Traveling wheel mechanism and cleaning device

Abstract

A traveling wheel mechanism and a cleaning device. The traveling wheel mechanism comprises a traveling wheel assembly (1), a cam (2) and a driving assembly (3), wherein the driving assembly (3) is fixedly connected to a first housing (4) of the cleaning device, and is in driving connection with the cam (2); the cam (2) abuts against the traveling wheel assembly (1); and the traveling wheel assembly (1) is slidably connected to a second housing (5) of the cleaning device, a sliding direction being a height direction.

Description

Walking wheel mechanism and cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202421396452.1, filed on June 18, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and in particular to a walking wheel mechanism and a cleaning device. Background Technology

[0003] In order to maintain balance and normal operation during the movement of cleaning equipment, the bottom of the cleaning equipment should not be too far from the ground. However, in special scenarios, the bottom may be too close to the ground, which may affect the operation of the cleaning equipment. For example, when encountering obstacles, the bottom being too low may cause the equipment to fail to overcome them. When encountering deep water, the bottom being too low may cause water to enter the cleaning equipment and damage it.

[0004] Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this application designs a walking wheel mechanism. Specifically, a cam drives the walking wheel assembly to slide relative to the second housing, changing the height difference between the walking wheel assembly and the second housing, thereby changing the distance between the cleaning equipment body and the ground.

[0006] To address the aforementioned problems, this application provides a walking wheel mechanism, including a walking wheel assembly, a cam, and a drive assembly.

[0007] The drive assembly is fixedly connected to the first housing of the cleaning equipment, and the drive assembly is connected to the cam drive;

[0008] The cam abuts against the walking wheel assembly, and the walking wheel assembly is slidably connected to the second housing of the cleaning device, with the sliding direction being the height direction.

[0009] Preferably, the drive assembly includes a drive unit and a transmission shaft. The drive unit is fixedly connected to the first housing, and the drive unit is drivenly connected to one end of the transmission shaft. The other end of the transmission shaft is connected to the first housing through a bearing structure.

[0010] The cam is fixedly connected to the drive shaft.

[0011] Preferably, the walking wheel assembly includes an abutment pressure plate, a sliding bushing, a walking wheel mounting base, and a walking wheel, wherein the walking wheel is mounted on the walking wheel mounting base;

[0012] The sliding bushing is slidably connected to the second housing, and the sliding bushing is connected to the wheel mounting base;

[0013] The cam abuts against the abutting plate, and the abutting plate is fixed to the sliding bushing.

[0014] Preferably, the walking wheel assembly further includes an elastic element, one end of which is connected to the abutment pressure plate, and the other end of which is connected to the second housing.

[0015] Preferably, the abutting plate has an inclined surface and a horizontal surface, the inclined surface and the horizontal surface are arranged adjacent to each other, and the inclined surface is higher than the horizontal surface.

[0016] Preferably, the cam is provided with an abutting pulley, and the cam abuts against the abutting pressure plate through the abutting pulley.

[0017] Preferably, the cam includes a distal end away from the drive shaft and a proximal end close to the drive shaft, and the abutting pulley is disposed on the distal end.

[0018] Preferably, the cam abuts against the abutting plate through the curved surface of the cam.

[0019] Preferably, the traveling wheel mounting base is provided with a universal pivot, and the sliding bushing is provided with a pivot mounting hole;

[0020] The wheel mounting base is rotatably connected to the sliding bushing via the universal joint and the joint mounting hole.

[0021] Preferably, the rotating shaft mounting hole is provided with an anti-disengagement and locking structure, and the rotating shaft mounting hole is sleeved on the outside of the universal rotating shaft;

[0022] The anti-detachment snap-fit ​​structure is snapped into the universal joint shaft.

[0023] On the other hand, this application also provides a cleaning device, which includes the aforementioned walking wheel mechanism, a first housing, and a second housing.

[0024] Due to the above technical solution, the walking wheel mechanism described in this application has the following beneficial effects:

[0025] By fixing the drive assembly to the first housing, abutting the cam to the walking wheel assembly, and sliding the walking wheel assembly to the second housing along the height direction, the cam can rotate under the drive of the drive assembly. Under the action of the abutting force, the walking wheel assembly slides relative to the second housing, changing the height difference between the walking wheel assembly and the second housing, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning equipment.

[0026] By setting a cam and drive assembly, the height difference between the walking wheel assembly and the second housing can be changed, avoiding the use of complex structures such as lead screws, thus simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0028] Figure 1 is a schematic diagram of the walking wheel mechanism provided in an embodiment of this application;

[0029] Figure 2 is a schematic diagram of the drive component structure in the walking wheel mechanism provided in an embodiment of this application;

[0030] Figure 3 is a schematic diagram of the bearing bracket assembly in the walking wheel mechanism provided in the embodiment of this application;

[0031] Figure 4 is a schematic diagram of the walking wheel assembly structure in the walking wheel mechanism provided in the embodiment of this application;

[0032] Figure 5 is a schematic diagram of the abutment pressure plate structure in the walking wheel mechanism provided in the embodiment of this application;

[0033] Figure 6 is a schematic diagram of the cam structure in the walking wheel mechanism provided in an embodiment of this application;

[0034] Figure 7 is a schematic diagram of the cam structure in a walking wheel mechanism provided in another embodiment of this application;

[0035] Figure 8 is a cross-sectional view of the sliding bushing and the walking wheel mounting seat assembly in the walking wheel mechanism provided in the embodiment of this application.

[0036] Among them, 1-walking wheel assembly, 11-abutting pressure plate, 111-inclined surface, 112-horizontal surface, 12-sliding bushing, 121-rotor mounting hole, 122-anti-disengagement and snap-fit ​​structure, 13-walking wheel mounting seat, 131-universal rotating shaft, 14-walking wheel, 15-elastic element, 2-cam, 21-abutting pulley, 22-sliding wheel shaft, 3-drive assembly, 31-drive unit, 32-transmission shaft, 33-bearing assembly, 34-coupling, 4-first housing, 41-servo motor mounting housing, 42-bearing bracket, 5-second housing. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0038] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0039] Referring to Figure 1, an embodiment of this application provides a walking wheel mechanism, which includes a walking wheel assembly 1, a cam 2, and a drive assembly 3. The drive assembly 3 is fixedly connected to the first housing 4 of the cleaning device, and the drive assembly 3 is drivenly connected to the cam 2. The cam 2 abuts against the walking wheel assembly 1, and the walking wheel assembly 1 is slidably connected to the second housing 5 of the cleaning device, with the sliding direction being the height direction.

[0040] In this embodiment, the walking wheel assembly 1 is always in contact with the ground and is used to drive the cleaning equipment to move; the cam 2 is used to drive the walking wheel assembly 1 to slide relative to the second housing 5 under the drive of the drive assembly 3; the drive assembly 3 is used to drive the cam 2 to rotate.

[0041] In specific embodiments of this application, the first outer shell 4 and the second outer shell 5 refer to two different outer shell structures; preferably, the first outer shell 4 can be detachably connected to the second outer shell 5.

[0042] In another preferred embodiment of this application, the first outer shell 4 and the second outer shell 5 are fixedly connected; preferably, the first outer shell 4 and the second outer shell 5 are integrally formed.

[0043] In another specific embodiment of this application, where the first outer shell 4 and the second outer shell 5 are integrally formed, it can be understood that the first outer shell 4 and the second outer shell 5 refer to two different parts of the same outer shell.

[0044] In a specific embodiment of this application, the first outer shell 4 and the second outer shell 5 are both outer shells at the bottom of the cleaning device, and the body of the cleaning device moves relative to the ground as the second outer shell 5 moves; specifically, when the second outer shell 5 moves away from the walking wheel assembly 1, the body of the cleaning device moves away from the ground; when the second outer shell 5 moves towards the walking wheel assembly 1, the cleaning device moves towards the ground.

[0045] In this embodiment, by fixing the drive assembly 3 to the first housing 4, abutting the cam 2 to the walking wheel assembly 1, and sliding the walking wheel assembly 1 to the second housing 5 along the height direction, the cam 2 can rotate under the drive of the drive assembly 3, and the walking wheel assembly 1 slides relative to the second housing 5 under the action of the abutting force; changing the height difference between the walking wheel assembly 1 and the second housing 5, thereby changing the distance between the cleaning equipment body and the ground, so as to meet the needs of different working scenarios of the cleaning equipment, that is, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.

[0046] In this embodiment, the height difference between the walking wheel assembly 1 and the second housing 5 can be changed by setting the cam 2 and the drive assembly 3, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.

[0047] Referring to Figures 1-2, in this embodiment of the application, the drive assembly 3 includes a drive unit 31 and a transmission shaft 32. The drive unit 31 is fixedly connected to the first housing 4, and one end of the drive unit 31 is drivenly connected to the transmission shaft 32. The other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure. The cam 2 is fixedly connected to the transmission shaft 32.

[0048] In this embodiment, the drive 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 drive of the drive unit 31; the other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure, indicating that the transmission shaft 32 can rotate relative to the first housing 4; specifically, the transmission shaft 32 is arranged in the horizontal direction, the cam 2 is mounted on the transmission shaft 32, and the two sides of the cam 2 are respectively provided with matching bearing assemblies 33; specifically, the bearing assembly 33 includes two snap rings and a bearing.

[0049] In this embodiment of the application, by setting the drive component 3 as a drive unit 31 and a transmission shaft 32 to drive the cam 2 to rotate, the drive of the cam 2 is realized with a simple structure, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.

[0050] In a specific embodiment of this application, the drive unit 31 is driven to the transmission shaft 32 via a coupling 34.

[0051] In a specific embodiment of this application, the drive unit 31 may be a servo motor, which can precisely control the drive position or angle; preferably, the height difference between the wheel assembly 1 and the second housing 5 can be minimized when the drive angle is set to 0°; the height difference between the wheel assembly 1 and the second housing 5 can be maximized when the drive angle is set to 90°.

[0052] In a specific embodiment of this application, the first outer casing 4 includes a servo mounting casing 41, and the servo is fixed on the servo mounting casing 41.

[0053] In another specific embodiment of this application, the cam 2 can be made into a camshaft. In this case, the drive unit 31 can directly drive the cam 2 to rotate.

[0054] Referring to Figure 3, in a specific embodiment of this application, the first housing 4 further includes a bearing bracket 42, and the other end of the transmission shaft 32 is connected to the bearing bracket 42 through a bearing structure; preferably, the bearing bracket 42 is provided with a placement space for protecting the cam 2.

[0055] In another specific embodiment of this application, the drive unit 31 may also be a drive motor.

[0056] Referring to Figure 4, in this embodiment of the application, the walking wheel assembly 1 includes an abutment plate 11, a sliding bushing 12, a walking wheel mounting base 13, and a walking wheel 14, with the walking wheel 14 mounted on the walking wheel mounting base 13; the sliding bushing 12 is slidably connected to the second housing 5 and connected to the walking wheel mounting base 13; the cam 2 abuts against the abutment plate 11, and the abutment plate 11 is fixed on the sliding bushing 12.

[0057] In this embodiment of the application, the abutting plate 11 is used to transmit the abutting force of the cam 2 to the sliding bushing 12 so that the sliding bushing 12 slides relative to the second housing 5.

[0058] In a specific embodiment of this application, the ground clearance of the cam 2 is higher than that of the pressure plate 11. When the ground clearance of the cam 2 is higher than that of the pressure plate 11, and the cam 2 presses down towards the ground to abut the pressure plate 11, the sliding bushing 12 slides relative to the second housing 5, the walking wheel assembly 1 moves relative to the second housing 5, and the cleaning equipment body moves away from the ground, thereby lifting the cleaning equipment.

[0059] In a specific embodiment of this application, either the sliding bushing 12 or the second outer shell 5 is provided with a sliding block, and the other is provided with a sliding groove. The sliding block and the sliding groove are connected in cooperation. Specifically, a sliding block can be provided on the sliding bushing 12 and a sliding groove can be provided on the second outer shell 5; or a sliding block can be provided on the second outer shell 5 and a sliding groove can be provided on the sliding bushing 12.

[0060] In a specific embodiment of this application, the abutting pressure plate 11 and the sliding bushing 12 are integrally formed.

[0061] In a specific embodiment of this application, the walking wheel mounting base 13 can rotate relative to the sliding bushing 12, so the walking wheel 14 is a swivel wheel at this time.

[0062] In another specific embodiment of this application, the sliding bushing 12 can also be fixedly connected to the walking wheel mounting seat 13, in which case the walking wheel 14 is a directional wheel.

[0063] In this embodiment of the application, by setting an abutting pressure plate 11 and a sliding bushing 12 in the walking wheel assembly 1, the cam 2 abuts against the abutting pressure plate 11, and the sliding bushing 12 is slidably connected to the second housing 5, the height difference change between the walking wheel assembly 1 and the second housing 5 is realized with a simple structure, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment, and thus reducing the manufacturing cost of the walking wheel mechanism.

[0064] In this embodiment of the application, the walking wheel assembly 1 further includes an elastic element 15, one end of which is fixedly connected to the abutting pressure plate 11, and the other end of which is fixedly connected to the second outer shell 5.

[0065] In this embodiment, the elastic element 15 is used to provide a restoring force when the walking wheel assembly 1 moves close to the first housing 4.

[0066] In this embodiment of the application, by providing an elastic element 15 in the walking wheel assembly 1, a rebound force is provided when the walking wheel assembly 1 moves close to the first housing 4, avoiding the cleaning equipment from falling back solely due to its own weight, avoiding mechanical wear during the fall process, improving the reliability of the walking wheel mechanism, and improving the reliability of the cleaning equipment.

[0067] Referring to Figure 5, in this embodiment of the application, the abutting plate 11 is provided with an inclined surface 111 and a horizontal surface 112. The inclined surface 111 and the horizontal surface 112 are arranged adjacent to each other, and the inclined surface 111 is higher than the horizontal surface 112.

[0068] In a specific embodiment of this application, when the cam 2 abuts against the inclined surface 111, the height difference between the walking wheel assembly 1 and the second housing 5 is the first height difference; when the cam 2 abuts against the horizontal surface 112, the height difference between the walking wheel assembly 1 and the second housing 5 is the second height difference; it is foreseeable that the first height difference is less than the second height difference; since the walking wheel assembly 1 is always in contact with the ground, if the ground clearance of the walking wheel assembly 1 is set to zero, then both the first height difference and the second height difference can be equal to the ground clearance of the bottom of the cleaning device; that is, when the cam 2 abuts against the inclined surface 111, the ground clearance of the bottom of the cleaning device is less than the ground clearance of the bottom of the cleaning device when the cam 2 abuts against the horizontal surface 112.

[0069] In a specific embodiment of this application, the inclined surface 111 can be an inclined plane or an inclined arc surface.

[0070] In this embodiment of the application, by setting an inclined surface 111, the height difference between the inclined surface 111 and the horizontal surface 112 is used to affect the height difference change between the walking wheel assembly 1 and the second housing 5, thereby avoiding the height difference change that relies solely on the curvature change of the cam 2 itself, and also reducing the influence of the height difference change error caused by the wear of the cam 2, thereby improving the reliability of the walking wheel mechanism and thus improving the reliability of the cleaning equipment.

[0071] Referring to Figure 6, in this embodiment of the application, the cam 2 is provided with an abutting pulley 21, and the cam 2 abuts against the abutting pressure plate 11 through the abutting pulley 21.

[0072] In this embodiment of the application, by setting the abutment pulley 21, the friction force during the rotation of the cam 2 is reduced, the wear on the surface of the cam 2 is reduced, and the reliability of the cleaning equipment is improved. In addition, setting the abutment pulley 21 can also reduce the driving force that drives the cam 2 to move on the abutment pressure plate 11.

[0073] In a specific embodiment of this application, the abutting pulley 21 is mounted on the cam 2 via the sliding wheel shaft 22.

[0074] In this embodiment, the cam 2 includes a distal end away from the drive shaft 32 and a proximal end close to the drive shaft 32, and the pulley 21 is disposed on the distal end.

[0075] In a specific embodiment of this application, the distal end of the cam 2 is an abutting plane. When the abutting pulley 21 moves to a preset position, the cam 2 abuts against the horizontal plane 112 through the abutting plane. By setting the abutting plane at the distal end, the cam 2 can be self-locked when driven to a preset angle, thus avoiding continuous driving force output and reducing the energy consumption of the cleaning equipment.

[0076] Referring to Figure 7, in another specific embodiment of this application, the cam 2 abuts against the pressure plate 11 through the curved surface of the cam 2.

[0077] In another specific embodiment of this application, the curved surface of the cam 2 directly abuts against the pressure plate 11, thereby reducing the size of the walking wheel mechanism and reducing the load on the drive unit by having a shorter lever arm.

[0078] In another specific embodiment of this application, when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 may have only a horizontal surface 112, further reducing the size of the walking wheel mechanism.

[0079] In another specific embodiment of this application, when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 has only a horizontal surface 112, and the distal end of the cam 2 abuts against the abutting plate 11, the height difference between the walking wheel assembly 1 and the second housing 5 is a third height difference; when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 has only a horizontal surface 112, and the proximal end of the cam 2 abuts against the abutting plate 11, the height difference between the walking wheel assembly 1 and the second housing 5 is a fourth height difference; the third height difference is greater than the fourth height difference.

[0080] In another specific embodiment of this application, when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 may also be provided with an inclined surface 111 and a horizontal surface 112.

[0081] Referring to Figure 8, in this embodiment of the application, the wheel mounting base 13 is provided with a universal rotating shaft 131, and the sliding bushing 12 is provided with a rotating shaft mounting hole 121; the wheel mounting base 13 is rotatably connected to the sliding bushing 12 through the universal rotating shaft 131 and the rotating shaft mounting hole 121.

[0082] In a specific embodiment of this application, the shaft mounting hole 121 is provided along the height direction.

[0083] In this embodiment, by rotatably connecting the walking wheel mounting base 13 to the sliding bushing 12 via the universal joint 131 and the joint mounting hole 121, the walking wheel 14 can rotate relative to the first outer shell 4, thereby realizing the universal rotation of the walking wheel 14, improving the reliability of the walking wheel mechanism, and improving the mobility of the cleaning equipment.

[0084] In a specific embodiment of this application, the sliding bushing 12 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 to the fixed part by a fastener, and the fixed part is used to connect to the wheel mounting seat 13. Preferably, the fastener is a screw.

[0085] In a specific embodiment of this application, the fixing part includes a rotating shaft mounting hole 121 and at least one fixing hole, and the sliding part is fixed to the fixing part through at least one fixing hole.

[0086] In this embodiment, the rotating shaft mounting hole 121 is provided with an anti-detachment snap-fit ​​structure 122, and the rotating shaft mounting hole 121 is sleeved on the outside of the universal rotating shaft 131; the anti-detachment snap-fit ​​structure 122 is snapped into the universal rotating shaft 131.

[0087] In this embodiment of the application, by providing an anti-detachment locking structure 122 in the shaft mounting hole 121, the universal shaft 131 is prevented from detaching from the shaft mounting hole 121, thereby improving the reliability of the walking wheel mechanism and the reliability of the cleaning equipment.

[0088] The following describes the specific working principle of the walking wheel mechanism in the embodiments of this application.

[0089] Normal operating state of the cleaning equipment: When the drive angle of the drive unit 31 (servo motor) is the first preset angle, when the abutting pulley 21 abuts against the abutting pressure plate 11, the abutting pulley 21 on the distal end of the cam 2 abuts against the inclined surface 111 of the abutting pressure plate 11; when the cam 2 directly abuts against the abutting pressure plate 11 through the curved surface of the cam 2 and the abutting pressure plate 11 has only a horizontal surface 112, the proximal end of the cam 2 abuts against the abutting pressure plate 11; at this time, the height difference between the walking wheel assembly 1 and the second housing 5 is minimal, so that the cleaning equipment can maintain balance and normal operation; preferably, the first preset angle is 0°.

[0090] Cleaning equipment with bottom raised state: When the drive angle of the drive unit 31 (servo motor) is the second preset angle, when the abutting pulley 21 abuts against the abutting pressure plate 11, the abutting plane of the distal end of the cam 2 abuts against the horizontal surface 112 of the abutting pressure plate 11; when the cam 2 directly abuts against the abutting pressure plate 11 through the curved surface of the cam 2 and the abutting pressure plate 11 has only the horizontal surface 112, the distal end of the cam 2 abuts against the abutting pressure plate 11; at this time, the height difference between the walking wheel assembly 1 and the second housing 5 is the largest, so as to facilitate the cleaning equipment to cross obstacles or other scenarios that require bottom raising; preferably, the second preset angle is 90°; specifically, from the normal working state to the bottom raised state, the cam 2 presses down against the abutting pressure plate 11 towards the ground.

[0091] In addition, when the drive angle of the drive unit 31 (servo motor) is the third preset angle, the height difference between the walking wheel assembly 1 and the second housing 5 can be adjusted. The third preset angle is located between the first preset angle and the second preset angle, so that the cleaning equipment can lift the bottom to different heights based on different drive angles of the drive unit 31; preferably, 0° < third preset angle < 90°.

[0092] The walking wheel mechanism in this embodiment has the following beneficial effects:

[0093] By fixing the drive assembly 3 to the first housing 4, abutting the cam 2 against the walking wheel assembly 1, and sliding the walking wheel assembly 1 against the second housing 5 in the height direction, the cam 2 can rotate under the drive of the drive assembly 3. Under the action of the abutting force, the walking wheel assembly 1 slides relative to the second housing 5, changing the height difference between the walking wheel assembly 1 and the second housing 5, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning equipment.

[0094] By setting cam 2 and drive component 3, the height difference between the walking wheel assembly 1 and the second housing 5 can be changed, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.

[0095] The embodiments of this application also provide a cleaning device, which includes the walking wheel mechanism, the first housing 4 and the second housing 5 as described in the embodiments of this application.

[0096] In specific embodiments of this application, the cleaning equipment may be a sweeping machine or a sweeping robot, etc.

[0097] The foregoing description has fully disclosed the specific embodiments of this application. It should be noted that any modifications made by those skilled in the art to the specific embodiments of this application do not depart from the scope of the claims. Accordingly, the scope of the claims of this application is not limited to the foregoing specific embodiments.

Claims

1. A walking wheel mechanism, characterized in that, Includes a wheel assembly (1), a cam (2), and a drive assembly (3). The drive assembly (3) is fixedly connected to the first housing (4) of the cleaning equipment, and the drive assembly (3) is drivenly connected to the cam (2); The cam (2) abuts against the walking wheel assembly (1), and the walking wheel assembly (1) is slidably connected to the second housing (5) of the cleaning equipment, with the sliding direction being the height direction.

2. The walking wheel mechanism according to claim 1, characterized in that, The drive assembly (3) includes a drive unit (31) and a transmission shaft (32). The drive unit (31) is fixedly connected to the first housing (4). The drive unit (31) is driven to one end of the transmission shaft (32). The other end of the transmission shaft (32) is connected to the first housing (4) through a bearing structure. The cam (2) is fixedly connected to the drive shaft (32).

3. The walking wheel mechanism according to claim 1 or 2, characterized in that, The walking wheel assembly (1) includes an abutment pressure plate (11), a sliding bushing (12), a walking wheel mounting base (13), and a walking wheel (14), wherein the walking wheel (14) is mounted on the walking wheel mounting base (13); The sliding bushing (12) is slidably connected to the second outer shell (5), and the sliding bushing (12) is connected to the walking wheel mounting seat (13); The cam (2) abuts against the abutting plate (11), and the abutting plate (11) is fixed on the sliding bushing (12).

4. The walking wheel mechanism according to claim 3, characterized in that, The walking wheel assembly (1) also includes an elastic element (15), one end of which is connected to the abutment plate (11), and the other end of which is connected to the second housing (5).

5. The walking wheel mechanism according to claim 3, characterized in that, The abutting pressure plate (11) is provided with an inclined surface (111) and a horizontal surface (112). The inclined surface (111) and the horizontal surface (112) are arranged adjacent to each other, and the inclined surface (111) is higher than the horizontal surface (112).

6. The walking wheel mechanism according to claim 5, characterized in that, The cam (2) is provided with an abutting pulley (21), and the cam (2) abuts against the abutting pressure plate (11) through the abutting pulley (21).

7. The walking wheel mechanism according to claim 6, characterized in that, The cam (2) includes a distal end away from the drive shaft (32) and a proximal end close to the drive shaft (32), and the abutting pulley (21) is disposed on the distal end.

8. The walking wheel mechanism according to claim 3, characterized in that, The cam (2) abuts against the abutting plate (11) through the curved surface of the cam (2).

9. The walking wheel mechanism according to claim 3, characterized in that, The walking wheel mounting base (13) is provided with a universal pivot (131), and the sliding bushing (12) is provided with a pivot mounting hole (121); The wheel mounting base (13) is rotatably connected to the sliding bushing (12) via the universal joint (131) and the joint mounting hole (121).

10. The walking wheel mechanism according to claim 9, characterized in that, The rotating shaft mounting hole (121) is provided with an anti-detachment snap-fit ​​structure (122), and the rotating shaft mounting hole (121) is sleeved on the outside of the universal rotating shaft (131); The anti-detachment snap-fit ​​structure (122) is snapped into the universal joint (131).

11. A cleaning device, characterized in that, It includes the walking wheel mechanism, the first housing (4), and the second housing (5) as described in any one of claims 1-10.

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