Moving wheel mechanism and cleaning device

Abstract

Provided are a first moving wheel mechanism (100, 100a, 100b), a second moving wheel mechanism (200), and a cleaning device (1000). The first moving wheel mechanism (100, 100a, 100b) is mounted on a device body (300), and comprises a first moving wheel assembly (10), a power assembly (20), and a flexible connecting member (30). The flexible connecting member (30) is provided between the first moving wheel assembly (10) and the power assembly (20). By changing the length of the flexible connecting member (30), the first moving wheel assembly (10) can move relative to the device 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 maintains 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 in the device. 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 improving 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 embodiments of the present disclosure further provide 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 embodiments of the present disclosure further provide a cleaning device, which comprises a device body and the first walking wheel mechanism according to any one of the above embodiments and / or the second walking wheel mechanism according to any one of the above embodiments. 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 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 in the lowering state of the walking power device 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 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 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 of Fig. 1 and Fig. 2;

[0018] Figure 6 illustrates a schematic diagram of the obstacle-crossing process of the cleaning equipment in one or more embodiments of this disclosure;

[0019] Figure 7 illustrates a schematic diagram of the obstacle-crossing process of the cleaning equipment in some other embodiments of this disclosure;

[0020] Figure 8 shows a schematic diagram of the first walking wheel mechanism in the walking wheel assembly lifted state in another embodiment of the present disclosure;

[0021] Figure 9 shows a schematic diagram of the structure of the first walking wheel mechanism in the lowered state of the walking power device according to an embodiment of the present disclosure;

[0022] Figure 10 shows a schematic diagram of the power assembly in Figures 8 and 9;

[0023] Figure 11 shows a schematic diagram of the flexible connector in Figures 8 and 9;

[0024] Figure 12 shows a schematic diagram of the power element in Figure 10;

[0025] Figure 13 shows a schematic diagram of another power element;

[0026] Figure 14 shows a partial structural schematic diagram of the free portion of the support member;

[0027] Figure 15 shows a schematic diagram of the structure of the cleaning equipment in some embodiments of this disclosure;

[0028] Figure 16 is a schematic diagram of the second traveling wheel mechanism provided in an embodiment of this disclosure;

[0029] Figure 17 is a schematic diagram of the drive component structure in the second traveling wheel mechanism provided in an embodiment of this disclosure;

[0030] Figure 18 is a schematic diagram of the bearing bracket assembly in the second traveling wheel mechanism provided in an embodiment of this disclosure;

[0031] Figure 19 is a schematic diagram of the walking wheel assembly structure in the second walking wheel mechanism provided in this embodiment of the present disclosure;

[0032] Figure 20 is a schematic diagram of the abutment pressure plate structure in the second traveling wheel mechanism provided in the embodiment of this disclosure;

[0033] Figure 21 is a schematic diagram of the cam structure in the second traveling wheel mechanism provided in an embodiment of this disclosure;

[0034] Figure 22 is a schematic diagram of the cam structure in the second traveling wheel mechanism provided in another embodiment of the present disclosure;

[0035] Figure 23 is a cross-sectional view of the assembly of the sliding bushing and the wheel mounting seat in the second traveling wheel mechanism provided in the embodiment of this disclosure. DETAILED DESCRIPTION

[0036] 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 effort belong to the scope of the present disclosure.

[0037] In addition, the present disclosure can repeat reference numerals and / or reference letters in different examples for the purpose of simplicity and clarity, and such repetition is not to be construed as indicating a relationship between the various implementations and / or arrangements discussed. Furthermore, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize that other processes and / or materials can be used.

[0038] Herein, "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one implementation of the present disclosure. The appearances of the phrase "in one embodiment" or "in an embodiment" in various places in the specification are not necessarily referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Also, the term "implementation" is intended to refer to an implementation or implementation of one or more computer programs, firmware, or hardware.

[0039] In addition, the present disclosure can repeat reference numerals and / or reference letters in different examples for the purpose of simplicity and clarity, and such repetition is not to be construed as indicating a relationship between the various implementations and / or arrangements discussed. Furthermore, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize that other processes and / or materials can be used.

[0040] When the cleaning device encounters an obstacle during automatic driving, the cleaning device needs to avoid the obstacle or cross over the obstacle. The obstacle crossing height limits the working range and operation reliability of the cleaning device. In the related art, the solution to the obstacle crossing problem relies on a software strategy, which adjusts the angle and speed of the cleaning device approaching the obstacle to realize 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.

[0041] 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. By actively lifting the device body, the ground clearance is increased, the components below the device are higher than the obstacle, and the part of the device that does not interfere with the obstacle during obstacle crossing is realized, 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.

[0042] Embodiments of the present disclosure provide a walking wheel lifting mechanism. To distinguish from another embodiment, the walking wheel lifting mechanism in this embodiment is named as a first walking wheel mechanism 100a. The first walking wheel mechanism 100a is installed on a device body 300 of an automated device that has a demand for obstacle crossing function, and can realize the function of lifting the first walking wheel 12 relative to the device body 300, thereby increasing the ground clearance of the device body 300 and realizing the effect of increasing the obstacle crossing height. The first walking wheel mechanism 100a can be applied to cleaning devices such as sweeping robots and automatic sweeping machines, and can also be applied to other automated driving devices that have a demand for obstacle crossing function, such as automatic food delivery robots and express sorting robots.

[0043] The first walking wheel mechanism 100a can be a driven wheel lifting mechanism or a driven wheel lifting mechanism.

[0044] The first walking wheel 12 can be a driven wheel or a driven wheel, and the first walking wheel 12 includes but is not limited to a roller, a track wheel, a Mecanum wheel, etc.

[0045] 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 driven wheel lifting mechanism, the first walking wheel assembly 10 is a driven wheel assembly, and the first walking wheel 12 is a driven wheel.

[0046] 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 comprises a first walking wheel assembly 10, a power assembly 20 and a flexible connecting member 30. The first walking wheel assembly 10 is rotatably connected to the device body 300. The first walking wheel assembly 10 can be a driving wheel assembly that provides the walking power of the device, or a driven wheel assembly that follows the rotation of the driving wheel assembly, which is not limited in the present disclosure. The power assembly 20 is also installed on the device body 300, which is used to provide the driving force when the first walking wheel assembly 10 is lifted relative to the device body 300. The flexible connecting member 30 is used to transmit the power of the power assembly 20 and act on the first walking wheel assembly 10, so that the first walking wheel assembly 10 rotates relative to the base 310 to realize the lifting function relative to the device body 300. The power assembly 20 and the flexible connecting member 30 can only drive the corresponding first walking wheel assembly 10 to swing and lift, or can simultaneously drive two first walking wheel assemblies 10 to swing and lift, which is not limited in the present disclosure.

[0047] When the first walking wheel assembly 10 is a driving wheel assembly that provides the walking power of the device, the driving wheel assembly is used to provide the walking power of the device. The power assembly 20 is also installed on the device body 300, which is used to provide the driving force when the driving wheel assembly is lifted relative to the device body 300. The flexible connecting member 30 is used to transmit the power of the power assembly 20 and act on the driving wheel assembly, so that the driving wheel assembly rotates relative to the device body 300 to realize the lifting function relative to the device body 300. Two driving wheel assemblies are usually required when the device is walking. The power assembly 20 and the flexible connecting member 30 can only drive the corresponding driving wheel assembly to swing and lift, or can simultaneously drive two driving wheel assemblies to swing and lift, which is not limited in the present disclosure. Since the relative rotation of the driving wheel assembly and the driving of the driving wheel assembly itself are driven by different drivers, the driving action and the relative rotation action of the driving wheel assembly do not interfere with each other and can be performed simultaneously.

[0048] Since the first walking wheel assembly 10 is always in contact with the ground d during driving, when the corresponding first walking wheel assembly 10 is a driving wheel assembly, the driving wheel assembly is also always in contact with the ground d during lifting relative to the device body 300. Therefore, the lifting of the first walking wheel assembly 10 relative to the device body 300 in the device is that the ground clearance of the device body 300 changes. When the ground clearance of the device body 300 increases, the components below the device body 300 can be higher than the obstacle c, so that the device does not interfere with the obstacle c during obstacle crossing, thereby realizing the effect of increasing the obstacle crossing height, which can improve the obstacle crossing height, the escape ability and the adaptability to different road surfaces of the device provided with the first walking wheel mechanism 100a.

[0049] In some embodiments, the power assembly 20 outputs rotational 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 brushed motor, a brushless motor, a stepper motor, etc.), and is configured to drive the rotating disc 22 to rotate in two opposite directions, such as a clockwise direction and an anticlockwise direction. The rotating disc 22 is fixedly connected to an output shaft 211 of the power element 21, or can be a protruding part on the output shaft 211 of the power element 21, and the specific structure is not limited in the present disclosure.

[0050] The flexible connecting member 30 is arranged between the first walking wheel assembly 10 and the rotating disc 22, and can be fixed at one end to the first walking wheel assembly 10 and at the other end to the rotating disc 22, and is configured to transmit the rotational power of the power element 21. Alternatively, the flexible connecting member 30 can be connected to one of the first walking wheel assembly 10 and the rotating disc 22, and is arranged around the other one of the first walking wheel assembly 10 and the rotating disc 22, so as to change the spatial position of the free part b of the first walking wheel assembly 10. During rotation of the rotating disc 22, the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 changes, so that the first walking wheel assembly 10 rotates relative to the device body 300 to realize the lifting function relative to the device body 300.

[0051] In some embodiments, the power element 21 tightens or loosens the flexible connecting member 30 by driving the rotating disc 22 to rotate, that is, the effective length of the flexible connecting member 30 changes. When the rotating disc 22 rotates in a first direction (for example, a clockwise direction), the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 decreases, so that the flexible connecting member 30 is tightened, and the flexible connecting member 30 can transmit force when it is tightened. The first walking wheel assembly 10 can be pulled to rotate relative to the device body 300 to lift when the flexible connecting member 30 is tightened. When the rotating disc 22 rotates in a second direction opposite to the first direction (for example, an anticlockwise direction), the length of the flexible connecting member 30 exposed between the first walking wheel assembly 10 and the rotating disc 22 increases, and the flexible connecting member 30 is loosened. The first walking wheel assembly 10 can rotate in the opposite direction relative to the device body 300 under the action of the weight and / or 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, and in this process, the flexible connecting member 30 is always tightened.

[0052] Exemplarily, the first walking wheel assembly 10 comprises a support member, which is rotatably connected to the device body 300, and comprises a main wheel portion a and a free portion b, the main wheel portion a being closer to the driving wheel relative to the free portion b; the flexible connecting member is connected between the free portion b of the support member and the power assembly 20, and is used to drive the support member to rotate relative to the device body 300 under the driving of the power assembly 20.

[0053] Exemplarily, the support member can be a support bracket or a walking power device 11. The walking power device 11 can also be named as a transmission device.

[0054] It can be understood that when the first walking wheel 12 is a driving wheel, the support bracket is the walking power device 11; when the first walking wheel 12 is a driven wheel, the support bracket is a support bracket, which plays a supporting role.

[0055] Exemplarily, the first walking wheel assembly 10 is rotatably installed on the device body 300; the first walking wheel assembly 10 comprises a driving device and a driven driving wheel; the first walking wheel assembly 10 is rotatably arranged on the device body 300.

[0056] Please refer to FIG. 1 and FIG. 2, in some embodiments, the direction of the pulling force exerted by the flexible connecting member 30 on the walking power device 11 does not pass through the rotation axis 61 of the first walking wheel assembly 10 relative to the device body 300, so that the pulling force can generate a downward / outward torque on the first walking wheel assembly 10, so as to force the walking power device 11 to swing outward with the axis of the rotation axis 61 as the center.

[0057] 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 rotating 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 rotating disc 22 during the lifting or lowering of the first walking wheel assembly 10 is not more than one circle, so as to reduce the total length of the flexible connecting member 30 when it is relaxed, avoid the flexible connecting member 30 from being separated from the rotating disc 22 after relaxation, 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. In some embodiments, the rotation angle of the rotating disc 22 during the lifting or lowering of the first walking wheel assembly 10 is 0-300 degrees, such as 30°, 45°, 60°, 70°, 90°, 120°, 180°, 235°, 270°, 290°, 300°, etc.

[0058] In some embodiments, the power element 21 rotates no more than 720 degrees during the lifting or lowering of the first walking wheel assembly 10. Specifically, the rotation disc 22 rotates no more than 720 degrees during the rotation of the first walking wheel assembly 10. That is, the rotation disc 22 rotates no more than two rounds during the lifting or lowering of the first walking wheel assembly 10. 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.

[0059] In some embodiments, the power element 21 tightens or loosens the flexible connection 30 by driving the rotation of the rotation disc 22.

[0060] Referring to FIG. 3, a structural schematic diagram of the walking power device 11 in some embodiments is shown. The first walking wheel assembly 10 includes a driving device 112, the walking power device 11, and the driven first walking wheel 12. The driving device 112 drives the rotation of the first walking wheel 12 through the walking power device 11, thereby driving the entire cleaning equipment 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, which is used to directly transmit 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, which realizes the connection and fixation of the walking power device 11 and the surrounding structure.

[0061] The flexible connection 30 is connected between the power assembly 20 and the free part b of the walking power device 11. It can be that both ends of the flexible connection 30 are connected to the power assembly 20 and the free part b of the walking power device 11, respectively. It can also be that the flexible connection 30 is connected to the power assembly 20 and wound on the free part b of the walking power device 11, so as to change the spatial position of the free part b of the walking power device 11. The flexible connection 30 drives the walking power device 11 to rotate relative to the equipment body 300 under the driving of the power assembly 20, so that the first walking wheel assembly 10 is lifted or lowered relative to the equipment body 300.

[0062] In order to reduce the possibility of foreign objects hooking or escaping the rotating disc 22 when the flexible connecting member 30 is in a loosened state, in some embodiments, a tensioning mechanism is provided at the connection between the flexible connecting member 30 and the rotating disc 22. The tensioning mechanism is used to provide a tensioning force, and the tensioning mechanism includes but is not limited to an elastic member, which can be a spring or a clockwork, etc. For example, the tensioning mechanism is a torsion spring, which can keep the flexible connecting member 30 taut in real time, so that the flexible connecting member 30 will not have the risk of escaping the rotating disc 22. In some embodiments, a clockwork can also be used to keep the flexible connecting member 30 taut in real time.

[0063] It should be understood that the flexible connecting member 30 as referred to in the present disclosure is not limited to being entirely flexible. The flexible connecting member 30 can be a flexible cable such as a steel cable or a nylon cable, or a combination of a flexible cable and a rigid connecting member, such as a combination of a flexible cable and a pull rod. That is, the flexible connecting member 30 is at least partially flexible, and the flexible structure is used as a power transmission medium, which can to some extent solve the problem of spatial arrangement of the first walking wheel mechanism 100a. Through some fixed pulley structures, the power assembly 20 (such as a motor or a pneumatic cylinder) can be arranged at any position of the device body 300, thereby achieving optimal space utilization.

[0064] Please refer to FIG. 1 and FIG. 2, which show the working principle of the flexible connecting member 30 of the first walking wheel mechanism 100a in some embodiments. The flexible connecting member 30 is a cable, one end of which is fixed in a cable hanging point on the first walking wheel assembly 10, and the other end is fixed in the rotating disc 22. The cable extends in a straight line as a whole, and is not wound on any reversing structure in the middle. The rotating disc 22 rotates by an angle of no more than 360 degrees, which means that the cable will not be wound on the rotating disc 22 for a full turn. This non-winding mode can reduce the problems of cable knotting and foreign objects hooking during the cable loosening process, compared with the scheme of winding and unwinding the cable.

[0065] In some embodiments, the rotating disc 22 is coaxially arranged with the output shaft 211 of the power element 21, and the connection between the flexible connecting member 30 and the rotating disc 22 is arranged eccentrically relative to the rotation axis of the rotating disc 22, as shown in FIG. 5; or the connection between the flexible connecting member 30 and the rotating disc 22 is coaxially arranged relative to the rotation axis of the rotating disc 22, and the rotating disc 22 is arranged eccentrically relative to the output shaft 211 of the power element 21. That is, during the rotation of the rotating disc 22, the spatial position of the connection between the flexible connecting member 30 and the rotating disc 22 changes with the rotation of the rotating disc 22, and the overall linear extension of the flexible connecting member 30 causes the spatial posture of the flexible connecting member 30 to change during the rotation of the rotating disc 22. The flexible connecting member 30 is always under tension during the rotation of the rotating disc 22, and due to the change in the spatial position of the end of the flexible connecting member 30 connected to the rotating disc 22, the spatial position of the end of the flexible connecting member 30 connected to the first walking wheel assembly 10 also changes accordingly under the condition that the length of the flexible connecting member 30 remains unchanged, thereby forcing the walking power device 11 to swing outward with the axis of the rotation shaft 61 as the center.

[0066] Since the flexible connecting member 30 is always under tension during the rotation of the rotating disc 22, that is, the effective length of the flexible connecting member 30 remains unchanged. Correspondingly, the rotation angle of the rotating disc 22 during the lifting or lowering of the first walking wheel assembly 10 is 0-90 degrees, such as 10°, 25°, 30°, 40°, 50°, 60°, 70°, 80°, 85°, etc. When the rotation angle of the rotating disc 22 exceeds 90 degrees, such as 150 degrees, the spatial posture of the flexible connecting member 30 at this time is basically the same as that when the rotation angle of the rotating disc 22 is 30 degrees. Therefore, by setting the rotation angle of the rotating disc 22 during the lifting or lowering of the first walking wheel assembly 10 to be 0-90 degrees, on the one hand, the flexible connecting member 30 can form different spatial postures; on the other hand, the maximum rotation angle of the rotating disc 22 is only 90 degrees, which can shorten the time for the first walking wheel assembly 10 to switch between the lifting and lowering states compared to the scheme of winding and unwinding the flexible connecting member 30 for a full circle or multiple circles, thereby improving the obstacle crossing efficiency.

[0067] 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, and the connection of the flexible connecting member 30 and the rotating disc 22 is fixed therein. 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] Since the mounting shaft seat 60 is located at the free portion b of the walking power device 11, the distance between the rotating shaft 61 of the mounting shaft seat 60 and the grounding point of the driving wheel is large, and the walking power device 11 only needs to rotate a small angle to significantly increase the device ground clearance.

[0076] Referring to FIG. 4, in some embodiments, the rotating shaft 61 of the mounting shaft seat 60 is not coaxial with the shaft center of the driving device 112, so that the mounting shaft seat 60 and the driving device 112 are located at different positions, avoiding the driving wheel assembly from being too large in the axial direction of the rotating shaft 61, thereby facilitating the arrangement of the mounting shaft seat 60 and the driving device 112.

[0077] Referring to FIG. 4, in some embodiments, the mounting shaft seat 60 is arranged at the lower side of the free portion b, and the shaft center of the driving device 112 is located above the rotating shaft 61 of the mounting shaft 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.

[0078] The flexible connecting member 30 is connected to the free portion b of the walking power device 11. Similarly, the distance between the hanging point of the flexible connecting member 30 on the free portion b and the grounding point of the first driving wheel 12 is large, so that the power arm is large, thereby reducing the requirement for the size of the output power of the power assembly 20. The flexible connecting member 30 can be directly connected to the free portion b of the walking power device 11. In some embodiments, a hanging point portion 80 can be arranged at the free portion b of the walking power device 11, and the flexible connecting member 30 is connected to the hanging point portion 80. In some embodiments, the hanging point portion 80 is arranged at the upper side of the free portion b, so that the flexible connecting member 30 is located at a relatively high position in the device body 300, preventing the flexible connecting member 30 from falling and contacting the ground when it is in a loosened state.

[0079] 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 a power element 21 such as a motor or a steering engine, or a telescopic power element 21 such as a pneumatic cylinder or an electric telescopic rod. The present disclosure is not limited thereto.

[0080] 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 engine or a motor (not limited to a brush motor, a brushless motor, a stepper motor, etc.). One end of the flexible connecting member 30 is fixed to the free portion b of the walking power device 11, and the other end is connected to the output shaft 211 of the 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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 surface. Similarly, in order to facilitate the installation of the spring 70, in some embodiments, the free part b of the walking power device 11 and the base 310 of the device body 300 are both provided with a hook part 90, and the two ends of the spring 70 are respectively hooked on the two hook parts 90. In some embodiments, the hook 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.

[0085] 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.

[0086] 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.

[0087] 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 positions of the action points 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.

[0088] 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.

[0089] Exemplarily, the driving device comprises a driving motor, which can be a direct current motor or a servo motor, etc.

[0090] 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.

[0091] 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.

[0092] In some embodiments, the power element 21 controls the rotation angle and / or rotation speed of the rotating disc 22.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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 fails or the flexible connecting member 30 breaks, etc., the controller can determine whether the first walking wheel 12 is truly rotated to the normal walking position or fully extended to the position for obstacle crossing through the feedback signal of the rotation sensor 40.

[0100] When the sensor only includes the light sensor 50 arranged on the walking power device 11, the light sensor 50 can detect whether the first walking wheel 12 is successfully retracted into the slot. When the rudder or motor position feedback fails, such as the rudder fails or the flexible connecting member 30 breaks, etc., the controller can determine whether the first walking wheel 12 is fully retracted and restored to the normal walking position through the feedback signal of the light sensor 50.

[0101] 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 fails or the flexible connecting member 30 breaks, 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, which can determine whether the first walking wheel 12 is truly restored to the normal walking position. Moreover, by comparing the information of the rotation angle of the 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 fails. 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 either of the rotation sensor 40 and the light sensor 50 fails, it does not affect the normal use of the first walking wheel mechanism 100a.

[0102] The working principle of the first walking wheel mechanism 100a will be described below taking the 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, and the first walking wheel assembly 10 is simultaneously provided with the rotation sensor 40 and the light sensor 50.

[0103] 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.

[0104] 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 shown in FIG. 2.

[0105] 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 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 move forward 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.

[0106] 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 slot 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 slot and the actual rotation angle of the rotating shaft 61 detected by the light sensor 50 and the rotation sensor 40. Compared with the steering engine rotation angle information fed back by the steering engine, it can also be determined whether the steering engine or the cable fails. 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 15, 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 protrudes from the device body 300 and contacts the ground d to drive the entire cleaning device 1000 to travel.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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 first walking wheel mechanism 100a described above, and the first walking wheel mechanism 100b also includes the first walking wheel assembly 10, the power assembly 20 and the 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.

[0112] 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 acts 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.

[0113] 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.

[0114] 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.

[0115] 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 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.

[0116] 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.

[0117] 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 mounting portion described above. 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.

[0118] 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.

[0119] 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.

[0120] In combination with FIG. 13, in another embodiment, a fitting protrusion 26 is connected to the peripheral side 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 on the peripheral side of the driving member. The fitting protrusion 26 can be integrally formed on the peripheral side 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.

[0121] 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 is a conical frustum, which has an inclined guide surface on the shaft side for guiding the flexible connecting piece 30 to be wound on the output shaft 25, or it can be a plate structure which can be detachably fitted on the axial outer end of the output shaft 25 by means of threads, clamps or the like, so as to facilitate the assembly of the first end of the flexible connecting piece 30 on the output shaft 25.

[0122] In combination with FIG. 14, the second end of the flexible connecting piece 30 is connected to the free part b of the support member, which is used to drive the support member 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.

[0123] As shown in 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 to / from 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.

[0124] As shown in FIG. 16, the second walking wheel mechanism 200 provided by the embodiment of the present disclosure is introduced, which is named as the 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 the cleaning device, 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 device, and the sliding direction is the height direction.

[0125] For example, the device 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.

[0126] In the 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 device 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. The driving assembly 3 is used to drive the cam 2 to rotate.

[0127] In the 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.

[0128] 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.

[0129] In another specific embodiment of the present disclosure, in the case that the first shell 4 and the second shell 5 are integrally formed, it can be understood that the first shell 4 and the second shell 5 respectively refer to two different parts of the same shell.

[0130] In specific embodiments of the present disclosure, the first shell 4 and the second shell 5 are both the 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 that 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 that the second shell 5 moves towards the second walking wheel assembly 1, the cleaning device moves towards the ground.

[0131] In embodiments of the present disclosure, 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 along the height direction, the cam 2 can be driven to rotate 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 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, to improve the flexibility of the walking wheel mechanism and the working flexibility of the cleaning device.

[0132] In embodiments of the present disclosure, 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, and thus simplifying the mechanical structure at the bottom of the cleaning device, and further reducing the manufacturing cost of the walking wheel mechanism.

[0133] Referring to FIGS. 16 and 17, in embodiments of the present disclosure, the driving assembly 3 includes a driving unit 31 and a transmission shaft 32, the driving unit 31 is fixedly connected with the first shell 4, the driving unit 31 is drivingly connected with one end of the transmission shaft 32, the other end of the transmission shaft 32 is connected with the first shell 4 through a bearing structure; the cam 2 is fixedly connected with the transmission shaft 32.

[0134] 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 with 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; specifically, the bearing assemblies 33 include two clamping springs and one bearing.

[0135] In the embodiments of the present disclosure, the driving assembly 3 is arranged as the driving unit 31 and the transmission shaft 32 to drive the cam 2 to rotate, so that the driving of the cam 2 is achieved by a simple structure, and the mechanical structure of the bottom of the cleaning device is simplified, and the manufacturing cost of the walking wheel mechanism is reduced.

[0136] In the embodiments of the present disclosure, the driving unit 31 is drivingly connected with the transmission shaft 32 through the shaft coupling 34.

[0137] In the embodiments of the present disclosure, the driving unit 31 can be a rudder machine, which can accurately control the driving position or angle; preferably, the driving angle is set to 0°, and the height difference between the second walking wheel assembly 1 and the second shell 5 is the smallest; the driving angle is set to 90°, and the height difference between the second walking wheel assembly 1 and the second shell 5 is the largest.

[0138] In the embodiments of the present disclosure, the first shell 4 comprises a rudder machine mounting shell 41, and the rudder machine is fixed on the rudder machine mounting shell 41.

[0139] In another embodiment of the present disclosure, the cam 2 can be made into a camshaft, and in this case, the driving unit 31 can directly drive the cam 2 to rotate.

[0140] Referring to FIG. 18, in the embodiments 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.

[0141] In another embodiment of the present disclosure, the driving unit 31 can also be a driving motor.

[0142] Referring to FIG. 19, in the embodiments 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, 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.

[0143] In the embodiments 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 that the sliding shaft sleeve 120 slides relative to the second shell 5.

[0144] In specific embodiments of the present disclosure, the ground clearance of the cam 2 is higher than the ground clearance of the abutting pressing plate 110. When the ground clearance of the cam 2 is higher than the ground clearance of the abutting pressing plate 110, and the cam 2 presses the abutting pressing plate 110 downward, the sliding shaft sleeve 120 slides relative to the second shell 5, the second walking wheel assembly 1 moves relative to the second shell 5 in a direction away from the second shell 5, and the body of the cleaning device moves in a direction away from the ground, thereby lifting the cleaning device.

[0145] In specific embodiments of the present disclosure, the sliding shaft 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 cooperation. Specifically, the sliding block can be provided on the sliding shaft sleeve 120, and the sliding groove can be provided on the second shell 5. Alternatively, the sliding block can be provided on the second shell 5, and the sliding groove can be provided on the sliding shaft sleeve 120.

[0146] In specific embodiments of the present disclosure, the abutting pressing plate 110 and the sliding shaft sleeve 120 are integrally formed.

[0147] In specific embodiments of the present disclosure, the walking wheel mounting seat 13 can rotate relative to the sliding shaft sleeve 120. At this time, the second walking wheel 140 is a universal wheel.

[0148] In another specific embodiment of the present disclosure, the sliding shaft sleeve 120 can also be fixedly connected with the walking wheel mounting seat 13. At this time, the second walking wheel 140 is a directional wheel.

[0149] In embodiments of the present disclosure, by providing the abutting pressing plate 110 and the sliding shaft sleeve 120 in the second walking wheel assembly 1, the cam 2 abuts against the abutting pressing plate 110, and the sliding shaft sleeve 120 is connected in sliding with the second shell 5, so that the height difference between the second walking wheel assembly 1 and the second shell 5 is changed in 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 device and reducing the manufacturing cost of the walking wheel mechanism.

[0150] In 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.

[0151] In 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.

[0152] In embodiments of the present disclosure, by providing the elastic member 15 in the second walking wheel assembly 1, a rebounding force is provided when the second walking wheel assembly 1 moves close to the first shell 4, thereby avoiding the use of only the gravity of the cleaning device 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 device.

[0153] Referring to FIG. 20, in the embodiment 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 is arranged adjacent to the horizontal surface 1102, and the inclined surface 1101 is higher than the horizontal surface 1102.

[0154] In the specific embodiment of the present disclosure, in the case where the cam 2 abuts against the inclined surface 1101, the height difference between the second walking wheel assembly 1 and the second shell 5 is a first height difference; in the case where the cam 2 abuts against 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 can be foreseen 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 the first height difference and the second height difference can be equivalent to the ground clearance of the bottom of the cleaning equipment; that is, in the case where the cam 2 abuts against the inclined surface 1101, the ground clearance of the bottom of the cleaning equipment is smaller than that in the case where the cam 2 abuts against the horizontal surface 1102.

[0155] In the specific embodiment of the present disclosure, the inclined surface 1101 can be an inclined plane or an inclined arc surface.

[0156] In the embodiment of the present disclosure, by arranging 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 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 equipment.

[0157] Referring to FIG. 21, in the embodiment of the present disclosure, the cam 2 is provided with an abutting pulley 210, and the cam 2 abuts against the abutting pressing plate 110 through the abutting pulley 210.

[0158] In the embodiment of the present disclosure, by arranging the abutting pulley 210, the friction during the rotation of the cam 2 is reduced, the surface wear of the cam 2 is reduced, and the reliability of the cleaning equipment is improved; in addition, the abutting pulley 210 can also reduce the driving force for driving the cam 2 to move on the abutting pressing plate 110.

[0159] In the specific embodiment of the present disclosure, the abutting pulley 210 is installed on the cam 2 through a sliding shaft 220.

[0160] In the embodiment 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 abutting pulley 210 is arranged on the far heart end.

[0161] In specific embodiments of the present disclosure, the distal end of the cam 2 is a contact plane, and the cam 2 is in contact with the horizontal plane 1102 through the contact plane when the contact pulley 210 moves to the preset position. By providing the contact plane at the distal end, the cam 2 can be self-locked when driven to the preset angle, avoiding continuous driving force output and reducing energy consumption of the cleaning device.

[0162] Referring to FIG. 22, in another specific embodiment of the present disclosure, the cam 2 is in contact with the contact pressing plate 110 through the curved surface of the cam 2.

[0163] In another specific embodiment of the present disclosure, the curved surface of the cam 2 is directly in contact with the contact pressing plate 110, so as to reduce the size of the walking wheel mechanism and reduce the load of the driving unit due to the shorter force arm.

[0164] In another specific embodiment of the present disclosure, when the cam 2 is in contact with the contact pressing plate 110 through the curved surface of the cam 2, the contact pressing plate 110 can have only the horizontal plane 1102, further reducing the size of the walking wheel mechanism.

[0165] In another specific embodiment of the present disclosure, when the cam 2 is in contact with the contact pressing plate 110 through the curved surface of the cam 2, the contact pressing plate 110 has only the horizontal plane 1102, and the distal end of the cam 2 is in contact with the contact pressing plate 110, the height difference between the second walking wheel assembly 1 and the second shell 5 is a third height difference; when the cam 2 is in contact with the contact pressing plate 110 through the curved surface of the cam 2, the contact pressing plate 110 has only the horizontal plane 1102, and the proximal end of the cam 2 is in contact with the contact 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.

[0166] In another specific embodiment of the present disclosure, when the cam 2 is in contact with the contact pressing plate 110 through the curved surface of the cam 2, the contact pressing plate 110 can also be provided with the inclined plane 1101 and the horizontal plane 1102.

[0167] Referring to FIG. 23, 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.

[0168] In specific embodiments of the present disclosure, the rotating shaft mounting hole 121 is provided along the height direction.

[0169] In the embodiment of the present disclosure, the walking wheel mounting seat 13 is rotatably connected with the sliding sleeve 120 through the universal shaft 131 and the 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.

[0170] In the embodiment of the present disclosure, the sliding sleeve 120 includes 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 a fastener, and the fixed part is used for connecting with the walking wheel mounting seat 13; preferably, the fastener is a screw.

[0171] In the embodiment of the present disclosure, the fixed part includes a 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.

[0172] In the embodiment of the present disclosure, the shaft mounting hole 121 is provided with an anti-disengagement clamping structure 122, and the shaft mounting hole 121 is sleeved on the universal shaft 131; the anti-disengagement clamping structure 122 is clamped with the universal shaft 131.

[0173] In the embodiment of the present disclosure, the anti-disengagement clamping structure 122 is arranged in the shaft mounting hole 121, so that the universal shaft 131 is prevented from being disengaged from the shaft mounting hole 121, and the reliability of the walking wheel mechanism is improved, and the reliability of the cleaning equipment is improved.

[0174] Hereinafter, the specific working principle of the walking wheel mechanism in the embodiment of the present disclosure will be introduced.

[0175] The normal working state of the cleaning equipment: when the driving angle of the driving unit 31 (the rudder) is the first preset angle, and the abutting pulley 210 abuts against the abutting pressing plate 110, the abutting pulley 210 on the far end of the cam 2 abuts against the inclined surface 1101 of the abutting pressing plate 110; when the curvature surface of the cam 2 directly abuts against the abutting pressing plate 110 and the abutting pressing plate 110 has and only has the horizontal surface 1102, the near end of the cam 2 abuts against the abutting pressing plate 110; at this time, the height difference between the second walking wheel assembly 1 and the second shell 5 is the smallest, so that the cleaning equipment can keep balance and work normally; preferably, the first preset angle is 0°.

[0176] The cleaning device bottom lifting state: in the case that the driving angle of the driving unit 31 (steering wheel) is the second preset angle, the abutting plane of the far end of the cam 2 abuts against the horizontal plane 1102 of the abutting pressing plate 110 in the case that the abutting pulley 210 abuts against the abutting pressing plate 110; in the case that 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 plane 1102, the far end of the cam 2 abuts against the abutting pressing plate 110; at this time, the height difference between the second walking wheel assembly 1 and the second shell 5 is the largest, so as to facilitate the obstacle crossing of the cleaning device or other scenes requiring the bottom lifting; 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.

[0177] In addition, the height difference between the second walking wheel assembly 1 and the second shell 5 can also be adjusted in the case that the driving angle of the driving unit 31 (steering wheel) is a third preset angle, the third preset angle is between the first preset angle and the second preset angle, so that the cleaning device can lift the bottom to different heights based on different driving angles of the driving unit 31; preferably, 0° < the third preset angle < 90°.

[0178] The walking wheel mechanism in the embodiment of the present disclosure has the following beneficial effects:

[0179] 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 action of the abutting force to change the height difference between the second walking wheel assembly 1 and the second shell 5, and further change the distance between the cleaning device body and the ground, so as to meet the needs of different working scenes of the cleaning device, that is, improve the flexibility of the walking wheel mechanism, and improve the working flexibility of the cleaning device.

[0180] 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, and further simplifying the mechanical structure of the bottom of the cleaning device, and further reducing the manufacturing cost of the walking wheel mechanism.

[0181] The embodiment of the present disclosure also provides a cleaning device, which comprises the second walking wheel mechanism 200, the first shell 4 and the second shell 5 in the embodiment of the present disclosure.

[0182] The embodiment of the present disclosure also provides a cleaning device, which comprises the device body 300 and the walking wheel mechanism according to any one of the above.

[0183] Referring to FIG. 15, the embodiment of the present disclosure further provides a cleaning device 1000, comprising a device body 300 and a walking wheel mechanism, the walking wheel mechanism comprising walking wheels, three walking wheels being distributed in a triangle shape at the bottom of the device body 300. Exemplarily, one of the walking wheels is a driven wheel, located at the front side of the cleaning device 1000 in the advancing direction; the other two walking wheels are driving wheels, located at the rear side of the cleaning device 1000 in the advancing direction. 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.

[0184] The two first walking wheel mechanisms 100 and the second walking wheel mechanism 200 in the embodiment can be configured to control the independent lifting of the three walking wheels to locally lift the device body 300, for example, to control the lifting of any one of the walking wheels, or to control the lifting of any two of the walking wheels, or to control the lifting of all the three walking wheels. When controlling the lifting of two or three walking wheels, the lifting can be synchronous or asynchronous to adjust the posture of the device body 300.

[0185] The two first walking wheel mechanisms 100 and the second walking wheel mechanism 200 in the embodiment can also be configured to control the synchronous lifting of the three walking wheels to integrally lift the device body 300.

[0186] In the specific embodiments of the present disclosure, the cleaning device can be a cleaning device such as a sweeping robot and a sweeping machine.

[0187] In the present disclosure, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature 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 "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0188] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present disclosure.

[0189] It should be noted that all directionality 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 specific posture, and if the specific posture changes, the directionality indications also change accordingly.

[0190] In the present disclosure, unless specifically defined and limited otherwise, the terms "connection", "fixed", and the like should be understood in a broad sense, for example, "fixed" can be fixed connection, or detachable connection, or integrated; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between 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.

[0191] In addition, in the present disclosure, the description such as "first", "second", etc. 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 limited by "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.

[0192] In the description of the present specification, the description referring to 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 specification, 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 specification.

[0193] 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.

[0194] 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.

[0195] The foregoing description has been set forth in terms of specific embodiments of the present disclosure. It is to be noted that any modifications to the specific embodiments of the present disclosure by one skilled in the art would not depart 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, and is used to change 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 by 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 by an angle of 0-300 degrees during lifting or lowering of the first walking wheel assembly. The connection between the flexible connecting member and 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 by 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 between the flexible connecting member and 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 between the flexible connecting member and the rotating disc is provided with a tensioning mechanism or a torsional spring, so as to always pull the flexible connecting member tight 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 to 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 to the controller, and the controller is configured 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, The power assembly is provided with a rotatable output shaft, the flexible connecting member has a first end and a second end, the first end of the flexible connecting member is connected to and can be wound on the output shaft, and the second end of the flexible connecting member is connected to the first walking wheel assembly.

10. The first walking wheel mechanism according to claim 9, wherein, A mounting portion is arranged on a circumferential side of the output shaft, and the first end of the flexible connecting member is connected to the mounting portion.

11. The first walking wheel mechanism of claim 10, wherein, An installation groove is arranged on a circumferential side of the driving shaft, the first end of the flexible connecting member is connected in the installation groove, and the installation groove is configured as the mounting portion.

12. The first walking wheel mechanism of claim 1, wherein, An assembly opening is arranged on an axial outer end of the driving shaft, and the assembly opening extends to a groove wall of the installation groove in an axial direction of the driving shaft.

13. The first walking wheel mechanism of claim 12, wherein, ​ 14. The first walking wheel mechanism of claim 13, wherein, ​ 15. The first walking wheel mechanism of claim 14, wherein, ​ 16. The first walking wheel mechanism of claim 15, wherein, The middle part of the axial outer end of the output shaft is provided with a first hole body, and the axial outer end of the output shaft is provided with a second hole body arranged along the radial direction of the output shaft, the second hole body and the first hole body are communicated to form the mounting groove, and the second hole body is projected on the first hole body along the radial direction of the output shaft; the first end of the flexible connecting piece is connected with a fixing piece assembled in the first hole body.

17. The first walking wheel mechanism of claim 12, wherein, The peripheral side of the output shaft is connected with an assembly protrusion, and the first end of the flexible connecting piece is connected with the assembly protrusion.

18. The first walking wheel mechanism according to any one of claims 12-17, wherein, The power assembly includes a power element, the driving shaft of the power element is configured as the output shaft, the axial outer end of the driving shaft is connected with a limiting piece, and the first end of the flexible connecting piece is wound on the driving shaft between the limiting piece and the power element.

19. The first walking mechanism of claim 18, wherein, The limiting piece is detachably connected with the driving shaft.

20. The first walking wheel mechanism according to any one of claims 1-6 and 12-17, wherein, The device body is provided with upper and lower limiting parts for limiting the upper and lower limit positions of the first walking wheel assembly.

21. The first walking wheel mechanism according to any one of claims 1-6 and 12-17, wherein, The first walking wheel assembly includes a support and a first walking wheel mounted on the support; the support includes a main wheel part and a free part, and the main wheel part is closer to the first walking wheel than the free part; The free part of the support is rotationally connected with the device body; The flexible connecting piece is connected with the free part of the support.

22. The first walking wheel mechanism of claim 21, wherein, The free part of the support is provided with a mounting shaft seat rotationally connected with the device body, and the support rotates around the rotation shaft of the mounting shaft seat as the center; 23. The first track mechanism of claim 22, wherein, The mounting shaft seat is arranged at the lower part of the free part, and the flexible connecting piece is connected with the upper part of the free part.

24. The first track mechanism of claim 21, wherein, The support includes 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.

25. The first track mechanism of claim 21, wherein, The first walking wheel mechanism further includes a spring, one end of the spring is fixed to the free part of the support, and the other end of the spring is fixed to the device body.

26. The first track mechanism of claim 25, wherein, The free part and the device body are each provided with a hook part, and the two ends of the spring are respectively hooked on the two hook parts.

27. The first track wheel mechanism of claim 21, wherein, The support is a walking power device, and is drivingly connected with the first walking wheel.

28. The first track mechanism of claim 21, wherein, The support is a bracket, and the first walking wheel is mounted on the bracket.

29. The first track mechanism according to any one of claims 1-6, 12-17, and 22-29, 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, a second walking wheel mechanism, and a first walking wheel mechanism according to any one of claims 1-30.

31. A cleaning device, comprising a device body, two driving wheel mechanisms, and a driven wheel mechanism, the two driving wheel mechanisms and the driven wheel mechanism are distributed in a triangular shape on the device body, the driven wheel mechanism is located on the front side of the advancing direction of the cleaning device, and the driving wheel mechanisms are located on the rear side of the advancing direction of the cleaning device. wherein The driving wheel mechanism is a first walking wheel mechanism according to any one of claims 1-30, and the driven wheel mechanism is a second walking wheel mechanism.

33. The cleaning apparatus of claim 32, wherein, Both of the said driving wheel mechanisms and the said driven wheel mechanism can independently control the lifting of the respective walking wheels.

34. The cleaning apparatus of claim 32, wherein, Both of the said driving wheel mechanisms and the said driven wheel mechanism can control the synchronous lifting of the respective walking wheels.

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