0032] Fig. 20 shows an assembly schematic diagram of the second end of the flexible connecting piece and the second end of the spring with the first walking wheel assembly in the first walking wheel mechanism 100c;

[0033] Fig. 21 shows a schematic diagram of the structure of the cleaning device in some embodiments of the present disclosure;

[0034] Fig. 22 is a schematic diagram of the structure of the second walking wheel mechanism provided in an embodiment of the present disclosure;

[0035] Fig. 23 is a schematic diagram of a driving assembly structure in a second walking wheel mechanism according to an embodiment of the present disclosure;

[0036] Fig. 24 is a schematic diagram of a bearing support assembly in the second walking wheel mechanism according to an embodiment of the present disclosure;

[0037] Fig. 25 is a schematic diagram of a walking wheel assembly structure in the second walking wheel mechanism according to an embodiment of the present disclosure;

[0038] Fig. 26 is a schematic diagram of an abutting pressing plate structure in the second walking wheel mechanism according to an embodiment of the present disclosure;

[0039] Fig. 27 is a schematic diagram of a cam structure in the second walking wheel mechanism according to an embodiment of the present disclosure;

[0040] Fig. 28 is a schematic diagram of a cam structure in the second walking wheel mechanism according to another embodiment of the present disclosure;

[0041] Fig. 29 is an assembly sectional view of a sliding shaft sleeve and a walking wheel mounting seat in the second walking wheel mechanism according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present disclosure will be described clearly and completely 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.

[0043] In addition, the reference numbers and / or reference letters can be repeated in different examples in the present disclosure, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings 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.

[0044] The term "one embodiment" or "an embodiment" as may appear in the specification is intended to mean a particular feature, structure, or characteristic described herein. When the specification states a component, feature, structure, or characteristic "may" be included, that particular feature, structure, or characteristic is optionally included. When the specification states a component, feature, structure, or characteristic "may not" be included, that particular feature, structure, or characteristic is optionally excluded. The appearances of the term "may" in various places in the specification are not intended to serve as limitations of any kind. Specific details of the application are set forth in the accompanying drawings and description below to provide a thorough understanding of certain aspects of the application. However, it will be understood by those skilled in the art that the present application may be practiced without many of the specific details set forth in the accompanying drawings and description below. In other instances, well-known methods, procedures, components, and networks have not been described in detail so as not to unnecessarily obscure aspects of the present application.

[0045] In addition, the present disclosure can repeat reference numerals and / or reference characters in different instances and / or drawings. This repetition of reference numerals and / or characters is for the purpose of simplicity and clarity and does not necessarily indicate a common function among the individual features that are referred to by a reference numeral and / or character. Additionally, the various embodiments of the present disclosure can be implemented in a wide variety of environments and / or applications, and the present disclosure is not limited to the contexts shown in the figures.

[0046] The cleaning device needs to avoid obstacles or cross obstacles when encountering obstacles during automatic driving. 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 has limited effect due to the physical limitations such as the ground clearance of the cleaning device.

[0047] 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, so that the components below the device are higher than the obstacles, and there is no part of the device interfering 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.

[0048] The embodiment of the present disclosure provides a walking wheel lifting mechanism. In order to distinguish from another embodiment, the walking wheel lifting mechanism in the embodiment is named as a first walking wheel mechanism 100a. The first walking wheel mechanism 100a is installed on a device body 300 of an automated device which 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, so as to increase the ground clearance of the device body 300 and realize the improvement of the obstacle crossing height. The first walking wheel mechanism 100a can be applied to cleaning devices such as a sweeping robot and an automatic sweeper, and can also be applied to other automated driving devices which have a demand for obstacle crossing function, such as an automatic food delivery robot and a delivery sorting robot.

[0049] The first walking wheel mechanism 100a can be a driving wheel lifting mechanism or a driven wheel lifting mechanism.

[0050] The first walking wheel 12 can be a driving 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 and the like.

[0051] In the following embodiments, if the first walking wheel 12 in the first walking wheel mechanism 100a is configured to be driven by a driving device, it can be understood that the first walking wheel mechanism 100a is a driving wheel lifting mechanism, the first walking wheel assembly 10 is a driving wheel assembly, and the first walking wheel 12 is a driving wheel.

[0052] Please refer to FIG. 1 and FIG. 2, which show the overall structure diagram of the first walking wheel mechanism 100a. The first walking wheel mechanism 100a includes a first walking wheel assembly 10, a power assembly 20 and a flexible connecting piece 30. The first walking wheel assembly 10 is rotatably connected to the device body 300, and the first walking wheel assembly 10 can be a driving wheel assembly which provides the driving power of the device, or can be a driven wheel assembly which rotates following the driving wheel, and the present disclosure does not make any limitation. The power assembly 20 is also installed on the device body 300, and 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 as to rotate the first walking wheel assembly 10 relative to the base 310 and 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, and the present disclosure does not make any limitation.

[0053] When the first walking wheel assembly 10 is a driving wheel assembly for providing power for the device to walk, the driving wheel assembly is used to provide power for the device to walk. The power assembly 20 is also mounted to the device body 300, and is used to provide driving force for the driving wheel assembly to lift or lower relative to the device body 300. The flexible connecting member 30 is used to transmit the power of the power assembly 20 and act on the driving wheel assembly to rotate the driving wheel assembly relative to the device body 300 to realize the lifting or lowering function relative to the device body 300. Two driving wheel assemblies are usually required for the device to walk, and the power assembly 20 and the flexible connecting member 30 can drive only the corresponding driving wheel assembly to swing and lift, or can drive both driving wheel assemblies to swing and lift, and the present disclosure does not limit it. 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 at the same time.

[0054] 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 or lowering relative to the device body 300. Therefore, the lifting or lowering 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 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 100a can be improved.

[0055] In some embodiments, the power assembly 20 outputs rotating power. Referring to FIGS. 1 and 2, the power assembly 20 includes a power element 21 and a rotating disc 22. The 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 the power element 21 is used to drive the rotating disc 22 to rotate in two opposite directions, for example, in the clockwise direction and the counterclockwise direction. The rotating disc 22 is fixedly connected with the output shaft 211 of the power element 21, and the rotating disc 22 can also be a part protruding from the output shaft 211 of the power element 21, and the specific structure is not limited by the present disclosure.

[0056] The flexible connecting member 30 is arranged between the first walking wheel assembly 10 and the rotating disc 22. One end of the flexible connecting member 30 can be fixed to the first walking wheel assembly 10 and the other end can be fixed to the rotating disc 22, so as to transmit the rotating power of the 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 wound around the other one, so as to change the spatial position of the free portion b of the first walking wheel assembly 10. During the 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.

[0057] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotating disc 22 to rotate, i.e., the effective length of the flexible connecting member 30 changes. When the rotating disc 22 rotates in a first direction (e.g., clockwise), 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. When the flexible connecting member 30 is tightened, it can transmit force and can pull the first walking wheel assembly 10, so that the first walking wheel assembly 10 rotates relative to the device body 300 to lift. When the rotating disc 22 rotates in a second direction opposite to the first direction (e.g., counterclockwise), the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 increases, so that 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 gravity and / or a return spring. Of course, in other embodiments, the power element 21 can change the action position of the flexible connecting member 30 by driving the rotating disc 22 to rotate. In this process, the flexible connecting member 30 is always tightened.

[0058] Exemplarily, the first walking wheel assembly 10 includes a support member, which is rotationally connected to the device body 300 and includes a main wheel portion a and a free portion b. The main wheel portion a is 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, so as to drive the support member to rotate relative to the device body 300 under the driving of the power assembly 20.

[0059] Exemplarily, the support member can be a support frame or a walking power device 11. The walking power device 11 can also be named as a transmission device.

[0060] It can be understood that when the first walking wheel 12 is the driving wheel, the support frame is the walking power device 11; when the first walking wheel 12 is the driven wheel, the support frame is the support frame, which serves as a support.

[0061] Exemplarily, the first walking wheel assembly 10 is rotatably mounted 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.

[0062] Please refer to FIG. 1 and FIG. 2, in some embodiments, the extension line of 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 shaft 61 of the first walking wheel assembly 10 relative to the device body 300, thus 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 shaft 61 as the center.

[0063] In some embodiments, the rotation angle of the 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 round, thus the total length of the flexible connecting member 30 when relaxed can be reduced, avoiding the situation that the flexible connecting member 30 is detached from the rotation disc 22 after relaxation, or interferes with or is hooked on the surrounding components due to the excessive length, resulting in the failure to be normally tightened 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, for example, 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 300°, etc.

[0064] In some embodiments, the rotation angle of the power element 21 during the lifting or lowering of the first walking wheel assembly 10 is not more than 720 degrees. Specifically, the rotation angle of the rotation disc 22 during the rotation of the first walking wheel assembly 10 is not 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 not 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.

[0065] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotation disc 22 to rotate.

[0066] 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 first walking wheel 12 to rotate through the walking power device 11, thereby driving the entire cleaning device to walk. 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, realizing the connection and fixation of the walking power device 11 and the surrounding structure.

[0067] The flexible connecting piece 30 is connected between the power assembly 20 and the free part b of the walking power device 11, which can be that both ends of the flexible connecting piece 30 are connected to the power assembly 20 and the free part b of the walking power device 11, or the flexible connecting piece 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. The flexible connecting piece 30 drives the walking power device 11 to rotate relative to the device body 300 under the driving of the power assembly 20, so that the first walking wheel assembly 10 is lifted relative to the device body 300.

[0068] In order to reduce the situation that the flexible connecting piece 30 is hooked by foreign matter or is difficult to be retracted when it is in a loose state, a tensioning mechanism is arranged at the connection between the flexible connecting piece 30 and the rotating disc 22 in some embodiments. The tensioning mechanism is used to provide a tensioning force, and the tensioning mechanism includes but is not limited to an elastic piece, which can be a spring or a clockwork. For example, the tensioning mechanism is a torsion spring, which can keep the flexible connecting piece 30 taut in real time, so that the flexible connecting piece 30 will not be in danger of being pulled out of the rotating disc 22. In some embodiments, a clockwork can also be used to keep the flexible connecting piece 30 taut in real time.

[0069] It should be understood that the flexible connecting piece 30 in the present disclosure is not limited to be entirely flexible. The flexible connecting piece 30 can be a flexible cable such as a steel wire rope or a nylon rope; or a combination structure of a flexible cable and a rigid connecting piece, such as a combination structure of a flexible cable and a pull rod. That is, the flexible connecting piece 30 is at least partially flexible, and the flexible structure is used as a power transmission medium, which can solve the problem of spatial arrangement of the first walking wheel mechanism 100a to a certain extent, and through some fixed pulley structures, the power assembly 20 (such as a motor, a cylinder, etc.) can be arranged at any position of the device body 300, thereby realizing optimal space utilization.

[0070] Please refer to FIG. 1 and FIG. 2, which show the working principle of the flexible connection 30 of the first walking wheel mechanism 100a in some embodiments. The flexible connection 30 adopts a pull 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 pull cable extends in a straight line as a whole without winding on any reversing structure in the middle. The rotating angle of the rotating disc 22 during rotation does not exceed 360 degrees, which means that the pull cable will not be wound on the rotating disc 22 for a full circle. Compared with the scheme of winding and unwinding the pull cable, this non-winding mode can reduce the problems such as knotting of the pull cable and hooking of foreign matter during the unwinding process of the pull cable.

[0071] In some embodiments, the rotating disc 22 is coaxially arranged with the output shaft 211 of the power element 21, and the connection position of the flexible connection 30 with 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 position of the flexible connection 30 with 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 power element 21. That is, during the rotation of the rotating disc 22, the spatial position of the connection position of the flexible connection 30 with the rotating disc 22 will change with the rotation of the rotating disc 22, and in combination with the fact that the flexible connection 30 extends in a straight line as a whole, the spatial posture of the flexible connection 30 will change during the rotation of the rotating disc 22. The flexible connection 30 is always tensioned during the rotation of the rotating disc 22. Due to the change in the spatial position of the end of the flexible connection 30 connected with the rotating disc 22, the spatial position of the end of the flexible connection 30 connected with the first walking wheel assembly 10 will also change correspondingly under the condition that the length of the flexible connection 30 remains unchanged, so that the walking power device 11 is forced to swing outward with the axis of the rotation shaft 61 as the center.

[0072] Since the flexible connection 30 is always tensioned during the rotation of the rotating disc 22, that is, the effective length of the flexible connection 30 remains unchanged. Correspondingly, the rotation angle of the rotating disc 22 during the lifting or lowering process of the first walking wheel assembly 10 is 0-90 degrees, for example, 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, 85°, etc. When the rotation angle of the rotating disc 22 exceeds 90 degrees, for example, 150 degrees, the spatial posture of the flexible connection 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 process of the first walking wheel assembly 10 to be 0-90 degrees, on the one hand, the flexible connection 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 with the scheme of winding and unwinding the flexible connection 30 for a full circle or multiple circles, thereby improving the obstacle crossing efficiency.

[0073] 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 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] Since the installation shaft seat 60 is located at the free part b of the walking power device 11, the distance between the rotating shaft 61 of the installation shaft seat 60 and the grounding point of the driving wheel is large, and the walking power device 11 rotates a small angle to significantly increase the device ground clearance.

[0082] Referring to FIG. 4, in some embodiments, the rotating shaft 61 of the installation shaft seat 60 is not coaxial with the shaft center of the driving device 112, so that the installation shaft seat 60 and the driving device 112 are located at different positions, avoiding the driving wheel assembly being too large in the axial direction of the rotating shaft 61 due to the coaxial arrangement of the rotating shaft 61 of the installation shaft seat 60 and the driving device 112, thereby facilitating the arrangement of the installation shaft seat 60 and the driving device 112.

[0083] Referring to FIG. 4, in some embodiments, the installation shaft seat 60 is arranged at the lower side of the free part b, and the shaft center of the driving device 112 is located above the rotating shaft 61 of the installation shaft seat 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.

[0084] The flexible connecting member 30 is connected to the free part b of the walking power device 11. Similarly, the distance between the hanging point of the flexible connecting member 30 on the free part b and the grounding point of the first walking 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 part b of the walking power device 11. In some embodiments, a hanging point part 80 can be arranged at the free part b of the walking power device 11, and the flexible connecting member 30 is connected to the hanging point part 80. In some embodiments, the hanging point part 80 is arranged at the upper side of the free part 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 to expose the device body 300 and contact the ground when it is in a loosened state.

[0085] 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 power elements 21 such as motors, steering gears, etc., or extension power elements 21 such as air cylinders, electric telescopic rods, etc. The present disclosure is not limited.

[0086] In some embodiments, the power assembly 20 outputs rotating power. Referring to FIGS. 1 and 2, the power assembly 20 includes a power element 21. The power element 21 can be a steering gear or a motor (not limited to a brushed motor, a brushless motor, a stepper motor, etc.). One end of the flexible connecting member 30 is fixed to the free part b of the walking power device 11, and the other end is connected to the output shaft 211 of the power element 21. As shown in FIG. 5, the flexible connecting member 30 is used to transmit the rotating power of the power element 21.

[0087] The power element 21 tightens or loosens the flexible connecting member 30 when it rotates, i.e. the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 changes, and the flexible connecting member 30 can transmit force when it is tightened. In some embodiments, the power element 21 can also change the working position of the flexible connecting member 30 when it rotates, and the flexible connecting member 30 is always tightened in this process.

[0088] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 when it rotates, and the flexible connecting member 30 can pull the walking power device 11 to make the driving wheel assembly rotate relative to the base 310 to lift or lower. 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 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 axial direction of the rotation shaft 61 as the center.

[0089] Please refer to FIG. 5, in some embodiments, the power assembly 20 further comprises a rotating disc 22 coaxially arranged with the output shaft 211 of the power element 21, and the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotating disc 22 to rotate. The rotating disc 22 is fixedly connected with the output shaft 211 of the power element 21, and the rotating disc 22 can also be a part protruding from the output shaft 211 of the power element 21, and the specific structure is not limited by the disclosure. The rotation angle of the 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 member 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 member 30 to be unable to be normally tightened or be pulled off.

[0090] Please refer to FIG. 4, in some embodiments, the first walking wheel mechanism 100a further comprises a spring 70, one end of the spring 70 is fixed on the free part b of the walking power device 11, and the other end is fixed on the device body 300 such as the base 310, and the damping effect of the spring 70 can reduce the shock when the first walking wheel 12 passes through uneven road. 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 parts 90 of the free part b of the walking power device 11 and the hook parts 90 of the device body 300 are reversely arranged, i.e. the hooking directions of the spring 70 are opposite, so that the fixation of the spring 70 is more stable.

[0091] Please refer to Fig. 1, in some embodiments, the extending direction of the flexible connecting member 30 is substantially the same as the extending direction of the spring 70, which can be understood as parallel within the range of allowable installation error, so that the extending direction of the flexible connecting member 30 is misaligned with the extending direction of the spring 70, for example, the included angle between the extending direction of the flexible connecting member 30 and the extending direction of the spring 70 is no more than 10 degrees. And the flexible connecting member 30 and the spring 70 both extend towards the opposite direction of the traveling direction, so that the hook portion 90 of the device body 300 such as the base 310 and the power assembly 20 are all located behind the free portion b of the walking power device 11, even if the obstacle surmounting posture of the device body 300 is that the front end is raised, the positions of the hook portion 90 of the device body 300 such as the base 310 and the power assembly 20 are relatively rear, and the spatial positions thereof do not change greatly. And the positions of the hook portion 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 and more conducive to obstacle surmounting, and prevents skidding.

[0092] 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. In the case that the extending direction of the flexible connecting member 30 is substantially the same as the extending direction of the spring 70, the spring 70 can assist the flexible connecting member 30 to jointly pull the walking power device 11, so that the first walking wheel assembly 10 rotates relative to the device body 300 to rise and fall.

[0093] Please refer to Fig. 4, in some embodiments, the mounting shaft seat 60 is arranged at the lower portion of the free portion b, and the hanging point portion 80 and the hook portion 90 are both arranged at the upper portion of the free portion b. The action point positions of the flexible connecting member 30 and the spring 70 on the free portion b are relatively upper, so that the flexible connecting member 30 and the spring 70 can be arranged at relatively upper positions in the device body 300, preventing the flexible connecting member 30 and the spring 70 from being exposed when the device body 300 is lifted to surmount obstacles.

[0094] Please refer to Fig. 3, in some embodiments, the walking power device 11 includes 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 located above the rotation shaft 61 of the mounting shaft seat 60, so that the driving device 112 is arranged at a relatively upper position in the device 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 device body 300 is lifted to surmount obstacles. Please refer to Fig. 3, in some embodiments, the walking power device 11 further includes a wheel cover 113, the wheel cover 113 is connected with the side surface of the box shell of the reduction box 111, and the wheel cover 113 is spacedly sleeved on the first walking wheel 12, which can 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.

[0095] Exemplarily, the driving device comprises a driving motor, which can be a direct current motor or a servo motor, etc.

[0096] In order to prevent accidents caused by out-of-control power element 21, in some embodiments, the device body 300, for example, the base 310, is provided with an upper limit position and a lower limit position, respectively, for limiting the upper limit position and the lower limit position of the first walking wheel assembly 10. 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.

[0097] The upper limit position and the lower limit position can be a mechanical limiting structure or an electronic limiting device. In some embodiments, the lower limit position of the mechanical structure is provided on the shell of the device body 300 to block the downward swing of the first walking wheel assembly 10. The hook portion 90 of the base 310 of the device 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 100a further comprises a controller, 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 power element 21 to stop rotating.

[0098] In some embodiments, the power element 21 controls the rotation angle and / or rotation speed of the rotating disc 22.

[0099] In some embodiments, in order to facilitate closed-loop control of the swing position of the first walking wheel assembly 10, the power element 21 is a servo or motor integrated with an encoder, and the output shaft 211 of the servo or motor is connected to the rotating disc 22. The encoder can detect the actual rotation angle of the servo or motor. Correspondingly, the first walking wheel mechanism 100a further comprises a controller, and the power element 21 and its encoder are electrically connected to the controller, and the rotation speed and / or rotation angle of the power element 21 are controlled by the controller in a closed loop. The power element 21 is drivingly connected to the rotating disc 22, thereby realizing the control of the rotation angle and / or rotation speed of the rotating disc 22 by the power element 21.

[0100] Please refer to FIG. 1 and FIG. 2, in some embodiments, the power element 21 is a steering engine, which has the advantage of integrating a reducer, a motor and a position encoder, and occupies a small overall space. The position encoder is used to provide feedback information for the position closed loop 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 to a common brush or brushless motor, and the position closed loop control of the common motor can be realized by setting a position detection element at the upper and lower limit positions of the first walking wheel assembly 10.

[0101] In some embodiments, the first walking wheel mechanism 100a further comprises a sensor for detecting the rotation angle of the first walking wheel assembly 10. The number and type of the sensor are not limited in the present disclosure, as long as it can detect the rotation angle of the first walking wheel assembly 10. The sensor is electrically connected to the controller, and the sensor feeds back the detected rotation angle of the first walking wheel assembly 10 to the controller. The controller can determine whether the power element 21 and / or the flexible connecting element 30 has failed according to the rotation angle of the first walking wheel assembly 10 and the rotation angle of the power element 21.

[0102] Under normal circumstances, there is a certain mapping relationship between the rotation angle of the first walking wheel assembly 10 and the rotation angle of the power element 21. If any of the actual rotation angle of the first walking wheel assembly 10 and the actual rotation angle of the power element 21 does not satisfy the mapping relationship, it indicates that the power element 21 and / or the flexible connecting element 30 has failed. At this time, the controller can control the device carrying the first walking wheel mechanism 100a to issue a prompt information, such as flashing of a fault light, popping up of a prompt box through a mobile phone APP, etc.

[0103] In some embodiments, the sensor comprises a rotation sensor 40 arranged on the rotating shaft 61 of the first walking wheel assembly 10, and / or a light sensor 50 arranged on the walking power device 11. That is, the first walking wheel mechanism 100a can be provided with only the rotation sensor 40 or the light sensor 50, or can be provided with both the rotation sensor 40 and the light sensor 50.

[0104] Please refer to FIG. 1 and FIG. 2, a light sensor 50 is installed outside the main wheel part a shell of the reduction box 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 running state. The light sensor 50 triggers the in-place signal after detecting the change of light feeling of the retracted slot. Please refer to FIG. 3, a rotation 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.

[0105] When the sensor only includes the rotation sensor 40 arranged on the rotation shaft 61 of the first walking wheel assembly 10, the rotation 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 is faulty or the flexible connecting member 30 is broken, 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 realizing obstacle crossing through the feedback signal of the rotation sensor 40.

[0106] 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 is faulty or the flexible connecting member 30 is broken, 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.

[0107] When the sensor includes both the rotation sensor 40 and the light sensor 50, when the rudder or motor position feedback fails, such as the rudder is faulty or the flexible connecting member 30 is broken, etc., the light sensor 50 and the rotation 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, and it can be determined 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 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 rotation sensor 40, it can also be determined whether the power element 21 or the flexible connecting member 30 is faulty. Moreover, the simultaneous arrangement of the rotation sensor 40 and the light sensor 50 is equivalent to a redundant arrangement, which on the one hand improves the detection accuracy, and on the other hand, when any one of the rotation sensor 40 and the light sensor 50 is faulty, it does not affect the normal use of the first walking wheel mechanism 100a.

[0108] The working principle of the first walking wheel mechanism 100a will be described below by taking a first walking wheel mechanism 100a of an embodiment as an example. In this embodiment, the first walking wheel mechanism 100a is applied to a sweeping robot, and the sweeping robot is provided with two first walking wheel mechanisms 100a. The power assembly 20 and the flexible connecting member 30 in each first walking wheel mechanism 100a 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 simultaneously provided with the rotation sensor 40 and the light sensor 50.

[0109] The position state of the first walking wheel assembly 10 when the sweeping robot is normally traveling is shown in FIG. 1. One end of the cable is fixed in a cable hanging point on the reduction box 111, and the other end is fixed in the inner fixing disc 222 and the outer fixing disc 223 of the rotating disc 22, and the cable is in an elongated state. One end of the spring 70 is fixed at the hook portion 90 on the reduction box 111, and the other end is fixed at the hook portion 90 of the device body 300. The transmission disc 221, the inner fixing disc 222, and the outer fixing disc 223 are fixedly connected to the steering engine by screws.

[0110] When the sweeping robot detects that it needs to overcome an obstacle during traveling, the steering engine rotates by about 120 degrees, and the rotating disc 22 on the steering engine drives the cable to rotate by about 120 degrees, and the cable is in a shortened state and is wound in the gap between the inner fixing disc 222 and the outer fixing 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 rotating shaft 61 as a center, as shown in FIG. 2.

[0111] The first walking wheel assemblies 10 on both sides of the sweeping robot rotate downward to the lower limit position at the same time, and the device body 300 of the sweeping robot is lifted by a height of d from the ground to 4 cm as a whole, as shown in FIG. 6. The walking acceleration provided by the first walking wheel assembly 10 makes the front part of the sweeping robot tilt upward and advance to overcome the obstacle c, as shown in FIG. 7, so as to achieve the purpose of overcoming the obstacle. The obstacle overcoming height of the sweeping robot is increased from 20 mm to 32 mm or more.

[0112] A light sensor 50 is installed on the outside of the main wheel part a of the shell of the reduction box 111, which is used to determine whether the first walking wheel 12 is successfully retracted into the groove of the bottom shell when the first walking wheel 12 is restored from the raised state to the normal traveling state. 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, whether the first walking wheel 12 is truly restored to the normal walking position can be determined according to whether the first walking wheel 12 is successfully retracted into the groove and the actual rotation angle of the rotating shaft 61 detected by the light sensor 50 and the rotation sensor 40. Whether the steering engine or the cable fails can also be determined by comparing the steering engine rotation angle information fed back by the steering engine. The present disclosure provides a cleaning device 1000, which can be a sweeping robot or an automatic sweeping robot. Please refer to FIGS. 6, 7, and 21, the cleaning device 1000 includes a device body 300 and the first walking wheel mechanism 100a of any of the above embodiments. The first walking wheel mechanism 100a is integrally installed in the device body 300, and the first walking wheel 12 of the first walking wheel mechanism 100a partially protrudes from the device body 300 and contacts the ground d to drive the entire cleaning device 1000 to travel.

[0113] When the cleaning device 1000 is running normally (including 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 of it that cannot be crossed (which can be identified by an ultrasonic sensor, a mechanical vision system or the like arranged in front of the device body 300 to identify the position and size of the obstacle), or when the cleaning device 1000 is blocked and cannot run 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 piece 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.

[0114] Since the first walking wheel assembly 10 is always in contact with the ground d during running, 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 there is no part of the device interfering with the obstacle c during the obstacle crossing, thereby achieving the effect of increasing the obstacle crossing height, which can improve 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 100a.

[0115] Please refer to FIG. 6. In some embodiments, when the controller determines that an obstacle c is encountered, 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 and is higher than the height of the obstacle c. The first walking wheel assembly 10 drives the cleaning device 1000 to continue running, i.e., to cross the obstacle c.

[0116] Please refer to FIG. 7. In some embodiments, when the controller determines that an obstacle c is encountered, 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 raised and is higher than the height of the obstacle c. The first walking wheel assembly 10 drives the cleaning device 1000 to accelerate running, i.e., to cross the obstacle c.

[0117] Based on the same design idea, the present disclosure provides another first walking wheel mechanism 100b. The first walking wheel mechanism 100b is similar to the above-mentioned first walking wheel mechanism 100a. The first walking wheel mechanism 100b also includes a first walking wheel assembly 10, a power assembly 20 and a flexible connecting piece 30. The main difference is that the connection mode of the flexible connecting piece 30 in the first walking wheel mechanism 100b with the power assembly 20 and the first walking wheel assembly 10 is different. Now, by means of the drawings, the connection mode of the flexible connecting piece 30 in the first walking wheel mechanism 100b with the power assembly 20 and the first walking wheel assembly 10 is further described.

[0118] In combination with FIG. 8 and FIG. 9, FIG. 8 and FIG. 9 show the overall structure diagram of the first walking wheel mechanism 100b installed on the equipment body 300, the first walking wheel mechanism 100b comprising the first walking wheel assembly 10, the power assembly 20 and the flexible connecting piece 30, the first walking wheel assembly 10 being rotatably connected to the equipment body 300, the first walking wheel assembly 10 can be a driving wheel assembly providing walking power of the equipment, or can be a driven wheel assembly following the rotation of the driving wheel assembly, the present disclosure does not make any limitation, the power assembly 20 is also installed on the equipment body 300, for providing driving force when the first walking wheel assembly 10 is lifted relative to the equipment 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 equipment 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, the present disclosure does not make any limitation.

[0119] In combination with FIG. 8-FIG. 10, the power assembly 20 is provided with a rotatable output shaft 25, the output shaft 25 can rotate in two opposite directions, for example, in the clockwise direction and the counterclockwise direction. The power assembly 20 comprises a power element 21, which can be a steering engine or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.), the driving shaft of the power element 21 is configured as the output shaft 25 of the power assembly 20.

[0120] In combination with FIG. 8-FIG. 11, the flexible connecting piece 30 is arranged between the first walking wheel assembly 10 and the output shaft 25 of the power assembly 20, the flexible connecting piece 30 has a first end and a second end, the first end of the flexible connecting piece 30 is connected to the output shaft 25 of the power assembly 20 and can be wound on the output shaft 25 of the power assembly 20, the second end of the flexible connecting piece 30 is connected to the first walking wheel assembly 10. By controlling the rotation of the output shaft 25 of the power assembly 20, in turn, the first end of the flexible connecting piece 30 is wound on the output shaft 25 of the power assembly 20, the length of the flexible connecting piece 30 exposed between the first walking wheel assembly 10 and the output shaft 25 of the power assembly 20 changes, so that the first walking wheel assembly 10 rotates relative to the equipment body 300, in turn, realizing the lifting function of the first walking wheel assembly 10 relative to the equipment body 300.

[0121] In combination with FIG. 8 and FIG. 9, in some embodiments, the power element 21 of the power assembly 20 is controlled to rotate, which in turn causes the first end of the flexible connecting member 30 to wind or unwind from the output shaft 25 of the power assembly 20, and in turn causes the flexible connecting member 30 to be tightened or loosened, i.e. the effective length of the flexible connecting member 30 changes. When the output shaft 25 of the power assembly 20 rotates in a first direction (e.g. clockwise), the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the output shaft 25 of the power assembly 20 decreases, so that the flexible connecting member 30 is tightened, and when the flexible connecting member 30 is tightened, the flexible connecting member 30 can transmit force, and when the flexible connecting member 30 is tightened, the first walking wheel assembly 10 can be pulled to rotate relative to the device body 300 to lift or lower. When the output shaft 25 of the power assembly 20 rotates in a second direction opposite to the first direction (e.g. counterclockwise), 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, and the first walking wheel assembly 10 can rotate in the opposite direction relative to the device body 300 under the action of gravity and / or a return spring. Compared with the first walking wheel mechanism 100a, the first walking wheel mechanism 100b can control the output shaft 25 of the power assembly 20 to rotate half a turn, one turn or more than two turns according to the height of the obstacle, so as to effectively cross the obstacle.

[0122] According to an embodiment of the present application, the output shaft 25 is provided with a mounting portion on the circumferential side, and the first end of the flexible connecting member 30 is connected to the mounting portion to assemble the flexible connecting member 30 to the circumferential side of the output shaft 25, and the output shaft 25 of the power assembly 20 is controlled to rotate, which in turn causes the first end of the flexible connecting member 30 to wind on the circumferential side of the output shaft 25 of the power assembly 20.

[0123] In combination with FIG. 12, in some embodiments, the output shaft 25 is provided with a mounting groove 24 on the circumferential side, and the first end of the flexible connecting member 30 is connected in the mounting groove 24, and the mounting groove 24 is configured as the above-mentioned mounting portion. Compared with the first walking wheel mechanism 100a, the technical solution of connecting the first end of the flexible connecting member 30 in the mounting groove 24 can lengthen the length of the flexible connecting member 30 between the first walking wheel assembly 10 and the output shaft 25 of the power assembly 20, so that the power arm is larger, thereby reducing the requirement for the size of the output power of the power assembly 20.

[0124] In combination with FIG. 12, the end of the output shaft 25 away from the power element 21 (the outer end of the output shaft 25) is provided with an assembly opening 243 extending to the groove wall of the mounting groove 24 in the axial direction of the output shaft 25, i.e. the assembly opening 243 is arranged on the groove wall of the mounting groove 24 in the axial direction of the output shaft 25, so that the first end of the flexible connecting member 30 can be assembled into the mounting groove 24 of the output shaft 25 through the assembly opening 243.

[0125] In combination with FIG. 11 and FIG. 12, a first hole body 241 is formed in the middle of the end of the output shaft 25 away from the power element 21 (the axial outer end of the output shaft 25), and a second hole body 242 is formed on the outside of the end of the output shaft 25 away from the power element 21, the second hole body 242 is arranged along the radial direction of the output shaft 25, the second hole body 242 and the first hole body 241 are communicated to form a mounting groove 24, wherein the projection of the second hole body 242 along the radial direction of the output shaft 25 falls within the first hole body 241, that is, the opening size of the second hole body 242 is smaller than the size of the first hole body 241, and the first end of the flexible connecting piece 30 is connected with a fixing piece 31, and the fixing piece 31 is fitted in the first hole body 241. Since the opening size of the second hole body 242 is smaller than the size of the first hole body 241, the fixing piece 31 cannot be separated from the output shaft 25 through the second hole body 242. In combination with FIG. 13, the fixing piece 31 can be a columnar structure, the first hole body 241 is also a columnar structure with a diameter slightly larger than that of the fixing piece 31, the fixing piece 31 is fitted in the first hole body 241 with a gap, and the second hole body 242 is a square structure with an opening size slightly larger than the diameter size of the first end of the flexible connecting piece 30, so that the first end of the flexible connecting piece 30 can pass through the second hole body 242.

[0126] In combination with FIG. 13, in another embodiment, a fitting protrusion 26 is connected to the periphery of the output shaft 25, and the first end of the flexible connecting piece 30 is connected to the fitting protrusion 26, so that the flexible connecting piece can be fitted to the periphery of the driving member. The fitting protrusion 26 can be integrally formed on the periphery of the output shaft 25, and the first end of the flexible connecting piece 30 can be tied or hung on the fitting protrusion 26, which is not limited in the present disclosure.

[0127] In combination with FIG. 10, the end of the output shaft 25 away from the power element 21 (the axial outer end of the output shaft 25) is connected with a limiting piece 23, and the first end of the flexible connecting piece 30 is wound on the driving shaft between the limiting piece 23 and the power element 21, so as to limit the winding position of the first end of the flexible connecting piece 30 on the output shaft 25, thereby avoiding the abnormal phenomenon caused by the failure of the flexible connecting piece 30 to be wound on the output shaft 25. The limiting piece 23 can be a plate-shaped structure, which can be detachably fitted on the axial outer end of the output shaft 25 by means of threading, clamping or the like, so as to facilitate the assembly of the first end of the flexible connecting piece 30 on the output shaft 25.

[0128] In combination with FIG. 14, the second end of the flexible connecting piece 30 is connected to the free part b of the support piece, which is used to drive the support piece to rotate relative to the equipment body 300 under the driving of the power assembly 20, so as to realize the lifting function of the first walking wheel assembly 10 relative to the equipment body 300, thereby effectively crossing obstacles.

[0129] In combination with FIG. 14, the outer periphery of the free portion b of the support member is provided with a connecting shaft 62, and the second end of the flexible connecting member 30 is connected with a connecting shaft sleeve 32 which is rotatably sleeved on the connecting shaft 62. During the process of winding or unwinding the first end of the flexible connecting member 30 from or to the driving shaft of the power assembly 20, the connecting shaft sleeve 32 of the second end of the flexible connecting member 30 rotates around the connecting shaft 62 and drives the support member to rotate relative to the device body 300. Two opposite mounting seats 63 are further connected to the outer periphery of the free portion b of the support member, and the connecting shaft 62 is connected to the two mounting seats 63. The connecting shaft sleeve 32 of the second end of the flexible connecting member 30 is arranged between the two mounting seats 63 to limit the position of the connecting shaft sleeve 32, thereby avoiding interference between the flexible connecting member 30 and other components during the process of winding and unwinding. In another embodiment, the connection between the second end of the flexible connecting member 30 and the support member can also refer to the connection between the flexible connecting member 30 and the support member in the first walking wheel mechanism 100a, and the present disclosure is not limited thereto.

[0130] In the above-mentioned first walking wheel mechanism 100a and first walking wheel mechanism 100b, during the process of controlling the operation of the power assembly, the flexible connecting member 30 exposed between the power assembly and the first walking wheel assembly 10 changes from being tight to being loose. During this process, the loose portion of the flexible connecting member 30 can interfere with the spring 70 or other components in the machine, causing failure. Based on this technical problem, the first walking wheel mechanism 100a and first walking wheel mechanism 100b are further improved to ensure that the loose portion of the flexible connecting member 30 does not interfere with the surrounding components when the spring is in the maximum contraction state, thereby avoiding the occurrence of failure.

[0131] In combination with FIG. 15, in an embodiment, the first walking wheel mechanism 100 further comprises at least one tensioning member 320 connected to at least one of the device body 300 and the first walking wheel assembly 10, and the flexible connecting member 30 is wound around the at least one tensioning member 320. During the process of controlling the operation of the power assembly 20, the flexible connecting member 30 is supported by the at least one tensioning member 320 to keep it on the preset path as much as possible and keep it taut between the power assembly 20 and the first walking wheel assembly 10, thereby avoiding interference between the flexible connecting member 30 and the surrounding components and ensuring the normal operation of the cleaning device. The tensioning member 320 can be in the form of a wheel body rotatably connected to at least one of the device body 300 and the first walking wheel assembly 10, so that the flexible connecting member 30 rolls and rubs against the tensioning member 320, thereby making the rotation of the flexible connecting member 30 smooth. The tensioning member 320 can be arranged at the first end of the flexible connecting member 30, or at the second end of the flexible connecting member 30, or at both the first end and the second end of the flexible connecting member 30, and the present disclosure is not limited thereto.

[0132] In another embodiment, at least part of the flexible connecting member 30 is elastic, for example, the first end, the second end or / and a certain end of the middle part of the flexible connecting member 30 is elastic. During the operation of the power assembly 20, the elastic part of the flexible connecting member 30 is deformed, so that the flexible connecting member 30 is kept taut between the power assembly 20 and the first walking wheel assembly 10, thereby avoiding the interference of the flexible connecting member 30 with the surrounding components, and ensuring the normal operation of the cleaning equipment. The part of the flexible connecting member 30 can include an elastic component or be made of an elastic material, so that at least part of the flexible connecting member 30 is elastic.

[0133] It should be noted that, in the case that the first walking wheel mechanism 100 further includes the tensioning member 320, at least part of the flexible connecting member 30 is also elastic, that is, through the support of the tensioning member 320 and the deformation of the elastic part of the flexible connecting member 30, the flexible connecting member 30 is kept taut between the power assembly 20 and the first walking wheel assembly 10, thereby avoiding the interference of the flexible connecting member 30 with the surrounding components, and ensuring the normal operation of the cleaning equipment.

[0134] In the above-mentioned first walking wheel mechanism 100a and the first walking wheel mechanism 100b, in order to avoid the interference between the flexible connecting member 30 and the spring 70 during the process that the flexible connecting member 30 changes from being tight to being loose, the extension direction of the flexible connecting member 30 is arranged to be dislocated with the spring 70. For some compact models, there may not be enough space to arrange the extension direction of the flexible connecting member 30 to be dislocated with the spring 70. Based on this, the first walking wheel mechanism 100a and the first walking wheel mechanism 100b are further improved in the present disclosure, so that the flexible connecting member 30 and the spring 70 can be arranged in a compact model.

[0135] In combination with FIG. 16, in an embodiment, the flexible connecting member 30 is arranged to pass through the spring 70. During the process that the flexible connecting member 30 changes from being tight to being loose, the flexible connecting member 30 reciprocates inside the spring 70, so that the space inside the spring 70 can be utilized, and then the flexible connecting member 30 and the spring 70 can be arranged in a compact model. The length of the flexible connecting member 30 needs to be greater than the length of the spring 70, so that at least one end of the flexible connecting member 30 can pass through the spring 70. The hooking positions of the flexible connecting member 30 and the spring 70 on the free part b of the support member can be integrated at one place, so as to simplify the structure of the support member.

[0136] In combination with FIG. 16, the first walking wheel mechanism 100 further comprises a steering member 330 connected to the device body 300, the steering member 330 is arranged outside the end of the spring 70, and the flexible connecting member 30 can abut against the steering member 330, so that the part of the flexible connecting member 30 passing through the spring 70 is always on the axis of the spring 70, to avoid the flexible connecting member 30 touching the spring 70 during movement, so that the flexible connecting member 30 can move smoothly, thereby driving the first walking wheel assembly 10 to rotate relative to the device body 300, achieving the lifting function of the first walking wheel assembly 10 relative to the device body 300. At the same time, the steering member 330 can also keep the flexible connecting member 30 in tension, to avoid the flexible connecting member 30 from being interfered by the outside world due to relaxation. In an embodiment, the steering member 330 can be a columnar structure or a rotatable wheel structure, which can be connected near the hook portion 90 for connecting the spring 70.

[0137] In combination with FIG. 17 and FIG. 18, in another embodiment, the present disclosure provides a first walking wheel mechanism 100c, which is similar to the above-mentioned first walking wheel mechanism 100a and first walking wheel mechanism 100b. The first walking wheel mechanism 100c also comprises a first walking wheel assembly 10, a power assembly 20, a flexible connecting member 30 and a spring 70. The main difference is that the spring 70 in the first walking wheel mechanism 100c connects the power assembly 20 and the first walking wheel assembly 10, and the flexible connecting member 30 passes through the spring 70, so that the flexible connecting member 30 and the spring 70 can be arranged in a compact model. The specific details of the first walking wheel mechanism 100c are further described by means of the drawings.

[0138] In combination with FIG. 17 and FIG. 18, FIG. 17 and FIG. 18 show the overall structure diagram of the first walking wheel mechanism 100c installed on the equipment body 300, the first walking wheel mechanism 100b comprising the first walking wheel assembly 10, the power assembly 20, the flexible connecting piece 30 and the spring 70, the first walking wheel assembly 10 being rotatably connected to the equipment body 300, the first walking wheel assembly 10 being a driving wheel assembly providing walking power of the equipment or a driven wheel assembly following the rotation of the driving wheel, and the present disclosure does not make any limitation, the power assembly 20 also being installed on the equipment body 300, for providing driving force when the first walking wheel assembly 10 is lifted relative to the equipment body 300, the flexible connecting piece 30 being used for transmitting the power of the power assembly 20 and acting on the first walking wheel assembly 10 to make the first walking wheel assembly 10 rotate relative to the base 310 to realize the lifting function relative to the equipment 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 both first walking wheel assemblies 10 to swing and lift, and the present disclosure does not make any limitation. The spring 70 is connected to the power assembly 20 and the first walking wheel assembly 10, and the damping effect of the spring 70 enables the first walking wheel 12 to be damped when passing through uneven road surfaces. The flexible connecting piece 30 of the present disclosure penetrates through the spring 70, so that the flexible connecting piece 30 can move in the spring 70 and make the flexible connecting piece coaxial or close to coaxial with the spring, thereby only occupying the space occupied by the spring 70, so that the flexible connecting piece 30 and the spring 70 can be arranged in a compact model.

[0139] In combination with FIG. 19, the power assembly 20 is provided with a rotatable output shaft 25, which can rotate in two opposite directions, such as clockwise and counterclockwise. The power assembly 20 comprises a power element 21, which can be a rudder or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.), and the driving shaft of the power element 21 is configured as the output shaft 25 of the power assembly 20.

[0140] In combination with FIG. 19, the flexible connecting piece 30 has a first end and a second end, the first end of the flexible connecting piece 30 being connected to the output shaft 25 of the power assembly 20, and the connection mode between the two can refer to the connection mode between the first end of the flexible connecting piece 30 and the output shaft of the power assembly 20 in the first walking wheel mechanism 100b, and the present disclosure does not make any repetition here.

[0141] In combination with FIG. 19, the spring 70 has a first end and a second end, the first end of the spring 70 being hung on the output shaft 25 of the power assembly, and the first end of the spring 70 can be provided with a first hanging ring 71, the first hanging ring 71 being hung on the output shaft 25 of the power assembly and being slidable on the output shaft 25 to adapt to the winding of the first end of the flexible connecting piece 30 on the output shaft 25 of the power assembly.

[0142] In combination with FIG. 20, the free part b of the walking power device 11 is provided with a fixed shaft 64, and the second end of the flexible connecting piece 30 is connected to the fixed shaft 64. The connection between the second end of the flexible connecting piece 30 and the fixed shaft 64 can refer to the connection between the first end of the flexible connecting piece 30 in the first walking wheel mechanism 100b and the output shaft 25 of the power assembly 20, and the present disclosure will not be described here.

[0143] In combination with FIG. 20, the second end of the spring is provided with a second ring 72, and the second ring 72 is hung on a hook part 90 of the free part b of the walking power device 11. The hook part 90 is integrated on the fixed shaft 64, so that the second end of the flexible connecting piece 30 and the second end of the spring 70 are located at substantially the same position, so that the flexible connecting piece 30 and the spring 70 are coaxial or close to coaxial, and the lifting function of the first walking wheel assembly 10 relative to the equipment body 300 is driven by the flexible connecting piece 30.

[0144] In combination with FIG. 22, 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 first walking wheel mechanism 100 described above. 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 housing 4 of a cleaning equipment, and the driving assembly 3 is drivingly connected with the cam 2. The cam 2 abuts against the second walking wheel assembly 1, and the second walking wheel assembly 1 is slidingly connected with a second housing 5 of the cleaning equipment, and the sliding direction is the height direction.

[0145] Exemplarily, the equipment body 300 comprises the first housing 4 and the second housing 5. The second walking wheel mechanism 200 can be a driving wheel walking mechanism or a driven wheel walking mechanism.

[0146] In an embodiment of the present disclosure, the second walking wheel assembly 1 is always in contact with the ground, and the second walking wheel assembly 1 is used to drive the cleaning equipment to move; the cam 2 is used to drive the second walking wheel assembly 1 to slide relative to the second housing 5 under the driving of the driving assembly 3; and the driving assembly 3 is used to drive the cam 2 to rotate.

[0147] In a specific embodiment of the present disclosure, the first housing 4 and the second housing 5 respectively refer to two different housing structures; preferably, the first housing 4 can be detachably connected with the second housing 5.

[0148] In another preferred embodiment of the present disclosure, the first housing 4 and the second housing 5 are fixedly connected; preferably, the first housing 4 and the second housing 5 are integrally formed.

[0149] In another specific embodiment of the present disclosure, in the case where the first housing 4 and the second housing 5 are integrally formed, it can be understood that the first housing 4 and the second housing 5 respectively refer to two different parts of the same housing.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] Referring to FIGS. 22 and 23, 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.

[0154] In embodiments of the present disclosure, the driving unit 31 is used to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is used 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.

[0155] In embodiments of the present disclosure, the driving assembly 3 is provided 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.

[0156] In the specific embodiment of the present disclosure, the driving unit 31 is drivingly connected with the transmission shaft 32 through the coupling 34.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] Referring to FIG. 24, 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.

[0161] In another specific embodiment of the present disclosure, the driving unit 31 can also be a driving motor.

[0162] Referring to FIG. 25, 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.

[0163] 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.

[0164] 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 then the cleaning equipment body moves away from the ground, thereby lifting the cleaning equipment.

[0165] In specific embodiments of the present disclosure, the sliding sleeve 120 and the second shell 5 are alternatively provided with a sliding block and a sliding groove, and the sliding block and the sliding groove are connected in a matching manner. Specifically, the sliding block can be arranged on the sliding sleeve 120, and the sliding groove can be arranged on the second shell 5. Alternatively, the sliding block can be arranged on the second shell 5, and the sliding groove can be arranged on the sliding sleeve 120.

[0166] In specific embodiments of the present disclosure, the abutting pressing plate 110 is integrally formed with the sliding sleeve 120.

[0167] 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.

[0168] 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.

[0169] In the embodiments of the present disclosure, by arranging 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 a sliding manner, so that the height difference between the second walking wheel assembly 1 and the second shell 5 is changed by a simple structure, and the use of a complex structure such as a lead screw is avoided, thereby simplifying the mechanical structure of the bottom of the cleaning equipment, and further reducing the manufacturing cost of the walking wheel mechanism.

[0170] 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.

[0171] 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.

[0172] In the embodiments of the present disclosure, by arranging 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 during the self-falling process, improving the reliability of the walking wheel mechanism, and improving the reliability of the cleaning equipment.

[0173] Referring to FIG. 26, 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.

[0174] 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.

[0175] In specific embodiments of the present disclosure, the inclined surface 1101 can be an inclined plane or an inclined arc surface.

[0176] 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.

[0177] Referring to FIG. 27, 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.

[0178] 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.

[0179] In specific embodiments of the present disclosure, the abutment pulley 210 is installed on the cam 2 through a sliding pulley shaft 220.

[0180] 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.

[0181] 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.

[0182] Referring to FIG. 28, 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] Referring to FIG. 29, 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.

[0188] In a specific embodiment of the present disclosure, the rotating shaft mounting hole 121 is arranged along the height direction.

[0189] 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.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] In the following, the specific working principle of the walking wheel mechanism in embodiments of the present disclosure is introduced:

[0195] 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 abuts against the abutting pressing plate 110, the abutting pulley 210 on the far center 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 center 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 work; preferably, the first preset angle is 0°.

[0196] 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 abuts against the abutting pressing plate 110, the abutting plane of the far center 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 center 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.

[0197] 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°.

[0198] The walking wheel mechanism in the embodiments of the present disclosure has the following beneficial effects:

[0199] 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.

[0200] 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.

[0201] The embodiments of the present disclosure also provide a cleaning equipment, which comprises the second walking wheel mechanism 200, the first shell 4, and the second shell 5 in the embodiments of the present disclosure.

[0202] The embodiments of the present disclosure also provide a cleaning equipment, which comprises the second walking wheel mechanism 200, the first shell 4, and the second shell 5 in the embodiments of the present disclosure.

[0203] Please refer to FIG. 21, the embodiments of the present disclosure also provide a cleaning equipment 1000, which comprises the equipment body 300 and the walking wheel mechanism, the walking wheel mechanism comprising walking wheels, three walking wheels being distributed in a triangular shape at the bottom of the equipment 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.

[0204] The two first walking wheel mechanisms 100 and the second walking wheel mechanism 200 in the 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 walking wheels can be lifted synchronously or asynchronously to adjust the posture of the device body 300.

[0205] The two first walking wheel mechanisms 100 and the second walking wheel mechanism 200 in the embodiment can also be configured to control the three walking wheels to be lifted synchronously, for example, to control all the three walking wheels to be lifted simultaneously.

[0206] In the embodiments of the present disclosure, the cleaning device can be a cleaning device such as a sweeper and a sweeping robot.

[0207] 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 between them. 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.

[0208] 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 are only for the convenience of describing 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.

[0209] 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, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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 can be made to these embodiments 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.

[0215] 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 a length of the flexible connecting member. The power assembly comprises a power element and a rotating disc, the power element driving 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, for changing a length exposed between the first walking wheel assembly and the rotating disc during rotation of the rotating disc, so as to rotate the first walking wheel assembly relative to the device body. The rotating disc rotates an angle of not more than 360 degrees or not more than 720 degrees during rotation of the first walking wheel assembly.

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

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

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 during rotation of the rotating disc.

6. The first walking wheel mechanism according to claim 5, wherein The power element is a steering engine or a motor integrated with an encoder, and an 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 device body is provided with a controller, the first walking wheel mechanism further comprises a sensor for detecting a rotation angle of the first walking wheel assembly, the sensor and the power element are electrically connected with the controller; the controller is arranged to determine whether the power element or the flexible connecting member is faulty according to the rotation angle of the first walking wheel assembly and a rotation angle of the 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 a rotating shaft of the first walking wheel assembly, and / or a light sensor arranged on the first walking wheel assembly.

9. The first walking wheel mechanism according to any one of claims 2-6, wherein, 12.The first walking wheel mechanism according to any one of claims 1-6, further comprising at least one tensioning member connected on at least one of the device body and the first walking wheel assembly, the flexible connecting member being wound around the at least one tensioning member.

10. The first walking wheel mechanism according to claim 9, wherein, At least part of the flexible connecting member is elastic.

11. The first walking wheel mechanism of claim 10, wherein, At least part of the flexible connecting member is elastic. The device body is provided with an upper limit portion and a lower limit portion for limiting an upper limit position and a lower limit position of the first walking wheel assembly, respectively.

13. The first walking wheel mechanism according to any one of claims 1-6, wherein, The first walking wheel assembly comprises a support member and a first walking wheel mounted on the support member; the support member comprises a main wheel portion and a free portion, the main wheel portion being closer to the first walking wheel relative to the free portion; 14. The first walking wheel mechanism of claim 12, wherein, The free portion of the support member is rotationally connected with the device body; 15. The first walking wheel mechanism according to any one of claims 1-6, wherein, ​ 16. The first walking wheel mechanism according to any one of claims 1-6, wherein, ​ ​ The flexible connecting member is connected to the free part of the support member.

17. The first walking wheel mechanism of claim 16, wherein, The free part of the support member is provided with a mounting shaft seat, which is rotationally connected to the device body, and the support member rotates around the rotation shaft of the mounting shaft seat.

18. The first walking wheel mechanism of claim 17, wherein, The mounting shaft seat is arranged at the lower part of the free part, and the flexible connecting member is connected to the upper part of the free part.

19. The first walking wheel mechanism of claim 16, wherein, The support member 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.

20. The first walking wheel mechanism of claim 16, wherein, The first walking wheel mechanism further comprises a spring, one end of which is fixed to the free part of the support member and the other end of which is fixed to the device body.

21. The first walking wheel mechanism of claim 20, wherein, The free part and the device body are both provided with hook parts, and the two ends of the spring are respectively hooked to the two hook parts.

22. The first walking wheel mechanism according to claim 20 or 21, wherein, The flexible connecting member is arranged through the spring.

23. The first track mechanism of claim 22, further comprising: A turning member is connected to the device body, the turning member is arranged outside the end of the spring, and the flexible connecting member can abut against the turning member.

24. The first track mechanism of claim 20, wherein, The other end of the spring is connected to a power assembly on the device body, and the flexible connecting member is arranged through the spring.

25. The first walking wheel mechanism of claim 24, wherein, The power assembly is provided with a rotatable output shaft, and the flexible connecting member and the spring are both connected to the output shaft.

26. The first track mechanism according to claim 24 or 25, wherein, The free part of the support member is provided with a fixed shaft, and the flexible connecting member and / or the spring are connected to the fixed shaft.

27. The first track wheel mechanism of claim 16, wherein, The support member is a walking power device, and the first walking wheel is drivingly connected to the support member.

28. The first track mechanism of claim 16, wherein, The support member is a bracket, and the first walking wheel is mounted on the bracket.

29. The first track mechanism of any of claims 1-6, 10-11, 14, 17-21, 23-25, and 27-28, wherein, The first walking wheel assembly is always in contact with the ground during driving and lifting relative to the device body.

30. A cleaning device comprising a device body and a second walking wheel mechanism or / and the first walking wheel mechanism according to any one of claims 1-29.

31. A cleaning device comprising a device body, two driving wheel mechanisms and one driven wheel mechanism, the two driving wheel mechanisms and the one driven wheel mechanism are distributed in a triangle shape on the device body, the driven wheel mechanism is located at the front side of the advancing direction of the cleaning device, and the driving wheel mechanisms are located at the rear side of the advancing direction of the cleaning device. wherein The driving wheel mechanisms are the first walking wheel mechanisms according to any one of claims 1-29, and the driven wheel mechanism is the second walking wheel mechanism.

32. The cleaning apparatus of claim 31, wherein, The two driving wheel mechanisms and the one driven wheel mechanism can independently control the lifting of the respective walking wheels.

33. The cleaning apparatus of claim 31, wherein, The two driving wheel mechanisms and the one driven wheel mechanism can control the synchronous lifting of the respective walking wheels.

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