Locomotion wheel mechanism and cleaning apparatus

Abstract

Disclosed are a locomotion wheel mechanism and a cleaning apparatus. A locomotion wheel assembly (1) comprises: a locomotion component (16) which can move telescopically between a first position and a second position relative to a machine body (6), the first position being located below the second position in the height direction of a locomotion wheel mounting base (13).

Description

Walking wheel mechanism and cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202421396452.1, filed on June 18, 2024, and Chinese Patent Application No. 202410850900.9, filed on June 27, 2024, which are incorporated herein by reference in their 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] With the advancement of technology and the development of society, cleaning equipment has gradually entered people's lives. Cleaning equipment includes a wheel mechanism; when the equipment is in operation, the wheel mechanism moves to propel it forward and achieve cleaning, reducing the burden on people and bringing convenience to their lives.

[0004] 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.

[0005] Summary of the Invention

[0006] To solve the above-mentioned technical problems, this application provides a walking wheel mechanism and a cleaning device. By extending and retracting the walking wheel mechanism relative to the machine body, the degree of overlap between the walking wheel mechanism and the machine body is changed, thereby changing the distance between the machine body of the cleaning device and the ground.

[0007] In a first aspect of this application, a walking wheel mechanism is provided, which is mounted on the body of a cleaning device. The walking wheel mechanism includes a walking wheel assembly, which includes a walking component capable of telescopically moving between a first position and a second position relative to the body. The first position is located below the second position along the height direction of the walking component.

[0008] In some embodiments, when the walking component switches between a first position and a second position, the amount of overlap between the projection of the walking component on the body and the body along the direction of travel of the fuselage is greater than 1%, preferably greater than 5%, more preferably greater than 10%, greater than 20%, or greater than 30%.

[0009] In some embodiments, when the walking component is in the first position, the overlap between the projection of the walking component on the body and the body along the direction of travel of the fuselage is less than or equal to 95%.

[0010] When the walking component is in the second position, along the traveling direction of the fuselage, the overlap between the projection of the walking component on the fuselage and the fuselage is greater than or equal to 60%.

[0011] In some embodiments, when the wheel mounting base is in the first position, the overlap between the projection of the wheel mounting base on the body and the body along the traveling direction of the machine body is greater than or equal to 0.

[0012] In some embodiments, when the wheel mounting base is in the first position, each position of the upper part of the wheel mounting base has at least a partial overlap with the body, with a minimum overlap greater than or equal to 0, preferably ≥1%.

[0013] In some embodiments, when the wheel mount is in the second position, the overlap between the projection of the wheel mount on the body and the body along the traveling direction of the machine body is less than or equal to 98%, preferably less than or equal to 90%.

[0014] In some embodiments, the traveling component includes: a traveling wheel mounting base with a protective cover; a traveling wheel mounted on the traveling wheel mounting base; wherein, along the traveling direction of the machine body, the protective cover has a protective portion located in front of the traveling wheel.

[0015] In some embodiments, at least a portion of the outer surface of the protective part is inclined in the direction from the bottom to the top, forming the inclined portion.

[0016] In some embodiments, the inclined portion is disposed on the front side of the outer surface along the direction of travel of the fuselage.

[0017] In some embodiments, when the walking component is in the first position, the angle between the outer surface and the bottom of the body is a first angle, and when the walking component is in the second position, the angle between the outer surface and the bottom of the body is a second angle, wherein the minimum first angle is less than or equal to the minimum second angle.

[0018] In some embodiments, both the first included angle and the second included angle are greater than or equal to 20° and less than or equal to 60°.

[0019] In some embodiments, at least a portion of the outer surface of the protective part has an inclined first guide surface, which is inclined away from the walking wheel along the direction from the bottom to the top of the first guide surface.

[0020] In some embodiments, when the walking component is in the first position, the angle between the first guide surface and the bottom of the body is a third angle, and when the walking component is in the second position, the angle between the first guide surface and the bottom of the body is a fourth angle, wherein the third angle is smaller than the fourth angle.

[0021] In some embodiments, the third included angle is greater than or equal to 20° and less than or equal to 40°; the fourth included angle is greater than or equal to 50° and less than or equal to 60°.

[0022] In some embodiments, the outer surface of the protective portion has a protrusion, which is disposed at least in the middle portion of the protective portion in the width direction.

[0023] In some embodiments, the protrusion has curved surfaces, concave surfaces, or flat surfaces with reduced curvature on both sides in the width direction.

[0024] In a second aspect of this application, a cleaning device is provided, including the aforementioned walking wheel mechanism.

[0025] In some embodiments, the cleaning device further includes: a body connected to the walking component; wherein the bottom of the body is provided with a hole for the walking component to extend and retract, and the body is provided with a second guide surface, which is located in front of the hole and inclined along the traveling direction of the body.

[0026] According to one or more embodiments of this application, the walking wheel mechanism has a walking wheel mounting seat that is telescopically connected to the machine body and can switch between a first position and a second position. Along the height direction of the walking wheel mounting seat, the first position is located below the second position. By telescopically extending the walking wheel mounting seat, the height difference between the walking wheel assembly and the machine body can be changed, 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, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.

[0027] Furthermore, the extension and retraction of the wheel mounting base can be determined by detecting the overlap between the projection of the wheel mounting base onto the machine body and the machine body itself. This avoids interference from the external environment and ensures the reliability and accuracy of the operation. Simultaneously, using the wheel mounting base and the machine body as the detection objects, they do not rotate, shift, or displace during the detection process. The wheel mounting base and the machine body provide a stable reference system, further ensuring the reliability and accuracy of the detection results. By ensuring the reliability and accuracy of the detection results, the extension or retraction state of the wheel mounting base can be accurately detected or determined. Moreover, only the overlap between the projection of the wheel mounting base onto the machine body and the machine body needs to be detected to determine the extension or retraction state of the wheel assembly. The signal processing is simple and the cost is low. Attached Figure Description

[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 base assembly in the walking wheel mechanism provided in the embodiment of this application;

[0036] Figure 9 is a schematic diagram of the structure of the protective cover in the walking wheel mechanism provided in the embodiment of this application;

[0037] Figure 10 is a front view of the protective cover in the walking wheel mechanism provided in the embodiment of this application;

[0038] Figure 11 is a side view of the protective cover in the walking wheel mechanism provided in an embodiment of this application;

[0039] Figure 12 is a schematic diagram of the switching between the first and second positions of the walking wheel mounting base in the walking wheel mechanism provided in the embodiment of this application;

[0040] Figure 13 is a structural schematic diagram of the protective cover for the walking wheel assembly provided in an embodiment of this application;

[0041] Figure 14 is a front view of the walking wheel mounting seat in the first position of the walking wheel mechanism provided in the embodiment of this application;

[0042] Figure 15 is a side view of the walking wheel mounting seat in the first position of the walking wheel mechanism provided in the embodiment of this application;

[0043] Figure 16 is a front view of the walking wheel mounting base in the second position in the walking wheel mechanism provided in the embodiment of this application;

[0044] Figure 17 is a side view of the walking wheel mounting seat in the second position in the walking wheel mechanism provided in the embodiment of this application;

[0045] Figure 18 is a schematic diagram of the structure of the chassis in the walking wheel mechanism provided in the embodiment of this application.

[0046] Among them, 1-walking wheel assembly, 11-abutment plate, 111-inclined surface, 112-horizontal surface, 12-sliding bushing, 121-rotor mounting hole, 122-anti-detachment snap-fit ​​structure, 13-walking wheel mounting base, 131-universal rotating shaft, 132-protective cover, 1321-protective part, 1322-first guide surface, 1323-guide surface, 132a-first surface, 132b-second surface, 132c-third surface. 1324-Concave surface, 1325-Protrusion, 14-Walking wheel, 15-Elastic element, 16-Walking component, 2-Cam, 21-Abutting pulley, 22-Pulley shaft, 3-Drive assembly, 31-Drive unit, 32-Transmission shaft, 33-Bearing assembly, 34-Coupling, 4-First housing, 41-Servo mounting housing, 42-Bearing bracket, 5-Second housing, 6-Fuselage, 61-Second guide surface, 62-Hole. Detailed Implementation

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] In a specific embodiment of this application, the drive unit 31 is driven to the transmission shaft 32 via a coupling 34.

[0061] 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°.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] In another specific embodiment of this application, the drive unit 31 may also be a drive motor.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] In a specific embodiment of this application, the abutting pressure plate 11 and the sliding bushing 12 are integrally formed.

[0071] 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.

[0072] 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.

[0073] In this embodiment of the application, by setting an abutting plate 11 and a sliding bushing 12 in the walking wheel assembly 1, the cam 2 abuts against the abutting 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In a specific embodiment of this application, the inclined surface 111 can be an inclined plane or an inclined arc surface.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] In a specific embodiment of this application, the abutting pulley 21 is mounted on the cam 2 via the sliding wheel shaft 22.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] In a specific embodiment of this application, the shaft mounting hole 121 is provided along the height direction.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] The following describes the specific working principle of the walking wheel mechanism in the embodiments of this application.

[0099] 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°.

[0100] 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.

[0101] 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°.

[0102] The walking wheel mechanism in this embodiment has the following beneficial effects:

[0103] 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.

[0104] 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.

[0105] The key to obstacle crossing is effective extension, which is reflected in the need for effective changes in the overlap between the running gear and the fuselage.

[0106] The design concept of this application is to determine the extension and retraction state of the walking wheel mechanism by detecting the overlap between the projection of the walking wheel mounting seat on the second housing and the second housing, thus ensuring the detection accuracy.

[0107] Based on the above design concept, this application provides a walking wheel mechanism. Referring to Figures 12, 14, 15, 16, and 17, the walking wheel mechanism is mounted on the body 6 of the cleaning equipment. The walking wheel mechanism includes a walking wheel assembly 1, which includes a walking component 16. The walking component 16 is telescopically movable or switchable between a first position and a second position relative to the body 6. Along the height direction of the walking component 16, the first position is located below the second position.

[0108] The overlap between the walking component 16 and the fuselage is the percentage of the walking component that overlaps with the fuselage. When the walking component 16 switches between the first position and the second position, the degree of overlap changes by more than 1%, preferably more than 5%, more preferably more than 10%, more than 20%, or more than 30%.

[0109] Preferably, along the traveling direction of the fuselage, the amount of overlap between the projection of the traveling component on the fuselage and the fuselage is greater than 1%, more preferably greater than 5%, more preferably greater than 10%, greater than 20%, or greater than 30%.

[0110] When the walking component 16 is in the first position, along the traveling direction of the fuselage 6, the overlap between the projection of the walking component 16 on the fuselage 6 and the fuselage 6 is less than or equal to 95% and greater than or equal to 0.

[0111] Preferably, the upper front part of the wheel mounting base has at least a partial overlap with the body, i.e., the minimum overlap is greater than or equal to 0, preferably ≥1%.

[0112] More preferably, each position on the upper part of the walking wheel mounting base has at least a partial overlap with the machine body, that is, the minimum overlap is greater than or equal to 0, preferably ≥1%.

[0113] This ensures that at least the front side of the wheel mounting base overlaps with the machine body, thereby effectively guiding obstacle crossing; for example, it can be better lifted when encountering an obstacle.

[0114] When the walking component 16 is in the second position, along the traveling direction of the body 6, the overlap between the projection of the walking component 16 on the body 6 and the body 6 is greater than or equal to 60%, less than or equal to 98%, preferably less than 90%. This ensures that the walking component 16 can be effectively retracted into the body, allowing the cleaning components such as the brush and mop of the cleaning equipment to contact the ground to ensure normal cleaning, and provides room for better extension (ensuring a large amount of overlap variation), while also ensuring normal driving and guiding functions.

[0115] The walking wheel mechanism provided in this application embodiment has a walking component 16 that is telescopically connected to the body 6 and can switch between a first position and a second position. Along the height direction of the walking component 16, the first position is located below the second position. By telescopically extending the walking component 16, the height difference between the walking wheel assembly 1 and the body 6 can be changed, thereby changing the distance between the cleaning equipment body 6 and the ground 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.

[0116] Furthermore, the extension and retraction of the wheel mounting base can be determined by detecting the overlap between the projection of the wheel mounting base onto the machine body and the machine body itself. This avoids interference from the external environment and ensures the reliability and accuracy of the detection results. When no obstacles are detected, the cleaning equipment is in normal cleaning mode, and the walking component 16 is in a retracted state, placing it in the second position. When the walking component 16 is in the second position, the overlap between the projection of the walking component 16 onto the machine body 6 and the machine body 6 is detected along the traveling direction of the machine body 6. If the overlap between the projection of the walking component 16 onto the machine body 6 and the machine body 6 is greater than or equal to a first threshold, such as 60%, then the walking component 16 is determined to be retracted into place. When a tall obstacle is detected, the cleaning equipment enters obstacle-crossing mode. The walking component 16 changes from a retracted state to an extended state, placing the walking component 16 in a first position. When the walking component 16 is in the first position, the overlap between the projection of the walking component 16 on the body 6 and the body 6 is detected along the traveling direction of the body 6. If the overlap between the projection of the walking component 16 on the body 6 and the body 6 is less than or equal to a second threshold, such as 40%, then it is determined that the walking component 16 has extended to the correct position.

[0117] In addition, it can also be detected by the amount of overlap change (e.g., the difference between the first threshold and the second threshold).

[0118] By detecting the overlap between the projection of the walking component 16 on the body 6 and the body 6, the measurement results are protected from external environmental interference, ensuring the reliability and accuracy of the detection results. Furthermore, using the walking component 16 and the body 6 as the detection objects, the walking component 16 and the body 6 do not rotate, shift, or displace during the detection process. The walking component 16 and the body 6 provide a stable reference system, further ensuring the reliability and accuracy of the detection results. By ensuring the reliability and accuracy of the detection results, the extension / retraction state of the walking component 16 can be accurately detected or determined. Moreover, only the overlap between the projection of the walking component 16 on the body 6 and the body 6 needs to be detected to determine the extension / retraction state of the walking wheel assembly 1. The signal processing is simple and the cost is low.

[0119] Referring to Figures 12-13, in this embodiment, to ensure the safety of the traveling wheel 14, the traveling component 16 includes a traveling wheel mounting base 13 and a traveling wheel 14. The traveling wheel mounting base 13 has a protective cover 132 and is connected to the body 16. The traveling wheel 14 is mounted on the traveling wheel mounting base 13. Along the traveling direction of the body 6, the protective cover 132 has a protective portion 1321 located in front of the traveling wheel 14. During the travel of the traveling wheel mounting base 13, if it encounters an obstacle, the obstacle will impact the protective portion 1321 instead of directly impacting the traveling wheel 14. The protective portion 1321 protects the traveling wheel 14, preventing it from being directly impacted by obstacles and ensuring the integrity of the traveling wheel 14.

[0120] In this embodiment of the application, in order to ensure that the walking wheel assembly 1 can smoothly cross obstacles, at least a portion of the outer surface of the protective part 1321 is inclined away from the walking wheel 14 in the direction from bottom to top, so as to form an inclined portion. That is, the outer surface gradually moves away from the central axis of the walking wheel 14 from bottom to top, so that the contact area between the outer surface and the obstacle moves upward along the plane. During the upward movement, the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point, reducing the resistance, and allowing the walking wheel assembly 1 to smoothly cross obstacles.

[0121] In this embodiment, the inclined portion is disposed on the front side of the outer surface along the traveling direction of the fuselage 6. When the protective part 1321 comes into contact with an obstacle, the inclined portion will come into contact with the obstacle first, so that the walking wheel assembly 1 can smoothly cross the obstacle.

[0122] In this embodiment, when the contact area between the plane and the obstacle moves upward along the plane, in order to ensure that the upward movement is not obstructed, when the walking component 16 is in the first position, the angle between the outer surface and the bottom of the body 6 is the first angle, and when the walking component 16 is in the second position, the angle between the outer surface and the bottom of the body 6 is the second angle. The minimum first angle is less than or equal to the minimum second angle. That is to say, there is no abrupt turn or angle change on the outer surface, which reduces the friction between the outer surface and the obstacle and makes the upward movement smooth.

[0123] In the embodiments of this application, both the first included angle and the second included angle are greater than or equal to 20° and less than or equal to 60°.

[0124] In the embodiments of this application, the outer surface can be a plane.

[0125] In this embodiment, to ensure that the walking wheel assembly 1 can smoothly cross obstacles, at least a portion of the outer surface of the protective part 1321 has an inclined first guide surface 1322. When encountering an obstacle, the first guide surface 1322 will first contact the obstacle. The contact area between the first guide surface 1322 and the obstacle is a contact point or very small, reducing the contact area between the first guide surface 1322 and the obstacle, thereby reducing the friction between the first guide surface 1322 and the obstacle. At the same time, the contact pressure between the first guide surface 1322 and the obstacle is concentrated in a very small area, thereby reducing the contact pressure and the resistance. Under the pushing force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross obstacles. For example, the first guide surface 1322 can be an arc surface.

[0126] Referring to Figure 13, in this embodiment of the application, in order to ensure that the walking wheel assembly 1 can smoothly cross obstacles, the first guide surface 1322 is inclined away from the walking wheel 14 in the direction from the bottom to the top. That is, the first guide surface 1322 gradually moves away from the central axis of the walking wheel 14 from the bottom to the top, so that the contact area between the first guide surface 1322 and the obstacle moves upward along the first guide surface 1322. During the upward movement, the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point and further reducing the resistance, so that the walking wheel assembly 1 can smoothly cross obstacles.

[0127] In this embodiment, to enable the walking wheel assembly 1 to smoothly cross obstacles, when the walking component 16 is in the first position, the angle between the first guide surface 1322 and the bottom of the body 6 is the third angle, and when the walking component 16 is in the second position, the angle between the first guide surface 1322 and the bottom of the body 6 is the fourth angle. The third angle is smaller than the fourth angle, meaning that the upper region of the first guide surface 1322 has a small tilt angle, which allows the first guide surface 1322 to provide a longer contact path, reducing the height change per unit length, making it suitable for crossing higher obstacles, reducing the tilt angle of the cleaning equipment, and maintaining stability. The lower region of the first guide surface 1322 has a large tilt angle, which allows the walking wheel assembly 1 to quickly climb low obstacles, improving obstacle crossing efficiency. When the walking wheel assembly 1 encounters obstacles of different heights or types, the upper and lower regions of the first guide surface 1322 can play their respective roles, improving the overall obstacle crossing performance.

[0128] In the embodiments of this application, the third included angle is greater than or equal to 50° and less than or equal to 60°. The fourth included angle is greater than or equal to 20° and less than or equal to 40°.

[0129] Existing cleaning equipment has a wheel mechanism to clean the ground. The movement of the wheel mechanism enables the cleaning equipment to move. During the movement, the cleaning equipment cleans up dust, debris and other impurities on the ground to ensure that the ground is clean.

[0130] In related technologies, obstacles exist on the ground. During the movement of cleaning equipment, the walking wheel mechanism will collide with the obstacles. When the walking wheel mechanism collides with the obstacle, the contact area between the walking wheel mechanism and the obstacle is generally large, resulting in high friction and contact pressure between the walking wheel mechanism and the obstacle. This leads to high resistance to the walking wheel mechanism, making it less able to overcome obstacles and affecting the cleaning of the cleaning equipment.

[0131] Based on the above-mentioned technical problems, this application provides a walking wheel mechanism and a cleaning device, which aims to at least partially solve the technical problem of the walking wheel mechanism's poor ability to overcome obstacles.

[0132] The design concept of this application is: by setting a first guide surface on the protective part of the guard located in front of the walking wheel, the friction and contact pressure between the walking wheel mechanism and the obstacle are reduced by the first guide surface, so as to reduce the resistance of the walking wheel mechanism and enable the walking wheel mechanism to cross the obstacle smoothly.

[0133] Based on the above design concept, this application provides a traveling wheel mechanism. Referring to Figures 3, 9, and 10, the traveling wheel mechanism includes a traveling wheel assembly 1. The traveling wheel assembly 1 includes a traveling wheel mounting base 13 and a traveling wheel 14. The traveling wheel mounting base 13 has a protective cover 132. The traveling wheel 14 is mounted on the traveling wheel mounting base 13. Along the traveling direction of the traveling wheel mechanism 1, the protective cover 132 has a protective portion 1321 located in front of the traveling wheel 14. The outer surface of the protective portion 1321 has at least a partially inclined first guide surface 1322. The distance between the bottom of the first guide surface 1322 and the vertical plane containing the central axis of the traveling wheel 14 is a first distance, and the distance between the top of the first guide surface 1322 and the vertical plane containing the central axis of the traveling wheel 14 is a second distance. The first distance is smaller than the second distance.

[0134] The traveling wheel mechanism provided in this embodiment has a traveling wheel 14 mounted on a traveling wheel mounting base 13. The traveling wheel 14 rotates to allow the traveling wheel mounting base 13 to move. Since the traveling wheel mounting base 13 has a protective cover 132, and along the traveling direction of the traveling wheel assembly 1, the protective cover 132 has a protective portion 1321 located in front of the traveling wheel 14, during the movement of the traveling wheel mounting base 13, if an obstacle is encountered, the obstacle will impact the protective portion 1321 instead of directly impacting the traveling wheel 14. The protective portion 1321 protects the traveling wheel 14, ensuring its safety. Since the outer surface of the protective portion 1321 has at least a partially inclined first guide surface 1322, when an obstacle is encountered, the first guide surface 1322 will first contact the obstacle. The contact area between the first guide surface 1322 and the obstacle is a contact point or very small, reducing the contact area between the first guide surface 1322 and the obstacle, thus ensuring a safer connection between the first guide surface 1322 and the obstacle. The friction is reduced, and the contact pressure between the first guide surface 1322 and the obstacle is concentrated in a very small area, thereby reducing the contact pressure and the resistance. Under the driving force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross the obstacle. When the obstacle contacts the first guide surface 1322, the distance between the bottom of the first guide surface 1322 and the vertical plane containing the central axis of the walking wheel 14 is the first distance, and the distance between the top of the first guide surface 1322 and the vertical plane containing the central axis of the walking wheel 14 is the second distance. The first distance is smaller than the second distance. That is to say, the first guide surface 1322 gradually moves away from the central axis of the walking wheel 14 from the bottom to the top, so that the contact area between the first guide surface 1322 and the obstacle moves upward along the first guide surface 1322. During the upward movement, the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point and further reducing the resistance, so that the walking wheel assembly 1 can smoothly cross the obstacle.

[0135] Furthermore, the first guide surface 1322 and the wheel are located on opposite sides of the protective part 1321, so that when encountering an obstacle, the first guide surface 1322 can directly contact the obstacle, thereby reducing the contact area between the protective part 1321 and the obstacle.

[0136] Specifically, the protective cover 132 covers at least a portion of the side of the traveling wheel 14 along the traveling direction of the traveling wheel assembly 1. During the travel of the traveling wheel mounting seat 13, if it encounters an obstacle, the obstacle will hit the protective cover 132 instead of directly hitting the protective cover 132. The protective cover 132 protects the traveling wheel 14 and ensures the safety of the traveling wheel 14.

[0137] Referring to Figure 9, in this embodiment of the application, in order to enable the walking wheel assembly 1 to smoothly cross obstacles, along the height direction of the walking wheel mounting base 13, the first guide surface 1322 includes a plurality of guide surfaces 1323 connected in sequence. The radius of curvature R of the plurality of guide surfaces 1323 decreases from top to bottom. It can be understood that the guide surface located at the top of the plurality of guide surfaces 1323 has a large radius of curvature, making the guide surface more gentle and reducing the impact force between the guide surface and the obstacle to protect the walking wheel assembly 1. The guide surface located in the middle of the plurality of guide surfaces 1323 has a moderate radius of curvature, so that the structural strength and obstacle crossing ability of the guide surface meet the requirements. The guide surface located at the bottom of the plurality of guide surfaces 1323 has a small radius of curvature, making the guide surface more steep, reducing the contact area between the guide surface and the obstacle, and enhancing the obstacle crossing ability. When the walking wheel assembly 1 encounters obstacles of different heights or different types, different parts of the first guide surface 1322 can play their respective roles to improve the overall obstacle crossing performance.

[0138] Referring to Figure 9, by way of example, the plurality of guide surfaces 1323 include a first surface 132a, a second surface 132b, and a third surface 132c, which are connected sequentially from top to bottom along the height direction of the wheel mounting base 13. The radius of curvature R1 of the first surface 132a is greater than the radius of curvature R2 of the second surface 132b, and the radius of curvature R2 of the second surface 132b is greater than the radius of curvature R3 of the third surface 132c.

[0139] Referring to Figure 11, in this embodiment of the application, in order to form a continuous arc-shaped surface, among the multiple guide surfaces 1323, each pair of adjacent guide surfaces 1323 are connected to form a smooth transition at the connection point, so that there is no abrupt turn or angle change at the connection point. When the contact area between the first guide surface 1322 and the obstacle moves upward along the first guide surface 1322, it will not encounter any obstruction during the upward movement, reducing the friction between the first guide surface 1322 and the obstacle, and making the upward movement smooth.

[0140] In this embodiment, to enable the walking wheel assembly 1 to smoothly cross obstacles, along the height direction of the walking wheel mounting base 13, the first guide surface 1322 includes multiple guide surfaces 1323 connected in sequence. The tilt angle θ of the multiple guide surfaces 1323 increases from top to bottom. It can be understood that the upper guide surface of the multiple guide surfaces 1323 has a small tilt angle, which can provide a longer contact path, reduce the height change per unit length, is suitable for crossing higher obstacles, reduces the tilt angle of the cleaning equipment, and maintains stability. The middle guide surface of the multiple guide surfaces 1323 has a moderate tilt angle, which takes into account both passability and stability. The bottom guide surface of the multiple guide surfaces 1323 has a large tilt angle, which can enable the walking wheel assembly 1 to quickly climb low obstacles and improve obstacle crossing efficiency. When the walking wheel assembly 1 encounters obstacles of different heights or types, different parts of the first guide surface 1322 can play their respective roles to improve the overall obstacle crossing performance.

[0141] Referring to Figure 9, by way of example, the plurality of guide surfaces 1323 include a first surface 132a, a second surface 132b, and a third surface 132c, which are connected sequentially from top to bottom along the height direction of the wheel mounting base 13. The tilt angle θ1 of the first surface 132a is less than the tilt angle θ2 of the second surface 132b, and the tilt angle θ2 of the second surface 132b is less than the tilt angle θ3 of the third surface 132c.

[0142] In this embodiment of the application, in order to enable the walking wheel assembly 1 to smoothly cross obstacles, along the height direction of the walking wheel mounting base 13, the first guide surface 1322 includes a plurality of guide surfaces 1323 connected in sequence, and the chord length of the plurality of guide surfaces 1323 decreases from top to bottom as a function of the chord height W / h.

[0143] Specifically, in a circle, the following empirical relationship exists between the chord length W, the chord height h, and the radius of curvature R:

[0144] Therefore, the larger the radius of curvature, the larger the ratio between W and h. It can be understood that the upper part of the multiple guide surfaces 1323 has a chord length greater than the chord height, and its guide surface has a large radius of curvature, making the guide surface relatively flat and reducing the impact force between the guide surface and the obstacle to protect the walking wheel assembly 1. The guide surface in the middle of the multiple guide surfaces 1323 has a moderate chord length greater than the chord height, and its radius of curvature is moderate, so that the structural strength and obstacle crossing ability of the guide surface meet the requirements. The bottom part of the multiple guide surfaces 1323 has a smaller chord length than the chord height, and its guide surface has a smaller radius of curvature, making the guide surface steeper, reducing the contact area between the guide surface and the obstacle, and enhancing the obstacle crossing ability. When the walking wheel assembly 1 encounters obstacles of different heights or types, different parts of the first guide surface 1322 can play their respective roles to improve the overall obstacle crossing performance.

[0145] Referring to Figure 9, by way of example, the plurality of guide surfaces 1323 include a first surface 132a, a second surface 132b, and a third surface 132c, which are connected sequentially from top to bottom along the height direction of the wheel mounting base 13. The chord length to chord height ratio W1 / h1 of the first surface 132a is greater than the chord length to chord height ratio W2 / h2 of the second surface 132b, and the chord length to chord height ratio W2 / h2 of the second surface 132b is greater than the chord length to chord height ratio W3 / h3 of the third surface 132c.

[0146] Referring to Figures 9, 10, and 11, in this embodiment of the application, in order to further reduce the contact area between the protective part 1321 and the obstacle, the outer surface of the protective part 1321 has a protrusion 1325. The protrusion 1325 is disposed at least in the middle of the width direction of the protective part 1321. When the protective part 1321 contacts the obstacle, the obstacle will first contact the protrusion 1324. The protrusion 1324 can reduce the contact area between the protective part 1321 and the obstacle, thereby reducing the friction between the protective part 1321 and the obstacle. At the same time, the contact pressure between the protective part 1321 and the obstacle will be concentrated in a very small area, thereby reducing the contact pressure and reducing the resistance. Under the action of the driving force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross the obstacle.

[0147] Referring to Figure 10, in a spatial rectangular coordinate system, the x-direction is the width direction of the protective part 1321, the y-direction is the travel direction of the walking wheel mechanism, and the z-direction is the height of the walking wheel mechanism.

[0148] Referring to Figure 10, in this embodiment of the application, curved surfaces, concave surfaces 1324, or planes with reduced curvature are provided on both sides of the protrusion 1325 in the width direction. That is, the concave surface 1324 is recessed away from the traveling direction of the traveling wheel assembly 1. In the height direction of the traveling wheel mounting seat 13, the two concave surfaces 1324 or planes are respectively located on both sides of the first guide surface 1322, so that the protrusion 1324 between the two concave surfaces 1324 or planes protrudes, thereby reducing the contact area between the protective part 1321 and the obstacle.

[0149] In related technologies, the inner wall of the protective part is flat. In order to allow the traveling wheel to rotate smoothly, the distance between the inner wall of the protective part and the traveling wheel 14 is relatively large, which makes it easy for debris to enter between the protective part and the traveling wheel. Referring to Figures 9, 10 and 11, in this embodiment of the application, in order to reduce the possibility of debris entering between the protective part 1321 and the traveling wheel 14, the shape of the projection of the bottom of the protective part 1321 on the traveling wheel mounting base 13 along the height direction of the traveling wheel mounting base 13 is V-shaped. It can be understood that the bottom of the protective part 1321 protrudes at least partially along the traveling direction of the traveling wheel assembly 1 to form a V-shaped structure, which can reduce the distance between the inner wall of the protective part and the traveling wheel 14. At the same time, it avoids the bottom of the protective part 1321 interfering with the rotation of the traveling wheel 14, making it difficult for debris to enter the space between the protective part 1321 and the traveling wheel 14, avoiding debris interfering with the rotation of the traveling wheel 14, and ensuring the stability of the rotation of the traveling wheel 14.

[0150] Furthermore, the projection of the inner wall of the protective part 1321 onto the wheel mounting base 13 is V-shaped or arc-shaped to fit the wheel 14. It can be understood that at least part of the inner wall of the protective part 1321 protrudes along the traveling direction of the wheel assembly 1 to form a V-shaped or arc-shaped structure. This can reduce the distance between the inner wall of the protective part and the wheel 14, and at the same time, prevent the inner wall of the protective part 1321 from interfering with the rotation of the wheel 14. This makes it difficult for debris to enter the space between the protective part 1321 and the wheel 14, thus preventing debris from interfering with the rotation of the wheel 14 and ensuring the stability of the rotation of the wheel 14.

[0151] For example, the protruding portion of the inner wall of the protective part 1321 is located in the middle of the bottom of the protective part 1321.

[0152] Referring to Figure 9, in this embodiment, to further reduce the possibility of debris entering between the protective part 1321 and the traveling wheel 14, the projections of both sides of the V-shape on the traveling wheel mounting base 13 along the height direction of the traveling wheel mounting base 13 are curved, preferably smooth curves or arcs. This reduces the distance between the inner wall of the protective part and the traveling wheel 14, and at the same time, avoids the inner wall of the protective part 1321 interfering with the rotation of the traveling wheel 14, making it difficult for debris to enter the space between the protective part 1321 and the traveling wheel 14, thus preventing debris from interfering with the rotation of the traveling wheel 14 and ensuring the stability of the rotation of the traveling wheel 14. For example, the radius of curvature of the first guide surface 1322 is adapted to the curvature of the traveling wheel 14, and the radius of the first guide surface 1322 is larger than the radius of the traveling wheel 14.

[0153] In this embodiment, to enable the walking wheel assembly 1 to smoothly cross obstacles, the first guide surface 1322 has a smooth layer or a smooth surface, which can reduce the friction between the first guide surface 1322 and the obstacle, thereby reducing resistance. Under the pushing force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross obstacles. For example, the smooth layer can be made of PTFE material.

[0154] The embodiments of this application also provide a cleaning device, which includes the walking wheel mechanism, body 6, first housing 4 and second housing 5 as described in the embodiments of this application.

[0155] In specific embodiments of this application, the cleaning equipment may be a sweeping machine or a sweeping robot, etc.

[0156] Referring to Figure 18, in this embodiment of the application, to further ensure that the walking wheel assembly 1 can smoothly cross obstacles, the cleaning device further includes a body 6. The body 6 is connected to the walking component 16. The bottom of the body 6 is provided with a hole 62 for the walking component 16 to extend and retract. The body 6 is provided with a second guide surface 61, which is located in front of the hole 62 and inclined along the traveling direction of the body 6. The second guide surface 61 is located at the bottom of the chassis of the body 6 and can be an inclined surface, a curved surface, or an arc.

[0157] In this embodiment, when an obstacle is encountered, the second guide surface 61 first contacts the obstacle. The contact area between the second guide surface 61 and the obstacle is a contact point or very small, reducing the contact area between the second guide surface 61 and the obstacle. This reduces the friction between the second guide surface 61 and the obstacle, and simultaneously concentrates the contact pressure between the second guide surface 61 and the obstacle in a very small area, further reducing the contact pressure and thus reducing resistance. Under the propulsive force generated during the movement of the walking component 16, the second guide surface 61 can smoothly cross the obstacle, allowing the fuselage 6 to pass over the obstacle. When the obstacle contacts the second guide surface 61, due to the inclined arrangement of the second guide surface 61, the contact area between the second guide surface 61 and the obstacle moves upward along the second guide surface 61. During the upward movement, the contact pressure gradually disperses, thereby reducing the pressure at the initial contact point and further reducing resistance, allowing the fuselage 6 to smoothly cross the obstacle.

[0158] 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, installed on the body of a cleaning equipment, characterized in that, The traveling wheel mechanism includes a traveling wheel assembly, which includes: The walking component is telescopically movable between a first position and a second position relative to the body, with the first position located below the second position along the height direction of the walking wheel mounting base; When the walking component switches between the first position and the second position, the amount of overlap between the projection of the walking component on the body and the body along the traveling direction of the body is greater than 1%, preferably greater than 5%, more preferably greater than 10%, greater than 20%, or greater than 30%.

2. The walking wheel mechanism according to claim 1, characterized in that, in, When the walking component is in the first position, along the traveling direction of the fuselage, the overlap between the projection of the walking component on the fuselage and the fuselage is less than or equal to 95%.

3. The walking wheel mechanism according to claim 1, characterized in that, When the walking component is in the second position, along the traveling direction of the fuselage, the overlap between the projection of the walking component on the fuselage and the fuselage is greater than or equal to 60%.

4. The walking wheel mechanism according to any one of claims 1-3, characterized in that, When the walking component is in the first position, the overlap between the projection of the walking wheel mounting seat on the body and the body is greater than or equal to 0 along the traveling direction of the body.

5. The walking wheel mechanism according to any one of claims 1-3, characterized in that, When the wheel mounting base is in the first position, each position on the upper part of the wheel mounting base has at least a partial overlap with the machine body, with a minimum overlap greater than or equal to 0, preferably ≥1%.

6. The walking wheel mechanism according to any one of claims 1-3, characterized in that, When the walking component is in the second position, along the traveling direction of the machine body, the overlap between the projection of the walking wheel mounting seat on the machine body and the machine body is less than or equal to 98%, preferably less than or equal to 90%.

7. The walking wheel mechanism according to any one of claims 1-3, characterized in that, The walking component includes: The wheel mounting base has a protective cover; The traveling wheels are mounted on the traveling wheel mounting bracket; Along the direction of travel of the fuselage, the protective cover has a protective section located in front of the traveling wheels.

8. The walking wheel mechanism according to claim 7, characterized in that, At least a portion of the outer surface of the protective part is inclined in the direction from bottom to top, and the outer surface is inclined away from the walking wheel to form the inclined portion.

9. The walking wheel mechanism according to claim 8, characterized in that, The inclined portion is located on the front side of the outer surface along the direction of travel of the fuselage.

10. The walking wheel mechanism according to claim 8, characterized in that, When the walking component is in the first position, the angle between the outer surface and the bottom of the body is the first angle; when the walking component is in the second position, the angle between the outer surface and the bottom of the body is the second angle; the minimum first angle is less than or equal to the minimum second angle.

11. The walking wheel mechanism according to claim 10, characterized in that, Both the first included angle and the second included angle are greater than or equal to 20° and less than or equal to 60°.

12. The walking wheel mechanism according to claim 10, characterized in that, At least a portion of the outer surface of the protective part has an inclined first guide surface, which is inclined away from the walking wheel along the direction from the bottom to the top of the first guide surface.

13. The walking wheel mechanism according to claim 12, characterized in that, When the walking component is in the first position, the angle between the first guide surface and the bottom of the body is the third angle. When the walking component is in the second position, the angle between the first guide surface and the bottom of the body is the fourth angle. The third angle is smaller than the fourth angle.

14. The walking wheel mechanism according to claim 13, characterized in that, The third included angle is greater than or equal to 20° and less than or equal to 40°; the fourth included angle is greater than or equal to 50° and less than or equal to 60°.

15. The walking wheel mechanism according to claim 7, characterized in that, The outer surface of the protective part has a protrusion, which is located at least a portion of the middle part of the protective part in the width direction.

16. The walking wheel mechanism according to claim 15, characterized in that, The protrusion has curved surfaces, concave surfaces, or flat surfaces with reduced curvature on both sides in the width direction.

17. A cleaning device, characterized in that, Includes the walking wheel mechanism as described in any one of claims 1-16.

18. The cleaning equipment according to claim 17, characterized in that, The cleaning equipment also includes: The fuselage is connected to the traveling components; The bottom of the body is provided with a hole for the extension and retraction of the walking component. The body is provided with a second guide surface, which is located in front of the hole and is inclined along the traveling direction of the body.

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