Cleaning robot

Abstract

An embodiment of the present application provides a cleaning robot. According to the technical solution provided by the embodiment of the present application, the cleaning robot comprises: a body, a swing arm, an auxiliary component, and a clutch apparatus. In the solution of the embodiment of the present application, the swing arm is provided with a traveling wheel and a power apparatus, and is further provided with the auxiliary component and the clutch apparatus. By changing the state of the clutch apparatus, the cleaning robot can smoothly travel on any traveling surface. For example, when crossing a low obstacle, the swing arm swings downward, the clutch apparatus can be in a disengaged state, and the power apparatus drives the traveling wheel to enable passage over the obstacle. When crossing a higher obstacle, the swing arm descends, the clutch apparatus can be switched to an engaged state, and the power apparatus drives both the traveling wheel and the auxiliary component to rotate; the downward swing of the auxiliary component can assist the traveling wheel in climbing over the obstacle, so that the obstacle-crossing capability of the cleaning robot is significantly improved, thereby enabling adaptation to a variety of complex home environments and meeting the needs of whole-house cleaning.

Description

Cleaning robots

[0001] Cross-references

[0002] This application references the Chinese patent applications listed in the table below, which are incorporated herein in their entirety by reference. Technical Field

[0003] This application relates to the field of robotics, and more particularly to a cleaning robot. Background Technology

[0004] With technological advancements, cleaning robots are becoming increasingly intelligent. These robots can automatically identify the area of ​​the floor to be cleaned and then autonomously plan their path to clean the surface thoroughly. Due to their high level of intelligence and excellent cleaning performance, cleaning robots are gaining increasing popularity in the market.

[0005] However, with the increasing complexity of home environments, these cleaning robots cannot smoothly overcome obstacles such as high thresholds and sliding rails. This limits their cleaning range and prevents them from meeting the need for smooth obstacle crossing and whole-house cleaning. Another issue is that some obstacles are higher than the robot's intended obstacle. However, if the robot's obstacle clearance plate hits the obstacle first, it may change direction or retreat, choosing not to overcome the obstacle. Therefore, improving the obstacle-crossing ability of cleaning robots is a pressing issue that needs to be addressed.

[0006] Currently, some solutions exist to improve a robot's obstacle-crossing ability, namely by incorporating an active drive wheel lifting system into the robot body. For example, a lifting motor can be added to the robot body; this upgraded motor is specifically designed to control the drive wheel lifting system, enabling the lifting of the drive wheels to adjust the overall height of the robot. During the lifting process, the robot body moves horizontally as a whole. While this existing active drive wheel lifting system can improve the robot's obstacle-crossing ability to some extent by raising the robot's height above the ground, the improvement is limited, and there are still instances where the robot cannot smoothly pass over obstacles. Furthermore, adding a lifting system increases the complexity of the robot's structure and raises costs.

[0007] Application content

[0008] In view of the above problems, this application is made to provide a cleaning robot that solves or at least partially solves the above problems.

[0009] In this embodiment of the application, a cleaning robot is provided. The cleaning robot includes:

[0010] Organism;

[0011] A swing arm is rotatably connected to the machine body, and the swing arm is equipped with a travel wheel and a power device;

[0012] An auxiliary component is rotatably connected to the swing arm;

[0013] A clutch device is mounted on the swing arm and is connected to the power unit, the travel wheel, and the auxiliary components in a transmission manner.

[0014] The clutch device has a disengaged state and an engaged state. When the clutch device is in the disengaged state, the power device drives the travel wheel to rotate. When the clutch device is in the engaged state, the power device drives the travel wheel to rotate and simultaneously drives the auxiliary components to perform actions to assist the travel wheel in overcoming obstacles.

[0015] In another embodiment of this application, a cleaning robot is provided. The cleaning robot includes:

[0016] Organism;

[0017] A swing arm is rotatably connected to the machine body, and the swing arm is equipped with travel wheels;

[0018] An auxiliary component is rotatably connected to the swing arm;

[0019] A clutch device is mounted on the swing arm and is connected to the power unit, the travel wheel, and the auxiliary components via a transmission connection.

[0020] The clutch device has a disengaged state and an engaged state. When the clutch device is in the disengaged state, the power device drives the travel wheel to rotate. When the auxiliary component is triggered as the machine moves when it touches an obstacle, the clutch device switches from the disengaged state to the engaged state. The power device drives the travel wheel to rotate and simultaneously drives the auxiliary component to perform an action to assist the travel wheel in overcoming the obstacle.

[0021] In the technical solution of this application embodiment, the swing arm is equipped with a traveling wheel and a power unit, as well as auxiliary components and a clutch device. By changing the state of the clutch device, the cleaning robot can move smoothly on any traveling surface. For example, when crossing low obstacles, the swing arm swings down, the clutch device can be in a disengaged state, and the power unit drives the traveling wheel to pass through. When crossing higher obstacles, the swing arm lowers, the clutch device can switch to an engaged state, and the power unit simultaneously drives the traveling wheel and the auxiliary component to rotate. The lowering of the auxiliary component can assist the traveling wheel in overturning the obstacle, significantly improving the obstacle-crossing ability of the cleaning robot, thus adapting to various complex home environments and meeting the needs of whole-house cleaning. The solution provided in this application embodiment is a passive obstacle-crossing solution. After the front of the body is raised due to an obstacle, the body is in an inclined posture with the front higher than the rear. At this time, in order to cross the obstacle, the swing arm swings down to raise the body. As can be seen, the lifting of the machine body in the solution provided in this embodiment is triggered by an obstacle. Compared with the active drive wheel lifting system, the solution provided in this application embodiment has a simple structure and low cost.

[0022] A further implementation provided in this application embodiment is that the swing of the swing arm can trigger the state switching of the clutch device; for example, when the swing arm swings to a first preset position along the first direction, the clutch device is triggered to switch from the disengaged state to the engaged state; when the swing arm swings to a second preset position along the second direction, the clutch device is triggered to switch from the engaged state to the disengaged state.

[0023] Another embodiment of this application provides a further implementation scheme in which the cleaning robot is provided with a trigger. When the trigger encounters an obstacle, it is activated, thereby triggering the clutch device to switch from a disengaged state to an engaged state. The auxiliary component swings down, and the robot body can adopt an inclined posture to cross the obstacle with the help of the auxiliary component.

[0024] In another embodiment of this application, the auxiliary component has a triggering part, meaning the auxiliary component and the triggering element in the above embodiment are integrated. This embodiment further simplifies the passive obstacle-crossing solution, eliminating the need for a separate triggering element. When the triggering part of the auxiliary component touches an obstacle, it is triggered, and the clutch device switches from a disengaged state to an engaged state. While the power unit drives the traveling wheels to rotate, it also drives the auxiliary component to perform an auxiliary obstacle-crossing action, assisting the robot body in overcoming obstacles. This significantly improves the obstacle-crossing ability of the cleaning robot, making it adaptable to various complex home environments. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1a is a front view of a cleaning robot provided in an embodiment of this application;

[0027] Figure 1b is a schematic diagram of the first obstacle-crossing state of a cleaning robot provided in an embodiment of this application;

[0028] Figure 1c is a schematic diagram of a second obstacle-crossing state of a cleaning robot provided in an embodiment of this application;

[0029] Figure 2 is a structural schematic diagram of a travel wheel assembly provided in an embodiment of this application;

[0030] Figure 3 is a schematic diagram of the internal structure of a travel wheel assembly provided in an embodiment of this application;

[0031] Figure 4 is an exploded view of a travel wheel assembly provided in an embodiment of this application;

[0032] Figure 5 is a top view of a clutch device and transmission assembly provided in an embodiment of this application;

[0033] Figure 6 is a schematic diagram of a clutch device in a disengaged state according to an embodiment of this application;

[0034] Figure 7 is a schematic diagram of a clutch device in an engaged state according to an embodiment of this application;

[0035] Figure 8 is a schematic diagram of a swing arm provided in an embodiment of this application;

[0036] Figure 9 is a schematic diagram of a clutch device and triggering component provided in an embodiment of this application;

[0037] Figure 10 is a schematic diagram of a triggering component in a first state according to an embodiment of this application;

[0038] Figure 11 is a schematic diagram of a triggering component in a second state according to an embodiment of this application;

[0039] Figure 12 is an exploded view of a triggering component provided in an embodiment of this application;

[0040] Figure 13 is a three-dimensional structural diagram of a trigger component provided in an embodiment of this application;

[0041] Figure 14 is a schematic diagram of the structure of some components of a clutch device provided in an embodiment of this application;

[0042] Figure 15 is a structural schematic diagram of an obstacle-crossing component and housing provided in an embodiment of this application;

[0043] Figure 16 is a schematic diagram of a state of the swing arm provided in an embodiment of this application;

[0044] Figure 17 is a schematic diagram of a trigger mechanism provided in an embodiment of this application;

[0045] Figure 18 shows a schematic diagram of the internal structure after removing the auxiliary components and upper housing in Figure 17;

[0046] Figure 19 shows a schematic diagram of the trigger mechanism, clutch bracket, and lever exposed after the clutch gear in Figure 18 is removed.

[0047] Figure 20 shows a schematic diagram of the second lever moving away from the clutch bracket and the first lever contacting the clutch bracket after the trigger touches the obstacle;

[0048] Figure 21 shows a schematic diagram where, based on Figure 20, the second lever in the lever continues to move away from the clutch bracket, and the first lever contacts the clutch bracket;

[0049] Figure 22 shows a schematic diagram of the trigger, clutch bracket and lever;

[0050] Figure 23 shows a schematic diagram where the clutch bracket and clutch gear are not connected;

[0051] Figure 24 shows an axonometric view of the structure shown in Figure 23 from an overhead perspective;

[0052] Figure 25 shows an axonometric view of the structure shown in Figure 23 from another azimuth angle;

[0053] Figure 26 shows a schematic diagram of the connection between the clutch bracket and the clutch gear;

[0054] Figure 27 shows an axonometric view of the structure shown in Figure 26 from an overhead perspective;

[0055] Figure 28 shows an axonometric view of the structure shown in Figure 26 from a bottom view;

[0056] Figure 29 shows a schematic diagram of another possible structure for the clutch device;

[0057] Figure 30 shows a schematic diagram of the relationship between the lever and the clutch bracket when the trigger element in the clutch device is not triggered by an obstacle.

[0058] Figure 31 shows a schematic diagram of the lever moving away from the clutch bracket after the trigger element in the clutch device is triggered by an obstacle;

[0059] Figure 32 shows a schematic diagram of the lever continuing to move away from the clutch bracket based on Figure 31;

[0060] Figure 33 shows a schematic diagram of the trigger, lever, and clutch bracket;

[0061] Figure 34 shows a schematic diagram of the clutch support with a guide surface;

[0062] Figure 35 shows a schematic diagram of the lever located at the blocking wall of the guide surface;

[0063] Figure 36 shows an axonometric view of the structure shown in Figure 35 from a bottom view;

[0064] Figure 37 shows a schematic diagram of the clutch bracket connected to the clutch gear;

[0065] Figure 38 shows a schematic diagram of the shaft side after the clutch bracket is connected to the clutch gear;

[0066] Figure 39 shows an axonometric view of the structure shown in Figure 38 from a bottom view;

[0067] Figure 40 shows a schematic diagram of the cleaning robot;

[0068] Figure 41 shows a schematic diagram of the contact between the auxiliary components and obstacles when the cleaning robot overcomes obstacles;

[0069] Figure 42a shows a schematic diagram of the swing arm and auxiliary components;

[0070] Figure 42b shows a schematic diagram of the auxiliary components;

[0071] Figure 43 shows a schematic diagram after removing the auxiliary components and the upper housing of the swing arm (the outline of the auxiliary components is drawn in the figure to clearly show their position);

[0072] Figure 44 shows a schematic diagram of the auxiliary component, represented by the outline, touching an obstacle;

[0073] Figure 45 shows a schematic diagram of the auxiliary component, represented by the outline, rotating due to an obstacle;

[0074] Figure 46 shows a schematic diagram of the auxiliary component represented by the outline, where the lever moves away from the clutch bracket due to the continuous rotation of the obstacle.

[0075] Figure 47 shows an explosion diagram of the swing arm with the auxiliary components shown in Figure 42b.

[0076] Figure 48 shows a schematic diagram of the clutch bracket and lever;

[0077] Figure 49 shows a schematic diagram where the clutch bracket is not connected to the clutch gear;

[0078] Figure 50 shows an axonometric view of the structure shown in Figure 49 from an overhead perspective;

[0079] Figure 51 shows an axonometric view of the structure shown in Figure 49 from a side view;

[0080] Figure 52 shows a schematic diagram of the connection between the clutch bracket and the clutch gear;

[0081] Figure 53 shows an axonometric view of the structure shown in Figure 52 from an overhead perspective;

[0082] Figure 54 shows an axonometric view of the structure shown in Figure 52 from a side view. Detailed Implementation

[0083] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0084] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0085] As home environments become increasingly complex, to improve the obstacle-crossing ability of cleaning robots, their wheels can be tilted downwards relative to the body. This increases the distance between the robot's chassis and the ground, giving it greater obstacle-crossing capability. However, even with the wheels tilted downwards, these robots still cannot smoothly navigate high thresholds or sliding tracks. This limits their range of motion and prevents them from completing whole-house cleaning.

[0086] To further enhance the obstacle-crossing capability of cleaning robots, this application provides an obstacle-crossing propulsion wheel device. This device is mounted on the robot's body and provides propulsion. When the robot encounters common obstacles, the wheels lower and raise the chassis, allowing it to smoothly traverse the obstacles. For higher obstacles, the obstacle-crossing components on the propulsion wheel device can further assist the robot in overcoming them. This cleaning robot can handle more complex home environments and clean a wider area.

[0087] Before introducing the obstacle-crossing wheel device, let's first give a brief introduction to the cleaning robot equipped with this obstacle-crossing wheel device.

[0088] Referring to Figures 1a to 3, one embodiment of this application provides a cleaning robot. The cleaning robot has a body 100A, with an obstacle-crossing wheel device 1A disposed on each side of the body 100A. The obstacle-crossing wheel device 1A includes a wheel assembly, which includes a swing arm 11A, a wheel 12A, and a power unit 13A. The wheel 12A and the power unit 13A are respectively disposed on the swing arm 11A, which is rotatably connected to the body 100A. For example, the swing arm 11A can be connected to the body 100A via a pivot shaft, and can be connected to the chassis of the body 100A. The wheel 12A is disposed at the end of the swing arm 11A. When the swing arm 11A swings downward, the wheel 12A moves downward relative to the chassis of the body 100A, thereby increasing the height of the chassis relative to the ground. The power unit 13A provides power to drive the travel wheels 12A to rotate, thereby driving the cleaning robot to move forward or backward.

[0089] In Figure 1a, the arrow X points in the direction of the cleaning robot's forward movement. To improve the cleaning robot's mobility, a caster wheel 101A is also provided on the chassis in front of the travel wheel 12A, near the front end of the body 100A.

[0090] As is well known, a low chassis is a significant factor affecting the obstacle-crossing ability of cleaning robots. When a cleaning robot encounters obstacles of moderate height (such as obstacle A in Figure 1b), by driving the swing arm 11A to swing downwards, the chassis height is increased, allowing the cleaning robot to successfully overcome these obstacles. Furthermore, while the obstacle-crossing wheel device 1A swings downwards, the cleaning robot is also in a tilted state with the front higher than the rear, which also helps the omnidirectional wheel 101A avoid obstacles.

[0091] Although the obstacle-crossing ability of the cleaning robot can be improved by swinging the obstacle-crossing travel wheel device 1A downward, for taller obstacles, such as obstacle B in Figure 1b, the height of obstacle B is greater than the distance between the lowest point of the swing arm 11A and the ground. Even when the swing arm 11A swings to the lowest point (i.e., the chassis is at its highest distance from the ground), the cleaning robot cannot cross obstacle B.

[0092] Therefore, referring to Figures 1c and 2, the technical solution provided in this application adds an obstacle-crossing component 5A to assist the cleaning robot in overcoming higher obstacles. The obstacle-crossing component 5A on the obstacle-crossing wheel device 1A is rotatable, and after contacting the obstacle B, the obstacle-crossing component 5A can further raise the chassis of the cleaning robot. Subsequently, under the driving force of the travel wheels 12A and the forward assistance provided by the rotating obstacle-crossing component 5A, the cleaning robot can successfully cross the obstacle B.

[0093] It should be noted that the obstacle-crossing wheel devices 1A on both sides of the cleaning robot can work together or independently. When the cleaning robot is climbing over a high threshold, both obstacle-crossing wheel devices 1A can assist the cleaning robot in completing the obstacle crossing simultaneously. When the obstacle-crossing wheel device 1A on one side of the cleaning robot encounters an obstacle, the obstacle-crossing wheel device 1A on that side can assist the cleaning robot in climbing over the obstacle.

[0094] To enable the cleaning robot to complete its cleaning tasks, the robot's body 100A is equipped with functional components such as a dust collection device, a control device, an obstacle avoidance component, and a power supply component. The downward swinging motion of the swing arm 11A can be driven by an independent motor on the robot's body; alternatively, it can be driven without a motor, and after the obstacle-crossing component 5A unscrews the chassis of the body 100A, the swing arm 11A swings downward under its own weight.

[0095] In addition, cleaning robots include, but are not limited to: sweeping robots, sweeping and mopping robots, and floor washing robots.

[0096] One embodiment of this application provides a cleaning robot, which includes: a body 100A, a swing arm 11A, an obstacle-crossing component 5A, and a clutch device. The swing arm 11A is rotatably connected to the body 100A, and the swing arm 11A is provided with a traveling wheel 12A and a power unit 13A, which may be a motor that outputs rotational power. The obstacle-crossing component 5A is rotatably connected to the swing arm 11A. The clutch device is disposed on the swing arm 11A and is drively connected to the power unit 13A, the traveling wheel 12A, and the obstacle-crossing component 5A. The clutch device has a disengaged state and an engaged state. When the clutch device is in the disengaged state, the power unit 13A drives the traveling wheel 12A to rotate; when the clutch device is in the engaged state, the power unit 13A drives the traveling wheel 12A to rotate, and simultaneously drives the obstacle-crossing component 5A to rotate to assist the traveling wheel 12A in overcoming obstacles.

[0097] The device consisting of a swing arm 11A, a traveling wheel 12A, a power unit, an obstacle-crossing component 5A, and a clutch device can be considered as an obstacle-crossing traveling wheel device 1A. The cleaning robot provided in this application will be described in detail below through detailed embodiments.

[0098] Referring to Figures 1c to 3, in one embodiment provided in this application, the obstacle-crossing wheel device 1A includes: a wheel assembly, a clutch device, and an obstacle-crossing assembly 5A. The wheel assembly includes a swing arm 11A, a wheel 12A connected to the swing arm 11A, and a power unit 13A. A connecting shaft 15A is provided on the swing arm 11A, which is used to connect to the body 100A of the cleaning robot. The swing arm 11A can swing relative to the body 100A in a first direction or a second direction around the connecting shaft 15A. The first direction and the second direction are two different directions. Taking the first direction as downward and the second direction as upward as an example; when the swing arm 11A swings downward, the body 100A is raised relative to the ground, and the obstacle-crossing wheel device 1A will obtain better obstacle-crossing performance. When the swing arm 11A swings upward, the body 100A returns to its initial state from the raised state.

[0099] The swing arm 11A can be understood as a swingable cantilever structure, with one end connected to the body 100A via a connecting shaft 15A, and the other end connected to a traveling wheel 12A. A reduction gear transmission device 14A can be installed on the swing arm 11A to connect the power unit 13A to the traveling wheel 12A. The power unit 13A can drive the traveling wheel 12A to rotate via the reduction gear transmission device 14A. The power unit 13A can be directly mounted on the swing arm 11A, moving together with the swing arm 11A when it swings. Alternatively, the power unit 13A can be mounted on the body 100A and then connected to the reduction gear transmission device 14A via a transmission structure.

[0100] Based on the obstacle-crossing process of the cleaning robot described above, it can be seen that the cleaning robot only needs the assistance of obstacle-crossing component 5A to overcome higher obstacles (such as obstacle B). When the cleaning robot is moving on flat ground or overcoming lower obstacles, the assistance of obstacle-crossing component 5A is not needed. In this case, obstacle-crossing component 5A may even affect the normal movement of the cleaning robot. To adapt to this situation, the clutch device can engage or disengage the transmission path between the power unit 13A and the obstacle-crossing component 5A according to the actual situation. The clutch device is located on the swing arm 11A and is connected to the reduction transmission device 14A. The obstacle-crossing component 5A can directly utilize the driving force output by the power unit 13A, thus eliminating the need for a separate power system in the obstacle-crossing wheel device 1A, effectively improving the integration of the obstacle-crossing wheel device 1A and reducing the size of the obstacle-crossing component 5A.

[0101] The obstacle-crossing component 5A is rotatably connected to the swing arm 11A and is positioned in front of the travel wheel 12A along the direction of travel of the cleaning robot. In one embodiment provided in this application, when the clutch is engaged, the obstacle-crossing component 5A is periodically connected to the clutch, causing the obstacle-crossing component 5A to rotate periodically. The obstacle-crossing component 5A is connected to the clutch via a transmission component 4A; the transmission component 4A not only transmits power but also controls the rotation angle of the obstacle-crossing component 5A within one cycle. This part will be described in detail below and will not be elaborated here.

[0102] In one embodiment provided in this application, the clutch device has a disengaged state and an engaged state. When the swing arm 11A swings downward to a first preset position, the clutch device switches from the disengaged state to the engaged state. The clutch device engages the reduction gear transmission device 14A and the transmission assembly 4A. The transmission assembly 4A drives the traveling wheel 12A to rotate while also driving the obstacle-crossing assembly 5A to rotate. In one possible scenario, when the swing arm 11A is not moving, the swing arm 11A is in the initial position (as shown in Figure 1a). When the swing arm 11A swings downward to the lowest position, the swing arm 11A is in the extreme position of the downward swing (as shown in Figure 1c). The first preset position can be any intermediate position between the initial position and the extreme position, or the first preset position can be the extreme position. The following embodiments are described in detail with the first preset position as the extreme position.

[0103] The clutch mechanism's state switching action is linked to the swing arm 11A's downward movement to its limit position. That is, when the swing arm 11A swings to its limit position, the clutch mechanism switches from the disengaged state to the engaged state within a short time. It should be noted that the clutch mechanism will always be in the disengaged state during the swinging process of the swing arm 11A from the initial position to the limit position.

[0104] In the technical solution provided in this application, by setting an obstacle-crossing component 5A on the obstacle-crossing wheel device 1A, the obstacle-crossing component 5A can assist the cleaning robot in overcoming obstacles when it encounters high obstacles, thus significantly improving the obstacle-crossing ability of the cleaning robot. In addition, the obstacle-crossing wheel device 1A is equipped with a clutch device, which can switch between disengaged and engaged states depending on the specific situation, ensuring that the obstacle-crossing component 5A only operates during obstacle crossing and preventing it from affecting the normal movement of the cleaning robot.

[0105] As mentioned above, the clutch device only switches to the engaged state when the swing arm 11A swings to the first preset position. To achieve this technical solution, in one embodiment provided in this application, as shown in FIG4, the clutch device includes a trigger component 3A and a clutch 2A, with the trigger component 3A connected to the clutch 2A. The trigger component 3A can trigger the engagement or disengagement of the clutch 2A according to the actual swing position of the swing arm 11A. Specifically, when the swing arm 11A swings to the first preset position along the first direction, the trigger component 3A actuates to trigger the clutch 2A to switch from the disengaged state to the engaged state; the first preset position can be any intermediate position between the initial position and the limit position, or the first preset position can be the limit position. When the swing arm 11A swings to the second preset position along the second direction, the trigger component 3A actuates in the opposite direction to trigger the clutch 2A to switch from the engaged state to the disengaged state. The second preset position can be any position between the initial position and the limit position, or the second preset position can be the initial position. In addition, the first preset position and the second preset position can be the same position or different positions.

[0106] There are at least two scenarios for clutch 2A to switch from an engaged state to a disengaged state. The first scenario is that clutch 2A switches from an engaged state to a disengaged state when the swing arm 11A leaves the first preset position. The second scenario is that clutch 2A does not switch states when the swing arm 11A leaves the first preset position; it only switches from an engaged state to a disengaged state when it reaches the second preset position.

[0107] In one embodiment provided in this application, when the clutch is engaged, the transmission assembly 4A is periodically connected to the clutch to drive the obstacle-crossing assembly 5A to rotate periodically. Taking the rotation path of one revolution of the clutch 2A as an example, the clutch 2A, when engaged, only transmits rotational power to the transmission assembly 4A when it rotates to a partial point along the path, causing the obstacle-crossing assembly 5A to rotate periodically.

[0108] Referring to Figures 2 to 4, in one embodiment provided in this application, the swing arm 11A has a accommodating compartment, and the speed reduction transmission device 14A and the clutch device are disposed in the accommodating compartment; the accommodating compartment can play a sealing role to protect the components in the accommodating compartment, and foreign objects such as dirt and dust are not easily allowed to enter the speed reduction transmission device 14A and the clutch device.

[0109] To avoid interference between the traveling wheel 12A and the obstacle-crossing component 5A during simultaneous rotation, the traveling wheel 12A and the obstacle-crossing component 5A are located on different sides of the accommodating compartment. In one specific embodiment, the traveling wheel 12A is located inside the swing arm 11A, while the obstacle-crossing component 5A is located outside the swing arm 11A.

[0110] Furthermore, to maximize the obstacle-crossing capability of the obstacle-crossing component 5A, the traveling wheel 12A is located on the side of the swing arm 11A away from the connecting shaft 15A, and the obstacle-crossing component 5A is located in front of the traveling wheel 12A and below the connecting shaft 15A. When there is an obstacle in front of the obstacle-crossing traveling wheel device 1A, the rotating obstacle-crossing component 5A can contact the obstacle first, which not only avoids the obstacle colliding with the lowest end of the swing arm 11A, but also enables the obstacle-crossing component 5A to have a certain obstacle-crossing capability before the traveling wheel 12A contacts the obstacle.

[0111] As mentioned above, the state switching of clutch 2A is mainly achieved through the action of trigger component 3A. The trigger component can be a mechanical triggering device, an electronically controlled triggering device, or a combination of mechanical and electronic control. For example, when the cleaning robot needs to overcome obstacles, the clutch device can be mechanically triggered to switch from the disengaged state to the engaged state, or the cleaning robot's control device can electronically control the clutch device to switch from the disengaged state to the engaged state. One possible electronic control method is that the trigger component 3A is an electromagnet. When the cleaning robot's control device energizes or de-energizes the electromagnet, the magnetic force generated by the electromagnet can drive clutch 2A to achieve state switching.

[0112] The specific structure of clutch 2A will be described in detail below through a more specific embodiment.

[0113] Referring to Figures 3, 5 to 8, in one embodiment provided in this application, the clutch 2A includes: a first rotating shaft 21A, a clutch gear 22A, a lifting gear 23A, and a reset member 24A. The first rotating shaft 21A is fixedly connected to the bearing of the swing arm 11A. The clutch gear 22A and the lifting gear 23A are disposed on the first rotating shaft 21A, with the lifting gear 23A located below the clutch gear 22A. The reset member 24A abuts against the top of the clutch gear 22A. Specifically, the clutch gear 22A and the lifting gear 23A can rotate independently around the first rotating shaft 21A. The sides of the clutch gear 22A and the lifting gear 23A abut against each other. When the lifting gear 23A rises, it can push the clutch gear 22A upward along the axis of the first rotating shaft 21A. When the lifting gear 23A descends, the pressure provided by the reset member 24A can push the clutch gear 22A downward.

[0114] When the lifting gear 23A pushes the clutch gear 22A to rise to the limit position, the clutch 2A switches to the engaged state; when the lifting gear 23A descends, the reset member 24A drives the clutch gear 22A to descend, and after reaching the initial position, the clutch 2A switches to the disengaged state.

[0115] Furthermore, to achieve the lifting action of the lifting gear 23A, the lifting gear 23A is provided with an internal thread, and the first rotating shaft 21A is provided with an external thread 211A. The lifting gear 23A and the first rotating shaft 21A are connected in a mating manner. Specifically, as shown in Figure 8, the lower end of the first rotating shaft 21A has an external thread 211A. When the lifting gear 23A is sleeved on the first rotating shaft 21A, the internal thread on the lifting gear 23A and the external thread 211A are connected in a mating manner. As the lifting gear 23A rotates, the rotational action of the lifting gear 23A can be converted into the lifting action of the lifting gear 23A. When the lifting gear 23A rotates in different directions, the lifting gear 23A can move up and down relative to the first rotating shaft 21A along its axial direction. For example, when the lifting gear 23A rotates clockwise, the lifting gear 23A moves upward simultaneously; when the lifting gear 23A rotates counterclockwise, the lifting gear 23A moves downward simultaneously.

[0116] It should be noted that the clutch gear 22A does not contact the threaded structure on the first rotating shaft 21A, but is instead fitted onto the smooth shaft of the upper half of the first rotating shaft 21A. Besides being connected via a threaded structure, the first rotating shaft 21A and the lifting gear 23A can also have a thread-like structure. For example, the lifting gear 23A has an inclined groove on its bore wall, and the first rotating shaft 21A has a fixed protrusion that engages with the groove. As the lifting gear 23A rotates, the protrusion slides in the groove, thus enabling the lifting gear 23A to simultaneously move up and down during rotation.

[0117] The following detailed description, through specific embodiments, illustrates how the clutch 2A and transmission assembly 4A are connected in the engaged state. Referring to Figures 3, 5 to 8, the transmission assembly 4A includes a grooved wheel 41A with a slotted groove 411A. A lever 221A is mounted on the clutch gear 22A, rotating synchronously with it. The lever 221A engages within the slotted groove 411A. The lever 221A is located on the upper surface of the clutch gear 22A. When the clutch gear 22A rises or falls, the lever 221A rises or falls synchronously with it. When the clutch 2A is disengaged, as shown in Figure 6, the clutch gear 22A is in a descending position. At this time, the lever 221A is separated from the slotted groove 411A, and the rotational power of the clutch gear 22A cannot be transmitted to the grooved wheel 41A. When clutch 2A is engaged and clutch gear 22A is in an upward position, lever 221A is raised along with clutch gear 22A and then inserted into the slot 411A. As clutch gear 22A rotates, lever 221A slides in slot 411A while driving slotted wheel 41A to rotate.

[0118] As mentioned above, when the clutch is engaged, the transmission assembly 4A is periodically connected to the clutch to drive the obstacle-crossing assembly 5A to rotate periodically. The following is a detailed description of how the transmission assembly 4A and the clutch are periodically connected.

[0119] Referring to Figures 5 to 7, multiple strip grooves 411A are evenly spaced along the radial direction of the groove wheel 41A. At least one lever 221A is provided on the clutch gear 22A. When the clutch 2A is engaged, after one lever 221A drives the groove wheel 41A to rotate by a certain angle, the lever 221A disengages from the strip groove 411A. As the clutch gear 22A continues to rotate, the lever 221A engages with the next strip groove 411A to continue driving the groove wheel 41A to rotate. The clutch gear 22A periodically drives the groove wheel 41A to rotate. Specifically, taking a Geneva wheel 41A with four strip grooves 411A as an example, and the Geneva wheel 41A rotates in the direction of arrow M in the figure, as the Geneva wheel 41A rotates, when the lever 221A rotates to point A, the lever 221A will disengage from the strip groove 411A. At this time, the clutch gear 22A can continue to rotate, while the Geneva wheel 41A does not rotate. Although the clutch 2A is always engaged during the process of the clutch gear 22A rotating from point A to point B, and then from point B to point C, the clutch 2A and the Geneva wheel 41A do not transmit power. When the lever 221A rotates to point C, the lever 221A will connect to the next strip groove 411A. As the lever 221A rotates from point C to point A, the lever 221A can drive the gear 42A to rotate 90 degrees. Subsequently, the lever 221A disengages from the strip groove 411A again, and the above process is repeated.

[0120] Furthermore, the Geneva wheel 41A is also provided with a notch 412A, which is located between two adjacent strip grooves 411A. When the lever 221A disengages from the strip groove 411A, the notch 412A will engage with the boss 222A at the top of the clutch gear 22A. As the boss 222A continues to rotate, it will rotate relative to the notch 412A. This technical solution effectively limits the Geneva wheel 41A when the lever 221A disengages from the strip groove 411A, preventing it from rotating arbitrarily.

[0121] Further, referring to Figures 3, 7, and 9, the transmission assembly 4A also includes a drive gear 42A, which is connected to a Geneva wheel 41A. The drive gear 42A and the Geneva wheel 41A are mounted on the shaft 45A, with the drive gear 42A located below the Geneva wheel 41A. The drive gear 42A and the Geneva wheel 41A are an integral structure. As shown in Figure 9, the drive gear 42A meshes with the driven gear 43A on the obstacle-crossing shaft 44A. The obstacle-crossing shaft 44A extends to the outside of the receiving compartment on the swing arm 11A, and the obstacle-crossing assembly 5A is connected to the obstacle-crossing shaft 44A. The obstacle-crossing assembly 5A can be connected to one end of the obstacle-crossing shaft 44A, or it can be present at both ends of the obstacle-crossing shaft 44A. Specifically, the two obstacle-crossing assemblies 5A are located on both sides of the swing arm 11A, the obstacle-crossing shaft 44A passes through the swing arm 11A, and the two obstacle-crossing assemblies 5A are respectively connected to the two ends of the obstacle-crossing shaft 44A. Furthermore, when the obstacle-crossing pivot 44A is only located at one end, one obstacle-crossing component 5A or multiple obstacle-crossing components 5A can be installed at that end. For example, multiple obstacle-crossing components 5A can be simultaneously connected to one end of the obstacle-crossing pivot 44A, and the multiple obstacle-crossing components 5A can be set at an angle, such as 30 degrees. Multiple obstacle-crossing components 5A assisting in obstacle crossing simultaneously can bring better obstacle-crossing performance to the cleaning robot.

[0122] When the clutch gear 22A drives the slotted wheel 41A to rotate, the drive gear 42A can drive the obstacle crossing component 5A to rotate.

[0123] Typically, the gear ratio between the drive gear 42A and the driven gear 43A is 2:1 or 4:1. After the lever 221A drives the grooved wheel 41A to rotate a quarter turn, the drive gear 42A also rotates a quarter turn, allowing the driven gear 43A to rotate 180 degrees or 360 degrees. As shown in Figure 1a, the obstacle-crossing component 5A is initially in a horizontal position. After rotating one cycle, the obstacle-crossing component 5A stops rotating and remains in a horizontal position, or it returns to its original position after rotating one revolution. As mentioned above, after the lever 221A disengages from the slot 411A, the grooved wheel 41A is in a limited position, and this limitation is only released after the lever 221A reconnects to the slot 411A. If the obstacle-crossing component 5A is in a vertical position when the grooved wheel 41A is in the limited position, then the obstacle-crossing component 5A will inevitably affect the normal movement of the cleaning robot. Therefore, in the technical solution of this application, the tooth ratio of the driving gear 42A to the driven gear 43A is a suitable value, which can effectively avoid this problem.

[0124] As mentioned above, when the swing arm 11A swings downward to the first preset position (extreme position), the clutch device switches from the disengaged state to the engaged state. To ensure that the clutch device's state switching process is linked to the swing position of the swing arm 11A, and that the clutch device can switch instantaneously between different states, in one embodiment provided in this application, the trigger component 3A is connected to the clutch 2A, and the trigger component 3A can drive the clutch 2A to instantly complete the state switching.

[0125] As described above, the clutch 2A achieves switching between different states primarily by driving the clutch gear 22A to rise or fall via the lifting gear 23A. The rotational power of the clutch gear 22A is transmitted to the grooved wheel 41A via the lever 221A, which then drives the obstacle-crossing assembly 5A to rotate. To avoid damage to the lever 221A due to the instantaneous impact of resistance, the lever 221A must be fully inserted into the slot 411A within a short time. Therefore, the lifting action of the lifting gear 23A must also be completed quickly, i.e., the lifting gear 23A rotates rapidly to complete the rising or falling motion. Thus, the main function of the trigger assembly 3A is to instantaneously drive the lifting gear 23A to rotate rapidly when the swing arm 11A swings to its limit position, thereby completing the state switching of the clutch 2A.

[0126] As mentioned above, trigger component 3A can be a mechanical triggering device, an electrically controlled triggering device, or a device combining mechanical and electrical control. Taking trigger component 3A as a mechanical triggering device as an example, the detailed structure of trigger component 3A will be further described below through specific embodiments.

[0127] Referring to Figures 3, 9 to 14, in one embodiment provided in this application, the trigger assembly 3A includes a sector gear set 31A, a spring assembly 32A, and a swing gear set 33A. The swing gear set 33A includes a first swing gear 331A and a second swing gear 332A coaxially arranged, with the second swing gear 332A located above the first swing gear 331A. The first swing gear 331A is connected to the sector gear set 31A, and the second swing gear 332A is connected to the lifting gear 23A of the clutch 2A. The spring assembly 32A is disposed between the first swing gear 331A and the second swing gear 332A via a connecting rod.

[0128] As shown in Figure 13, the spring assembly 32A includes a spring 321A and a slide rod 322A. One end of the slide rod 322A has a connecting hole, and a groove is also provided on the slide rod 322A along its axial direction. The spring 321A is sleeved on the slide rod 322A. Additionally, a first connecting post 341A is provided on the first swing gear 331A, and a second connecting post 342A is provided on the second swing gear 332A. The second connecting post 342A is connected to the connecting hole of the slide rod 322A, and the first connecting post 341A is slidably disposed in the groove. The spring 321A is located between the first connecting post 341A and the second connecting post 342A. When the first swing gear 331A rotates relative to the second swing gear 332A, the second connecting post 342A will slide in the groove, thereby compressing or releasing the spring 321A.

[0129] Referring to Figure 10, when the swing arm 11A is in a horizontal state, the spring assembly 32A is in its initial state. Referring to Figure 11, the swing arm 11A is in an inclined state, indicating that it has swung to the first preset position. At this point, the compressed spring assembly 32A is released instantaneously, and under the action of elastic force, the second swing gear 332A swings a distance of one angle. The swinging of the second swing gear 332A also drives the lifting gear 23A to rotate rapidly. It should be noted that during the swinging process of the swing arm 11A from the initial position to the first preset position, the spring assembly 32A will be gradually compressed.

[0130] When the swing arm 11A swings, the sector gear set 31A rotates synchronously. The sector gear set 31A drives the first swing gear 331A to rotate relative to the second swing gear 332A. The spring assembly 32A is gradually compressed. When the swing arm 11A swings to the first preset position, the position of the spring 321A changes, and the compressed spring assembly 32A is released to drive the second swing gear 332A to rotate. When the spring assembly 32A is suddenly released, the elastic force of the spring 321A will drive the second swing gear 332A to rotate rapidly. The lifting gear 23A, which meshes with the second swing gear 332A, will also rotate rapidly synchronously (as shown in Figure 14), thereby realizing the rapid switching of the clutch 2A to the engaged state.

[0131] The process of the swing arm 11A resetting and the lifting gear 23A descending is similar to the process described above. When the swing arm 11A swings back to reset, the sector gear set 31A will rotate synchronously in the opposite direction. Subsequently, the spring assembly 32A is gradually compressed. When the swing arm 11A returns to its initial position, the compressed spring assembly 32A is suddenly released to drive the second swing gear 332A to swing in the opposite direction by a certain angle. At this time, the lifting gear 23A, which meshes with the second swing gear 332A, will also rotate synchronously and quickly in the opposite direction, thereby realizing the rapid switching of the clutch 2A to the disengaged state.

[0132] Referring to Figures 9 to 12, in one embodiment provided in this application, the sector gear set 31A includes a first sector gear 311A ​​and a second sector gear 312A. The first sector gear 311A ​​is fixedly sleeved on the connecting shaft 15A, and the second sector gear 312A includes sector teeth and a driven pinion 313A. The second sector gear 312A and the driven pinion 313A are coaxially connected to a mounting post, and the mounting post is fixedly connected to the swing arm 11A. The second sector gear 312A and the driven pinion 313A rotate synchronously.

[0133] In addition, the first sector gear 311A ​​meshes with the driven pinion 313A, and the sector teeth mesh with the first oscillating gear 331A. Referring to Figures 10 and 11, when the swing arm 11A swings downward, the first sector gear 311A ​​remains stationary relative to the connecting column, while the second sector gear 312A moves together with the swing arm 11A. Thus, the meshing position of the first sector gear 311A ​​and the driven pinion 313A changes, thereby indirectly driving the driven pinion 313A to rotate. The second sector gear 312A also rotates. Therefore, the swing of the swing arm 11A can indirectly drive the two oscillating gears in the oscillating gear set 33A to undergo relative displacement. When the swing reaches the limit position, the spring assembly 32A is suddenly released, thereby driving the second oscillating gear 332A to rotate, thus realizing the switching of the clutch 2A state.

[0134] In the technical solution provided in this application, through the cooperation between the sector gear set 31A, the spring assembly 32A and the swing gear set 33A, not only can the swing power of the swing arm 11A be converted into the rotational power of each gear set, but also when the swing arm 11A swings to the preset position, the spring assembly 32A is suddenly released to realize the instantaneous switching of the clutch 2A between the engaged state and the disengaged state.

[0135] Referring to Figures 12 and 15, in one embodiment provided in this application, the obstacle-crossing component 5A is a swing arm 51A, one end of which is connected to the obstacle-crossing pivot 44A of the swing arm 11A. When the swing arm 51A rotates to a downward vertical position, the end of the swing arm 51A extends below the edge of the swing arm 11A. As shown in Figure 1c, when there is an obstacle in front of the cleaning robot, the rotating swing arm 51A can directly contact the obstacle. As the swing arm 51A rotates, the body 100A of the cleaning robot can be raised higher, which facilitates the cleaning robot to cross the obstacle. In addition, besides raising the body 100A, the rotating swing arm 51A can also provide forward assist force for the cleaning robot, making it easier for the travel wheels 12A to cross the obstacle.

[0136] In one specific embodiment, the end of the swing arm 51A is provided with an anti-slip structure. For example, as shown in Figure 2, the end of the swing arm 51A is chamfered. The chamfer not only enhances the anti-slip capability of the swing arm 51A but also prevents scratches from forming on the surface of the obstacle. In addition, the anti-slip structure can also be a rubber pad provided at the end of the swing arm 51A, which has wear-resistant properties and can improve the grip of the end of the swing arm 51A.

[0137] Further, referring to Figure 15, the rocker arm 51A includes a main body section 511A and a telescopic section 512A. The telescopic section 512A is connected to the main body section 511A and can extend and retract along the length of the main body section 511A. Specifically, the telescopic section 512A has a mounting cavity, in which an elastic element 513A is provided. One end of the main body section 511A is connected to the mounting cavity. When the rocker arm 51A is subjected to excessive force, the elastic element 513A is compressed, and the rocker arm 51A shortens, thus preventing the rocker arm 51A from breaking.

[0138] Referring to Figures 4, 15, and 16, in one embodiment provided in this application, the swing arm 11A has a housing 110A, on which a baffle 111A is provided. The baffle 111A is located within the rotation path area of ​​the swing arm 51A. The distance between the baffle 111A and the axis of the obstacle-crossing pivot 44A is less than the length of the swing arm 51A when fully extended. When the swing arm 51A rotates to the area diagonally above the rotation path, the baffle 111A will directly abut against the swing arm 51A, and the swing arm 51A will be appropriately shortened, thereby preventing the end of the swing arm 51A from contacting the chassis of the cleaning robot.

[0139] Referring to Figures 3 and 4, in one embodiment provided in this application, the reduction transmission device 14A includes a multi-stage reduction gear set, and the clutch device is connected to the reduction transmission device 14A via a second gear set. For example, the reduction transmission device 14A includes four stages of transmission gears, the second gear set meshes with the third stage of transmission gears, the second gear set includes two stages of transmission gears, and the second stage of transmission gears meshes with the clutch gear 22A. Alternatively, the clutch gear 22A can also directly mesh with the reduction gear set, thus eliminating the need for the second gear set and simplifying the structure of the obstacle-crossing travel wheel device 1A.

[0140] Furthermore, referring to Figures 4 and 15, in one embodiment provided in this application, the traveling wheel assembly is also provided with an angle sensing assembly. The angle sensor assembly includes a light sensor 61A and a grating code disk 62A. The grating code disk 62A is disposed on a gear of the speed reduction transmission device. When the gear rotates, the light sensor 61A can indirectly measure information such as the angle, speed, and acceleration of the gear rotation.

[0141] Referring to Figures 2 to 16, one embodiment of this application also provides an obstacle-crossing wheel device 1A, which includes: a swing arm 11A, an obstacle-crossing component 5A, and a clutch device. The swing arm 11A has a connecting shaft 15A, and the swing arm 11A can swing around the connecting shaft 15A. The swing arm 11A is provided with a traveling wheel 12A and a power unit; the obstacle-crossing component 5A is rotatably connected to the swing arm 11A; the clutch device is disposed on the swing arm 11A and is connected to the power unit, the traveling wheel 12A, and the obstacle-crossing component 5A in a transmission connection.

[0142] The clutch device has a disengaged state and an engaged state. When the clutch device is in the disengaged state, the power unit drives the travel wheel 12A to rotate. When the clutch device is in the engaged state, the power unit drives the travel wheel 12A to rotate and simultaneously drives the obstacle-crossing component 5A to rotate to assist the travel wheel 12A in crossing obstacles.

[0143] For the specific structure of the swing arm 11A, obstacle crossing assembly 5A and clutch device, please refer to the description above, which will not be repeated here.

[0144] To facilitate understanding of the technical solution of this application, specific application scenarios are given below to describe the technical solution of this application in detail.

[0145] Application Scenario 1

[0146] A sweeping and mopping robot performs cleaning tasks in complex home environments, sweeping and mopping simultaneously to thoroughly clean floors. Typically, bathroom floors are lower than other areas to prevent water from overflowing into the living room and bedrooms. Consider a small step at the boundary between the bathroom and living room floors, which the robot cannot directly overcome. When encountering such an obstacle, the robot's outward swing mechanism drives the drive wheel assembly downwards, raising the robot's chassis and improving its obstacle-crossing ability. After the drive wheel assembly reaches its extreme position, the clutch engages, connecting the swing arm and drive wheel assembly, causing the swing arm to rotate. The end of the swing arm directly contacts the obstacle, further raising the robot's chassis and assisting it in climbing over it. With the swing arm's assistance, the robot can successfully overcome the step.

[0147] In summary, in the technical solution of this application embodiment, after the travel wheel assembly swings outward relative to the cleaning robot to the first preset position, the clutch device will switch to the engaged state, thereby transmitting power to the obstacle-crossing assembly. The obstacle-crossing assembly rotates to assist the travel wheel assembly in overcoming obstacles. The obstacle-crossing ability of the cleaning robot equipped with such a travel wheel assembly will be significantly improved, thus adapting to a variety of complex home environments and meeting the needs of whole-house cleaning.

[0148] This application also provides an obstacle-crossing device, which is mounted on the body of a cleaning robot. The swing arm can rotate relative to the body to switch between an initial state and an obstacle-crossing state. When the cleaning robot encounters a high obstacle, the swing arm switches to the obstacle-crossing state. At this time, the obstacle-crossing component linked to the swing arm performs the obstacle-crossing action, assisting the cleaning robot in overcoming higher obstacles. After successfully crossing the obstacle, the swing arm switches back to the initial state, and the obstacle-crossing component stops its obstacle-crossing action. The obstacle-crossing component significantly improves the obstacle-crossing ability of the cleaning robot, enabling it to adapt to various complex home environments and meet the needs of whole-house cleaning.

[0149] Furthermore, this application also provides a trigger mechanism that controls the clutch to trigger the action of auxiliary component 6C through a simple and effective triggering mechanism to assist the second round 12 obstacle crossing. The trigger mechanism structure is simpler and has a faster response.

[0150] Specifically, as shown in Figure 17, when the trigger 91C in the clutch device is touched by an obstacle, the clutch device is triggered to enter the first state (as mentioned above in the engaged state). The auxiliary component 6C moves under the drive of the second power source 131C, and assists the second wheel 12C in crossing the obstacle by applying force to the ground. When the clutch device is in the second state (as mentioned above in the disengaged state), the auxiliary component 6C is decoupled from the second power source 131C, and the attitude of the auxiliary component 6C is locked.

[0151] Referring to the examples shown in Figures 18 to 28, the clutch device includes a trigger 91C and a clutch element 71C. The clutch element 71C includes, but is not limited to, a clutch gear 1326C, a clutch bracket 712C, and a lever 715C. The trigger 91C and the lever 715C constitute a trigger mechanism. When the trigger 91C is triggered by an obstacle, the lever 715C moves with the trigger 91C, pushing the clutch bracket 712C to the engaged position. The trigger 91C and the lever 715C are mounted on a rotating shaft 716C. When the trigger 91C is pushed by an obstacle, the rotating shaft 716C rotates, thereby driving the lever 715C to rotate; that is, the lever 715C rotates with the trigger 91C, where the trigger 91C is the trigger of the trigger mechanism. The clutch device may also include an elastic body 93C. When the trigger 91C is not activated, the lever 715C returns to its original position under the action of the elastic body 93C, causing the clutch bracket 712C to be in a disengaged state. Specifically, as shown in Figure 23, the rotating shaft 716C is fitted with an elastic body 93C, which can be a torsion spring. When the trigger 91C collides with an obstacle and pushes the rotating shaft 716C to rotate, the elastic body deforms; when there is no obstacle (such as when the obstacle is crossed), the trigger 91C returns to its initial position under the restoring force of the elastic body, as shown in Figure 23.

[0152] Unlike the structure of the embodiment described above, the structure of the lever 715C in this embodiment can be specifically as shown in Figure 22. The lever 715C may include: a first lever 7155C and a second lever 7156C set at an angle. As shown in Figure 22, along the projection direction perpendicular to the axis of the rotating shaft 716C, the first lever 7155C is located between the trigger member 91C and the second lever 7156C.

[0153] Referring to Figures 19, 23, and 24, before the trigger 91C encounters an obstacle, the trigger 91C and the first lever 7155C are at a certain angle, which can be 20 to 45 degrees. The first lever 7155C is close to the clutch bracket 712C, and the first lever 7155C is in contact with the clutch bracket 712C. In the initial state, i.e., before the trigger 91C encounters an obstacle, the gap between the first lever 7155C and the clutch bracket 712C can be 0 to 20 mm. The smaller the gap between the first lever 7155C and the clutch bracket 712C, the faster the first lever 7155C acts on the clutch bracket 712C after the trigger 91C is triggered by an obstacle, i.e., the fastest state switching response speed of the clutch bracket 712C.

[0154] As shown in Figure 22, the clutch bracket 712C is provided with at least one limiting groove 7122C. Referring to Figures 20 and 21, Figures 20 and 21 show the process where the trigger 91C is triggered by an obstacle, causing the first rods 7155C and 7156C to rotate. The first rod 7155C contacts the clutch bracket 712C and gradually changes the position of the force, while the second rod 7156C moves away from the clutch bracket 712C. Figure 22 shows the relationship between the trigger 91C, the lever 715C, and the clutch bracket 712C after the second rod 7156C disengages from the limiting groove 7122C of the clutch bracket 712C in Figure 20. The first rod 7155C continues to push the clutch bracket 712C upward until the connecting part 718C on the clutch bracket 712C enters the mating groove or hole on the clutch gear 1326C. At this time, the clutch bracket 712C is easily connected to the clutch gear 1326C, and the clutch device is in the engaged state. During this process, the second lever 7156C gradually moves away from the clutch bracket 712C, and the clutch bracket 712C is freed from the restriction of the second lever 7156C. The output shaft 133 of the clutch bracket 712C can then rotate with the clutch gear 1326C, thereby driving the auxiliary component 6C (such as a rocker arm as shown in Figure 1c) to rotate.

[0155] Figures 23, 24, and 25 show schematic diagrams of the clutch bracket 712C not being lifted by the first lever 7155C. At this time, the connecting part 718C on the clutch bracket 712C is a certain distance from the clutch gear 1326C, and the clutch bracket 712C has no power input and remains stationary. The output shaft 133 of the clutch bracket 712C has no power, and the clutch bracket 712C is constrained by the second lever 7156C, preventing it from rotating. Therefore, the auxiliary component 6C is in a locked state.

[0156] Figures 26, 27 and 28 show schematic diagrams of the clutch bracket 712C being lifted by the first rod 7155C, at which time the connecting part 718C on the clutch bracket 712C is inserted into the mating groove or hole 13261C of the clutch gear 1326C.

[0157] An output idler gear 1328C is provided between the clutch gear 1326C and the output gear 1327C. The output gear 1327C meshes with the output idler gear 1328C, and the output idler gear 1328C meshes with the clutch gear 1326C. The output idler gear 1328C is mounted on the fifth gear shaft 13280C. The clutch gear 1326C is mounted on the output shaft 133C. The output shaft 133C rotates synchronously with the clutch gear 1326C. An auxiliary component 6C is mounted on the output shaft 133C and rotates under the drive of the output shaft 133C.

[0158] Referring to Figure 24, the end of the first rod 7155C may have a first protrusion 71550C. This first protrusion 71550C can be an arc-shaped protrusion or a hemispherical protrusion, etc. The first protrusion 71550C is used to contact the bottom inclined surface of the clutch bracket to generate a force along the output shaft 133C. The second rod 7156C includes a main rod 71561C and an end rod 71562C. The end rod 71562C forms a certain angle (e.g., 60 degrees, 90 degrees, etc.) with the main rod 71561C. In this embodiment, the included angle between the end rod and the main rod is not specifically limited. The main rod and the end rod can be integrally formed. The length of the main rod and the end rod, as well as the angle between them, are related to the location of the rotating shaft 716C, the position of the clutch bracket, and the structure on the clutch bracket that works in conjunction with the push rod. Referring to Figure 25, the end of the end rod 71562C is provided with a second protrusion 715620C, which can be a hemispherical protrusion or an arc-shaped protrusion. The second rod with the first protrusion and the second protrusion can be a double-ball-head lever.

[0159] Referring to Figure 22, the clutch bracket 712C has at least one limiting groove 7122C on its upper part. When the end of the second rod is inserted into the limiting groove 7122C, the rotation of the output shaft 133C can be restricted, thereby locking the posture of the auxiliary component 6C. As shown in the example, two opposing limiting grooves 7122C can be provided on the clutch bracket 712C. Of course, more can be provided in specific implementations, and this embodiment does not make a specific limitation on this.

[0160] In summary, the schemes shown in Figures 17 to 28 employ a composite design of trigger mechanism + clutch structure + auxiliary component (6C) to trigger the rotation of the auxiliary component to assist the traveling wheel in overcoming obstacles.

[0161] The working process of the cleaning robot with the structure shown in Figures 17 to 28 is as follows: When the cleaning robot is in a normal planar driving state, the second power source 131C (or the driving wheel motor) drives the driving wheel 12C to rotate through the second power source 131C (such as a six-stage gear transmission). Taking the lever 715C as a double ball-head lever as an example, under the push of the double ball-head lever, the clutch bracket 712C disengages from the clutch gear 1326C, the driving wheel 12C rotates, the auxiliary component 6C does not rotate, and remains horizontal with the body. When the cleaning robot encounters an obstacle and attempts to overcome it, the trigger 91C (i.e., the trigger mechanism) at the bottom of the swing arm 11A housing contacts the obstacle and drives the double ball joint lever to rotate clockwise (see the clockwise direction corresponding to the perspectives shown in Figures 20 and 21). This pushes the clutch bracket 712C upward, causing it to enter the mating groove or hole of the clutch gear 1326C and rotate together with it. At this time, the auxiliary component 6C is activated. When the cleaning robot overcomes the obstacle, it disengages from it. Under the action of the torsion spring, the double ball joint lever approaches the clutch bracket. The ball end of the second lever 7156C pushes the clutch bracket 712C downward along the inclined surface of the clutch bracket 712C. At this time, the clutch bracket 712C disengages from the clutch gear 1326C, the auxiliary component 6C returns to its original position and stops moving, and remains horizontal with the body through the stop of the clutch bracket (as shown in Figure 19).

[0162] Referring to Figures 23 and 26, the clutch bracket 712C has two inclined surfaces, an upper inclined surface and a lower inclined surface. Referring to Figure 22, the limiting groove 7122C has an upper inclined surface. Referring to Figure 23, the upper inclined surface at the limiting groove 7122C, along the axial direction of the output shaft 133C, gradually tapers inwards towards the output shaft 133C from bottom to top. From the bottom of the upper inclined surface, a lower inclined surface is provided around the clutch bracket 712C, gradually tapering inwards towards the output shaft 133C from top to bottom.

[0163] Furthermore, the two side walls of the limiting groove 7122C extending axially along the output shaft 133C are both arc-shaped surfaces, and the distance between the two side walls gradually increases along the radial direction of the cross-section of the output shaft 133C. The phrase mentioned above, "the ball end of the second lever 7156C pushes the clutch bracket 712C downward along the inclined surface of the clutch bracket 712C," specifically means: the ball end of the second lever 7156C enters the limiting groove 7122C along one side wall of the limiting groove, and under the action of the upper inclined surface within the limiting groove, pushes the clutch bracket 712C downward.

[0164] Referring to Figures 23, 24 and 26, as the first lever 7155C rotates toward the clutch bracket 712C, the ball end of the first lever 7155C first contacts the lower inclined surface, and then, under the action of the lower inclined surface, pushes the clutch bracket 712C upward until it is in the position shown in Figure 26 (i.e., the bottom end face of the clutch bracket 712C).

[0165] Referring to the embodiments of the structure shown in Figures 18 to 28, this is a passive obstacle-crossing scheme that employs a simple trigger mechanism. An obstacle triggers the trigger; that is, after the trigger is activated, the clutch switches to the engaged state, allowing the second power source 131C to drive the driving wheels while simultaneously driving the auxiliary component 6C to assist the cleaning robot in overcoming obstacles.

[0166] Based on the above embodiments, this embodiment provides a simpler solution. The structure of the lever 715C is simplified, and the structure on the clutch bracket is modified accordingly to adapt it to work with the lever 715C.

[0167] Specifically, as shown in Figures 29 to 36, compared to the schemes shown in Figures 17 to 28 above, the lever 715C has a single lever, i.e., the lever is a single lever. The structure of this single lever is similar to the structure of the second lever in the schemes shown in Figures 17 to 28 above. The trigger 91C and the lever 715C are mounted on the rotating shaft 716C. The lever 715C and the trigger 91C rotate synchronously.

[0168] Referring to Figures 34 to 39, the clutch bracket is a columnar bracket, such as one with a cylindrical section. The clutch bracket 712C has a guide surface surrounding the outer circumference of the columnar bracket. This guide surface can rotate around the outer circumference of the columnar bracket, be a half-axis, or more than half a circumference, etc. This guide surface is the surface that rotates upwards or downwards around the columnar bracket. The end of the lever 715C abuts against the guide surface 7127C. This guide surface can be a spiral guide surface rotating around the clutch bracket 712C. Alternatively, the guide surface 7127C includes a straight section and at least one inclined section with different slopes. Of course, the guide surface may not have a straight section and may include two or more inclined sections with different slopes. Simply put, the guide surface on the clutch bracket 712C acts like a cam. With the height of the lever 715C unchanged, the lever 715C abuts against the cam surface and applies a force along the cam surface to the clutch bracket 712C, thus driving the clutch bracket 712C downwards. After the lever 715C disengages from the cam surface of the clutch bracket 712C, the clutch bracket 712C can move upward under the elastic restoring force of the elastic element 713C.

[0169] As shown in Figure 39, the clutch bracket 712C has an elastic element 713C at its bottom. One end of the elastic element 713C is connected to the clutch bracket 712C and moves synchronously with it; the other end of the elastic element 713C is connected to a gasket 717C. The gasket 717C can be mounted on the housing of the swing arm 11C. The elastic element 713C can be a spring.

[0170] The elastic body 93C is not shown in Figures 35 and 36, that is, the elastic body 93C between the trigger 91C and the lever 715C is not shown in the figures.

[0171] A blocking wall is provided on the guide surface, which can be formed by the height difference created by different surfaces on the guide surface, as shown in Figure 35. This blocking wall 71270C provides a stop for the clutch bracket 712C. As shown in Figure 35, after the lever 715C moves to the position of the high blocking wall 71270C, the position of the clutch bracket 712C is fixed and will no longer rotate. That is, the position of the auxiliary component 6C set on the output shaft 133C of the clutch bracket 712C is also locked, and it is roughly parallel to the body.

[0172] As shown in Figures 35 and 36, the lever 715C has a fingertip extending from the end of the lever 715C toward the clutch bracket, the bottom surface of which contacts the guide surface. The thickness of the fingertip is less than the thickness of the end of the lever 715C.

[0173] In summary, the solutions shown in Figures 29 to 39 also employ a composite design of trigger mechanism + clutch structure + auxiliary component (6C) to trigger the rotation of the auxiliary component to assist the travel wheel in overcoming obstacles. The difference between this and the solutions shown in Figures 17 to 28 is the structure of the lever and clutch bracket. In this embodiment, the lever has only one rod, the clutch bracket has a guide surface, and the clutch bracket is connected to the housing of the swing arm via an elastic element.

[0174] The working process of the cleaning robot with the structure shown in Figures 29 to 39 is as follows: When the cleaning robot is in a normal planar driving state, the second power source 131C (or the drive wheel motor) drives the drive wheel 12C to rotate through the second power source 131C (such as a six-stage gear transmission). Under the force of the lever 715C pressing down on the guide surface 7127C, the elastic element 713C of the clutch bracket 712C is in a compressed state, and the clutch bracket 712C is disengaged from the clutch gear 1326C. The drive wheel 12C rotates, the auxiliary component 6C does not rotate, and remains horizontal with the body. When the cleaning robot encounters an obstacle and performs an obstacle-crossing action, the trigger element 91C at the lower part of the swing arm 11C touches the obstacle and rotates because of the obstacle. The lever 715C rotates with the trigger element 91C and disengages from the clutch bracket 712C. When the lever 715C and the trigger element 91C rotate, the elastic element 93C deforms. After being released from the downward pressure of lever 715C, clutch bracket 712C moves upward under the restoring force of the compression spring and connects with clutch gear 1326C (i.e., connecting part 718C enters the mating groove or hole). The output shaft 133C of clutch bracket 712C is driven to rotate by clutch gear 1326C, thereby driving auxiliary component 6C to move. When the cleaning robot crosses an obstacle and disengages from it, lever 715C moves closer to clutch bracket 712C under the restoring force of elastic body 93C. After lever 715C approaches the rotating clutch bracket 712C and contacts the guide surface, as clutch bracket 712C rotates, lever 715C presses down on guide surface 7127C, compressing elastic member 713C and causing clutch bracket 712C to move downward. At this time, connecting part 718C of clutch bracket 712C disengages from clutch gear 1326C. After the lever 715C moves along the guide surface to the position shown in Figures 35 and 36, the clutch bracket 712C stops rotating due to the action of the blocking wall 71270C, the auxiliary component 6C returns to its original position and does not move, and remains horizontal with the machine body through the stop of the clutch bracket.

[0175] Referring to Figures 40 to 54, this application also provides a mechanism employing a clutch structure and an auxiliary component 6C. However, in this embodiment, the triggering and obstacle-crossing assistance are integrated into the auxiliary component 6C. That is, in this solution, the auxiliary component 6C simultaneously functions as both the triggering component 91C mentioned above and the obstacle-crossing assistance function.

[0176] Referring to Figures 40, 41, and 42a, the auxiliary component 6C in this embodiment of the application has been specially designed. The auxiliary component 6C is not the rocker arm shape shown above, but a disc-shaped structure with an irregular outer contour.

[0177] The working process of the cleaning robot with the structure shown in Figures 40 to 54 is as follows: When the cleaning robot is in a normal planar driving state, the second power source 131C (or the driving wheel motor) drives the driving wheel 12C to rotate through the second power source 131C (such as a six-stage gear transmission). The clutch bracket 712C disengages from the clutch gear 1326C, the driving wheel 12C rotates, and the auxiliary component 6C does not rotate, as shown in Figure 42a. When the auxiliary component 6C does not rotate, it is roughly horizontal with the robot body, ensuring the distance between the robot chassis and the ground. When the cleaning robot encounters an obstacle and performs an obstacle-crossing maneuver, the lower end of the auxiliary component 6C touches the obstacle and drives the clutch bracket 712C to rotate clockwise via the output shaft 133C. This, in turn, pushes the lever 715C (such as the double ball-head lever mentioned above) to rotate clockwise. The second lever 7156C of the lever 715C disengages from the clutch bracket 712C, and the first lever 7155C of the lever 715C approaches the clutch bracket 712C and applies an upward force along the lower inclined surface of the clutch bracket 712C. This causes the connecting part 718C of the clutch bracket 712C to enter the mating groove or hole of the clutch gear 1326C. The clutch bracket 712C is connected to the clutch gear 1326C. Driven by the clutch gear 1326C, the output shaft 133C of the clutch bracket 712C rotates, driving the auxiliary component 6C to rotate to assist the travel wheel in overcoming obstacles. After the cleaning robot overcomes the obstacle, lever 715C returns to its original position under the action of the torsion spring, and the second lever 7156C moves closer to the clutch bracket 712C. The ball end of the second lever 7156C pushes the clutch bracket 712C downward along the upper inclined surface of the clutch bracket 712C; the first lever 7155C moves away from the clutch bracket 712C. At this time, the clutch bracket 712C gradually disengages from the clutch gear 1326C. The clutch bracket 712C does not rotate, the output shaft 133C does not rotate, the auxiliary component 6C returns to its original position and does not move. Furthermore, the stop of the clutch bracket keeps it in the same position as the robot body.

[0178] The structures shown in Figures 40 to 54 share similarities with, but also differ from, the structures shown in Figures 17 to 28 above. The similarities include the structures of the lever 715C, the spring body 93C, and the clutch bracket 712C. The differences are: the absence of the trigger element 91C, and the different structure of the auxiliary component 6C.

[0179] In this embodiment, the trigger element 91C is removed. By modifying the structure of the auxiliary component 6C, the auxiliary component 6C functions as both the trigger element 91C and the obstacle-crossing assistance function. The structure of the auxiliary component 6C in this embodiment will be described below with reference to the accompanying drawings.

[0180] Referring to Figure 42b, the outer contour of the auxiliary component 6C resembles a peanut shape. Specifically, as shown in Figure 42b, the contour shape of the auxiliary component 6C is a rotationally symmetric figure. Along the counter-clockwise direction, the contour shape of the auxiliary component 6C includes: a first segment 601C, a second segment 602C, a third segment 603C, and a fourth segment 604C connected end-to-end. The first segment 601C and the second segment 602C can be straight segments, and the length of the first segment 601C can be longer than that of the second segment 602C. The third segment 603C is a concave arc segment. The fourth segment 604C can be a convex arc segment.

[0181] Referring to Figure 44, when there is an obstacle, the second segment 602C of the auxiliary component 6C contacts the obstacle first. During the forward movement of the fuselage, due to the obstruction of the obstacle, the auxiliary component 6C rotates counterclockwise, as shown in Figure 45. The third segment, a concave arc segment, avoids hard contact with the obstacle. Because of the presence of the third segment, the auxiliary component 6C can rotate to a sufficient angle, causing the lever 715C to disengage from the clutch bracket 712C. After the clutch bracket 712C connects with the clutch gear 1326C, the clutch bracket 712C rotates, driving the auxiliary component 6C to rotate. The fourth segment 604C of the auxiliary component 6C is a convex arc segment that makes line or point contact with the obstacle during obstacle crossing, providing assistance in overcoming obstacles.

[0182] The clutch device in the above-described cleaning robot embodiments can be replaced with various mechanisms provided in the above embodiments, and can be combined arbitrarily. This embodiment does not make specific limitations on this.

[0183] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning robot, characterized in that, include: Organism; A swing arm is rotatably connected to the machine body, and the swing arm is equipped with travel wheels; An auxiliary component is rotatably connected to the swing arm; A clutch device is mounted on the swing arm and is connected to the power unit, the travel wheel, and the auxiliary components via a transmission connection. The clutch device has a disengaged state and an engaged state. When the clutch device is in the disengaged state, the power device drives the travel wheel to rotate. When the clutch device is in the engaged state, the power device drives the travel wheel to rotate and simultaneously drives the auxiliary components to perform actions to assist the travel wheel in overcoming obstacles.

2. The cleaning robot according to claim 1, characterized in that, When the swing arm swings to the first preset position along the first direction, the clutch device switches from the disengaged state to the engaged state.

3. The cleaning robot according to claim 1, characterized in that, When the clutch is engaged, the auxiliary component is periodically connected to the clutch, causing the auxiliary obstacle-crossing assembly to rotate periodically.

4. The cleaning robot according to any one of claims 1 to 3, characterized in that, The clutch device includes a connected triggering component and a clutch; When the swing arm swings to the first preset position along the first direction, the triggering component is activated, triggering the clutch to switch from the disengaged state to the engaged state. When the swing arm swings to the second preset position along the second direction, the triggering component moves in the opposite direction to trigger the clutch to switch from the engaged state to the disengaged state. The first direction and the second direction are two different directions.

5. The cleaning robot according to claim 4, characterized in that, The clutch includes: a first rotating shaft, a clutch gear, a lifting gear, and a reset component; The clutch gear and the lifting gear are disposed on the first rotating shaft, the lifting gear is located below the clutch gear, and the reset member abuts against the top of the clutch gear; When the lifting gear rises, it can push the clutch gear to rise. After reaching the limit position, the clutch switches to the engaged state. When the lifting gear falls, the reset member drives the clutch gear to fall. After reaching the initial position, the clutch switches to the disengaged state.

6. The cleaning robot according to claim 5, characterized in that, The lifting gear is provided with an internal thread, and the first rotating shaft is provided with an external thread. The lifting gear is connected to the first rotating shaft. When the lifting gear rotates in different directions, the lifting gear can move up and down relative to the first rotating shaft along its axial direction.

7. The cleaning robot according to claim 5, characterized in that, It also includes a transmission assembly, which includes a grooved wheel with a strip groove on it; The clutch gear is provided with a lever, which rotates synchronously with the clutch gear, and the lever can be connected to the strip groove. When the clutch is disengaged, the lever is separated from the slot; when the clutch is engaged, the lever is lifted by the clutch gear and inserted into the slot. As the clutch gear rotates, the lever slides in the slot while driving the grooved wheel to rotate.

8. The cleaning robot according to claim 1, characterized in that, The clutch device includes: a rotating shaft, a clutch element, an elastic element, a clutch gear, and a lever; The clutch is sleeved on the rotating shaft, and the clutch can slide along the axial direction of the rotating shaft. The elastic element abuts against the clutch. The clutch gear is sleeved on the rotating shaft, and the clutch component can be connected to or separated from the clutch gear; the lever is located on one side of the clutch component; The obstacle-crossing rod is connected to one end of the rotating shaft.

9. The cleaning robot according to claim 8, characterized in that, One end of the lever is connected to the triggering component, and the other end of the lever has a guide slope; The clutch is provided with a protrusion, and the triggering component can drive the lever to move closer to or away from the protrusion. When the lever moves away from the clutch, the elastic element drives the clutch to switch to the engaged state; When the lever approaches the clutch, the protrusion slides along the guide slope, and the clutch switches to the disengaged state.

10. The cleaning robot according to claim 1, characterized in that, The clutch device includes: Trigger, used to be activated as the machine moves when it touches an obstacle; The lever is linked to the trigger element; The clutch bracket is linked to the lever. When the trigger is activated by an obstacle, the lever moves with the trigger, pushing the clutch bracket to the engaged position.

11. The cleaning robot according to claim 10, characterized in that, The clutch device also includes an elastic body. When the trigger is not triggered, the lever returns to its original position under the action of the elastic body, so that the clutch bracket is in a disengaged state.

12. The cleaning robot according to claim 11, characterized in that, The lever includes a first lever and a second lever; The trigger and the lever are mounted on the rotating shaft; In a projection perpendicular to the axis of rotation, the first rod and the second rod extend radially along the cross-section of the axis of rotation at an angle, with the first rod located between the trigger and the second rod. The clutch bracket is provided with at least one limiting groove; When encountering an obstacle, the first rod rotates with the trigger and contacts and pushes the clutch bracket to move to the engaged position, and the second rod disengages from the limiting groove on the clutch bracket; When there are no obstacles, the first rod returns to its original position under the action of the elastic body, the first rod moves away from the clutch bracket, the clutch bracket returns to the position of being in the disengaged state, and the second rod returns to the limiting groove.

13. The cleaning robot according to claim 12, characterized in that, At least one of the limiting grooves is provided with an upper inclined surface, and the clutch bracket is also provided with a lower inclined surface; The lower inclined surface is used to contact the end of the first rod; The upper inclined surface is used to contact the end of the second rod.

14. The cleaning robot according to claim 13, characterized in that, The sidewall of the limiting groove is an arc-shaped surface, used to guide the end of the second rod into and out of the limiting groove.

15. The cleaning robot according to claim 10, characterized in that, The lever is a single lever; The clutch bracket is provided with a guide surface; The clutch bracket is also connected to an elastic element; When the trigger is activated, the lever moves with the trigger, the end of the lever disengages from the guide surface, and the clutch bracket moves to the engaged position under the action of the elastic element. When there are no obstacles, the lever returns to its original position, and the end of the lever contacts the guide surface. Under the action of the guide surface, the clutch bracket returns to its disengaged state, and the elastic element deforms due to the displacement of the clutch bracket.

16. The cleaning robot according to claim 15, characterized in that, The clutch bracket is a columnar bracket, and the guide surface is a spiral guide surface around the outer periphery of the columnar bracket, or the guide surface includes a straight section and at least one inclined section with different slopes; or the guide surface includes two or more inclined sections with different slopes.

17. The cleaning robot according to claim 1, characterized in that, The clutch device includes: The output shaft is rotatably mounted on the swing arm and is provided with the auxiliary components; The first clutch element is rotatably mounted on the output shaft and is connected to the power unit in a transmission manner; The second clutch element is slidably disposed on the output shaft in an axial manner; An elastic element is pre-pressed between the first clutch and the second clutch, and when the cleaning robot is in normal working condition, the elastic force is used to separate the first clutch and the second clutch; The trigger component is configured to push the second clutch to move axially to engage with the first clutch when the cleaning robot is in an obstacle-crossing condition, overcoming the elastic force of the elastic element.

18. The cleaning robot according to claim 17, characterized in that, The triggering component includes: a lifting bracket and a first connecting rod; The lifting bracket is rotatably mounted on the output shaft; One end of the first connecting rod is hinged to the body and the other end is hinged to the lifting bracket. It is configured to, when the cleaning robot is in an obstacle-crossing condition, use the force generated by the rotation of the body relative to the swing arm to pull the lifting bracket to rotate around the output shaft along the lifting guide surface and lift it to push the second clutch to move axially to engage with the first clutch. The lifting guide surface is provided on the swing arm or the lifting bracket. The swing arm is provided with a receiving groove and a limiting notch communicating with the receiving groove. When the cleaning robot is in normal working condition, the lifting bracket is located in the receiving groove and the cantilever end for hinged connection with the first connecting rod extends out from the limiting notch.

19. The cleaning robot according to claim 1, characterized in that, Also includes: A drive mechanism, connected to the casters on the robot body, is used to drive the casters to descend relative to the robot body, thereby raising the front of the robot. A detection device, installed on the machine body, is used to detect obstacles; A control device, electrically connected to the detection device, is used to control the operation of the drive mechanism when an obstacle is detected.

20. The robot according to claim 19, characterized in that, The body is provided with a sliding component; the universal joint is connected to the sliding component; The driving mechanism includes a driver and a driving component; The driver is connected to the driving component and drives the driving component to move, thereby pushing the slider to slide up and down relative to the body.

21. The robot according to claim 20, characterized in that, The driving component includes a pressure rod and a roller; the roller is disposed at one end of the pressure rod, and the other end of the pressure rod is connected to the driver. During the descent of the omnidirectional wheel, the roller comes into contact with the sliding member.

22. A cleaning robot, characterized in that, include: Organism; A swing arm is rotatably connected to the machine body, and the swing arm is equipped with travel wheels; An auxiliary component is rotatably connected to the swing arm; A clutch device is mounted on the swing arm and is connected to the power unit, the travel wheel, and the auxiliary components via a transmission connection. The clutch device has a disengaged state and an engaged state. When the clutch device is in the disengaged state, the power device drives the travel wheel to rotate. When the auxiliary component is triggered as the machine moves when it touches an obstacle, the clutch device switches from the disengaged state to the engaged state. The power device drives the travel wheel to rotate and simultaneously drives the auxiliary component to perform an action to assist the travel wheel in overcoming the obstacle.

23. The cleaning robot according to claim 22, characterized in that, The auxiliary component has a triggering part and an obstacle-crossing assistance part; When the clutch is in the disengaged state, the triggering part is located below the rear side of the obstacle-crossing part.

24. The cleaning robot according to claim 22, characterized in that, The auxiliary component is a disc-shaped structure with an irregular outer contour; The outer contour of the auxiliary component includes at least one convex arc segment, at least one concave arc segment, and at least one straight segment.

25. The cleaning robot according to claim 24, characterized in that, The outer contour shape of the auxiliary component is a rotationally symmetric figure.

26. The cleaning robot according to any one of claims 22 to 25, characterized in that, The clutch mechanism includes a clutch support; The clutch bracket has an output shaft; The auxiliary component is mounted on the output shaft; A clutch gear is fitted onto the output shaft; The clutch bracket is provided with a connecting part, and the clutch gear is provided with a mating groove or hole; When the clutch is in the disengaged state, the connecting part of the clutch bracket disengages from the mating groove or hole; when the clutch is in the engaged state, the connecting part of the clutch bracket is inserted into the mating groove or hole. The clutch gear is connected to a transmission wheel in the drive link that drives the traveling wheel to rotate.

27. A cleaning robot, characterized in that, include: Organism; A swing arm is rotatably connected to the machine body, and the swing arm is equipped with a travel wheel and a power device; An obstacle-crossing assist component is rotatably connected to the swing arm; A clutch device includes an output shaft, a lifting bracket, and a first connecting rod. The output shaft is rotatably mounted on the swing arm and is equipped with the obstacle-crossing auxiliary assembly. The lifting bracket is rotatably mounted on the output shaft. One end of the first connecting rod is hinged to the body, and the other end is hinged to the lifting bracket. The connecting rod is configured such that when the cleaning robot is in obstacle-crossing mode, the force generated by the rotation of the body relative to the swing arm pulls the lifting bracket around the output shaft along a lifting guide surface and lifts it, thereby engaging the clutch device. The lifting guide surface is located on the swing arm or the lifting bracket. When the clutch is engaged, the power unit drives the travel wheel to rotate, and simultaneously drives the obstacle-crossing auxiliary assembly to rotate to assist the travel wheel in crossing obstacles.

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