Obstacle-surmounting mechanism, driving device, and cleaning robot

Abstract

The present disclosure relates to the field of cleaning apparatuses. Disclosed are an obstacle-surmounting mechanism, a driving device, and a cleaning robot. The obstacle-surmounting mechanism comprises a base, a rotating member and a driving assembly, wherein the base is configured to be connected to a travelling apparatus, the driving assembly is capable of driving the rotating member to rotate in a first direction and a second direction, and the rotating member is provided with an obstacle-surmounting support leg, and is configured to drive, when the rotating member rotates in the first direction, the obstacle-surmounting support leg to rotate so as to lift and support the travelling apparatus and enable same to travel by means of the obstacle-surmounting support leg, and to jack up a chassis of the travelling apparatus when the rotating member rotates in the second direction. The driving device comprises a travelling frame and the obstacle-surmounting device. The cleaning robot comprises the driving device. On the basis of the obstacle-surmounting mechanism provided in the present disclosure, the obstacle-surmounting mechanism can be disposed on the cleaning robot, such that the cleaning robot can be driven by the obstacle-surmounting mechanism to surmount an obstacle or travel in special scenarios such as a shag carpet, thereby extending the use range of the cleaning robot.

Description

Obstacle crossing mechanism, drive unit and cleaning robot

[0001] Cross-references to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202422796674.9, filed on November 15, 2024, the contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cleaning equipment, and more specifically to an obstacle-crossing mechanism, a drive device, and a cleaning robot. Background Technology

[0004] Cleaning robots are a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. They typically use a combination of brushing and vacuuming to collect debris into their dustbins, thus completing the cleaning process. However, many areas in the home, such as kitchens and bathrooms, have high steps, limiting the cleaning capabilities of current cleaning robots to cleaning only one room at a time. Furthermore, the height of their chassis restricts their movement through challenging environments, such as those with long-pile carpets, resulting in limitations in their usability. Summary of the Invention

[0005] To address the technical limitations of current cleaning robots due to the constraints imposed by steps between different rooms and special scenarios such as long-pile carpets, this disclosure provides an obstacle-crossing mechanism, a drive unit, and a cleaning robot.

[0006] This disclosure provides an obstacle-crossing mechanism, including a base, a rotating member rotatably mounted on the base, and a drive assembly for driving the rotating member to rotate. The base is used to connect to a walking device, and the drive assembly can drive the rotating member to rotate along a first direction and a second direction. The rotating member is provided with obstacle-crossing legs and configured as follows:

[0007] When the rotating component rotates along the first direction, it can drive the obstacle-crossing outriggers to rotate so as to support the walking device and walk through the obstacle-crossing outriggers. When the rotating component rotates along the second direction, it can lift the chassis of the walking device.

[0008] Optionally, the obstacle-crossing outrigger includes a first arm and a second arm that are hinged together. The end of the first arm away from the second arm is connected to the rotating member. The second arm can swing relative to the first arm within a certain range. The end of the second arm away from the first arm is rotatably provided with an obstacle-crossing wheel.

[0009] Optionally, the obstacle-crossing outrigger further includes a first driving member and a first transmission member. The first transmission member is disposed within the first outrigger and the second outrigger, and the first driving member can drive the obstacle-crossing wheel to rotate through the first transmission member.

[0010] Optionally, the hinge position of the first arm and the second arm is located above the walking wheel of the drive unit.

[0011] Optionally, a top plate is movably connected to the base, the top plate is used to connect to the chassis of the walking device, and a sliding shaft is provided on the top plate. During the rotation of the rotating component along the second direction, the sliding shaft can be pushed to move in the vertical direction.

[0012] Optionally, the rotating component includes a cam rotatably mounted on the base, the outer periphery of the cam forming a contact surface that abuts against the sliding shaft.

[0013] Optionally, the cam includes a rotatable wheel mounted on the base and a protrusion disposed on the outer periphery of the wheel, wherein a first support position is formed between the protrusion and the wheel, and a second support position is formed on the outer periphery of the protrusion.

[0014] Optionally, the driving mechanism of the driving component is such that any position between the first support position and the second support position can support the top plate.

[0015] Optionally, the base is provided with an extended housing, and the drive assembly includes a second drive member and a second transmission member disposed within the extended housing. The second drive member can drive the rotating member to rotate through the second transmission member.

[0016] This disclosure also provides a driving device, including:

[0017] A walking frame for connecting to a walking device, wherein the walking frame is rotatably equipped with walking wheels;

[0018] The aforementioned obstacle-crossing mechanism has its base disposed on one side of the walking frame.

[0019] Optionally, a rotating shaft is provided on the walking frame, the walking wheel is rotatably mounted on the rotating shaft, the rotating shaft extends into the base, and the rotating component is rotatably mounted on the outer periphery of the rotating shaft.

[0020] Optionally, the obstacle-crossing outrigger includes an obstacle-crossing wheel, and the traveling wheel is connected to the obstacle-crossing wheel via a first transmission member.

[0021] This disclosure also provides a cleaning robot, including the aforementioned drive mechanism.

[0022] The technical solution provided by this disclosure has the following advantages compared with the prior art:

[0023] Based on the obstacle-crossing mechanism provided in this disclosure, the obstacle-crossing mechanism can be installed on the cleaning robot. When the cleaning robot walks on a flat surface, the obstacle-crossing mechanism does not work or supports the chassis of the cleaning robot at a certain height. When encountering obstacles such as steps that need to be crossed, the drive component drives the rotating component to rotate along the first direction. The obstacle-crossing legs follow the rotation of the rotating component and extend downwards to support the walking device. The walking device is then driven forward by the obstacle-crossing legs. At this time, the traveling end of the walking device is slightly lifted to cross obstacles such as steps. After the walking wheels cross an obstacle, the rotating component drives the obstacle-crossing legs to continue rotating along the first direction to avoid the obstacle. After the walking wheels cross the obstacle, the drive component drives the rotating component to rotate along the second direction to reset the obstacle-crossing legs, allowing the walking device to cross the obstacle. When encountering special scenarios such as long-pile carpets, the drive component can drive the rotating component to rotate along the second direction, thereby causing the rotating component to lift the chassis of the cleaning robot during rotation, increasing the distance between the chassis of the cleaning robot and the ground, enabling the cleaning robot to walk on special scenarios such as long-pile carpets, thus increasing the usage range of the cleaning robot. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

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

[0026] Figure 1 is a schematic diagram of the drive device according to an embodiment of the present disclosure;

[0027] Figure 2 is a cross-sectional view of the driving device according to an embodiment of the present disclosure;

[0028] Figure 3 is a schematic diagram of the structure of the top plate according to the embodiment of this disclosure;

[0029] Figure 4 is a structural schematic diagram of the cleaning robot according to an embodiment of this disclosure;

[0030] Figure 5 is a structural schematic diagram of the obstacle-crossing legs of the cleaning robot described in this embodiment of the present disclosure when they are in the extended state.

[0031] Figure 6 is a structural schematic diagram of the cleaning robot when the first support position supports the sliding shaft according to an embodiment of the present disclosure;

[0032] Figure 7 is a structural schematic diagram of the cleaning robot when the second support position supports the sliding shaft according to the embodiment of this disclosure.

[0033] Explanation of reference numerals in the attached drawings: 1. Base; 11. Extended housing; 12. Base plate; 2. Rotating component; 21. Cam; 211. Rotating wheel; 212. Protrusion; 213. First support position; 214. Second support position; 215. Turning cover; 3. Drive assembly; 31. Second drive component; 311. Drive motor; 3111. Worm gear; 32. Second transmission component; 321. First lifting gear; 3211. Turbine; 322. Second lifting gear; 3221. Second lifting synchronizing gear; 323. Third lifting gear; 3231. Third lifting synchronizing gear; 324. Fourth lifting gear. Gears; 325, Fifth lifting gear; 326, Sixth lifting gear; 3261, Sixth lifting synchronous gear; 4, Obstacle crossing legs; 41, First support arm; 42, Second support arm; 43, Obstacle crossing wheel; 431, Drive gear; 44, First transmission component; 441, First obstacle crossing gear; 442, Second obstacle crossing gear; 443, Third obstacle crossing gear; 444, Fourth synchronous obstacle crossing gear; 445, Fifth obstacle crossing gear; 446, Sixth obstacle crossing gear; 5, Top plate; 51, Sliding shaft; 6, Walking frame; 61, Walking wheel; 62, Rotating shaft; 7, Body; 71, Universal wheel. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions of this disclosure will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of these embodiments can be combined with each other.

[0035] The following description sets forth many specific details to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments described in the specification are only a part of the embodiments of this disclosure, and not all of them.

[0036] Referring to Figures 1 and 2, the obstacle-crossing mechanism provided in this embodiment includes a base 1, a rotating member 2 rotatably mounted on the base 1, and a drive assembly 3 for driving the rotating member 2 to rotate. The base 1 is used to connect to a walking device; that is, the base 1 is mounted on the drive unit of the walking device or on the walking device itself. The connection method between the base 1 and the drive unit or the walking device is not limited; for example, it can be a snap-fit ​​or bolted connection, which can be selected according to actual needs. The drive assembly 3 can drive the rotating member 2 to rotate along a first direction and a second direction. The first direction is opposite to the second direction; that is, the first direction can be clockwise or counterclockwise, and correspondingly, the second direction can be counterclockwise or clockwise. The rotating member 2 is provided with obstacle-crossing legs 4, which can drive the obstacle-crossing legs 4 to rotate. It is configured as follows: as shown in Figure 5, when the rotating member 2 rotates along the first direction, it can drive the obstacle-crossing legs 4 to rotate to support the walking device and allow it to move through the obstacle-crossing legs 4; as shown in Figure 7, when the rotating member 2 rotates along the second direction, it can lift the chassis of the walking device.

[0037] Based on the obstacle-crossing mechanism provided in this disclosure, the obstacle-crossing mechanism can be installed on the cleaning robot. When the cleaning robot is walking on flat ground, the obstacle-crossing mechanism does not work or supports the chassis of the cleaning robot at a certain height. When encountering obstacles such as steps that need to be crossed, the drive component 3 drives the rotating component 2 to rotate along the first direction. The obstacle-crossing legs 4 follow the rotation of the rotating component 2 and extend downwards to support the walking device. The walking device is then driven forward by the obstacle-crossing legs 4. At this time, the traveling end of the walking device is slightly lifted to cross obstacles such as steps. And when the walking wheels 61 are behind the obstacle... The rotating component 2 drives the obstacle-crossing leg 4 to continue rotating along the first direction to avoid obstacles. After the walking wheel 61 crosses the obstacle, the drive component 3 drives the rotating component 2 to rotate along the second direction so that the obstacle-crossing leg 4 can be reset, enabling the walking device to cross obstacles. When encountering special scenarios such as long-pile carpets, the drive component 3 can drive the rotating component 2 to rotate along the second direction, thereby causing the rotating component 2 to lift the chassis of the cleaning robot during rotation, increasing the distance between the chassis of the cleaning robot and the ground, enabling the cleaning robot to walk in special scenarios such as long-pile carpets, and increasing the usage range of the cleaning robot.

[0038] Among them, cleaning robots can be sweeping robots, sweeping and mopping robots, mopping robots, floor washing robots, etc.

[0039] In some embodiments, as shown in Figures 1 and 2, the obstacle-crossing outrigger 4 includes a first arm 41 and a second arm 42 hinged together. The end of the first arm 41 away from the second arm 42 is connected to a rotating member 2, allowing the first arm 41 to rotate via the rotating member 2, and the second arm 42 to rotate via the first arm 41. The second arm 42 can swing relative to the first arm 41 within a certain range, and an obstacle-crossing wheel 43 is rotatably provided at the end of the second arm 42 away from the first arm 41. Furthermore, the first arm 41 and the second arm 42 are normally located on the walking side of the walking wheel 61, and the second arm 42 forms a certain angle with the first arm 41 under the action of an elastic element. The elastic element can be a spring, etc., with one end connected to the first arm 41 and the other end connected to the second arm 42, so that the spring applies a force along a second direction to the second arm 42, preventing the second arm 42 from contacting the ground during normal use.

[0040] In this design, during obstacle-crossing operations, the drive assembly 3 drives the rotating component 2 to rotate along the first direction, which in turn drives the first support arm 41 to rotate along the first direction. The first support arm 41 then drives the second support arm 42 to rotate along the first direction. At this time, when the obstacle-crossing wheel 43 on the second support arm 42 contacts the ground, the position of the second support arm 42 remains unchanged as the first support arm 41 rotates, thereby changing the angle between the second support arm 42 and the first support arm 41. When the angle between the second support arm 42 and the first support arm 41 is restricted and cannot be changed further (wherein, the restriction of the rotation range of the first support arm 41 and the second support arm 42 can be achieved by a limiting plate, and this restriction method is a conventional technology and has not been described in detail here), as the first support arm 41 rotates, as shown in Figure 5, the first support arm 41 will continue to drive the second support arm 42 to rotate, in order to support the walking device. At this time, the walking wheel 61 of the walking device will leave the ground, and the obstacle-crossing wheel 43 will play the role of driving the walking device to move.

[0041] When the walking wheel 61 of the walking device moves to the top of the obstacle, the drive component 3 continues to drive the rotating component 2 to rotate in the first direction until the height of the obstacle-crossing wheel 43 is above the walking wheel 61. Then, the walking wheel 61 continues to drive the walking device to move so that the walking device crosses the obstacle and completes the obstacle-crossing process of the walking device.

[0042] The obstacle-crossing outrigger 4 in this design has a simple structure and does not affect the normal use of the walking equipment when not crossing obstacles. When crossing obstacles, it moves through the obstacle-crossing wheels 43 to ensure the obstacle-crossing effect.

[0043] In some embodiments, as shown in FIG1, the first arm 41 is also provided with a sliding hole, and the ends of the hinge shafts of the first arm 41 and the second arm 42 pass through the sliding hole. When the angle between the first arm 41 and the second arm 42 changes, the hinge shafts of the first arm 41 and the second arm 42 can slide in the sliding hole, avoiding the phenomenon of jamming between components.

[0044] In some embodiments, as shown in FIG2, the obstacle-crossing outrigger 4 further includes a first driving member and a first transmission member 44. The first transmission member 44 is disposed in the first support arm 41 and the second support arm 42. The first driving member can drive the obstacle-crossing wheel 43 to rotate through the first transmission member 44.

[0045] In this design approach, the use of a first driving component and a first transmission component 44 facilitates the placement of the first driving component, resulting in a more compact overall structure. For example, the first driving component can be located on the outside or inside of the obstacle-crossing leg 4, and the first driving component drives the obstacle-crossing wheel 43 to rotate via the first transmission component 44; alternatively, the first driving component can be the driving structure of the traveling wheel 61, thereby driving the traveling wheel 61 and the obstacle-crossing wheel 43 to rotate, reducing the cost of the driving structure.

[0046] It is evident that the drive method of the obstacle-crossing wheel 43 is unrestricted and can be selected according to actual needs.

[0047] In some embodiments, the hinge position of the first arm 41 and the second arm 42 is located above the driving wheel 61 of the drive unit.

[0048] In this design, after the walking device has cleared an obstacle, the obstacle-clearing leg 4 is located on the back side of the walking wheel 61 in the walking direction. To ensure that the walking device can still clear the next obstacle and meet the obstacle-clearing requirements, the obstacle-clearing leg 4 needs to be reset. At this time, the drive assembly 3 can drive the rotating part 2 to rotate along the second direction until the obstacle-clearing wheel 43 contacts the ground. Then, the drive assembly 3 drives the rotating part 2 to continue rotating along the second direction. During this process, the angle between the first arm 41 and the second arm 42 changes, causing the first arm 41 and the second arm 42 to fold until the first arm 41 moves the second arm 42 to the walking side of the walking wheel 61. The second arm 42 can then be reset under the action of the elastic element. Since the hinge position of the first arm 41 and the second arm 42 is located above the walking wheel 61, the first arm 41 and the second arm 42 can always be located above the lowest end of the walking wheel 61, preventing the first arm 41 and the second arm 42 from lifting the walking device during the reset process. Furthermore, during the resetting process of the first arm 41 and the second arm 42, the first arm 41 and the second arm 42 can be folded, and the rotating part 2 will not lift the chassis of the walking device during rotation.

[0049] In some embodiments, as shown in FIG3, a top plate 5 is movably connected to the base 1. This movable connection means that the top plate 5 can move at least vertically relative to the base 1. The top plate 5 is used to connect to the chassis of a walking device, thereby enabling the chassis of the walking device to move synchronously. The walking device can be a cleaning robot, etc., meaning the top plate 5 is used to connect to the chassis of the cleaning robot. A sliding shaft 51 is provided on the top plate 5, which can rotate relative to the top plate 5. During the rotation of the rotating member 2 in the second direction, it can push the sliding shaft 51 to move vertically, thereby causing the top plate 5 and the chassis of the walking device to move vertically.

[0050] In this design, the top plate 5 abuts against the rotating part 2 through the sliding shaft 51, which reduces the contact area between the top plate 5 and the rotating part 2, makes the sliding fit smoother, and increases the convenience of adjustment.

[0051] In some embodiments, as shown in FIG1, the rotating member 2 includes a cam 21 rotatably disposed on the base 1, the outer periphery of the cam 21 forming a contact surface that abuts against the sliding shaft 51.

[0052] In this design, under normal conditions, the sliding shaft 51 contacts the non-protruding position 212 of the cam 21, thus supporting the sliding shaft 51 and the chassis of the walking device at a certain height through the non-protruding position 212 of the cam 21. In special scenarios such as encountering long-pile carpets, the cam 21 can be rotated by the drive component 3. During the rotation of the cam 21, the protruding position 212 of the cam 21 contacts the sliding shaft 51, thereby driving the sliding shaft 51 to move upward, and then driving the chassis of the walking device to move upward through the sliding shaft 51. The structure is simple and the operation is convenient.

[0053] In some embodiments, as shown in Figures 1, 6 and 7, the cam 21 includes a rotating wheel 211 rotatably disposed on the base 1 and a protrusion 212 disposed on the outer periphery of the rotating wheel 211. A first support position 213 is formed between the protrusion 212 and the rotating wheel 211, and a second support position 214 is formed on the outer periphery of the protrusion 212.

[0054] A groove structure is formed between the rotating wheel 211 and the protrusion 212. The first support position 213 is formed at the location of this groove structure. Under normal conditions, as shown in Figure 6, the protrusion 212 is located at the top of the rotating wheel 211 (with a certain angle to the vertical direction). The second support position 214 is formed on the protrusion 212. In special scenarios such as encountering long-pile carpets, as shown in Figure 7, the drive assembly 3 drives the rotating wheel 211 to rotate along the second direction. During this process, the sliding shaft 51 gradually comes into contact with the protrusion 212 until the second support position 214 of the protrusion 212 supports the sliding shaft 51. Then, the protrusion 212 drives the sliding shaft 51, the top plate 5, and the chassis of the mobile device to move upward.

[0055] Conversely, the drive rod assembly drives the rotating wheel 211 to rotate along the first direction until the sliding shaft 51 is located at the first support position 213, and the chassis of the mobile device is reset.

[0056] In this design, the cam 21 can be supported at the first support position 213 under normal conditions, ensuring the support effect. The first support position 213 between the protrusion 212 and the wheel 211 facilitates the accurate positioning of the sliding shaft 51 when the chassis of the mobile device is reset.

[0057] In some embodiments, the driving method of the driving component 3 is such that any position between the first support position 213 and the second support position 214 can support the top plate 5.

[0058] In this design, as the drive assembly 3 drives the cam 21 to rotate along the second direction, the drive assembly 3 can drive the cam 21 to rotate at different angles so that the cam 21 supports the sliding shaft 51 at different positions. Then, through the sliding shaft 51 and the top plate 5, the chassis is lifted to different heights, thereby achieving stepless lifting of the chassis.

[0059] In some embodiments, the protrusion 212 and the rotating wheel 211 have an arc transition.

[0060] This design increases the ease with which the sliding shaft 51 can move to or from the first support position 213, making the adjustment process smoother.

[0061] In some embodiments, as shown in Figures 1 and 2, the base 1 is provided with an extended housing 11, and the drive assembly 3 includes a second drive member 31 and a second transmission member 32 disposed in the extended housing 11. The second drive member 31 can drive the rotating member 2 to rotate through the second transmission member 32.

[0062] With this design, the second drive component 31 can be supported in a suitable position by the second transmission component 32, making reasonable use of the internal space of the mobile device, reducing the extra space occupied by the second drive component 31, and making the overall structure more compact.

[0063] In some embodiments, continuing to refer to Figures 1 and 2, the second driving member 31 includes a drive motor 311 disposed within the extended housing 11, with the output shaft of the drive motor 311 perpendicular to the rotation shaft 62 of the rotating member 2. The output shaft of the drive motor 311 is provided with a worm gear 3111, enabling the drive motor 311 to drive the worm gear 3111 to rotate synchronously. The second transmission member 32 includes a second gear set, with a worm wheel 3211 on the first gear of the second gear set that matches the worm gear 3111, thereby enabling the rotation of the worm gear 3111 to drive multiple gears on the second gear set to rotate sequentially. The last gear of the second gear set meshes with a driven gear on the rotating member 2, thereby enabling the second gear set to drive the driven gear to rotate, and thus driving the rotating member 2 to rotate.

[0064] In this design, the transmission method using the worm gear 3211 and the second gear set has a high transmission ratio, and the arrangement of the second gear set can change the transmission path, making the design position of the drive motor 311 more flexible and the overall structure of the drive equipment more compact.

[0065] It is understandable that the output shaft of the drive motor 311 can also be set parallel to the rotation shaft 62 of the rotating part 2. For example, the drive motor 311 can be set on the side of the rotating part 2, and the driven gear of the rotating part 2 can be driven directly by the drive motor 311. Alternatively, the drive motor 311 can drive the driven gear to rotate through multiple gear transmissions. These are not restrictive and can be designed according to actual needs.

[0066] In some embodiments, as shown in FIG2, the second gear set includes a first lifting gear 321, a second lifting gear 322, a third lifting gear 323, a fourth lifting gear 324, a fifth lifting gear 325, and a sixth lifting gear 326 rotatably designed within the extended housing 11. A turbine 3211 is coaxially arranged with the first lifting gear 321 and can rotate synchronously. The second lifting gear 322 meshes with the first lifting gear 321, and a second lifting synchronizing gear 3221 is coaxially arranged on the second lifting gear 322. The second lifting synchronizing gear 3221 and the second lifting gear 322 can rotate synchronously, and the diameter of the second lifting synchronizing gear 3221 is smaller than the diameter of the second lifting gear 322. The third lifting gear 323 meshes with the second lifting synchronizing gear 3221. A third lifting synchronous gear 3231 is coaxially mounted on the lifting gear 323. The third lifting synchronous gear 3231 and the third lifting gear 323 can rotate synchronously, and the diameter of the third lifting synchronous gear 3231 is smaller than the diameter of the third lifting gear 323. The fourth lifting gear 324 meshes with the third lifting synchronous gear 3231. The fifth lifting gear 325 meshes with the fourth lifting gear 324. The sixth lifting gear 326 meshes with the fifth lifting gear 325. A sixth lifting synchronous gear 3261 is coaxially mounted on the sixth lifting gear 326. The sixth lifting synchronous gear 3261 and the sixth lifting gear 326 can rotate synchronously, and the diameter of the sixth lifting synchronous gear 3261 is smaller than the diameter of the sixth lifting gear 326. The sixth lifting synchronous gear 3261 meshes with the driven gear.

[0067] The second gear set in this design can transmit power, ensuring that the drive motor 311 can drive the driven gear to rotate, and can transmit a certain distance in the direction perpendicular to the output shaft of the drive motor 311, so that the drive motor 311 and the driven gear are not on the same vertical plane, further increasing the installation flexibility of the drive motor 311.

[0068] It is understood that the above implementation is only one embodiment of the second gear set. The structure of the second gear set can be improved according to actual needs, as long as the drive motor 311 can drive the transmission gear to rotate through the second gear set.

[0069] In some embodiments, as shown in Figures 1 and 2, a base plate 12 is provided on the base 1, a driven gear is rotatably mounted on the base plate 12, and a rotating wheel 211 is located on the side of the driven gear away from the base plate 12. The rotating wheel 211 and the driven gear are connected by bolts to ensure that the rotating wheel 211 and the driven gear rotate synchronously. The first support arm 41 is connected to the rotating wheel 211 by bolts to ensure that the first support arm 41 and the rotating wheel 211 rotate synchronously. The rotating component 2 also includes a rotating cover 215 for connecting the rotating wheel 211 and the protrusion 212. The rotating cover 215 is rotatably fitted around the outer periphery of the base plate 12, making the rotation smoother.

[0070] In some embodiments, the rotating cover 215 is not a full circle structure. Correspondingly, the rotating wheel 211 and the driven gear are also not full circles. The first support arm 41 is connected at the connection position between the rotating wheel 211 and the protrusion 212, and is opposite to the position of the first support position 213, making the overall structure more compact.

[0071] Referring to Figures 1 and 2, this disclosure also provides a driving device, which includes a walking frame 6 and the aforementioned obstacle-crossing mechanism. The walking frame 6 is used to connect to a walking device, and a walking wheel 61 is rotatably mounted on the walking frame 6. The walking wheel 61 has an internal drive structure for rotating it; this drive method for the walking wheel 61 is conventional technology and will not be described in detail here. The base 1 of the obstacle-crossing mechanism is located on one side of the walking frame 6. The obstacle-crossing mechanism at this location includes all the technical features of the aforementioned obstacle-crossing mechanism.

[0072] This design allows the drive unit to not only move the mobile equipment but also raise its chassis and overcome obstacles, thus increasing the range of applications for the mobile equipment.

[0073] In some embodiments, a rotating shaft 62 is provided on the walking frame 6, the walking wheel 61 is rotatably mounted on the rotating shaft 62, the rotating shaft 62 extends into the base 1, and the rotating member 2 is rotatably mounted on the outer periphery of the rotating shaft 62.

[0074] In this design, the rotating component 2 and the traveling wheel 61 are coaxially arranged and can both rotate relative to the rotating shaft 62, reducing the number of rotating shafts 62 and making the overall structure more compact.

[0075] In some embodiments, the obstacle-crossing outrigger 4 includes an obstacle-crossing wheel 43, and the walking wheel 61 is connected to the obstacle-crossing wheel 43 via a first transmission member 44.

[0076] In this design, the obstacle-crossing wheel 43 is driven by the walking wheel 61, which can reduce the cost of the drive structure.

[0077] In some embodiments, as shown in FIG2, the first transmission member 44 includes a first obstacle-crossing gear 441, a second obstacle-crossing gear 442, a third obstacle-crossing gear 443, a fourth obstacle-crossing gear, a fifth obstacle-crossing gear 445, and a sixth obstacle-crossing gear 446. The rotating shaft of the traveling wheel 61 is sleeved on the outer periphery of the rotating shaft 62, and the rotating shaft extends into the base 1. The rotating member 2 is rotatably sleeved on the outer periphery of the rotating shaft to prevent the rotating shaft from affecting the normal operation of the rotating member 2. The rotating shaft extends into the first support arm 41 and connects to the first obstacle-crossing gear 441 to drive the first obstacle-crossing gear 441 to rotate. The first obstacle-crossing gear 441 meshes with the second obstacle-crossing gear 442, and the second obstacle-crossing gear 442 meshes with the third obstacle-crossing gear 443. The first obstacle-crossing gear 441, the second obstacle-crossing gear 442, and the third obstacle-crossing gear 443 are all disposed within the first support arm 41. The fourth obstacle-crossing gear is located at the hinge between the first arm 41 and the second arm 42, and a fourth synchronous obstacle-crossing gear 444 is coaxially mounted on the fourth obstacle-crossing gear. The fourth synchronous obstacle-crossing gear 444 rotates synchronously with the fourth synchronous gear, and the third obstacle-crossing gear 443 meshes with the fourth obstacle-crossing gear. The fifth obstacle-crossing gear 445 and the sixth obstacle-crossing gear 446 are both located inside the second arm 42. The fifth obstacle-crossing gear 445 meshes with the fourth synchronous obstacle-crossing gear 444, and the sixth obstacle-crossing gear 446 meshes with the fifth obstacle-crossing gear 445. The sixth obstacle-crossing gear 446 meshes with the drive gear 431 of the obstacle-crossing wheel 43.

[0078] In this design, the first transmission component 44 can transmit power, ensuring that the drive wheel can drive the obstacle-crossing wheel 43 to rotate, thus reducing the cost of the drive structure.

[0079] It is understood that the above implementation is only one embodiment of the first transmission member 44. The structure of the first transmission member 44 can be improved according to actual needs, as long as it is ensured that the drive wheel can drive the obstacle-crossing wheel 43 to rotate through the first transmission member 44.

[0080] Referring to Figures 4 to 7, this disclosure also provides a cleaning robot, which includes the aforementioned drive device. Specifically, the cleaning robot includes a body 7, and the drive device is mounted on the body 7. The walking frame 6 and the base 1 are both mounted on the body 7, and the top plate 5 is connected to the chassis of the body 7. The drive device here includes all the technical features of the aforementioned drive device, and consequently, all the technical features of the aforementioned obstacle-crossing mechanism.

[0081] In some embodiments, the cleaning robot also includes casters 71, which, along with the wheels 61, control the robot's movement. The casters 71 are driven independently and can move vertically relative to the robot body 7. In use, when the robot body 7 is raised, the casters 71 move downwards to ensure that the casters 71 and wheels 61 can still work together to drive the robot body 7.

[0082] In some implementations, the cleaning robot can raise the chassis to different heights by controlling the rotating component 2 to rotate at different angles, thereby achieving stepless lifting of the chassis. Specifically, the driving method of the drive component 3 ensures that the top plate 5 can be supported at any position between the first support position 213 and the second support position 214.

[0083] In this design, as the drive assembly 3 drives the cam 21 to rotate, the drive assembly 3 can drive the cam 21 to rotate at different angles so that the cam 21 supports the top plate 5 at different positions, and then the top plate 5 drives the chassis to be raised to different heights, thereby achieving stepless lifting of the chassis.

[0084] In some implementations, the cleaning robot can control the rotation angle of the rotating component 2 according to the working time of the drive motor 311, thereby achieving flexible control of the lifting height and realizing stepless lifting of the chassis.

[0085] In other embodiments, the lifting height can be controlled by adding an encoder to the drive motor 311, or by using a brushless motor or other motor with controllable rotation angle as the drive motor 311. By controlling the rotation angle of the motor, the rotation angle of the rotating component 2 can be controlled to achieve stepless lifting of the chassis. Alternatively, sensors can be installed on the rotating component 2 or the top plate 5 to detect the rotation position of the rotating component 2 or the rising position of the top plate 5 in real time and feed the feedback to the drive motor controller, thereby achieving flexible adjustment of the lifting height and stepless lifting of the chassis. Of course, the above embodiments are only exemplary, and other methods can be used to achieve stepless lifting of the chassis, as long as flexible adjustment of the lifting height can be achieved, allowing the chassis to be raised to any position. This disclosure does not limit this.

[0086] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0087] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An obstacle surmounting mechanism characterized by comprising: The device includes a base (1), a rotating component (2) rotatably mounted on the base (1), and a drive assembly (3) for rotating the rotating component (2). The base (1) is used to connect to a walking device. The drive assembly (3) can drive the rotating component (2) to rotate along a first direction and a second direction. The rotating component (2) is provided with obstacle-crossing legs (4) and configured as follows: When the rotating component (2) rotates along the first direction, it can drive the obstacle-crossing support leg (4) to rotate so as to support the walking device and walk through the obstacle-crossing support leg (4). When the rotating component (2) rotates along the second direction, it can lift the chassis of the walking device.

2. The obstacle negotiating mechanism of claim 1, wherein, The obstacle-crossing outrigger (4) includes a first arm (41) and a second arm (42) that are hinged together. The end of the first arm (41) away from the second arm (42) is connected to the rotating member (2). The second arm (42) can swing relative to the first arm (41) within a certain range. The end of the second arm (42) away from the first arm (41) is rotatably provided with an obstacle-crossing wheel (43).

3. The obstacle negotiating mechanism of claim 2, wherein, The obstacle-crossing outrigger (4) further includes a first driving member and a first transmission member (44). The first transmission member (44) is disposed in the first support arm (41) and the second support arm (42). The first driving member can drive the obstacle-crossing wheel (43) to rotate through the first transmission member (44).

4. The obstacle negotiating mechanism of claim 2, wherein, The hinge position of the first arm (41) and the second arm (42) is located above the driving wheel (61) of the drive device.

5. The obstacle negotiating mechanism of claim 1, wherein, A top plate (5) is movably connected to the base (1). The top plate (5) is used to connect to the chassis of the walking device. A sliding shaft (51) is provided on the top plate (5). During the rotation of the rotating component (2) along the second direction, it can push the sliding shaft (51) to move along the vertical direction.

6. The obstacle negotiating mechanism of claim 5, wherein, The rotating component (2) includes a cam (21) rotatably mounted on the base (1), the outer periphery of which forms a contact surface that abuts against the sliding shaft (51).

7. The obstacle negotiating mechanism of claim 6, wherein, The cam (21) includes a rotating wheel (211) rotatably disposed on the base (1) and a protrusion (212) disposed on the outer periphery of the rotating wheel (211). A first support position (213) is formed between the protrusion (212) and the rotating wheel (211), and a second support position (214) is formed on the outer periphery of the protrusion (212).

8. The obstacle negotiating mechanism of claim 7, wherein, The driving method of the driving component (3) is such that any position between the first support position (213) and the second support position (214) can support the top plate (5).

9. The obstacle negotiating mechanism of claim 1, wherein, The base (1) is provided with an extension housing (11), and the drive assembly (3) includes a second drive member (31) and a second transmission member (32) disposed in the extension housing (11). The second drive member (31) can drive the rotating member (2) to rotate through the second transmission member (32).

10. A drive apparatus characterized by comprising: include: A walking frame (6) is used to connect with a walking device, and a walking wheel (61) is rotatably provided on the walking frame (6); The obstacle-crossing mechanism as described in any one of claims 1 to 9, wherein the base (1) of the obstacle-crossing mechanism is disposed on one side of the walking frame (6).

11. The drive apparatus according to claim 10, characterized by The walking frame (6) is provided with a rotating shaft (62), the walking wheel (61) is rotatably mounted on the rotating shaft (62), the rotating shaft (62) extends into the base (1), and the rotating component (2) is rotatably mounted on the outer periphery of the rotating shaft (62).

12. The drive apparatus according to claim 11, characterized by The obstacle-crossing outrigger (4) includes an obstacle-crossing wheel (43), and the walking wheel (61) is connected to the obstacle-crossing wheel (43) via a first transmission member (44).

13. A cleaning robot, characterized in that, Includes the drive device as described in any one of claims 10 to 12.

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