Floor-sweeping robot

Abstract

Provided is a floor-sweeping robot, comprising a machine body (100) and an obstacle crossing mechanism, wherein the machine body (100) comprises a housing (106) disposed at the bottom of the machine body (100), the housing (106) comprises an obstacle crossing assist plate (302), the obstacle crossing assist plate (302) is disposed at the front end of the machine body (100), the obstacle crossing mechanism is connected to the obstacle crossing assist plate (302), and the obstacle crossing mechanism can rotate the obstacle crossing assist plate (302) until the rear end of the obstacle crossing assist plate (302) abuts against the front side surface of a component protruding from the bottom of the machine body (100).

Description

Sweeping robot TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning equipment, in particular to a sweeping robot. BACKGROUND

[0002] In the related art, the sweeping robot cannot continue the cleaning task when encountering an obstacle during the cleaning process, and generally needs the user to remove the ground obstacle. When encountering a threshold or other fixed obstacle, the user generally needs to lift the sweeping robot to cross the obstacle and then continue the cleaning task, which is inconvenient to use.

[0003] In the related art, some sweeping robots are provided with an obstacle crossing mechanism to cross the obstacle, but generally the robot body is lifted up and down in the vertical direction to avoid the obstacle. However, such a form is prone to collision with the obstacle during use, thereby causing the robot to fail to cross the obstacle or the obstacle crossing effect to be poor. SUMMARY

[0004] The present disclosure aims to solve the technical problems in the related art to some extent. To this end, the present disclosure provides a sweeping robot.

[0005] To achieve the above-mentioned purpose, a sweeping robot is disclosed, comprising a robot body and an obstacle crossing mechanism, the robot body comprises a shell at the bottom of the robot body, the shell comprises an auxiliary obstacle crossing plate, the auxiliary obstacle crossing plate is located at the front end of the robot body, the obstacle crossing mechanism is connected with the auxiliary obstacle crossing plate and can rotate the auxiliary obstacle crossing plate to abut against the front side of a component protruding from the bottom of the robot body.

[0006] In the technical solution, when an obstacle is encountered, the obstacle crossing mechanism can drive the auxiliary obstacle crossing plate to rotate, and the rear end of the auxiliary obstacle crossing plate can abut against the front side of the protruding component at the bottom of the sweeping robot. In this way, the protruding body of the sweeping robot is prevented from directly abutting against the obstacle during the obstacle crossing process, thereby affecting the obstacle crossing. In addition, the rotation of the auxiliary obstacle crossing plate can also make the front end of the auxiliary obstacle crossing plate lean backward, thereby enabling the auxiliary obstacle crossing plate to better avoid the obstacle. In addition, part of the structure (shell) of the sweeping robot in the present application forms the auxiliary obstacle crossing plate, thereby reducing the additional accessories required for improving the obstacle crossing. In addition, the auxiliary obstacle crossing plate can also fit with the body of the sweeping robot during normal operation, thereby playing a protective role for the robot.

[0007] Further, the obstacle surmounting mechanism comprises at least one sliding part and at least one rotating driving part, the rotating driving part corresponds to the sliding part one by one, the sliding part comprises a column and a pivoting connecting part, the column can slide along the thickness direction of the machine body, the pivoting connecting part is located at the first end of the column, and the pivoting connecting part is pivotally connected with the auxiliary obstacle surmounting plate; the rotating driving part is used for driving the auxiliary obstacle surmounting plate to pivot around the pivoting connecting part when the sliding part slides. Through the arrangement, the auxiliary obstacle surmounting plate can realize the effect of descending and pivoting at the same time, and can assist the obstacle surmounting plate to be directed to the obstacle in a more suitable posture, and the obstacle surmounting is more convenient.

[0008] Further, the rotating driving part comprises a torsion spring, the torsion spring is sleeved on the pivoting connecting part, a first end of the torsion spring is connected to the sliding part, a second end of the torsion spring is connected to the auxiliary obstacle surmounting plate, the obstacle surmounting mechanism further comprises a first spring, the first spring is sleeved on the column, the machine body is provided with a guide cylinder for mounting the column, a top of the column is provided with a baffle, and the first spring is mounted in a compressed state between the baffle and an end face of the guide cylinder. Through the arrangement of the first spring and the torsion spring, the guide column and the auxiliary obstacle surmounting plate can be more stably kept in the reset position and the extended position, and through the pre-set elastic force and torsion force, the gap caused by wear or loosening of components during use can be compensated to a certain extent, and the stability of equipment operation is improved.

[0009] Further, the auxiliary obstacle surmounting plate comprises a shell main body and pivoting ears arranged on both sides of the shell main body, a spacing is formed between the two pivoting ears, the pivoting connecting part is arranged between the two pivoting ears, the torsion spring is arranged between the pivoting ear and the pivoting connecting part, the number of the sliding parts is two, and the pivoting connecting parts of the sliding parts are pivotally connected with the pivoting ears on the corresponding sides through connecting shafts. Through the arrangement of the connecting parts at the two ends of the auxiliary obstacle surmounting plate, the two ends of the auxiliary obstacle surmounting plate can be supported respectively, and the stability of the auxiliary obstacle surmounting plate during installation and pivoting is improved.

[0010] Further, an installation recess is arranged on the outer side of the auxiliary obstacle surmounting plate, an auxiliary wheel is mounted in the installation recess, a wheel surface of the auxiliary wheel protrudes from the outer side of the auxiliary obstacle surmounting plate, and the auxiliary wheel is close to the rear end of the auxiliary obstacle surmounting plate. Through the arrangement of the auxiliary wheel, in the later stage of obstacle surmounting, the design of the auxiliary wheel can make the friction between the auxiliary obstacle surmounting plate and the ground / obstacle surface be rolling friction, the driving wheel is prevented from slipping, and the obstacle surmounting is more smooth.

[0011] Further, the shell is arranged at the edge of the bottom of the body, the outer side of the shell is arranged as a curved surface, and the shell extends obliquely towards the top surface of the body from one end of the edge of the body, and the two side edges of the auxiliary obstacle board can be butted against the side edges of the adjacent shells. The arrangement of the curved surface and the oblique structure can better avoid obstacles, and further ensure that the curved surface and the front side of the convex part of the body always smoothly transition during movement, so as to avoid the contact between the convex step of the robot itself and the obstacle, and make the obstacle avoidance more smooth, and make the robot more convenient to avoid obstacles during movement, or reduce the resistance of the obstacle when the robot contacts the obstacle.

[0012] Further, the robot further comprises a universal wheel assembly which is slidably connected to the body and can slide along the thickness direction of the body, the bottom of the universal wheel assembly extends out of the bottom surface of the body, the universal wheel assembly is opposite to the auxiliary obstacle board, and the obstacle avoidance mechanism can rotate the auxiliary obstacle board to abut against the front side of the universal wheel assembly when the universal wheel assembly extends out of the bottom surface of the body.

[0013] Through the above arrangement, the universal wheel assembly of the robot is arranged as a structure which can be lifted relative to the body, so that when the robot performs obstacle avoidance, the universal wheel assembly can lift the body, and cooperate with the auxiliary obstacle board to make the robot lift the body and rotate the obstacle board, so as to improve the obstacle avoidance ability from two different dimensions, and the universal wheel assembly and the auxiliary obstacle board are both original structures of the robot, so that the combination is better, and the volume of the robot is not additionally increased.

[0014] Further, the universal wheel assembly comprises a universal wheel support, a universal wheel body and a pressing block arranged on the universal wheel support, the universal wheel body is connected to the bottom of the universal wheel support and extends out of the bottom surface of the machine body, the universal wheel support is slidingly connected to the machine body and can slide along the thickness direction of the machine body, the obstacle surmounting mechanism comprises a sliding part and a rotary driving part, the rotary driving part corresponds to the sliding part, the sliding part comprises a column and a pivoted connecting part, the column can slide along the thickness direction of the machine body, the pivoted connecting part is located at the first end of the column, and the pivoted connecting part is pivotally connected with the auxiliary obstacle surmounting plate; the rotary driving part is used to drive the auxiliary obstacle surmounting plate to pivot around the pivoted connecting part when the sliding part slides; the sliding part further comprises a pressure receiving boss arranged on the outer circumferential surface of the column, the pressure receiving boss is located between the pivoted connecting part and the second end of the column, the pressing block can abut against the pressure receiving boss when the universal wheel assembly extends out of the machine body, drive the sliding part to slide in the same direction, and drive the rotary driving part to drive the auxiliary obstacle surmounting plate to rotate synchronously to the state that the rear end of the auxiliary obstacle surmounting plate abuts against the front side of the universal wheel body. The action of the obstacle surmounting mechanism and the action of the universal wheel lifting are linked, the number of driving power components is reduced, the number of components can be further reduced, and the overall performance is improved.

[0015] Further, at least one first limiting part for limiting the sliding of the universal wheel support along the thickness direction of the machine body is arranged on the machine body, the universal wheel support is provided with a second limiting part corresponding to the first limiting part, the obstacle surmounting mechanism comprises a power assembly and a return assembly arranged on the machine body.

[0016] The power assembly is used to drive the universal wheel assembly to extend out of the bottom surface of the machine body and keep the universal wheel assembly in the extended position.

[0017] The return assembly is used to drive the universal wheel assembly to reset from the extended position and keep the universal wheel assembly in the reset position.

[0018] Further, the power assembly comprises at least one elastic driving part, the elastic driving part is arranged between the first limiting part of the universal wheel assembly and the second limiting part of the machine body, and the elastic driving part is used to drive the universal wheel assembly to move to the reset position by the elastic force of the elastic driving part.

[0019] Further, the universal wheel assembly comprises a universal wheel support arranged on the body, the universal wheel support comprises a support body and a driving arm, the first limiting part and the second limiting part are two in number, each of the first limiting part comprises a limiting column arranged on the body, each of the second limiting part comprises a limiting body arranged on the support body, the limiting body comprises a first limiting hole corresponding to the limiting column and an annular mounting groove surrounding the first limiting hole, the limiting column is inserted into the first limiting hole, the elastic driving element comprises a second spring, the second spring is mounted in the mounting groove, and the first end of the second spring is connected to the body, and the second end of the second spring is connected to the support body, the first end of the driving arm is connected to the support body, and the second end of the driving arm extends to the reset assembly. The second spring is arranged as a driving element for driving the universal wheel support to move in the first direction, and the cam-link mechanism is arranged as a driving element for driving the universal wheel support in the opposite direction, so that the performance requirement of the motor can be reduced. In addition, by designing the second spring, the impact force of obstacle crossing can be absorbed during obstacle crossing, the impact force received by the connecting rod, the driving cam and the cam motor is reduced, and the service life of the components is improved.

[0020] Further, the reset assembly comprises a cam motor arranged on the body, a driving cam and a connecting rod, the driving cam is arranged on the output end of the cam motor, the middle part of the connecting rod is rotatably connected to the body, the cam surface of the driving cam abuts against the side surface of the first end of the connecting rod, and the second end of the connecting rod abuts against the bottom of the driving arm. The driving cam can drive the first end of the connecting rod to rotate and drive the second end of the connecting rod to drive the universal wheel assembly to stretch out from the bottom surface of the body.

[0021] Further, the driving arm is provided with a light barrier, the body is provided with a photoelectric switch in communication connection with the cam motor, the driving arm moves to the reset position and can trigger the photoelectric switch through the light barrier; the matching surface of the connecting rod and the driving cam is provided with a positioning recess, the contour of the positioning recess is arranged in a structure similar to the profile of the cam surface, and when the driving cam rotates to the position where the cam surface is clamped into the positioning recess, the universal wheel assembly is kept in the reset position under the cooperation of the driving cam and the positioning recess. The structure of the face contact between the positioning recess and the connecting rod at the remote rest position of the driving cam realizes better self-locking effect.

[0022] Further, the universal wheel assembly comprises a universal wheel support slidingly arranged in the body, the first limiting part comprises two limiting columns arranged in the body, the second limiting part is arranged on the universal wheel support and comprises two second limiting holes corresponding to the limiting columns, the limiting columns penetrate the second limiting holes, the power assembly comprises a driving motor arranged in the body and a driving plate connected to the output end of the driving motor, the driving plate is arranged on the side of the universal wheel support facing the front of the body, the driving plate comprises a driving guide hole for cooperating with the limiting column, the first end surface of the universal wheel support is connected with the driving plate through a driving spring, the second end surface of the universal wheel support is connected with the body through a return spring, and the return spring is in a compressed state. By adopting the driving motor to directly drive the universal wheel support through the driving spring, the overall structure of the obstacle surmounting mechanism is simplified, and the driving spring can also absorb the impact force in the obstacle surmounting process.

[0023] Further, the body is provided with a guide hole for guiding the universal wheel support, at least part of the universal wheel support is inserted into the guide hole, and the lower end surface of the guide hole can stop the movement of the universal wheel body in the return direction, so that a gap is formed between the universal wheel support and the universal wheel body in the return position. The gap ensures that the position of the universal wheel body is always certain during the normal working process of the sweeping robot, and the position error of the universal wheel body caused by the fact that the motor does not rotate to the position or the fact that the plastic part deforms after long-time working at the end of the warranty period, thereby ensuring the stable operation of the radar and the line laser.

[0024] The features and advantages of the present disclosure will be described in detail in the following detailed description and the accompanying drawings. The best mode or means of the present disclosure will be fully illustrated in conjunction with the drawings, but it is not a limitation on the technical solutions of the present disclosure. In addition, the features, elements and components appearing in each of the following and the drawings are multiple, and different symbols or numbers are marked for the convenience of representation, but all represent the same or similar structure or function parts. BRIEF DESCRIPTION OF DRAWINGS

[0025] The present disclosure will be further described in conjunction with the accompanying drawings:

[0026] Fig. 1 is a structural diagram of a sweeping robot according to one embodiment of the present disclosure;

[0027] Fig. 2 is a side sectional view (the power assembly is a second spring) according to one embodiment of the present disclosure;

[0028] Fig. 3 is an enlarged view of part A in Fig. 2 according to the present disclosure;

[0029] Fig. 4 is a schematic diagram of the state of the universal wheel assembly and the cam-linkage mechanism in the extended position according to one embodiment of the present disclosure;

[0030] Fig. 5 is a schematic diagram of a state of the universal wheel assembly and the cam-linkage mechanism in a reset position according to an embodiment of the present disclosure;

[0031] Fig. 6 is a side sectional view of a normal working state according to an embodiment of the present disclosure;

[0032] Fig. 7 is a side sectional view of an obstacle crossing state according to an embodiment of the present disclosure;

[0033] Fig. 8 is a schematic diagram of an extended position of the auxiliary obstacle crossing plate when the auxiliary obstacle crossing plate does not move with the universal wheel assembly;

[0034] Fig. 9 is a perspective view according to an embodiment of the present disclosure;

[0035] Fig. 10 is a side sectional view (the power assembly is a driving motor) according to an embodiment of the present disclosure;

[0036] Fig. 11 is a schematic diagram of the photoelectric switch and the light blocking plate according to an embodiment of the present disclosure.

[0037] In the drawings: 100, body; 101, guide cylinder; 102, guide hole; 103, cover plate; 104, limiting column; 105, driving wheel; 106, housing; photoelectric switch, 107; 200, universal wheel assembly; 201, universal wheel support; 202, universal wheel body; 203, universal wheel; 204, driving arm; 205, light blocking plate; 206, gap; 2071, first limiting hole; 2072, second limiting hole; 2073, mounting groove; 208, pressing block; 209, connecting pin; 301, sliding part; 3011, column; 3012, pivoting connection part; 3013, pressure receiving boss; 302, auxiliary obstacle crossing plate; 3021, housing body; 3022, pivoting ear; 303, connecting shaft; 304, auxiliary wheel; 306, first spring; 307, torsion spring; 308, baffle; 409, cam motor; 410, driving cam; 411, connecting rod; 4111, positioning recess; 420, reset spring; 510, second spring; 520, driving plate; 521, driving spring; driving guide hole 5201. DETAILED DESCRIPTION

[0038] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The same or similar components are denoted by the same or similar reference numerals throughout the drawings, and a description thereof will not be repeated. The embodiments described below are intended to explain the present disclosure, and cannot be understood as limiting the present disclosure.

[0039] Reference throughout this specification to "some embodiments" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.

[0040] Referring to FIGS. 1 and 9, some embodiments of the present disclosure disclose a sweeping robot, comprising a body 100 and an obstacle surmounting mechanism, the body 100 comprises a shell 106 at the bottom of the body 100, the shell 106 comprises an auxiliary obstacle surmounting plate 302, the auxiliary obstacle surmounting plate 302 is located at the front end of the body 100, the obstacle surmounting mechanism is connected with the auxiliary obstacle surmounting plate 302, and the obstacle surmounting mechanism can rotate the auxiliary obstacle surmounting plate 302 to abut the rear end of the auxiliary obstacle surmounting plate 302 with the front side of the component protruding from the bottom of the body 100.

[0041] As shown in FIG. 1, the shell 106 is located at the bottom of the sweeping robot and is generally distributed at the edge of the bottom of the body 100, which plays a role in closing the body 100 and protecting the robot. The auxiliary obstacle surmounting plate 302 in the present embodiment is equivalent to setting a part of the structure originally belonging to the shell 106 as a movable piece. When the sweeping robot normally performs cleaning work, referring to FIG. 6, the auxiliary obstacle surmounting plate 302 and the shell 106 fit together, which ensures the overall appearance of the sweeping robot and plays a protective effect.

[0042] The auxiliary obstacle surmounting plate 302 is arranged at the front end of the bottom of the sweeping robot, and the obstacle surmounting mechanism is arranged on the sweeping robot, which is connected with the auxiliary obstacle surmounting plate 302. When the sweeping robot encounters an obstacle during cleaning work, the obstacle surmounting mechanism can drive the auxiliary obstacle surmounting plate 302 to rotate, and make the rear end of the auxiliary obstacle surmounting plate 302 abut with the front side of the component protruding from the bottom of the body 100. In this way, the rear end of the auxiliary obstacle surmounting plate 302 and the front side of the component protruding from the bottom of the body 100 can be smoothly connected, referring to FIG. 7. It should be noted that the component protruding from the bottom of the body 100 can be the universal wheel body 202 and other components protruding from the bottom of the body 100 in the structural design. The component protruding from the bottom of the body 100 is generally located at the front side of the universal wheel 203. If there is no auxiliary obstacle surmounting plate 302, the front side of these components protruding from the bottom of the body 100 is easy to be hit on the obstacle, which causes the sweeping robot to be unable to surmount the obstacle, referring to FIG. 8.

[0043] Referring to FIGS. 6 and 9, the obstacle surmounting mechanism of one embodiment of the present disclosure includes at least one sliding part 301 and at least one rotating driving part corresponding to the sliding part 301. The sliding part 301 includes a column 3011 and a pivoting connecting part 3012. The column 3011 is capable of sliding along the thickness direction of the robot body 100. The pivoting connecting part 3012 is located at the first end of the column 3011 and is pivotally connected with the auxiliary obstacle surmounting plate 302. The rotating driving part is used to drive the auxiliary obstacle surmounting plate 302 to pivot around the pivoting connecting part 3012 when the sliding part 301 slides.

[0044] The sliding part 301 and the rotating driving part in the present embodiment jointly drive the rotation of the auxiliary obstacle surmounting plate 302. The sliding part 301 can drive one end of the auxiliary obstacle surmounting plate 302 to rise and fall, while the rotating driving part drives the auxiliary obstacle surmounting plate 302 to rotate, realizing the motion effect of the auxiliary obstacle surmounting plate 302 falling and rotating at the same time. The falling of the auxiliary obstacle surmounting plate 302 can better enable the rear end thereof to abut against the lower end of the front side of the component protruding from the bottom of the robot body 100. The rotating motion enables the auxiliary obstacle surmounting plate 302 to be directed towards the obstacle in a more suitable posture, which is more convenient for surmounting the obstacle. When surmounting the obstacle, the robot can accelerate and then rush towards the obstacle. Under the guiding effect of the auxiliary obstacle surmounting plate 302, the protruding component at the bottom of the robot body 100 can be prevented from directly abutting against the obstacle, realizing smooth surmounting of the obstacle.

[0045] In some embodiments, the sliding of the sliding part 301 can be directly connected to a power component, such as a motor or a linear driving component (such as a pneumatic cylinder, a linear motor, a hydraulic driving component, etc.). In other embodiments, the sliding part 301 can be driven by other components as an intermediate transmission component.

[0046] The rotating driving part of one embodiment of the present disclosure includes a torsion spring 307 (which can also be other types of elastic components). The torsion spring 307 is sleeved on the pivoting connecting part 3012. The first end of the torsion spring 307 is connected to the sliding part 301, and the second end of the torsion spring 307 is connected to the auxiliary obstacle surmounting plate 302. It should be noted that, in order to ensure the rotation of the auxiliary obstacle surmounting plate 302, the torsion spring 307 will store a certain torsion force when installed. This can not only enable the front end of the auxiliary obstacle surmounting plate 302 to always abut against the bottom of the robot body 100 under the action of the torsion spring 307 in the normal working state, realizing the sealing effect of the robot body 100, but also compensate for the loosening problem caused by the assembly gap after a long time of use to a certain extent.

[0047] The obstacle surmounting mechanism further comprises a first spring 306 sleeved on the column 3011, the machine body 100 is provided with a guide cylinder 101 for mounting the column 3011, the top of the column 3011 is provided with a baffle 308, and the first spring 306 is mounted in compression between the baffle 308 and the end face of the guide cylinder 101. Similarly, the first spring 306 is also provided with a certain pressure when installed, and through the arrangement of the first spring 306 and the torsion spring 307, the guide column and the auxiliary obstacle surmounting plate 302 can be more stably kept in the reset position and the extended position, and through the pre-set elastic force and torsion force, the gap caused by wear or loosening of the components during use can also be compensated to a certain extent, thereby improving the stability of the equipment operation.

[0048] It should be noted that, since the first spring 306 needs to overcome the torsion of the torsion spring 307 to reset the sliding part 301 to the reset position during normal operation, the elastic force of the first spring 306 generally needs to be greater than the torsion of the torsion spring 307.

[0049] The auxiliary obstacle surmounting plate 302 of the present disclosure comprises a shell body 3021 and pivot ears 3022 arranged on both sides of the shell body 3021, a space is formed between the two pivot ears 3022, the pivot connection part 3012 is arranged between the two pivot ears 3022, the torsion spring 307 is arranged between the pivot ear 3022 and the pivot connection part 3012, the number of the sliding part 301 is two, and the pivot connection part 3012 of the sliding part 301 is pivotally connected with the corresponding side of the pivot ear 3022 through the connecting shaft 303. By arranging the connecting parts at both ends of the auxiliary obstacle surmounting plate 302, the auxiliary obstacle surmounting plate 302 can be supported from both ends, thereby improving the stability during installation and rotation of the auxiliary obstacle surmounting plate 302.

[0050] It should be noted that the rotation of the auxiliary obstacle surmounting plate 302 mentioned in the present embodiment is not limited to the rotation driven by the sliding part 301 and the rotation driving part mentioned above, and in some embodiments, the rotation of the auxiliary obstacle surmounting plate 302 of the present disclosure can also be driven by a motor, in which case the auxiliary obstacle surmounting plate 302 can be directly rotatably connected to the machine body 100 through an adapter shaft arranged at the middle position of the auxiliary obstacle surmounting plate 302, and when obstacle surmounting is needed, the auxiliary obstacle surmounting plate 302 can be directly driven to rotate, in which case one end of the obstacle surmounting plate will naturally have a downward trend under the action of rotation, thereby enabling the one end to abut against the front side of the component protruding from the bottom of the machine body 100 to assist the obstacle surmounting of the robot sweeper. In some embodiments, the rotation of the auxiliary obstacle surmounting plate 302 can also be other structures that can make one end thereof drop to be aligned with the front side of the component protruding from the bottom of the machine body 100.

[0051] In order to improve the success rate of obstacle crossing, the auxiliary obstacle crossing plate 302 is provided with a mounting cavity on the outer side thereof, and an auxiliary wheel 304 is mounted in the mounting cavity. The side wall of the auxiliary wheel 304 protrudes from the outer side of the auxiliary obstacle crossing plate 302, and the auxiliary wheel 304 is close to the rear end of the auxiliary obstacle crossing plate 302. During the process of accelerating the obstacle crossing, the sweeping robot of the present application will first accumulate a certain kinetic energy. In the early stage of obstacle crossing, the kinetic energy will gradually be consumed to overcome the gravitational potential energy, resulting in insufficient kinetic energy in the later stage of obstacle crossing. At the same time, the torsional spring 307 gradually relaxes, the force applied to the driving wheel 105 becomes smaller, and the friction force provided by the ground to the driving wheel 105 also becomes smaller. The auxiliary wheel 304 is arranged to enhance the obstacle crossing performance. In the later stage of obstacle crossing, the design of the auxiliary wheel 304 can make the friction between the auxiliary obstacle crossing plate 302 and the ground / obstacle surface be rolling friction, reduce the requirement for driving force, prevent the driving wheel 105 from slipping, and make the obstacle crossing more smooth.

[0052] The shell 106 is arranged at least at the edge of the bottom of the machine body 100. The outer side of the shell 106 is provided with a curved surface, and the shell 106 extends obliquely towards the top surface of the machine body 100 from one end of the edge of the machine body 100. The two side edges of the auxiliary obstacle crossing plate 302 can be butted against the side edges of the adjacent shells 106. The arrangement of the curved surface and the oblique structure can better avoid obstacles. In addition, it is ensured that the curved surface and one side surface of the universal wheel assembly 200 always smoothly transition during movement, which can avoid the contact between the protruding step of the universal wheel body 202 itself and the obstacle, make the obstacle crossing more smooth, and make it more convenient for the robot to avoid obstacles during movement or reduce the resistance of the obstacle when contacting the obstacle. It can be seen that, by integrating the obstacle crossing mechanism with the structure of the sweeping robot, in the normal working state, the auxiliary obstacle crossing plate 302 and the shell 106 of the ordinary sweeping robot have the same effect, and there is no obvious difference in appearance. Only when crossing obstacles, the auxiliary obstacle crossing plate 302 rotates, which improves the success rate of obstacle crossing.

[0053] Referring to FIGS. 4, 5, 7 and 9, one embodiment of the present application further includes a universal wheel assembly 200 which is slidably connected to the machine body 100 and can slide along the thickness direction of the machine body 100. The bottom of the universal wheel assembly 200 protrudes from the bottom surface of the machine body 100. The universal wheel assembly 200 is opposite to the auxiliary obstacle crossing plate 302. The obstacle crossing mechanism can rotate the auxiliary obstacle crossing plate 302 to abut the front side surface of the universal wheel assembly 200 when the universal wheel assembly 200 protrudes from the bottom surface of the machine body 100.

[0054] In this embodiment, on the basis of the above-mentioned embodiment, the universal wheel assembly 200 capable of lifting is added, in the process of obstacle crossing, the universal wheel assembly 200 can be stretched out from the bottom surface of the body 100, lifting the body 100, at the same time, the auxiliary obstacle crossing plate 302 can also rotate to the rear end of the auxiliary obstacle crossing plate 302 abutting against the front side surface of the universal wheel assembly 200, so that the body 100 is lifted and can also avoid the part protruding from the bottom of the body 100 directly hitting the obstacle to a certain extent, combined with the effect of the auxiliary obstacle crossing plate 302 and the front side surface of the universal wheel assembly 200 abutting against each other, the obstacle crossing ability can be further improved.

[0055] Referring to FIGS. 1, 2 and 10, one of the embodiments of the present disclosure discloses a sweeping robot, comprising a body 100, a universal wheel assembly 200, an obstacle crossing mechanism, the universal wheel assembly 200 is slidingly arranged in the body 100, and the universal wheel assembly 200 can slide along the thickness direction of the body 100, the universal wheel assembly 200 comprises a universal wheel bracket 201 arranged in the body 100 and a universal wheel body 202 protruding from the bottom of the body 100, the body 100 comprises an auxiliary obstacle crossing plate 302 arranged at the front end of the body 100, the obstacle crossing mechanism comprises a sliding part 301 slidingly arranged in the body 100 and capable of sliding along the thickness direction of the body 100, the bottom of the auxiliary obstacle crossing plate 302 is rotationally connected to the sliding part 301, and the top of the auxiliary obstacle crossing plate 302 abuts against the bottom of the body 100, the sliding of the sliding part 301 can drive the rotation of the auxiliary obstacle crossing plate 302 and make the bottom of the auxiliary obstacle crossing plate 302 follow the sliding of the sliding part 301 and the top of the auxiliary obstacle crossing plate 302 synchronously slide along the bottom of the body 100.

[0056] The obstacle surmounting mechanism of one embodiment of the present disclosure comprises at least one sliding part 301 and at least one rotating driving part corresponding to the sliding part 301, the sliding part 301 comprises a column 3011, a pressure receiving boss 3013 and a pivot connection part 3012, the column 3011 can slide along the thickness direction of the machine body 100, the pressure receiving boss 3013 is arranged on the outer circumferential surface of the column 3011, the pivot connection part 3012 is located at the first end of the column 3011, and the pressure receiving boss 3013 is located between the pivot connection part 3012 and the second end of the column 3011; the pivot connection part 3012 is pivotably connected with the auxiliary obstacle surmounting plate 302; the universal wheel assembly 200 comprises a universal wheel support 201 and a pressure applying block 208 arranged on the universal wheel support 201, the universal wheel support 201 can slide along the thickness direction of the machine body 100, and the pressure applying block 208 can abut against the pressure receiving boss 3013 when the universal wheel assembly 200 extends out of the machine body 100, and drive the sliding part 301 to slide in the same direction; the rotating driving part is used to drive the auxiliary obstacle surmounting plate 302 to pivot around the pivot connection part 3012 when the sliding part 301 slides. In this embodiment, the universal wheel assembly 200 can only drive the sliding part 301 to slide downward, and the upward sliding of the universal wheel assembly 200 cannot drive the sliding part to move upward (the upward movement of the sliding part 301 is realized by other components), the embodiment makes the universal wheel support 201 and the sliding part 301 have linkage effect, improves the integrity of the equipment, converts the linear motion of the sliding part 301 into the rotation of the auxiliary obstacle surmounting plate 302, makes the overall structure more compact, is more helpful for space arrangement, and is convenient for structure design.

[0057] In use, when the sweeping robot detects that the front end of the travel route has an obstacle, the universal wheel assembly 200 moves relative to the machine body 100, since the universal wheels 203 at the bottom of the universal wheel assembly 200 and the driving wheels 105 are always supported on the ground, at this time the machine body 100 moves upward relative to the universal wheel assembly 200, which is equivalent to that the front end of the machine body 100 is lifted, since the height of the driving wheels 105 relative to the machine body is unchanged, the overall effect is that the machine body 100 rotates by an angle relative to the contact point of the driving wheels 105 with the ground, so that the head of the robot is tilted, which is convenient for the head of the robot to surmount the obstacle. It should be noted that the height to which the head of the robot is lifted is consistent in each surmounting process.

[0058] In the present disclosure, the direction in which the universal wheel assembly 200 extends out of the bottom of the machine body 100 can be vertical downward, and the direction in which the universal wheel assembly 200 resets can be vertical upward.

[0059] The universal wheel assembly 200 of the present disclosure comprises a universal wheel support 201 and a universal wheel body 202 arranged on the universal wheel support 201, the universal wheel body 202 protrudes from the bottom of the body 100 (so that the universal wheel 203 always supports the ground), and the body 100 is provided with a power assembly and a reset assembly.

[0060] The power assembly is used to drive the universal wheel assembly 200 to move vertically downward and can keep the universal wheel assembly 200 in the extended position.

[0061] The reset assembly is used to drive the universal wheel assembly 200 to move vertically upward and can keep the universal wheel assembly 200 in the reset position; wherein the extended position is the position of the obstacle crossing mechanism when the sweeping robot needs to cross the obstacle, and the reset position is the position of the obstacle crossing mechanism when the sweeping robot works normally.

[0062] During the cleaning process, the sweeping robot is in normal working state most of the time, and the components of the obstacle crossing mechanism are in the reset position, at this time the body 100 is horizontal, the reset position of the universal wheel assembly 200 is at the highest point, the reset position of the sliding part 301 is also at the highest point of displacement, the rear end of the auxiliary obstacle crossing plate 302 (the end connected with the sliding part 301) is also at the highest point of displacement, and the front end of the auxiliary obstacle crossing plate 302 is at the most forward position of its displacement range (relative to the body 100); when it is necessary to cross the obstacle, for example, when the sensor of the sweeping robot detects the obstacle, the obstacle crossing mechanism will first switch to the extended position, at this time the universal wheel 203 and the drive wheel 105 are in contact with the ground to form support, ensuring the stable support effect of the whole sweeping robot, the front end of the body 100 is lifted upward, the universal wheel support 201 in the universal wheel assembly 200 is at the lowest point of displacement, the sliding part 301 is also at the lowest point of displacement under the action of the universal wheel support 201, at this time the rear end of the auxiliary obstacle crossing plate 302 will move downward with the downward movement of the sliding part 301, and the front end will rotate backward relative to the front end of the body 100, which is equivalent to a backward rotation effect, so that the front end of the auxiliary obstacle crossing plate 302 has an avoiding effect in the height direction and the horizontal direction.

[0063] In addition, it should be noted that after the universal wheel assembly 200 is lowered, the profile of the universal wheel body 202 will further protrude from the bottom of the body 100, thus forming a step (the structure of the universal wheel body 202 itself), which may affect the obstacle crossing, see the step shown by the arrow in FIG. 8. If a component that synchronously descends with the universal wheel 203 is designed at the front end of the universal wheel body 202, the front end of the component will also produce a step due to the descent, thereby affecting the obstacle crossing.

[0064] Therefore, the auxiliary obstacle board 302 in the present disclosure is designed to be able to descend and rotate at the same time. The auxiliary obstacle board 302 in the present disclosure is a component of the sweeping robot itself, which is arranged at the front end of the body 100 and generally has a slope structure. In the normal sweeping state, the auxiliary obstacle board 302 is matched with the structure of the body 100, mainly playing a masking and protection effect. When the obstacle is passed, the lower end of the auxiliary obstacle board 302 can be lowered synchronously with the body of the universal wheel 203, so that there will be no protruding steps between the two due to relative movement (i.e., the rear end of the auxiliary obstacle board 302 and the body of the universal wheel 202 are smoothly transitioned, see FIG. 7). At the same time, by setting the side of the auxiliary obstacle board 302 away from the body 100 as a curved surface structure consistent with the lower part of the front end of the body 100, when the obstacle is passed, the curved surface is combined with the front end of the body 100 in structure, and there is no protruding step surface on the front side of the sweeping robot, so that the obstacle passing is more smooth. It should be noted that the auxiliary obstacle board 302 in the present disclosure will always be smoothly connected with the front side of the body of the universal wheel 202 during actual rotation through structural design. The smooth connection here means that the connecting parts of the two are smoothly transitioned and no protruding steps are formed.

[0065] It should be noted that in some embodiments, the universal wheel support 201 and the body of the universal wheel 202 in the universal wheel assembly 200 in the present disclosure can be detachably connected, and the two can be connected through a buckle structure.

[0066] The universal wheel assembly 200 of the present disclosure includes a universal wheel support 201 and a body of a universal wheel 202 connected at the bottom of the universal wheel support 201. The body of the universal wheel 202 includes a universal wheel 203 that directly contacts the ground during use. The universal wheel support 201 and the body of the universal wheel 202 are detachably connected through plug-in or clamping, see the connecting pin 209 in FIG. 2. The universal wheel support 201 is arranged inside the body, and part of the body of the universal wheel is arranged outside the body. The universal wheel support 201 is slidably connected with the body through a first limiting part and a second limiting part, which makes the installation and sliding of the universal wheel support more stable.

[0067] Referring to FIGS. 2, 4, 5, and 9, one embodiment of the power assembly of the present disclosure includes at least one elastic driving member, such as a second spring 510, disposed between the universal wheel support 201 and the body 100 and in a compressed state (pre-set elastic force in the installation stage), i.e., the second spring 510 always provides a downward pressure to the universal wheel support 201; the universal wheel support 201 includes a support body and a driving arm 204 extending to one side of the support body; the return assembly includes a cam motor 409, a driving cam 410, and a connecting rod 411, the driving cam is disposed at the output end of the cam motor, the middle portion of the connecting rod 411 is rotatably connected to the body 100, the cam surface of the driving cam 410 always contacts one end of the connecting rod 411, the other end of the connecting rod 411 abuts against the bottom of the driving arm 204, and the rotation of the driving cam 410 can drive one end of the connecting rod 411 to rotate and make the other end of the connecting rod 411 drive the universal wheel support 201 to move reversely in the first direction and remain in the reset position.

[0068] As can be seen, in the present embodiment, the second spring 510 is provided as a driving member for driving the universal wheel support 201 to move downward (in the first direction), and the cam-rod mechanism is provided as a driving member for driving the universal wheel support 201 to move upward, wherein the return assembly is a rigid driving structure driven by the cam motor, which can overcome the elastic force of the second spring 510 to make the universal wheel support 201 move upward or remain in the reset position (the highest point, as shown in FIG. 5), and only when the one end of the connecting rod 411 abutting against the bottom of the driving arm 204 moves downward, the second spring 510 can drive the universal wheel support 201 to move downward, in the process of accelerating the robot cleaner to overcome the obstacles, the second spring 510 can absorb the impact force of overcoming the obstacles, reduce the impact force received by the connecting rod 411, the driving cam 410, the cam motor, and other plastic accessories, improve the service life of the components, and also can reduce the performance requirements of the cam motor.

[0069] Referring to FIG. 2, the body is provided with a cover plate 103 in the embodiment, the first limiting part is formed on the cover plate 103, the first limiting part can be provided as the limiting column 104 in FIG. 2, the second limiting part on the universal wheel support 201 is provided as the first limiting hole 2071 matched with the limiting column, the first limiting hole 2071 and the limiting column 104 are inserted and matched, wherein the annular mounting groove 2073 for mounting the second spring 510 is further formed on the second limiting part of the universal wheel support 201, the width of the mounting groove 2073 is slightly larger than the diameter of the spring steel column constituting the second spring, so that the mounting of the second spring 510 into the mounting groove 2073 is facilitated and the second spring 510 is constrained to a certain extent, so that it will not be bent in the use process. The number of the second spring 510 in the disclosure can be provided as two, of course, can be provided as multiple, so that not only the driving force can be improved, but also the problem of unable to use caused by failure of one spring can be avoided, the two second springs are symmetrically arranged, so that the stability of the mounting of the universal wheel support 201 can be improved, wherein the two second springs 510 are mounted in the mounting groove formed on the universal wheel support 201 when mounted, and the cover plate 103 is provided on the body 100, the cover plate 103 presses the second spring 510 from the top of the universal wheel support 201.

[0070] Referring to FIGS. 4, 5, 9 and 11, in addition, the driving arm 204 of the embodiment can be further provided with a light barrier 205, the body 100 is provided with the photoelectric switch 107 in communication connection with the cam motor, the driving arm 204 moves to the reset position and can trigger the photoelectric switch 107 through the light barrier 205. The light barrier 205 is designed as an indicating component, for example, when the sweeping robot passes over the obstacle, it is necessary to restore to the normal cleaning state at this time, when the cam-linkage mechanism drives the universal wheel support 201 to move to the highest point, the cooperation of the light barrier 205 and the photoelectric switch 107 sends a signal to the cam motor and the cleaning driving part of the sweeping robot, etc., to control the switching of the working state.

[0071] The connecting rod 411 in the embodiment is provided with a positioning recess 4111 matched with the cam surface of the driving cam 410 (the recess surface profile of the positioning recess 4111 is a curved surface structure matched with the surface of the driving cam 410), when the cam surface of the driving cam 410 is opposite to the positioning recess 4111 of the connecting rod 411, the universal wheel assembly 200 is kept in the reset position under the action of the driving cam 410 and the connecting rod 411. Through the arrangement, when the driving cam 410 presses the connecting rod 411 to make the universal wheel 203 rise to the reset position, the contact between the driving cam 410 and the connecting rod 411 changes from line contact to surface contact, and self-locking is achieved. When the positioning recess 4111 is not arranged, the universal wheel support 201 is in the reset position, the contact between the driving cam 410 and the connecting rod 411 is line contact, because of the manufacturing error and the existence of the slight particle protrusions and recesses on the contact surface, the direction of the force between the two is uncontrollable, self-locking cannot be achieved, after the universal wheel support 201 rises to the reset position, the driving cam 410 will be reversely rotated by the rotary force, the motor shaft and the gear will be again subjected to the rotary force, and the position of the universal wheel 203 cannot be fixed. In the embodiment, the driving cam 410 and the connecting rod 411 are in surface contact, which is equivalent to countless line contacts, even if a certain point protrudes or recesses, the resultant force of countless component forces will point to the center of the circle, and self-locking can be achieved, so that the overall working process is more stable.

[0072] Referring to FIG. 10, the universal wheel assembly of one of the embodiments of the disclosure includes a universal wheel support 201 slidingly arranged in the machine body, the first limiting part includes two limiting columns 104 arranged in the machine body, the second limiting part is arranged on the universal wheel support 201 and includes two second limiting holes 2072 corresponding to the limiting columns 104, the limiting columns 104 penetrate through the second limiting holes 2072, the power assembly includes a driving motor (for example, a cam motor) arranged in the machine body and a driving plate 520 connected to the output end of the driving motor, the driving plate 520 is arranged on the side of the universal wheel support 201 facing the front surface (the surface away from the bottom surface) of the machine body 100, the driving plate includes a driving guide hole 5201 for matching with the limiting column 104, the first end surface of the universal wheel support is connected with the driving plate through a driving spring 521, and the second end surface of the universal wheel support 201 is connected with the machine body 100 through a reset spring 420, and the reset spring 420 is in a compressed state.

[0073] In use, the universal wheel support 201 is kept in the reset position (the highest position) under the action of the reset spring 420. When it is necessary to cross an obstacle, the driving motor drives the driving plate 520 and the driving spring 521 to press the universal wheel support 201 (the reset spring 420 is further compressed), so that the universal wheel support 201 moves to the extended position (the lowest point) to cross the obstacle. When the obstacle crossing is completed, the driving motor reverses to drive the driving plate 520 and the driving spring 521 to move upward. At this time, the reset spring 420 pulls the universal wheel support 201 to move upward to the reset position. Alternatively, the driving motor reverses to drive the driving plate 520 and the driving spring 521 to move upward and pull the universal wheel support 201 to move upward to the reset position. Similarly, in actual installation, in order to ensure the stability of the installation and provide sufficient elastic force, the driving spring and the reset spring can be symmetrically arranged two.

[0074] The driving spring 521 in the embodiment can also absorb the impact force in the obstacle crossing process.

[0075] Since the universal wheel assembly 200 in the obstacle crossing mechanism in the present disclosure is a movable part, after frequent movement, the position of the universal wheel 203 may be slightly changed due to assembly or use errors, which affects the use effect. In order to avoid this problem, the body 100 of one embodiment of the present disclosure is provided with a sliding mounting portion for mounting the universal wheel support 201. The sliding mounting portion includes a guide hole 102 provided on the body 100. At least part of the universal wheel support 201 is inserted into the guide hole 102. The lower end surface of the guide hole 102 stops the universal wheel body 202 from moving upward to the reset position, so as to form a gap 206 between the universal wheel support 201 and the universal wheel body 202 at the reset position.

[0076] Referring to FIG. 2 and FIG. 3, the universal wheel body 202 and the universal wheel support 201 are provided with a small amplitude of movement space (gap 206) in the vertical direction. The gap 206 allows the universal wheel body 202 and the universal wheel support 201 to move relative to each other at a certain stage during the movement of the universal wheel assembly 200. For example, when it is necessary to overcome an obstacle, the universal wheel support 201 moves downward. The universal wheel support 201 first moves downward alone for a certain distance (eliminating the gap 206 between the universal wheel body 202 and the universal wheel support 201) and then drives the universal wheel body 202 to move downward together. Similarly, when it is necessary to reset to the normal working state after overcoming the obstacle, the universal wheel assembly 200 moves upward. At this time, the universal wheel support 201 and the universal wheel body 202 move upward together at the initial stage. When the universal wheel body 202 moves to the upper end surface and is in abutment with the lower end surface of the guide hole 102, the universal wheel body 202 cannot continue to move upward due to the stop effect of the lower end surface of the guide hole 102. At this time, the universal wheel support 201 moves upward alone until it reaches the reset position (so as to pull apart the gap 206 between the universal wheel support 201 and the universal wheel body 202 in FIG. 3).

[0077] As can be seen, the gap 206 between the universal wheel support 201 and the universal wheel body 202 at the reset position is provided. The gap 206 can ensure that the position of the universal wheel body 202 is always certain during the normal working process of the sweeping robot. The position error of the universal wheel body 202 caused by the fact that the motor does not reach the position or the fact that the plastic part deforms after a long time of working at the end of the warranty period is avoided. The stable operation of the radar and the line laser is ensured.

[0078] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Those skilled in the art should understand that the present disclosure includes but is not limited to the contents described in the above specific embodiments and the accompanying drawings. Any modification that does not deviate from the functional and structural principles of the present disclosure will be included in the scope of the claims.

Claims

1. A sweeping robot, comprising a body (100) and an obstacle surmounting mechanism, the body (100) comprising a shell (106) at the bottom of the body (100), characterized in that, The shell (106) comprises an auxiliary obstacle surmounting plate (302) located at the front end of the machine body (100), the obstacle surmounting mechanism is connected with the auxiliary obstacle surmounting plate (302), and the obstacle surmounting mechanism can rotate the auxiliary obstacle surmounting plate (302) to abut against the front side of the component protruding from the bottom of the machine body (100).

2. The robotic vacuum cleaner of claim 1, wherein, The obstacle surmounting mechanism comprises at least one sliding part (301) and at least one rotating driving part corresponding to the sliding part (301), The sliding part (301) comprises a column body (3011) capable of sliding along the thickness direction of the machine body (100) and a pivoting connecting part (3012) located at the first end of the column body (3011), the pivoting connecting part (3012) being pivotally connected with the auxiliary obstacle surmounting plate (302); The rotating driving part is used to drive the auxiliary obstacle surmounting plate (302) to pivot around the pivoting connecting part (3012) when the sliding part (301) slides.

3. The robotic vacuum cleaner of claim 2, wherein, The rotating driving part comprises a torsion spring (307) sleeved on the pivoting connecting part (3012), the first end of the torsion spring (307) being connected with the sliding part (301), and the second end of the torsion spring (307) being connected with the auxiliary obstacle surmounting plate (302), The obstacle surmounting mechanism further comprises a first spring (306) sleeved on the column body (3011), the machine body (100) is provided with a guide cylinder (101) for mounting the column body (3011), the top of the column body (3011) is provided with a baffle (308), and the first spring (306) is mounted in a compressed state between the baffle (308) and the end face of the guide cylinder (101).

4. The robot vacuum of claim 3, wherein, The auxiliary obstacle surmounting plate (302) comprises a shell main body (3021) and pivoting ears (3022) provided on both sides of the shell main body (3021), a spacing is formed between the two pivoting ears (3022), the pivoting connecting part (3012) is arranged between the two pivoting ears (3022), the torsion spring (307) is arranged between the pivoting ear (3022) and the pivoting connecting part (3012), the number of the sliding parts (301) is two, and the pivoting connecting parts (3012) of the sliding parts (301) are pivotally connected with the corresponding pivoting ears (3022) on the sides through connecting shafts (303).

5. The robotic vacuum cleaner of any one of claims 1 to 4, wherein, The outer side of the auxiliary obstacle surmounting plate (302) is provided with a mounting recess, an auxiliary wheel (304) is mounted in the mounting recess, the wheel surface of the auxiliary wheel (304) protrudes from the outer side of the auxiliary obstacle surmounting plate (302), and the auxiliary wheel (304) is close to the rear end of the auxiliary obstacle surmounting plate (302).

6. The robotic vacuum cleaner of any one of claims 1 to 5, wherein, The shell (106) is arranged at the edge of the bottom of the machine body (100), the outer side of the shell (106) is arranged as a curved surface, and the shell (106) extends obliquely towards the top surface of the machine body (100) at one end of the edge of the machine body (100), and the two side edges of the auxiliary obstacle board (302) can be butted against the side edges of the adjacent shell (106).

7. The robot vacuum of any of claims 1-6, wherein, The robot further comprises a universal wheel assembly (200) slidingly connected to the machine body (100) and capable of sliding along the thickness direction of the machine body (100), the bottom of the universal wheel assembly (200) extends out of the bottom surface of the machine body (100), and the universal wheel assembly (200) is opposite to the auxiliary obstacle board (302), The obstacle mechanism can rotate the auxiliary obstacle board (302) to the rear end of the auxiliary obstacle board (302) abutting against the front side surface of the universal wheel assembly (200) when the universal wheel assembly (200) extends out of the bottom surface of the machine body (100).

8. The robotic vacuum cleaner of claim 7, wherein, The universal wheel assembly (200) comprises a universal wheel support (201), a universal wheel body (202), and a pressing block (208) arranged on the universal wheel support (201), The universal wheel body (202) is connected to the bottom of the universal wheel support (201) and extends out of the bottom surface of the machine body (100), the universal wheel support (201) is slidingly connected to the machine body (100) and capable of sliding along the thickness direction of the machine body (100), The obstacle mechanism comprises a sliding part (301) and a rotation driving part, the rotation driving part corresponds to the sliding part (301) one by one, the sliding part (301) comprises a column body (3011) and a pivoting connection part (3012), the column body (3011) is capable of sliding along the thickness direction of the machine body (100), the pivoting connection part (3012) is located at the first end of the column body (3011), and the pivoting connection part (3012) is pivotally connected with the auxiliary obstacle board (302); the rotation driving part is used to drive the auxiliary obstacle board (302) to pivot around the pivoting connection part (3012) when the sliding part (301) slides; The sliding part further comprises a pressure receiving boss (3013) arranged on the outer circumferential surface of the column body (3011), the pressure receiving boss (3013) is located between the pivoting connection part (3012) and the second end of the column body (3011), the pressing block (208) can abut against the pressure receiving boss (3013) when the universal wheel assembly (200) extends out of the machine body (100), drive the sliding part (301) to slide in the same direction, and drive the rotation driving part to drive the auxiliary obstacle board (302) to rotate synchronously to the rear end of the auxiliary obstacle board (302) abutting against the front side surface of the universal wheel body (202).

9. The robot vacuum of claim 8, wherein, The machine body is provided with at least one first limiting part for limiting sliding of the universal wheel support (201) along the thickness direction of the machine body (100), the universal wheel support (201) is provided with a second limiting part corresponding to the first limiting part, and the obstacle surmounting mechanism comprises a power assembly and a return assembly arranged on the machine body (100); The power assembly is used for driving the universal wheel assembly (200) to extend from the bottom surface of the machine body (100) and keeping the universal wheel assembly (200) in the extended position. The return assembly is used for driving the universal wheel assembly (200) to reset from the extended position and keeping the universal wheel assembly (200) in the reset position.

10. The robotic vacuum cleaner of claim 9, wherein, The power assembly comprises at least one elastic driving member arranged between the first limiting part of the universal wheel assembly (200) and the second limiting part of the machine body (100), and the elastic driving member is used for driving the universal wheel assembly (200) to extend from the bottom surface of the machine body (100) by the elastic force of the elastic driving member.

11. The robotic vacuum cleaner of claim 10, wherein, The universal wheel support (201) comprises a support body and a driving arm (204), The number of the first limiting parts and the second limiting parts is two, each first limiting part comprises a limiting column (104) arranged on the machine body (100), and each second limiting part comprises a limiting body arranged on the support body, the limiting body comprises a first limiting hole (2071) corresponding to the limiting column (104) and an annular mounting groove (2073) surrounding the first limiting hole (2071), and the limiting column (104) is inserted into the first limiting hole (2071), The elastic driving member comprises a second spring (510), the second spring (510) is arranged in the mounting groove (2073), a first end of the second spring (510) is connected to the machine body (100), a second end of the second spring (510) is connected to the support body, a first end of the driving arm (204) is connected to the support body, and a second end of the driving arm (204) extends to the return assembly.

12. The robotic vacuum cleaner of claim 11, wherein, The return assembly comprises a cam motor (409), a driving cam (410) and a connecting rod (411) arranged on the machine body, the driving cam (410) is arranged on the output end of the cam motor, the middle part of the connecting rod (411) is rotationally connected to the machine body (100), the cam surface of the driving cam (410) abuts against the side surface of the first end of the connecting rod (411), the second end of the connecting rod (411) abuts against the bottom of the driving arm (204), and the driving cam (410) can drive the first end of the connecting rod (411) to rotate and drive the second end of the connecting rod (411) to drive the universal wheel assembly (200) to move to the reset position.

13. The robotic vacuum cleaner of claim 12, wherein, The driving arm (204) is provided with a light barrier (205), the body (100) is provided with a photoelectric switch (107) in communication connection with the cam motor, and the driving arm (204) moving to the reset position can trigger the photoelectric switch (107) through the light barrier (205); The matching surface of the connecting rod (411) and the driving cam (410) is provided with a positioning recess (4111), the profile of the positioning recess (4111) is set as a curved surface which is profiled with the cam surface of the driving cam, and when the driving cam (410) rotates to the cam surface and the cam surface is clamped into the positioning recess (4111), the universal wheel assembly (200) is kept in the reset position under the cooperation of the driving cam (410) and the positioning recess (4111).

14. The robot of claim 9, wherein, The first limiting part comprises two limiting columns (104) arranged on the body (100), the second limiting part is arranged on the universal wheel support (201) and comprises two second limiting holes (2072) corresponding to the limiting columns (104), the limiting columns (104) penetrate through the second limiting holes (2072), The power assembly comprises a driving motor arranged on the body (100) and a driving plate (520) connected to the output end of the driving motor, the driving plate (520) is arranged on the side of the universal wheel support (201) facing the front of the body, the driving plate (520) comprises a driving guide hole (5201) for cooperating with the limiting column (104), a driving spring (521) is connected between the first end surface of the universal wheel support (201) and the driving plate (520), and a reset spring (420) is connected between the second end surface of the universal wheel support (201) and the body (100), the reset spring (420) is in a compressed state.

15. The robotic vacuum cleaner of any one of claims 7 to 14, wherein, The body (100) is provided with a guide hole (102) for guiding the universal wheel support (201), at least part of the universal wheel support (201) is inserted into the guide hole (102), and the lower end surface of the guide hole (102) can stop the movement of the universal wheel body (202) in the reset direction, so that the universal wheel support (201) and the universal wheel body (202) form a gap (206) in the reset position.

Images