Cleaning device

Abstract

The present application provides a cleaning device. The cleaning device comprises a main body and driving wheels, wherein the driving wheels are arranged on the main body and are used for driving the main body to move. The cleaning device provided by the present application has a strong ability to cross obstacles, thereby expanding the operating range thereof and improving the user experience.

Description

A cleaning device

[0001] Cross-references to related applications

[0002] This application is based on and claims priority to Chinese patent applications No. 202520132652.4, filed on January 20, 2025; No. 202510088803.5, filed on January 20, 2025; No. 202520524269.3, filed on March 24, 2025; and No. 202521361735.7, filed on June 30, 2025. The entire contents of these four Chinese patent applications are incorporated herein by reference. Technical Field

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

[0004] Taking robotic vacuum cleaners as an example, in related technologies, robotic vacuum cleaners have difficulty crossing relatively low obstacles such as thresholds and steps, thus limiting their working range, affecting the overall cleaning effect of the environment, and resulting in a poor user experience. Summary of the Invention

[0005] In view of this, the embodiments of this application aim to provide a cleaning device with a strong ability to overcome obstacles, so as to expand its working range and improve the user experience.

[0006] This application provides a cleaning device, including a main body and a drive wheel, wherein the drive wheel is disposed on the main body and is used to drive the main body to move.

[0007] In some embodiments, the main body includes a bottom surface, a circumferential surface, a first slope, and a second slope. The first slope is located on the front side of the main body and connects the bottom surface and the circumferential surface. The second slope is located on the rear side of the main body and connects the bottom surface and the circumferential surface. The boundary line between the top edge of the first slope and the circumferential surface is higher than the boundary line between the top edge of the second slope and the circumferential surface.

[0008] In some embodiments, the distance from the ground of the boundary line between the top edge of the first slope and the circumferential surface is not less than 30 mm.

[0009] In some embodiments, the number of drive wheels is at least two, and the at least two drive wheels are arranged coaxially. When projected onto a plane perpendicular to the axis of the drive wheels, the angle formed by the first slope and the horizontal plane is greater than the angle formed by the second slope and the horizontal plane.

[0010] In some embodiments, the number of drive wheels is at least two, and the at least two drive wheels are arranged coaxially. When projected onto a plane perpendicular to the axis of the drive wheels, the angle formed by the first slope and the horizontal plane is 30° to 45°.

[0011] In some embodiments, the first slope includes an adjacent first region and a second region, with the first region located above the second region; the main body also includes a third slope located on the left and right sides of the main body, the third slope connecting the second region and the second slope, and forming a closed-loop slope surrounding the circumferential surface.

[0012] In some embodiments, the cleaning device includes a collision plate disposed on the front side of the main body, the collision plate having a notch, the first area being exposed to the outside of the cleaning device through the notch, and the bottom edge of the portion of the collision plate located on both sides of the notch along the circumferential direction being not lower than the top edge of the closed-loop slope.

[0013] In some embodiments, the cleaning device includes a caster wheel assembly located in front of the drive wheel, and projected orthographically onto a plane perpendicular to the axis of the drive wheel, the projected profile of the caster wheel assembly does not extend beyond the extension line of the projected profile of the first slope.

[0014] In some embodiments, the main body has a through hole through which a portion of the caster wheel assembly extends to the outside of the main body, wherein a portion of the through hole penetrates the first slope and another portion penetrates the bottom surface.

[0015] In some embodiments, the cleaning device includes a collision plate disposed on the front side of the main body;

[0016] The collision plate corresponds to the portion of the first slope within the circumferential extension length of the main body, and is not lower than the boundary line between the top edge of the first slope and the circumferential surface; and / or, the ground clearance of the portion of the collision plate corresponding to the portion of the first slope within the circumferential extension length of the main body is not less than 30mm.

[0017] In some embodiments, the cleaning device further includes a plurality of sensors, some of which are disposed on the first slope; and / or, the cleaning device further includes a lighting fixture disposed on the first slope.

[0018] In some embodiments, the cleaning device includes a caster wheel assembly disposed at the front end of the main body, the caster wheel assembly comprising:

[0019] Casters;

[0020] A base assembly and a steering seat, the steering seat being rotatably mounted on the base assembly;

[0021] The lifting assembly has casters located at its bottom end. The lifting assembly is anti-rotating with the steering seat. The casters are used to drive the steering seat to rotate relative to the base assembly under external force. The lifting assembly can move up and down relative to the steering seat. The lifting assembly is used to drive the casters to move up and down to adjust the ground clearance of the front side of the main body.

[0022] A drive mechanism is used to drive the lifting assembly to move up and down relative to the steering seat and the base assembly.

[0023] In some embodiments, the base assembly includes a base plate portion having a mounting hole, the steering seat being rotatably disposed through the mounting hole, the lifting assembly including a mounting frame and a rod portion, the caster being rotatably disposed on the mounting frame, the steering seat having a through hole, and the top end of the rod portion passing through the through hole and extending to the top side of the base plate portion.

[0024] In some embodiments, the steering seat includes a shaft portion passing through the mounting hole, the outer peripheral surface of the shaft portion having an annular groove; the caster wheel assembly includes a limiting structure, the limiting structure being fixed relative to the base assembly, a portion of the limiting structure extending into the annular groove, and the steering seat being rotatable relative to the limiting structure.

[0025] In some embodiments, the limiting structure includes a retaining ring, the retaining ring being disconnected at both ends to form a notch, the notch being used for the shaft portion to enter and exit the retaining ring.

[0026] In some embodiments, the caster wheel assembly includes a bracket disposed on the top side of the base plate portion, the bracket being anti-rotatingly engaged with the base assembly, the top end of the rod portion being rotatably connected to the bracket, and the drive mechanism being used to apply force to the bracket to drive the lifting assembly to move up and down relative to the base assembly through the bracket.

[0027] In some embodiments, the caster wheel assembly includes an elastic element, the bracket is supported on the elastic element, and the elastic element is capable of elastic deformation in the lifting direction of the lifting assembly, so that the bracket can move along the lifting direction of the lifting assembly.

[0028] In some embodiments, the caster wheel assembly further includes a guide bearing, through which the top end of the rod is rotatably connected to the bracket.

[0029] In some embodiments, the base assembly further includes a guide seat disposed on the top side of the base plate portion, the guide seat having a groove extending along the lifting direction of the lifting assembly, and a portion of the bracket extending into the groove and slidingly engaging with the groove.

[0030] In some embodiments, the caster wheel assembly further includes a rolling element rotatably disposed on the bracket, the bracket being in rolling contact with the drive mechanism via the rolling element.

[0031] In some embodiments, the caster wheel assembly further includes one or more mounting bearings, which are sleeved on the outer periphery of the steering seat, and the steering seat is rotatably mounted to the base assembly via the mounting bearings.

[0032] In some embodiments, the base assembly includes a base plate portion having a mounting hole, and a receiving groove provided on the top surface and / or bottom surface of the base plate portion, the receiving groove communicating with the mounting hole, and one or more of the mounting bearings being received in the receiving groove.

[0033] In some embodiments, the receiving groove provided on the bottom surface of the substrate portion is a first receiving groove, and the receiving groove provided on the top surface of the substrate portion is a second receiving groove. The inner diameter of the first receiving groove is larger than the inner diameter of the second receiving groove. The steering seat includes a disk portion and a shaft portion arranged axially and connected to each other. The outer diameter of the disk portion is larger than the outer diameter of the shaft portion.

[0034] One of the mounting bearings is sleeved on the outer periphery of the disc and embedded in the first receiving groove, and the other mounting bearing is sleeved on the outer periphery of the shaft and embedded in the second receiving groove.

[0035] In some embodiments, the drive mechanism includes a flexible belt and a winding mechanism. One end of the flexible belt is connected to the winding mechanism, and the other end is fixed relative to the base assembly. The winding mechanism is used to wind the flexible belt so that the flexible belt tends to straighten, thereby driving the lifting assembly to move toward the caster.

[0036] In some embodiments, the winding mechanism includes a motor and a pulley, the drive being disposed on the power output shaft of the motor, and the pulley being used to wind the flexible belt.

[0037] In some embodiments, the caster wheel assembly further includes a lower limit position detector that outputs a signal in response to an event in which the lifting assembly extends to its lower limit position; and / or, the caster wheel assembly further includes an upper limit position detector that outputs a signal in response to an event in which the lifting assembly retracts to its upper limit position.

[0038] In some embodiments, the cleaning device includes a caster wheel assembly disposed at the front end of the main body, the caster wheel assembly comprising:

[0039] swivel wheels;

[0040] Base;

[0041] The lifting assembly has casters located at its bottom end. The lifting assembly can move up and down relative to the base along the height direction of the casters. The lifting assembly is used to drive the casters to move up and down to adjust the ground clearance of the front side of the main body.

[0042] A driving mechanism is disposed on the base. The driving mechanism includes a rotating component with a rotation axis. The rotating component is used to drive the lifting assembly to move toward the bottom side of the base during rotation about the rotation axis in a first rotation direction. The rotation axis intersects the height direction.

[0043] In some embodiments, the axis of rotation is perpendicular to the height direction.

[0044] In some embodiments, the caster wheel assembly includes an elastic element for providing an elastic force to the lifting assembly to move upward along the height direction.

[0045] In some embodiments, the base has a through hole, the lifting assembly includes an interconnected mounting bracket and a rod, the mounting bracket is located on the bottom side of the base, the caster wheel is rotatably mounted on the mounting bracket, and the rod passes through the through hole.

[0046] In some embodiments, the rotating component includes a rod and a deflector, the deflector extending laterally toward the rod, the deflector being used to contact the mounting bracket and driving the lifting assembly toward the bottom side of the base during rotation about the axis of the rod in a first rotational direction; or,

[0047] The rotating component includes a cam, the outer peripheral surface of which is used to contact the mounting bracket. As the cam rotates about the rotation axis in a first rotation direction, it drives the lifting assembly to move toward the bottom side of the base.

[0048] In some embodiments, the caster assembly includes a bushing assembly housed within the through-hole, the rod passing through the bushing assembly along the height direction and movable relative to the bushing assembly along the height direction of the caster assembly; the bushing assembly is at least capable of elastic deformation in the radial direction.

[0049] In some embodiments, the bushing assembly includes a resilient bushing and a bushing, the bushing being fitted around the outer periphery of the rod portion, the resilient bushing being fitted around the outer periphery of the bushing, and the bushing having a harderness than the resilient bushing.

[0050] In some embodiments, the drive mechanism includes a motor, the motor includes a drive shaft, and the drive shaft is coaxially arranged with the rotating component.

[0051] In some embodiments, the rotatable angle range of the rotating member about the rotation axis is not less than 90°.

[0052] In some embodiments, the caster wheel device includes a bracket disposed on the top side of the base, the bracket being anti-rotationally engaged with the base, the top end of the lifting assembly being connected to the bracket, the lifting assembly being rotatable relative to the bracket, and capable of driving the bracket to move synchronously along the height direction.

[0053] In some embodiments, the cleaning device includes a roller structure connected to the main body, the roller structure comprising:

[0054] case;

[0055] A first driving member is disposed in the housing;

[0056] Roller assembly;

[0057] A lifting assembly includes a first slider and a second slider. The first slider is movably mounted vertically on the housing. A roller assembly is connected to the first slider. The second slider is movably mounted on the housing along a first direction, which is at an angle to the vertical direction. The first slider has a guide surface that extends obliquely towards one side of the first direction in the vertical direction.

[0058] The first driving member is adapted to drive the second slider to move along the first direction so that the second slider contacts and slides relative to the guide surface.

[0059] In some embodiments, the lifting assembly further includes a reset member disposed between the housing and the first slider, the reset member being configured to apply a force to the first slider in the opposite direction to that of the guide surface in the vertical direction.

[0060] In some embodiments, the second slider includes a drive surface adapted to fit against and slide relative to the guide surface.

[0061] In some embodiments, the second slider is provided with a plurality of driving parts, which are arranged in a stepped manner in the inclined direction of the guide surface. The second slider is adapted to contact the guide surface through the driving parts.

[0062] The first slider is formed as a locking surface on the end face of the guide surface facing in the vertical direction. The guide surface is connected to the locking surface, and the plurality of driving parts are respectively adapted to abut against the locking surface in the vertical direction.

[0063] In some embodiments, the guide surface is arranged facing upward and its upper end extends to connect with the upper end surface of the first slider, the upper end of the first slider is adapted to abut against the housing, and the upper end of the second slider is slidably connected to the housing.

[0064] In some embodiments, the first slider is further provided with a guide groove that opens in the direction of the guide surface, the bottom wall of the guide groove is formed as the guide surface, and the second slider is adapted to extend into the guide groove and cooperate with the guide surface.

[0065] In some embodiments, the second slider is provided with a mating groove that extends vertically and opens in a second direction, wherein the first direction, the second direction, and the vertical direction are perpendicular to each other.

[0066] The roller structure further includes a swing arm, which is disposed on one side of the second slider in the mating groove opening. One end of the swing arm is connected to the first driving member, and the other end of the swing arm is provided with a driving shaft that is perpendicular to the swing arm and extends along the second direction. The driving shaft extends into the mating groove. The first driving member is adapted to drive the swing arm to swing so that the driving shaft pushes the second slider to move in the first direction.

[0067] In some embodiments, the housing has a mounting hole that extends vertically and opens at the lower end, and the first slider is movably disposed in the mounting hole.

[0068] In some embodiments, the roller structure further includes a sliding sleeve disposed in the mounting hole, the sliding sleeve defining a guide hole that extends vertically and is open at its lower end, and the first slider is movably disposed in the guide hole.

[0069] In some embodiments, a portion of the inner wall of the mounting hole is recessed to form a vertically extending mounting groove. The inner wall of the mounting groove is provided with a mounting flange. The first slider is provided with a mounting cantilever. The mounting cantilever extends into the mounting groove. The reset member is disposed in the mounting groove and connected between the mounting flange and the mounting cantilever.

[0070] In some embodiments, the reset element is a reset spring.

[0071] In some embodiments, one of the second slider and the housing is provided with a guide groove extending along the first direction, and the other is provided with a guide rail extending along the first direction, the guide rail engaging with the guide groove.

[0072] In some embodiments, the roller assembly includes: a first roller, a support frame, and a connecting shaft, the connecting shaft extending vertically, the first roller being rotatably mounted on the support frame, the support frame being connected to the connecting shaft, and the connecting shaft being rotatably connected to the first slider.

[0073] In some embodiments, the roller assembly includes a first roller, and the roller structure further includes a second drive member adapted to drive the first roller to rotate.

[0074] In some embodiments, the roller structure and the drive wheel are arranged at intervals in the traveling direction of the main body, and the first slider is movable vertically between a first position and a second position.

[0075] In the first position, the length by which the roller assembly extends downward beyond the main body is greater than the length by which the drive wheel extends downward beyond the main body.

[0076] In the second position, the length by which the roller assembly extends downward out of the main body is less than the length by which the drive wheel extends downward out of the main body. Attached Figure Description

[0077] Figure 1 is a schematic diagram of the cleaning equipment located on the ground in the first embodiment of this application;

[0078] Figure 2 is a schematic diagram of the cleaning equipment in the first embodiment of this application;

[0079] Figure 3 is a schematic diagram of the structure in Figure 2 from another perspective;

[0080] Figure 4 is a schematic diagram of the structure in Figure 2 from another perspective;

[0081] Figure 5 is a schematic diagram of the obstacle-crossing process of the cleaning equipment in the first embodiment of this application;

[0082] Figure 6 is another schematic diagram of the obstacle-crossing process of the cleaning equipment in Figure 5;

[0083] Figure 7 is a structural schematic diagram of the universal wheel device in the first embodiment of this application;

[0084] Figure 8 is a structural schematic diagram of the embodiment in Figure 7 with the cover plate omitted;

[0085] Figure 9 is a schematic cross-sectional view of the structure in Figure 8 at point AA;

[0086] Figure 10 is a schematic diagram of the lifting component after it has been moved in the embodiment shown in Figure 9;

[0087] Figure 11 is an exploded view of the embodiment in Figure 7;

[0088] Figure 12 is a schematic diagram of the cleaning equipment in the second embodiment of this application when it is in a horizontal position;

[0089] Figure 13 is a schematic diagram showing the front of the main body of the cleaning device in the embodiment of Figure 12 raised up;

[0090] Figure 14 is an exploded view of the caster wheel device in the second embodiment of this application;

[0091] Figure 15 is a cross-sectional view of the caster wheel device in the embodiment of Figure 14;

[0092] Figure 16 is an enlarged schematic diagram of the structure at point A in Figure 15;

[0093] Figure 17 is a schematic diagram of the lifting assembly of the caster wheel device in the embodiment of Figure 14 at the first height position;

[0094] Figure 18 is a schematic diagram of the lifting assembly of the caster wheel device in the embodiment of Figure 14 at the second height position;

[0095] Figure 19 is a schematic diagram of a cleaning device according to an embodiment of the fourth embodiment of this application;

[0096] Figure 20 is a schematic diagram of a cleaning device according to another embodiment of the fourth embodiment of this application;

[0097] Figure 21 is a schematic diagram of a cleaning device according to another embodiment of the fourth embodiment of this application;

[0098] Figure 22 is a cross-sectional view of a roller structure according to a fourth embodiment of this application;

[0099] Figure 23 is a cross-sectional view of a roller structure according to another embodiment of the fourth embodiment of this application;

[0100] Figure 24 is a cross-sectional view of a roller structure according to yet another embodiment of the fourth embodiment of this application;

[0101] Figure 25 is an exploded view of the roller structure according to the fourth embodiment of this application;

[0102] Figure 26 is a schematic diagram of the first slider shown in Figure 25;

[0103] Figure 27 is a schematic diagram of the second slider shown in Figure 25;

[0104] Figure 28 is a schematic diagram of the base plate shown in Figure 25;

[0105] Figure 29 is a schematic diagram of the cover plate shown in Figure 25. Detailed Implementation

[0106] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0107] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0108] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0109] This application provides a cleaning device, as shown in Figures 1 to 29. The cleaning device includes a main body 10 and drive wheels 20. The drive wheels 20 are disposed on the main body 10 and are used to drive the main body 10 to move.

[0110] For example, the cleaning device also includes a cleaning component located at the bottom of the main body 10. The cleaning component can be a roller brush, a side brush, or a mop, etc., and can rotate or squeeze to remove stains from the floor. The cleaning device may take the form of, but is not limited to, a robotic vacuum cleaner or a robotic vacuum and mop combo.

[0111] Understandably, the cleaning equipment can move on the ground under the action of the drive wheels 20 (or it can be driven by other structures, such as the omnidirectional wheel device 30 or the roller structure 100 mentioned below). During the movement, the cleaning components clean the ground area they pass through. The wider the area that the cleaning equipment can reach, the better the cleaning effect of the cleaning equipment on the environment. Therefore, enhancing the obstacle-crossing ability (i.e., the ability to cross ground obstacles) and passability (i.e., the ability to pass through low spaces such as under sofas) of the cleaning equipment helps to improve the cleaning effect of the cleaning equipment. Obstacles include thresholds, steps, etc., as shown in Figure 1.

[0112] The cleaning equipment in the first embodiment of this application will be described below with reference to Figures 1 to 6.

[0113] The first embodiment of this application provides a cleaning device. Referring to Figures 2 and 3, in the cleaning device provided in the first embodiment, the main body 10 includes a bottom surface 10a, a circumferential surface 10b, a first slope 10c, and a second slope 10d. The bottom surface 10a is located at the bottom of the main body 10, the circumferential surface 10b surrounds the periphery of the main body 10, the first slope 10c is located at the front of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b, and the second slope 10d is located at the rear of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b.

[0114] The aforementioned slope refers to a surface with a certain slope. That is to say, the first slope 10c and the second slope 10d are both inclined relative to the horizontal plane, forming a certain size of oblique angle structure on the front and rear sides of the main body 10. Thus, please refer to Figures 5 and 6. When the cleaning equipment encounters obstacles during operation, there are two situations.

[0115] In the first scenario, the main body 10 of the cleaning equipment can pass over obstacles without having to come into contact with them. The approach angle of the tangent line drawn from the foremost point of the main body 10 to the front wheel of the cleaning equipment, and the angle between this tangent line and the horizontal plane, is defined as the approach angle of the cleaning equipment. The departure angle of the tangent line drawn from the rearmost point of the main body 10 to the rear wheel of the cleaning equipment, and the angle between this tangent line and the horizontal plane, is defined as the departure angle of the cleaning equipment. The first slope 10c undoubtedly increases the approach angle of the cleaning equipment, and the second slope 10d undoubtedly increases the departure angle. For example, when the cleaning equipment passes over obstacles such as slopes, potholes, or protrusions, the main body 10 is almost never caught by the obstacle, causing the drive wheel 20 to be suspended in the air; the cleaning equipment can easily pass over the obstacle.

[0116] In the second scenario, the main body 10 of the cleaning device will abut against an obstacle. For example, when the cleaning device passes over obstacles such as steps or thresholds, the first ramp 10c will abut against the edge of the obstacle, causing the resistance exerted by the obstacle on the cleaning device to be in an upward oblique direction. Under the action of the drive wheel 20, the front of the main body 10 lifts up, and the main body 10 moves forward onto the obstacle, allowing the cleaning device to move over it. Thus, the first ramp 10c can guide the main body 10 over obstacles, thereby improving the obstacle-crossing ability of the cleaning device. When the cleaning device leaves the obstacle, the second ramp 10d can reduce the probability of the main body 10 getting stuck, causing the drive wheel 20 to be suspended in the air, also improving its obstacle-crossing ability.

[0117] It should be noted that in this embodiment, the slopes of the first slope 10c and the second slope 10d can be the same or different; the slope of any position on the first slope 10c can be the same or different, and the slope of any position on the second slope 10d can be the same or different.

[0118] The first slope 10c can be a plane, a combination of multiple planes, or a curved surface; similarly, the second slope 10d can be a plane, a combination of multiple planes, or a curved surface.

[0119] Referring to Figure 4, the boundary line between the top edge of the first slope 10c and the circumferential surface 10b is higher than the boundary line between the top edge of the second slope 10d and the circumferential surface 10b. In other words, the first slope 10c has a larger height dimension along the height direction of the cleaning device. On the one hand, this makes it less likely for the main body 10 to bottom out during obstacle crossing; on the other hand, even if the obstacle is high, it can abut against the first slope 10c instead of resting against the periphery of the main body 10. This allows the cleaning device to overcome higher obstacles, further improving its obstacle-crossing ability. The second slope 10d, located at the rear, can have a smaller height dimension, resulting in a smaller structure encroaching on the internal space of the main body 10, reducing the space occupied and facilitating the internal arrangement of other components.

[0120] It should be noted that, in other embodiments of this application, the position of the boundary line between the top edge of the first slope 10c and the circumferential surface 10b may be lower than or equal to the position of the boundary line between the top edge of the second slope 10d and the circumferential surface 10b.

[0121] Therefore, in the cleaning device provided in the first embodiment of this application, the first slope 10c and the second slope 10d can increase the approach angle and departure angle of the cleaning device, respectively. Furthermore, the first slope 10c can guide the cleaning device over obstacles, thereby improving its obstacle-crossing ability. Also, the structures of the first slope 10c and the second slope 10d that intrude into the internal space of the main body 10 are relatively small, reducing the space occupied by the main body 10.

[0122] In one embodiment, for example, the first slope 10c also facilitates the movement of the cleaning device from a high place to a low place to overcome step obstacles. When the height of the step obstacle is insufficient to trigger cliff recognition, the cleaning device can continue to move. The first slope 10c can reduce the probability that the front side of the main body 10 will touch the ground, causing the drive wheel 20 to be suspended in the air, so that the cleaning device can move smoothly to a lower place.

[0123] In one embodiment, for example, the bottom surface 10a is parallel to the horizontal plane.

[0124] In one embodiment, for example, the circumferential surface 10b is perpendicular to the horizontal plane.

[0125] For example, in one embodiment, the number of drive wheels 20 is at least two. The two drive wheels 20 are disposed on the left and right sides of the main body 10, and their axes are located on the same straight line, that is, the two drive wheels 20 are coaxially arranged.

[0126] In one embodiment, for example, the cleaning equipment further includes a control device for controlling the operation of the drive wheel 20 so that it outputs power at an appropriate time to drive the cleaning equipment to move or cross obstacles.

[0127] According to some embodiments of the first embodiment of this application, referring to Figure 4, the ground clearance H1 of the boundary line between the top edge of the first slope 10c and the circumferential surface 10b is not less than 30mm, that is, H1≥30mm. The value of H1 includes, but is not limited to, 30mm, 33mm, 35mm, 40mm, 45mm, etc. Correspondingly, the height of obstacles that the cleaning equipment can overcome is also greater, so as to improve its obstacle-crossing ability.

[0128] In embodiments where the cleaning device is a robotic vacuum cleaner, its working environment is often a room such as a bedroom, kitchen, or study. Common obstacles in such environments include, but are not limited to, sliding door tracks, wet and dry separation partitions, and edge banding of wooden floors. The height of these obstacles is generally less than 30mm, so the cleaning device can overcome these obstacles to move in different floor areas, has a larger activity area, and cleans the room more thoroughly and effectively.

[0129] According to some embodiments of the first embodiment of this application, referring to FIG4, in the orthographic projection of a plane perpendicular to the axis of the drive wheel 20, the angle formed by the first slope 10c and the horizontal plane (denoted as α) is greater than the angle formed by the second slope 10d and the horizontal plane (denoted as β), that is, α > β.

[0130] The aforementioned orthographic projection perpendicular to the axis of the drive wheel 20, i.e., the projection line of the cleaning device along the axis of the drive wheel 20, is the projection formed on one side of the main body 10. It can be understood that the projected outline of the first slope 10c is located at the front edge of the cleaning device, and the projected outline of the second slope 10d is located at the rear edge of the cleaning device. The shape of the projected outline of the first slope 10c is not limited; it can be a straight line, a curve, or a broken line. The angle formed by the line connecting the corresponding projected positions of the top and bottom edges of the first slope 10c with the horizontal plane is considered the angle formed between the first slope 10c and the horizontal plane in this projection. Similarly, the shape of the projected outline of the second slope 10d is not limited; it can be a straight line, a curve, or a broken line. The angle formed by the line connecting the corresponding projected positions of the top and bottom edges of the second slope 10d with the horizontal plane is considered the angle formed between the second slope 10d and the horizontal plane in this projection.

[0131] The angle between the first slope 10c and the horizontal plane is relatively large, that is, the first slope 10c is relatively inclined to the horizontal plane. The dimension of the first slope 10c in the horizontal direction is relatively small, and the structure that intrudes into the internal space of the main body 10 is relatively small, thus reducing the occupation of the internal space of the main body 10.

[0132] The angle formed between the first slope 10c and the horizontal plane is unlimited.

[0133] The angle formed between the second slope 10d and the horizontal plane is unlimited.

[0134] In some embodiments of the first embodiment of this application, the angle α formed by the first slope 10c and the horizontal plane is 30° to 45°, that is, 30°≤α≤45°, and the value of α includes but is not limited to 30°, 35°, 40°, 45°, etc. Within this angle range, it is possible to reduce the occupation of the internal space of the main body 10 and guide the main body 10 to overcome obstacles.

[0135] According to some embodiments of the first embodiment of this application, referring to FIG2, the first slope 10c includes an adjacent first region 10c1 and a second region 10c2, with the first region 10c1 located above the second region 10c2. The main body 10 also includes a third slope 10e located on the left and right sides of the main body 10, the third slope 10e connecting the second region 10c2 and the second slope 10d, forming a closed-loop slope surrounding the circumferential surface 10b.

[0136] It is understandable that the first region 10c1 and the second region 10c1 are two different regions on opposite surfaces, as shown in Figure 2, schematically distinguished by an intersection line. The second region 10c2 allows the first slope 10c to form a larger slope, while the slope is gradually varied through the first and second regions 10c1 and 10c2, reducing the likelihood of the first slope 10c being too straight and blocked by obstacles. Furthermore, the closed-loop slope improves the aesthetics of the bottom of the cleaning equipment and makes it less likely for the left and right sides of the main body 10 to be stuck by obstacles, resulting in more stable obstacle-crossing ability of the cleaning equipment.

[0137] For example, in one embodiment, the boundary line between the top edge of the third slope 10e and the circumferential surface 10b is flush with the boundary line between the second slope 10d and the circumferential surface 10b, so as to reduce the encroachment on the internal space of the main body 10 and make the bottom lines of the main body 10 smoother, thus improving the aesthetics.

[0138] In one embodiment, for example, the third slope 10e has the same slope at the same height position as the second slope 10d.

[0139] According to some embodiments of the first embodiment of this application, please refer to FIG2, the cleaning device includes a collision plate 40, which is disposed on the front side of the main body 10. The collision plate 40 has a notch 40a, through which the first region 10c1 is exposed to the outside of the cleaning device. The bottom edge of the portion of the collision plate 40 located on both sides of the notch 40a in the circumferential direction is not lower than the top edge of the closed-loop slope.

[0140] The impact plate 40 is used to withstand the impact when the cleaning equipment collides with an obstacle. Exemplarily, the connection between the impact plate 40 and the main body 10 is non-rigid, and it is movably connected to the front side of the main body 10 to cushion the impact on the cleaning equipment. In other embodiments, the impact plate 40 can be repaired and replaced separately as a consumable part, thereby reducing the maintenance cost of the cleaning equipment.

[0141] For example, in one embodiment, the cleaning equipment also includes a collision detection device. The collision plate 40 has a certain degree of floating relative to the main body 10. This allows the collision plate 40 to move under force when the cleaning equipment collides with an obstacle, with a movement amplitude sufficient to be detected. This enables the collision detection device to detect the collision activity and generate a corresponding signal, allowing the cleaning equipment to determine the next action to be performed based on the signal.

[0142] The first region 10c1 is exposed to the outside of the cleaning device through the notch 40a. This notch 40a on the collision plate 40 avoids the first slope 10c, allowing the obstacle to contact the first region 10c1 when the cleaning device approaches it, rather than directly colliding with the collision plate and triggering a collision signal. This helps the cleaning device overcome obstacles guided by the first region 10c1. The bottom edge of the collision plate 40 located on both sides of the notch 40a along the circumferential direction is not lower than the top edge of the closed-loop slope, ensuring that the corresponding parts of the collision plate 40 avoid the closed-loop slope, making it less likely for the cleaning device to get stuck during movement.

[0143] In one embodiment, for example, the collision plate 40 is a plastic part.

[0144] For example, in one embodiment, the notch 40a is rectangular. Of course, in other embodiments, the notch 40a may also be fan-shaped or other irregular shapes.

[0145] In some embodiments of the first embodiment of this application, the collision plate 40 corresponds to the portion of the first slope 10c within the circumferential extension length of the main body 10, and is not lower than the boundary line between the top edge of the first slope 10c and the circumferential surface 10b, so as to avoid the first slope 10c in the height direction and allow it to abut against the obstacle.

[0146] In some embodiments of the first embodiment of this application, the ground clearance H2 of the part of the collision plate 40 corresponding to the first slope 10c within the circumferential extension length of the main body 10 is not less than 30mm, that is, H2≥30mm. The value of H2 includes, but is not limited to, 30mm, 33mm, 35mm, 40mm, 45mm, etc., so as to reduce or even almost not obstruct the first slope 10c.

[0147] As an optional embodiment, when the boundary line between the top edge of the first slope 10c and the circumferential surface 10b is 30mm above the ground, the corresponding part of the collision point is also 30mm above the ground, so as to completely avoid the first slope 10c.

[0148] According to some embodiments of the first embodiment of this application, the cleaning device may also include multiple sensors, some of which are disposed on the first slope 10c. This allows the large surface area of ​​the first slope 10c to be utilized and facilitates the sensors in sensing information. In addition, the arrangement of the sensors on the first slope 10c alleviates the pressure on the internal space of the main body 10 and improves design flexibility.

[0149] It is understandable that sensors, including but not limited to cameras, lidar, or infrared transceivers, can be used to acquire information about the environment around the cleaning equipment, including but not limited to room map information, obstacle locations and distances, etc. The sensors can feed back the collected information to the control module to plan the movement path of the cleaning equipment and complete the cleaning work.

[0150] In some embodiments of the first embodiment of this application, the cleaning device further includes a lighting lamp disposed on the first slope 10c. The lighting lamp can be used to provide light in a dark environment so that the sensor can acquire information normally.

[0151] It should be noted that the aforementioned sensors or lights will not be placed in the area on the first slope 10c that first comes into contact with the obstacle, in order to reduce the chance of damaging the sensors or lights.

[0152] In related technologies, a caster wheel device is a steering wheel structure that can rotate to change the direction of travel when rolling.

[0153] According to some embodiments of the first embodiment of this application, referring to FIG2, the cleaning equipment includes a caster wheel device 30, which participates in the steering action during the movement of the cleaning equipment. For example, the two drive wheels 20 are the driving wheels. When a speed difference is formed between the two drive wheels 20, the cleaning equipment performs a steering action. The caster wheel device 30 is the driven component, which adjusts as the cleaning equipment rotates on the ground, making the turning of the cleaning equipment more stable and smooth.

[0154] For example, the caster wheel device 30 is disposed on the main body 10 and located in front of the drive wheel 20. The cleaning equipment adopts a front-wheel steering and rear-wheel drive movement mode, which has a relatively simple structure and high reliability. The caster wheel device 30 can be a caster wheel or other forms. The structure of the caster wheel device 30 can also refer to the caster wheel device 30 described in the second and third embodiments below, or the roller structure 100 of the fourth embodiment below.

[0155] Referring to Figure 4, in this embodiment, the omnidirectional wheel device 30 is disposed in front of the drive wheel 20. When projected onto a plane perpendicular to the axis of the drive wheel 20, the projected outline of the omnidirectional wheel device 30 does not exceed the extension line of the projected outline of the first slope 10c. The aforementioned extension line refers to a straight line along the tangent direction of the projected outline of the first slope 10c at its endpoint, which reflects the movement posture of the main body 10 when the first slope 10c moves against an obstacle.

[0156] The projected outline of the caster wheel device 30 does not exceed the extension line of the projected outline of the first slope 10c, including two scenarios. In the first scenario, the projected outline of the caster wheel device 30 is located on one side of the extension line of the projected outline of the first slope 10c; in the second scenario, the projected outline of the caster wheel device 30 is tangent to the extension line of the projected outline of the first slope 10c. This design makes it difficult for the caster wheel device 30 to get stuck on obstacles during the cleaning equipment's movement over them, thus minimizing obstruction to the upward movement of the main body 10. Especially when the angle between the first slope 10c and the horizontal plane is large, the component of the force exerted by the obstacle on the cleaning equipment in the direction of movement is greater. This design of the caster wheel device 30 further enhances the reliability of the obstacle-crossing function.

[0157] The projected outline of the aforementioned caster wheel device 30 does not exceed the extension line of the projected outline of the first slope 10c, which is when the cleaning equipment is not tilted up, and at this time the bottom surface 10a is parallel to the horizontal plane.

[0158] The installation position of the caster wheel device 30 is relatively flexible. In some embodiments of the first embodiment of this application, the main body 10 has a through hole 10A. A portion of the caster wheel device 30 extends through the through hole 10A to the outside of the main body 10. The through hole 10A can be located through the bottom surface 10a, or a portion of the through hole 10A can penetrate the first slope 10c, while another portion penetrates the bottom surface 10a, as shown in Figure 2. This facilitates adjustment of the position of the caster wheel device 30, ensuring both stable movement and the obstacle-crossing ability of the cleaning equipment.

[0159] The cleaning equipment in the second embodiment of this application will be described below with reference to Figures 7 to 11.

[0160] The second embodiment of this application provides a cleaning device, which includes a universal wheel device 30. The universal wheel device 30 is disposed at the front end of the main body 10 (the front end can also be called the front part) to assist the turning action of the main body 10.

[0161] Please refer to Figures 7, 8 and 9. The omnidirectional wheel device 30 in the second embodiment includes casters 31, base assembly 32, steering seat 33, lifting assembly 34 and drive mechanism 35.

[0162] In the universal wheel device 30, the steering seat 33 is rotatably mounted on the base assembly 32, and the caster 31 is mounted on the bottom end of the lifting assembly 34. The lifting assembly 34 and the steering seat 33 are anti-rotationally engaged. The caster 31 is used to drive the steering seat 33 to rotate relative to the base assembly 32 under the action of external force, and the lifting assembly 34 can move up and down relative to the steering seat 33.

[0163] In other words, the steering seat 33 can rotate relative to the base assembly 32, while the lifting assembly 34 cannot rotate relative to the steering seat 33. When the caster 31 rotates under the action of an external force, the lifting assembly 34 rotates accordingly, thereby driving the steering seat 33 to rotate. The aforementioned external force includes, but is not limited to, the resistance exerted by the ground terrain, or the thrust exerted on the caster 31 when the main body 10 turns.

[0164] The lifting assembly 34 can move up and down relative to the steering seat 33, and the casters 31 mounted on it also move accordingly. That is, the distance between the casters 31 and the base assembly 32 and the steering seat 33 can be changed. The base assembly 32 is used to mount the caster wheel device 30 onto the chassis of cleaning equipment or other ground-mounted mobile equipment. When the distance between the casters 31 and the base assembly 32 changes, the ground clearance of the chassis also changes accordingly. In other words, the lifting assembly 34 is used to drive the casters 31 to move up and down, thereby adjusting the ground clearance of the front side of the main body 10.

[0165] The drive mechanism 35 is used to drive the lifting assembly 34 to move up and down relative to the steering seat 33 and the base assembly 32. Referring to the base assembly 32, as shown in Figures 5 and 9, the lifting assembly 34 is in a first height position; referring to the base assembly 32, as shown in Figures 6 and 10, the lifting assembly 34 is in a second height position. The first height position is higher than the second height position. The drive mechanism 35 is used to drive the lifting assembly 34 to move from the first height position to the second height position.

[0166] Understandably, when the lifting component 34 is in the first height position, the total height of the cleaning equipment is relatively small, and the cleaning equipment can pass through relatively low spaces, such as under a sofa; when the lifting component 34 is in the second height position, the front side of the chassis of the cleaning equipment is higher off the ground, and it can cross obstacles such as thresholds and steps, thus improving its obstacle-crossing ability.

[0167] For example, in one embodiment, the drive mechanism 35 can also be used to drive the lifting assembly 34 from the second height position to the first height position to achieve the reset function.

[0168] In the cleaning equipment, the lifting assembly 34 is used to drive the casters 31 to move up and down, so as to adjust the ground height of the front side of the main body 10.

[0169] Therefore, in the universal wheel device 30 of the second embodiment of this application, the lifting component 34 can actively change its height position under the action of the drive mechanism 35 to adjust the distance between the caster 31 and the base component 32. This causes a change in the ground clearance of the front of the cleaning equipment, allowing the cleaning equipment to actively lift its front. When encountering ground obstacles, the cleaning equipment raises its head, and the main body 10 can step over the obstacle. Driven by the drive wheel 20, the main body 10 can cross the obstacle, thus giving the cleaning equipment better obstacle-crossing ability. After crossing the obstacle, the lifting component 34 can reset, reducing the current maximum height of the cleaning equipment.

[0170] It is worth noting that in the universal wheel device 30 of the second embodiment of this application, the steering seat 33 is disposed on the base assembly 32. The steering seat 33 and the lifting assembly 34 are in a non-rotational engagement. When the lifting assembly 34 moves, the relative distance between the steering seat 33 and the base assembly 32 does not change. That is to say, the steering seat 33 and the lifting assembly 34 are connected separately. In this way, the drive mechanism 35 is connected to fewer structures. Only the lifting assembly 34 needs to be driven, which can reduce the number of different types of parts, thereby improving the flexibility of the design and helping to reduce the overall height of the cleaning equipment.

[0171] According to some embodiments of the second embodiment of this application, referring to FIG11, the base assembly 32 includes a base plate portion 321 having a mounting hole 321a, and a steering seat 33 rotatably passing through the mounting hole 321a. The lifting assembly 34 includes a mounting frame 341 and a rod portion 342, and a caster 31 is rotatably disposed on the mounting frame 341. The steering seat 33 has a through hole 33a, and the top end of the rod portion 342 passes through the through hole 33a and extends to the top side of the base plate portion 321.

[0172] That is, the rod portion 342 of the lifting assembly 34 passes through the steering seat 33 and the base plate portion 321, so that its top end extends to the top side of the base plate portion 321, thereby achieving axial positioning of the steering seat 33 relative to the base plate portion 321 and radial positioning of the lifting assembly 34 relative to the base plate portion 321, resulting in a reliable and compact structure.

[0173] In one embodiment, for example, the caster 31 has an axle that passes through the mounting bracket 341, so that the caster 31 can rotate relative to the mounting bracket 341 when the cleaning equipment is moved.

[0174] In one embodiment, as an example, when the cleaning equipment moves, the front side of the mounting bracket 341 and the front side of the steering seat 33 achieve a smooth transition along the moving direction of the cleaning equipment. Specifically, as shown in FIG7, the front side of the mounting bracket 341 includes a first inclined surface, and the front side of the steering seat 33 includes a second inclined surface. The difference in height and slope between the first and second inclined surfaces is small. Thus, when the cleaning equipment 0 crosses obstacles, the universal wheel device 30 will not cause the cleaning equipment to experience obvious jerking, reducing the probability of the cleaning equipment getting stuck.

[0175] In one embodiment, for example, a substrate portion 321 is disposed on the main body 10, the top side of the substrate portion 321 is located inside the main body 10, and the top end of the rod portion 342 extends into the interior of the main body 10 to connect to a drive mechanism 35 disposed inside the main body 10.

[0176] According to some embodiments of the second embodiment of this application, referring to FIG11, the steering seat 33 includes a shaft portion 331, which passes through a mounting hole 321a, and the outer peripheral surface of the shaft portion 331 has an annular groove. The universal wheel device 30 includes a limiting structure 36, which is fixed relative to the base assembly 32, and a portion of the limiting structure 36 extends into the annular groove, allowing the steering seat 33 to rotate relative to the limiting structure 36.

[0177] In other words, the shaft portion 331 of the steering seat 33 extends into the mounting hole 321a and is axially fixed to the base assembly 32 by the limiting structure 36. The limiting structure 36, through its cooperation with the annular groove, has a bidirectional limiting effect on the shaft portion 331 along the axial direction. Thus, although the steering seat 33 is axially limited to the base assembly 32, it can still rotate relative to the base assembly 32. Its shaft portion 331 does not need to be provided with an additional shaft end cap, and the mounting hole 321a does not need to be provided with additional stop grooves or other structures.

[0178] According to some embodiments of the second embodiment of this application, referring to FIG11, the limiting structure 36 includes a retaining ring, the ends of which are disconnected to form a notch for the shaft portion 331 to enter and exit the retaining ring. During installation, the retaining ring undergoes elastic deformation, and the size of the notch increases so that the shaft portion 331 can be inserted into the retaining ring. This structure is relatively simple and easy to install.

[0179] According to some embodiments of the second embodiment of this application, referring to Figures 8 to 11, the universal wheel device 30 includes a bracket 37 disposed on the top side of the base plate portion 321. The bracket 37 is anti-rotationally engaged with the base assembly 32. The top end of the rod portion 342 is rotatably connected to the bracket 37. The drive mechanism 35 is used to apply force to the bracket 37 so as to drive the lifting assembly 34 to move up and down relative to the base assembly 32 through the bracket 37.

[0180] In other words, when the lifting assembly 34 rotates, the bracket 37 will not rotate accordingly. It can be understood that the rod 342 passes through the steering seat 33, and the top of the rod 342 is connected to the bracket 37, which is engaged with the base assembly 32 to prevent rotation. This allows the lifting assembly 34 to be radially limited on the base assembly 32, while also being able to move up and down relative to the base assembly 32.

[0181] According to some embodiments of the second embodiment of this application, referring to FIG11, the universal wheel device 30 includes an elastic member 38, and a bracket 37 is supported on the elastic member 38. The elastic member 38 can undergo elastic deformation in the lifting direction so that the bracket 37 can move in the lifting direction.

[0182] The support 37 moves up and down under the force of the drive mechanism 35, which causes the elastic element 38 supported below to undergo elastic deformation and accumulate elastic potential energy. When the force applied by the drive mechanism 35 to the support 37 is less than the force in the opposite direction, the elastic element 38 recovers its deformation and drives the support 37 to move, which is beneficial to the reset of the lifting assembly 34.

[0183] Furthermore, when the lifting assembly 34 is positioned at the second height, the weight of the cleaning equipment causes the lifted base assembly 32 to tend to move downwards, while the bracket 37 tends to return to the first height position relative to the base assembly 32.

[0184] It should be noted that the form of the elastic element 38 is not limited, including but not limited to springs, rubber bands, and any other parts that can undergo elastic deformation.

[0185] According to some embodiments of the second embodiment of this application, referring to FIG11, the universal wheel device 30 further includes a guide bearing 39, and the top end of the rod 342 is rotatably connected to the bracket 37 through the guide bearing 39 to reduce friction between the top end of the rod 342 and the bracket 37.

[0186] For example, in one embodiment, the caster wheel device 30 includes a fastener, the guide bearing 39 includes an outer ring and an inner ring, the bottom of the bracket 37 has a bearing hole, the outer ring of the guide bearing 39 is interference-fitted with the bearing and inserted into the bearing hole, the fastener passes through the inner ring of the bearing from top to bottom and connects the bracket 37 and the top of the rod 342.

[0187] According to some embodiments of the second embodiment of this application, referring to Figures 8 to 11, the base assembly 32 further includes a guide seat 322, which is disposed on the top side of the base plate portion 321. The guide seat 322 has a groove 322a that extends in the lifting direction. A portion of the bracket 37 extends into the groove 322a and slides in cooperation with it. When the bracket 37 moves up and down, a portion of the bracket 37 is confined in the groove 322a and moves along the extending direction of the groove 322a. The groove 322a guides the bracket 37 and prevents the bracket 37 from rotating relative to the base assembly 32, thereby making the movement of the bracket 37 more stable and smooth.

[0188] As an optional embodiment, please refer to Figure 11. The elastic element 38 is a compression spring, which is disposed in the slide groove 322a. This not only reuses the slide groove 322a, but also facilitates the fixing of the compression spring.

[0189] As an optional embodiment, please refer to Figure 11. There are two guide seats 322, which are oppositely arranged on both sides of the mounting hole 321a. The opposite ends of the bracket 37 extend into the sliding groove 322a of the guide seat 322, so that the guiding function of the guide seat 322 is better.

[0190] According to some embodiments of the second embodiment of this application, referring to FIG11, the caster wheel device 30 further includes one or more mounting bearings 302, which are sleeved on the outer periphery of the steering seat 33, and the steering seat 33 is rotatably mounted on the base assembly 32 through the mounting bearings 302. The mounting bearings 302 can reduce the friction between the steering seat 33 and the base assembly 32.

[0191] According to some embodiments of the second embodiment of this application, referring to FIG11, a receiving groove is provided on the top surface and / or bottom surface 10a of the substrate portion 321. The receiving groove communicates with the mounting hole 321a, and one or more mounting bearings 302 are accommodated in the receiving groove. The receiving groove serves to limit and fix the mounting bearings 302. The mounting bearings 302 can be radial bearings or axial bearings.

[0192] In one embodiment, for example, the mounting bearing 302 includes an inner ring and an outer ring. The outer ring is interference-fitted with a receiving groove to be fixed in the receiving groove. The inner ring is connected to the steering seat 33. The mounting bearing 302 bears radial loads and bearing loads from the steering seat 33.

[0193] According to some embodiments of the second embodiment of this application, referring to FIG11, the receiving groove provided on the bottom surface 10a of the substrate portion 321 is a first receiving groove, and the receiving groove provided on the top surface of the substrate portion 321 is a second receiving groove 321b. The inner diameter of the first receiving groove is larger (not shown in the figure) than the inner diameter of the second receiving groove 321b. The steering seat 33 includes a disk portion 332 and a shaft portion 331 arranged axially and connected to each other. The outer diameter of the disk portion 332 is larger than the outer diameter of the shaft portion 331. One mounting bearing 302 is sleeved on the outer periphery of the disk portion 332 and embedded in the first receiving groove, and the other mounting bearing 302 is sleeved on the outer periphery of the shaft portion 331 and embedded in the second receiving groove 321b.

[0194] The disc portion 332 has a larger outer diameter, is disposed on the bottom surface 10a of the base plate portion 321, and abuts against the base plate portion 321, which can improve the axial load-bearing capacity of the steering seat 33. Another mounting bearing 302 is disposed on the other side of the base plate portion 321, so that the two bearings are spaced apart, which can stabilize the steering seat 33.

[0195] According to some embodiments of the second embodiment of this application, referring to Figures 9 and 10, the drive mechanism 35 includes a flexible belt 351 and a winding mechanism 352. One end of the flexible belt 351 is connected to the winding mechanism 352, and the other end is fixed relative to the base assembly 32. The winding mechanism 352 is used to wind the flexible belt 351 so that the flexible belt 351 generates a straightening motion tendency, thereby driving the lifting assembly 34 to move toward the caster 31.

[0196] When the flexible belt 351 is wound, it presses down on the lifting assembly 34, causing the lifting assembly 34 to move. When the flexible belt 351 is relaxed, the lifting assembly 34 returns to its original position under the weight of the cleaning equipment and / or the elastic force of the elastic element 38. The drive mechanism 35 features flexible transmission, and the flexible belt 351 also acts as a buffer between the drive mechanism 35 and the lifting assembly 34, reducing damage to the structure. It can also compensate for errors in the winding mechanism 352 to some extent, reducing the precision requirements for motion control, achieving smooth and effective transmission, and helping to improve the reliability of the entire cleaning equipment.

[0197] For example, in one embodiment, the line connecting the two ends of the flexible belt 351 is arranged in the horizontal direction, and there are few structures above the lifting assembly 34, almost only the flexible belt 351. This can reduce the height of the caster wheel device 30, thereby reducing the overall height of the cleaning equipment.

[0198] According to some embodiments of the second embodiment of this application, referring to Figures 10 and 11, the winding mechanism 352 includes a motor 3521 and a pulley 3522, which drives a power output shaft disposed on the motor 3521. The pulley 3522 is used to wind the flexible belt 351. The motor 3521 outputs power to the pulley 3522, causing it to rotate and wind the flexible belt 351, thereby adjusting the lifting motion of the lifting assembly 34 by controlling the rotation of the motor 3521. It is understood that reversing the motor 3521 can loosen the flexible belt 351, allowing the lifting assembly 34 to perform a reset motion.

[0199] According to some embodiments of the second embodiment of this application, referring to FIG11, the universal wheel device 30 further includes a rolling element 301, which is rotatably disposed on the bracket 37, and the bracket 37 makes rolling contact with the drive structure through the rolling element 301.

[0200] Understandably, the drive mechanism 35 applies at least a downward component force to the bracket 37. The rolling contact between the bracket 37 and the drive mechanism 35 helps to reduce the friction between them, which can reduce the magnitude of the component force applied by the drive mechanism 35 to the bracket 37 in other directions, thereby making the driving effect of the drive mechanism 35 on the bracket 37 more direct.

[0201] For example, the flexible belt 351 contacts the rolling element 301. When the flexible belt 351 is wound, the rolling element 301 rolls, which can greatly reduce the friction between the flexible belt 351 and the lifting assembly 34 and improve the service life of the components.

[0202] According to some embodiments of the second embodiment of this application, referring to FIG11, the caster wheel device 30 further includes a lower limit position detection element 303, which is capable of outputting a signal in response to an event that the lifting assembly 34 extends to the lower limit position. The signal can ultimately act on the motor 3521 to stop its rotation and fix the lifting assembly 34 at the lower limit position.

[0203] In one embodiment, for example, the caster wheel device 30 includes a detection element fixing frame 305, and a lower limit position detection element 303 is disposed on the detection element fixing frame 305. When the lifting component 34 reaches the lower limit position, the lower limit position detection element 303 responds. The form of the lower limit position detection element 303 is not limited, and includes, but is not limited to, photoelectric switches, displacement sensors, etc.

[0204] According to some embodiments of the second embodiment of this application, referring to FIG11, the caster wheel device 30 further includes an upper limit position detection element 304, which is capable of outputting a signal in response to an event in which the lifting assembly 34 retracts to the upper limit position. The signal can ultimately act on the motor 3521 to stop its reverse rotation, at which point the lifting assembly 34 completes its reset.

[0205] In one embodiment, for example, the upper limit position detection element 304 is disposed on the detection element fixing frame 305, and the upper limit position detection element 304 responds when the lifting assembly 34 reaches the upper limit position. The form of the upper limit position detection element 304 is not limited, and includes, but is not limited to, photoelectric switches, displacement sensors, etc.

[0206] According to some embodiments of the second embodiment of this application, referring to Figures 8 and 11, the caster wheel device 30 further includes a cover plate 306 disposed above the base assembly 32, for covering the flexible belt 351 and the upper limit position detection element 304 and other structures, so as to play a protective role.

[0207] The main body 10 of the cleaning device in the second embodiment of this application can be the main body 10 of the cleaning device in the first embodiment. That is, in some embodiments, please refer to Figures 1 to 6, the main body 10 of the cleaning device in the second embodiment includes a bottom surface 10a, a circumferential surface 10b, a first slope 10c, and a second slope 10d. The first slope 10c is located on the front side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b, and the second slope 10d is located on the rear side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b. Thus, when the cleaning device encounters an obstacle during operation, it can handle the following three situations.

[0208] In the first scenario, the main body 10 of the cleaning equipment can pass over obstacles without having to come into contact with them. The approach angle of the tangent line drawn from the foremost point of the main body 10 to the front wheel of the cleaning equipment, and the angle between this tangent line and the horizontal plane, is defined as the approach angle of the cleaning equipment. The departure angle of the tangent line drawn from the rearmost point of the main body 10 to the rear wheel of the cleaning equipment, and the angle between this tangent line and the horizontal plane, is defined as the departure angle of the cleaning equipment. The first slope 10c undoubtedly increases the approach angle of the cleaning equipment, and the second slope 10d undoubtedly increases the departure angle. For example, when the cleaning equipment passes over obstacles such as slopes, potholes, or protrusions, the main body 10 is almost never caught by the obstacle, causing the drive wheel 20 to be suspended in the air; the cleaning equipment can easily pass over the obstacle.

[0209] In the second scenario, the main body 10 of the cleaning device will abut against an obstacle. For example, when the cleaning device passes over obstacles such as steps or thresholds, the first ramp 10c will abut against the edge of the obstacle, causing the resistance exerted by the obstacle on the cleaning device to be in an upward oblique direction. Under the action of the drive wheel 20, the front of the main body 10 lifts up, and the main body 10 moves forward onto the obstacle, allowing the cleaning device to move over it. Thus, the first ramp 10c can guide the main body 10 over obstacles, thereby improving the obstacle-crossing ability of the cleaning device. When the cleaning device leaves the obstacle, the second ramp 10d can reduce the probability of the main body 10 getting stuck, causing the drive wheel 20 to be suspended in the air, also improving its obstacle-crossing ability.

[0210] In the third scenario, the lifting component 34 in the caster wheel device 30 moves, increasing the ground clearance of the front side of the main body 10. This further increases the approach angle of the cleaning equipment, making it easier to traverse obstacles. Guided by the first ramp 10c and driven by the drive wheels 20, the cleaning equipment can cross obstacles. In this scenario, the obstacle-crossing ability of the cleaning equipment is significantly improved.

[0211] Referring to Figure 4, the boundary line between the top edge of the first slope 10c and the circumferential surface 10b is higher than the boundary line between the top edge of the second slope 10d and the circumferential surface 10b. In other words, the first slope 10c has a larger height dimension along the height direction of the cleaning device. On the one hand, this makes it less likely for the main body 10 to bottom out during obstacle crossing; on the other hand, even if the obstacle is high, it can abut against the first slope 10c instead of resting against the periphery of the main body 10. This allows the cleaning device to overcome higher obstacles, further improving its obstacle-crossing ability. The second slope 10d, located at the rear, can have a smaller height dimension, resulting in a smaller structure encroaching on the internal space of the main body 10, reducing the space occupied and facilitating the internal arrangement of other components.

[0212] The cleaning device of the third embodiment of this application will be described below with reference to Figures 12 to 18.

[0213] The third embodiment of this application provides a cleaning device, which includes a universal wheel device 30. The universal wheel device 30 is disposed at the front end of the main body 10 and is used to assist the turning action of the main body 10.

[0214] Please refer to Figures 14, 15 and 18. The caster device 30 in the third embodiment includes a caster a31, a base a32, a lifting assembly a33, and a drive mechanism a34.

[0215] Please refer to Figures 12 and 15. The caster wheel a31 is located at the bottom end of the lifting assembly a33. The lifting assembly a33 can move up and down relative to the base a32 along the height direction of the caster wheel device 30 (as shown by arrow H in Figure 12, also known as the vertical direction). It should be noted that when the caster wheel a31 turns, it can rotate relative to the lifting assembly a33, or the lifting assembly a33 can rotate relative to the base a32, driving the caster wheel a31 to rotate; this is not limited here.

[0216] In the cleaning equipment, the lifting assembly a33 is used to drive the caster wheel a31 to move up and down, thereby adjusting the ground clearance of the front side of the main body 10. For example, referring to Figure 12, the caster wheel a31 is at a first height position relative to the main body 10, and the main body 10 is placed horizontally. For example, referring to Figure 13, the caster wheel a31 and the main body 10 are at a second height position, and the front side of the main body 10 is raised, allowing the bottom side of the main body 10 to cross obstacles. Under the action of the drive wheel 20, the main body 10 as a whole crosses the obstacle, improving its obstacle-crossing ability.

[0217] Please refer to Figures 14, 17, and 18. The drive mechanism a34 is mounted on the base a32. The drive mechanism a34 includes a rotating component a341 with a rotation axis. During rotation about this axis in a first rotation direction, the rotating component a341 drives the lifting assembly a33 towards the bottom of the base a32, increasing the ground clearance of the front of the main body 10 and causing the front of the main body 10 to tilt upwards. Conversely, if the rotating component a341 rotates in a second rotation direction opposite to the first rotation direction, or continues to move in the first rotation direction until it loses its driving force on the lifting assembly a33, the lifting assembly a33 will reset relative to the main body 10 under its own weight or other reset mechanisms. This method of directly driving the lifting assembly 33 with the rotating component a341 provides a fast response and allows for rapid adjustment of the ground clearance of the front of the main body 10.

[0218] In related technologies, the caster wheel device is equipped with a rotating component that rotates and moves downwards (i.e., the axis of rotation is parallel to the height direction), thereby driving the lifting assembly to move towards the bottom side of the base. This structure requires a large space on the top side of the base to accommodate the stroke range of the rotating component and to house its power source. In the third embodiment of this application, the axis of rotation of the rotating component a341 (as shown by the center line in Figures 17 and 18) intersects the height direction. During the movement of the lifting assembly a33 driven by the rotating component a341, the position of the lifting assembly a33 relative to the axis of rotation changes. This arrangement allows for a more compact arrangement of the rotating component a341 and the lifting assembly a33, and a more flexible power source configuration. This helps the cleaning equipment maintain a smaller space occupation in the height direction, thereby improving its obstacle-crossing ability and overall passability.

[0219] For example, when the lifting assembly a33 is at the second height position relative to the base a32, the lifting assembly a33 moves to the limit position, and correspondingly, a portion of the rotating member a341 is at the lowest point in the height direction of its travel range.

[0220] According to some embodiments of the third embodiment of this application, referring to Figures 17 and 18, the rotation axis is perpendicular to the height direction, that is, the angle between the rotation axis and the height direction is 90°, and a certain tolerance is allowed. The rotation axis is horizontal. In this embodiment, the angular displacement of the rotating component a341 is converted into the linear displacement of the lifting component a33. When set vertically, the conversion efficiency is high, so it is not necessary to design the size of the rotating component a341 to be too large, which is conducive to a more compact structure of the rotating component a341 and the lifting component a33.

[0221] In addition, since the rotation axis is perpendicular to the height direction, when the rotating component a341 drives the lifting component a33 to move towards the bottom side of the base a32, the angular displacement of the rotating component a341 is converted into the linear displacement of the lifting component a33 at a speed that decreases from fast to slow, thus making the movement of the universal wheel a31 more stable and reducing the impact.

[0222] According to some embodiments of the third embodiment of this application, referring to Figures 17 and 18, the caster wheel device 30 includes an elastic element a35, which provides an elastic force to the lifting assembly a33 to move upward in the height direction. It is understood that when the driving force applied to the lifting assembly a33 by the rotating element a341 is greater than the elastic force applied by the elastic force, the lifting assembly a33 moves towards the bottom side of the base a32; when the driving force applied to the lifting assembly a33 by the rotating element a341 is less than the elastic force applied by the elastic force, the lifting assembly a33 returns to its original position and moves towards the top side of the base a32. During the movement of the lifting assembly a33, the elastic element a35 not only provides a restoring force but also applies resistance to reduce the impact generated during the movement of the lifting assembly a33 and protect the components.

[0223] The form of the elastic element a35 is not limited. For example, the elastic element a35 can be any of the following: compression spring, tension spring, or elastic rope.

[0224] According to some embodiments of the third embodiment of this application, please refer to Figures 14, 15 and 16. The base a32 has a through hole a32a. The lifting assembly a33 includes a mounting frame a332 and a rod a331 connected to each other. The mounting frame a332 is located on the bottom side of the base a32. The caster wheel a31 is rotatably disposed on the mounting frame a332. The rod a331 passes through the through hole a32a.

[0225] When the lifting assembly a33 moves up and down relative to the base a32, the rod a331 moves along with it through the through hole a32a. The mounting bracket a332 supports the casters a31. When the cleaning equipment is not tilted (i.e., in a horizontal position), the mounting bracket a332 can stop and abut against the bottom side of the base a32 under the weight of the main body 10, thus fixing the position of the mounting bracket a332 relative to the base a32. Since the bottom side of the base a32 can abut against the mounting bracket a332, the force exerted by the lifting assembly a33 on the rotating component a341 is not too large when the cleaning equipment is in a horizontal position, reducing the load on the rotating component a341.

[0226] For example, as shown in FIG16, a protruding rib a3321 is provided on the surface of the mounting bracket a332 that can abut against the base a32. The protruding rib a3321 protrudes from the surface of this side and can abut against the bottom side of the base a32 to reduce the friction when the mounting bracket a332 abuts against the base a32 and rotates relative to the base a32.

[0227] The structure of the rotating part A341 is not limited.

[0228] Exemplary, in some embodiments of the third embodiment of this application, the rotating component a341 includes a cam, the outer peripheral surface of which is used to contact the mounting bracket a332. During rotation about the rotation axis in a first rotation direction, the cam drives the lifting assembly a33 to move towards the bottom side of the base a32. It is understood that a cam-pull mechanism is formed between the cam and the mounting bracket a332. The design of the cam-pull mechanism is highly flexible; by setting the profile curve of the cam, the motion law of the mounting bracket a332 can be adjusted, and its motion time and stroke can be precisely controlled.

[0229] By way of example, in some other embodiments of the third embodiment of this application, referring to Figures 17 and 18, the rotating member a341 includes a rod a3411 and a toggle member a3412. The toggle member a3412 ​​extends laterally toward the rod a3411. The rotation axis of the rotating member a341 extends along the rod a3411. The toggle member a3412 ​​is used to contact the mounting bracket a332 and drive the lifting assembly a33 toward the bottom side of the base a32 during rotation about the axis of the rod a3411 in a first rotation direction.

[0230] Understandably, during the rotation of the actuating element a3412 ​​around the rod a3411, along the first rotation direction, the actuating element a3412 ​​gradually tends to be placed vertically to push out the mounting bracket a332. When moving along the second rotation direction opposite to the first rotation direction, the actuating element a3412 ​​gradually tends to be placed horizontally to make room for the mounting bracket a332 to reset. The actuating element a3412, which extends laterally along the rod a3411, can reduce its height dimension when placed horizontally or nearly horizontally, thus facilitating its placement on the bottom side of the base a32 and reducing the gap between the mounting bracket a332 and the bottom side of the base a32 when reset, which helps to reduce the space occupied by the cleaning equipment along the height direction.

[0231] For example, there are two toggle members a3412, which are spaced apart and move synchronously to contact the mounting bracket a332, thereby applying driving force to multiple parts of the mounting bracket a332 and making the drive smoother.

[0232] For example, the bottom side of the base a32 is recessed inward to form a clearance space a32b. Parts of the rod a3411 and / or the actuating member a3412 ​​are located in the clearance space a32b. When the actuating member a3412 ​​moves around the rod a3411 in a first rotation direction, it partially extends out of the clearance space a32b to contact the mounting part. When the actuating member a3412 ​​moves around the rod a3411 in a second rotation direction, it gradually retracts completely into the clearance space a32b.

[0233] According to some embodiments of the third embodiment of this application, referring to Figures 14, 17, and 18, the drive mechanism a34 includes a motor a342, which includes a power shaft. The power shaft is coaxially arranged with the rotating member a341. The power shaft is used to drive the rotating member a341 to rotate, at least including driving the rotating member a341 to move along a first rotation direction. In some embodiments, it can also drive the rotating member a341 to move along a second rotation direction. It is understood that the motor a342 is the power source in the drive mechanism a34, and the power shaft of the motor a342 can be connected to the rotating member a341 through a coupling.

[0234] In this embodiment, the power shaft and the rotating component a341 are coaxially arranged. That is, the power shaft of the motor a342 intersects the height direction, rather than extending along the height direction, which reduces the space occupied by the motor a342 in the height direction. For example, the motor a342 is arranged horizontally, and its power shaft is along the horizontal direction.

[0235] In some embodiments of the third embodiment of this application, the rotatable angle range of the rotating member a341 around the rotation axis is not less than 90°, that is, the rotatable angle range of the rotating member a341 around the rotation axis includes 90° and above, such as 120° or 180°. Thus, after the rotating member a341 drives the lifting assembly a33 to the second height position, a portion of the rotating member a341 is at its lowest point in the height direction of its travel range. The reaction force applied by the lifting assembly a33 to the rotating member a341 points inwards, making the component force that drives the rotating member a341 to rotate small or almost negligible. This allows the rotating member a341 to remain relatively stable in its current position, which is beneficial for protecting the power source in the drive mechanism a34.

[0236] According to some embodiments of the third embodiment of this application, referring to Figures 14 and 15, the caster wheel assembly 30 includes a bushing assembly a36, which is received within a through hole a32a. A rod portion a331 passes through the elastic bushing assembly a36 in the height direction and is movable relative to the bushing assembly a36 in the height direction of the caster wheel assembly 30. The bushing assembly a36 is capable of elastic deformation at least in the radial direction.

[0237] When the cleaning device is tilted up at the front of the main body 10, due to the moving state of the cleaning device and the influence of structural dimensions, there is inevitably an angle between the height direction and the vertical direction of the cleaning device. That is, at this time, the height direction of the universal wheel device 30 deviates slightly from the vertical direction. In this embodiment, the bushing assembly a36, which can undergo elastic deformation in the radial direction, can play a buffering role when the rod a331 deviates from the vertical direction, so that the rod a331 and the through hole a32a are less likely to be squeezed. This reduces the stress concentration between the rod a331 and the base a32 after the front of the main body 10 tilts up, and protects the component structure from damage.

[0238] According to some embodiments of the third embodiment of this application, referring to Figures 14, 15, and 16, the bushing assembly a36 includes an elastic bushing a361 and a bushing a362. The bushing a362 is sleeved on the outer periphery of the rod portion a331, and the elastic bushing a361 is sleeved on the outer periphery of the bushing a362. The hardness of the bushing a362 is greater than that of the elastic bushing a361. When the rod portion a331 moves along the through hole a32a, the bushing a362 is fixed relative to the elastic bushing a361, while the rod portion a331 moves relative to the bushing a362. Due to the greater hardness of the bushing a362, the movement of the rod portion a331 relative to the bushing a362 is smoother and less prone to jamming, while the elastic bushing a361 can achieve the effect of radial elastic deformation.

[0239] For example, the resilient bushing a361 may be a rubber bushing or otherwise. For example, the bushing a362 may be a brass bushing or otherwise.

[0240] For example, as shown in FIG16, the bottom wall of the through hole a32a protrudes toward the inside of the through hole a32a to form a first protrusion a32a1. The elastic bushing a361 is supported on the first protrusion a32a1. The first protrusion a32a1 is used to minimize the risk of the elastic bushing a361 coming off when the lifting assembly a33 moves toward the bottom side of the base a32.

[0241] For example, as shown in FIG16, the outer peripheral wall of the top of the bushing a362 protrudes in a direction away from the bushing a362 to form a second protrusion a3621. The second protrusion a3621 is located above the elastic bushing a361. The second protrusion a3621 is used to minimize the possibility of the bushing a362 being dislodged when the lifting assembly a33 moves toward the bottom side of the base a32.

[0242] According to some embodiments of the third embodiment of this application, referring to Figures 14, 17, and 18, the caster wheel device 30 includes a bracket a37 disposed on the top side of the base a32. The bracket a37 is anti-rotating with the base a32, meaning that the bracket a37 and the base a32 cannot rotate relative to each other. The top end of the lifting assembly a33 is connected to the bracket a37. The lifting assembly a33 can rotate relative to the bracket a37 and can drive the bracket a37 to move synchronously along the height direction. It is understood that when the lifting assembly a33 rotates, the caster wheel a31 rotates synchronously. The bracket a37 connects the top end of the lifting assembly a33 to the structure on the base a32, providing support and making it less likely for the lifting assembly a33 to sway during its movement toward the bottom side of the base a32.

[0243] In some embodiments where the rod portion a331 of the lifting assembly a33 passes through the through hole a32a, the top end of the rod portion a331 is connected to the bracket a37, and the rod portion a331 can rotate relative to the bracket a37. Both the through hole a32a of the base a32 and the bracket a37 can provide support to the rod portion a331, making the movement of the rod portion a331 more stable.

[0244] For example, the top side of the base a32 has a guide groove a321, which extends along the height direction. There are at least two guide grooves a321. Parts of the bracket a37 extend into the two guide grooves a321 respectively. When the lifting component a33 drives the bracket a37 to move synchronously along the height direction, the cooperation between the bracket a37 and the guide groove a321 plays a guiding and anti-rotation role.

[0245] For example, in some embodiments with elastic element a35, elastic element a35 is a compression spring located in guide groove a321. One end of the compression spring is supported by bracket a37. When lifting assembly a33 drives bracket a37 to move synchronously along the height direction, the compression spring is compressed and produces elastic deformation. In this way, by comprehensively utilizing guide groove a321 and bracket a37, the structure is compact and space utilization is improved.

[0246] The main body 10 of the cleaning device in the third embodiment of this application can be the main body 10 of the cleaning device in the first embodiment. That is, according to some embodiments of the third embodiment of this application, referring to Figures 1 to 6, the main body 10 of the cleaning device in the third embodiment includes a bottom surface 10a, a circumferential surface 10b, a first slope 10c, and a second slope 10d. The first slope 10c is located on the front side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b. The second slope 10d is located on the rear side of the main body 10 and connects the bottom surface 10a and the circumferential surface 10b. The boundary line between the top edge of the first slope 10c and the circumferential surface 10b is higher than the boundary line between the top edge of the second slope 10d and the circumferential surface 10b.

[0247] The cleaning device in the fourth embodiment of this application will be described below with reference to Figures 19 to 29. The fourth embodiment of this application provides a cleaning device including a roller structure 100. Referring to Figures 19 to 24, the roller structure 100 includes: a housing b10, a first driving member b20, a roller assembly b30, and a lifting assembly b40. The roller structure 100 can be a universal wheel device, that is, the roller 100 can be a steering wheel structure that can rotate to change the direction of travel when rolling. This embodiment will be described later.

[0248] Specifically, the first driving member b20 is disposed on the housing b10, and the lifting assembly b40 includes a first slider b41, a second slider b42, and a reset member b43. The first slider b41 is movably disposed on the housing b10, and the roller assembly b30 is connected to the first slider b41. The second slider b42 is movably disposed on the housing b10 along a first direction, which has a certain angle with the vertical direction. The first slider b41 is provided with a guide surface b411, which extends obliquely toward the first direction in the vertical direction. The first driving member b20 is adapted to drive the second slider b42 to move along the first direction so that the second slider b42 contacts and slides relative to the guide surface b411.

[0249] The roller assembly b30 supports the main body 10 (which may also be referred to as the body in some embodiments) and enables the main body 10 to move on the ground. The first direction includes two opposite directions. For example, when the first direction includes the left-right direction and the front-back direction, the guide surface b411 extends obliquely to one side of the first direction. That is, when the first direction includes the left-right direction, the guide surface b411 extends obliquely to the left or right side, and when the first direction includes the front-back direction, the guide surface b411 extends obliquely to the front or rear side.

[0250] When the first driving member b20 drives the second slider b42 to move toward the first slider b41, the second slider b42 contacts the guide surface b411 and applies a driving force in a first direction to the guide surface b411. It can be understood that the driving force on the guide surface b411 has a force opposite to that of the guide surface b411 in the vertical direction. Thus, the vertical adjustment of the roller assembly b30 can be achieved through the cooperation of the first slider b41 and the second slider b42. In this way, under the drive of the driving force component, the first slider b41 can gradually move in the vertical direction in the opposite direction to that of the guide surface b411, thereby moving the roller assembly b30 in the vertical direction. Thus, the height of the main body 10 off the ground can be adjusted.

[0251] When the first driving member b20 drives the second slider b42 to move away from the first slider b41, the position of the guide surface b411 and the second slider b42 abutting each other in the vertical direction also gradually changes. The first slider b41 gradually moves in the vertical direction in the opposite direction to the vertical direction of the first slider b41 in the above process.

[0252] After the ground clearance of the main unit 10 is adjusted, the main unit 10 can pass through obstacles more easily. For example, after the ground clearance of the main unit 10 is increased, the main unit 10 can step over low obstacles more easily. After the ground clearance of the main unit 10 is decreased, the main unit 10 can pass through low spaces under tables and chairs more easily.

[0253] In this configuration, the guide surface b411 can be arranged facing upwards. In this case, when the first driving member b20 drives the second slider b42 to move toward the first slider b41, the second slider b42 contacts the guide surface b411 and applies a driving force in a first direction to the guide surface b411. It can be understood that the driving force has a downward component on the guide surface b411. Thus, driven by the downward component of the driving force, the first slider b41 can gradually move downwards, thereby causing the roller assembly b30 to gradually move downwards and increasing the height of the main body 10 at the roller assembly b30.

[0254] The guide surface b411 can also be arranged downwards. In this case, when the first drive member b20 drives the second slider b42 to move toward the first slider b41, the second slider b42 contacts the guide surface b411 and applies a driving force in a first direction to the guide surface b411. It can be understood that the driving force has an upward component on the guide surface b411. Thus, driven by the upward component of the driving force, the first slider b41 can gradually move upwards, thereby causing the roller assembly b30 to gradually move upwards and reducing the height of the main body 10 at the roller assembly b30.

[0255] It is understandable that the second slider b42 acts on the first slider b41 in a first direction at a certain angle to the vertical direction. In the vertical direction, the space occupied by the first slider b41 and the second slider b42 will overlap. Thus, the cumulative space occupied by the components on the roller structure 100 in the vertical direction will be smaller, thereby reducing the space occupied by the roller structure 100 in the vertical direction. When the roller structure 100 is arranged on the main body 10, the vertical space occupied by the roller structure 100 within the main body 10 can be reduced, thereby reducing the thickness of the main body 10. When the thickness of the main body 10 is smaller, the main body 10 can more easily pass through some lower spaces, allowing the cleaning equipment to adapt to more working environments.

[0256] According to some embodiments of the fourth embodiment of this application, when the second slider b42 moves toward the first slider b41, the second slider b42 can push the first slider b41 toward the guide surface b411 in the opposite direction in the vertical direction, thereby realizing the movement of the roller assembly 30 in the vertical direction, realizing the adjustment of the ground height of the main body 10 of the cleaning device, making it easier for the main body 10 to pass through the obstacle 2000, thereby improving the user experience. In addition, the first slider b41 and the second slider b42 occupy overlapping space in the vertical direction, which can reduce the thickness of the main body 10 of the cleaning device, making it easier for the main body 10 to pass through lower spaces.

[0257] In some embodiments of the fourth embodiment of this application, the first direction is perpendicular to the vertical direction. This can further increase the degree of overlap between the first slider b41 and the second slider b42 in the vertical direction, further reduce the thickness of the main body 10 of the cleaning device, and make it easier for the main body 10 to pass through a lower space.

[0258] According to some embodiments of the fourth embodiment of this application, referring to Figures 19 to 24, the lifting assembly b40 further includes a reset member b43, which is disposed between the housing b10 and the first slider b41. The reset member b43 is configured to apply a force to the first slider b41 in the opposite direction to that of the guide surface b411 in the vertical direction.

[0259] When the first driving member b20 drives the second slider b42 to move toward the first slider b41, causing the roller assembly b30 to gradually move downwards, the resetting member b43 applies an upward force to the first slider b41. When the first driving member b20 drives the second slider b42 away from the first slider b41, the second slider b42 gradually moves downwards relative to the guide surface b411. Under the action of the resetting member b43, the first slider b41 gradually moves upwards, thereby causing the roller assembly b30 to gradually move upwards, reducing the height of the main body 10 at the roller assembly b30. This allows for adjustment of the cleaning equipment's ground clearance and posture, making it easier for the cleaning equipment to cross obstacles 2000 and adapting it to more working environments.

[0260] When the first driving member b20 drives the second slider b42 to move toward the first slider b41, causing the roller assembly b30 to gradually move upward, the resetting member b43 applies a downward force to the first slider b41. When the first driving member b20 drives the second slider b42 to move away from the first slider b41, the second slider b42 gradually moves upward relative to the guide surface b411. Under the action of the resetting member b43, the first slider b41 gradually moves downward, thereby causing the roller assembly b30 to gradually move downward, increasing the height of the main body 10 at the roller assembly b30. This allows for adjustment of the cleaning equipment's ground clearance and posture, making it easier for the cleaning equipment to cross obstacles 2000 and adapting it to more working environments.

[0261] According to some embodiments of the fourth embodiment of this application, referring to Figures 22, 23 and 27, the second slider b42 includes a driving surface b4211, which is adapted to fit against and slide relative to the guide surface b411.

[0262] In other words, the second slider b42 pushes the first slider b41 by fitting its inclined surface against the guide surface b411. When the second slider b42 moves toward the first slider b41, the driving surface b4211 slides relative to the guide surface b411 and applies a force in the first direction to the guide surface b411. It can be understood that the mating of surfaces can make the force transmission more uniform. This can reduce the probability of stress concentration on the second slider b42 and the guide surface b411 during the operation of the cleaning equipment, thereby improving the reliability of the cleaning equipment and the stability of the cleaning equipment during operation.

[0263] According to some embodiments of the fourth embodiment of this application, referring to Figures 22, 23, 24, and 27, the second slider b42 is provided with a plurality of driving parts b421. The plurality of driving parts b421 are arranged in a stepped manner in the inclined direction of the guide surface b411. The second slider b42 is adapted to contact the guide surface b411 through the driving parts b421. The first slider b41 has a locking surface formed on the end face of the guide surface b411 facing in the vertical direction. The guide surface b411 is connected to the locking surface. The plurality of driving parts b421 are respectively adapted to abut against the locking surface vertically. For example, there can be two, three, or four driving parts b421.

[0264] As the second slider b42 moves toward the first slider b41, the driving part b421 at the foremost end first contacts the guide surface b411. The driving part b421 slides relative to the guide surface b411 and gradually pushes the first slider b41 to move in the vertical direction. When the driving part b421 slides off the guide surface b411, the driving part b421 will extend into the outer end of the locking surface. In this way, in the vertical direction, under the action of the reset member b43, the driving part b421 extending into the outer end of the locking surface can abut against the locking surface in the vertical direction.

[0265] Preferably, the driving part b421 is provided with a driving surface b4211, and the driving part b421 contacts the first slider b41 through the driving surface b4211.

[0266] Understandably, compared to the contact between the drive unit b421 and the guide surface b411 of the inclined plane, the contact between the drive unit b421 and the locking surface is in the vertical direction. Therefore, the second slider b42 provides better limiting effect on the first slider b41. Thus, during operation, when the guide parts of different steps contact the locking surface vertically, the roller assembly b30 can be limited to different heights, allowing the cleaning equipment to operate stably at different heights of the main body 10. During product design, the number of drive units b421 and the dimensions of the drive units b421 for each step can be adjusted to meet more product design needs.

[0267] According to some embodiments of the fourth embodiment of this application, referring to Figures 22 to 24, the guide surface b411 is arranged facing upward and its upper end extends to be connected to the upper end surface of the first slider b41. The upper end of the first slider b41 is adapted to abut against the housing b10, and the upper end of the second slider b42 is slidably connected to the housing b10.

[0268] In other words, the upper surface of the first slider b41 is formed as a locking surface. When the second slider b42 does not exert any force on the first slider b41, under the action of the reset member b43, the upper end of the first slider b41 abuts against the housing b10. During the process of the second slider b42 moving toward the first slider b41, the driving part b421 slides relative to the guide surface b411 on the surface of the guide surface b411 and gradually pushes the first slider b41 downward. When the driving part b421 slides off the guide surface b411, the driving part b421 will extend to the upper end of the first slider b41. Under the action of the reset member b43 from bottom to top, the driving part b421 will be above the first slider b41 and abut between the first slider b41 and the housing b10.

[0269] In this way, on the one hand, during the operation of the cleaning equipment, the structure above the roller assembly b30 has greater rigidity, making it less prone to vertical floating and improving the stability of the cleaning equipment. On the other hand, when the roller assembly b30 is impacted, if the second slider b42 does not exert force on the first slider b41, the impact load can be transmitted upward to the housing b10. When the second slider b42 acts on the first slider b41, the impact load is transmitted to the housing b10 via the first slider b41 and the second slider b42. Thus, the impact load on the second slider b42 in the first direction is smaller, and the impact load transmitted to the first drive member b20 is also less, thereby reducing the probability of damage to the first drive member b20 during the operation of the cleaning equipment and improving the reliability of the cleaning equipment during operation.

[0270] According to some embodiments of the fourth embodiment of this application, please refer to Figures 25 and 26. The first slider b41 is further provided with a guide groove b412 that opens in the direction of the guide surface b411. The bottom wall of the guide groove b412 is formed as the guide surface b411. The second slider b42 is adapted to extend into the guide groove b412 and cooperate with the guide surface b411.

[0271] By setting a guide groove b412, when the second slider b42 extends into the guide groove b412 to push the first slider b41, when the second slider b42 and the first slider b41 are relatively offset, the side wall of the guide groove b412 can block the relative offset between the second slider b42 and the first slider b41, thereby improving the reliability of the action of the second slider b42 on the first slider b41, and further improving the reliability of the cleaning equipment during operation.

[0272] According to some embodiments of the fourth embodiment of this application, referring to Figures 22, 23, 24, 26 and 27, the second slider b42 is provided with a mating groove b422 extending vertically and opening in the second direction. The first direction, the second direction and the vertical direction are perpendicular to each other. The roller structure 100 further includes a swing arm b50, which is disposed on the side of the second slider b42 where the mating groove b422 opens. One end of the swing arm b50 is connected to the first driving member b20, and the other end of the swing arm b50 is provided with a driving shaft b51 that is perpendicular to the swing arm b50 and extends in the second direction. The driving shaft b51 extends into the mating groove b422. The first driving member b20 is adapted to drive the swing arm b50 to swing, so that the driving shaft b51 pushes the second slider b42 to move in the first direction.

[0273] When the height of the main body 10 at the roller assembly b30 of the cleaning equipment needs to be adjusted, when the second slider b42 needs to move toward the first slider b41, the first drive member b20 drives the swing arm b50 to swing toward the first slider b41. As the swing angle of the swing arm b50 gradually increases, the second slider b42 gradually moves toward the first slider b41. At the same time, the drive shaft b51 moves up and down in the mating groove b422.

[0274] When the second slider b42 needs to move away from the first slider b41, the first driving member b20 drives the swing arm b50 to swing away from the first slider b41. As the swing angle of the swing arm b50 gradually increases, the second slider b42 gradually moves away from the first slider b41. At the same time, the driving shaft b51 moves up and down in the mating groove b422.

[0275] Therefore, the first driving component b20 can drive the second slider b42 to move in the first direction. During the product design process, the swing angle of the swing arm b50 and the stroke of the second slider b42 can be adjusted to meet more product design needs.

[0276] Preferably, the first driving component b20 is a drive motor. The drive motor is small in size, easy to arrange, and has high control precision, which can improve the positional accuracy of the roller assembly b30 in the vertical direction.

[0277] According to some embodiments of the fourth embodiment of this application, referring to Figures 25 and 28, a mounting hole b13 extending vertically and open at the lower end is formed on the housing b10, and a first slider b41 is movably disposed in the mounting hole b13.

[0278] The mounting hole b13 has a clearance hole formed on its side wall, which extends through the side wall of the mounting hole b13 in the first direction. The second slider b42 passes through the clearance hole and extends into the mounting hole b13 to cooperate with the first slider b41.

[0279] By providing mounting holes b13, the mounting holes b13 also guide and limit the up-and-down movement of the first slider b41, allowing the first slider b41 to move within a set stroke, thereby causing the roller assembly b30 to move within a set up-and-down stroke. Furthermore, the mounting holes b13 are arranged around the first slider b41, which increases the contact area between the first slider b41 and the housing b10, thereby reducing the probability that the impact load of the roller assembly b30 will cause the first slider b41 to damage the structure of the housing b10, and further improving the reliability of the cleaning equipment during operation.

[0280] According to some embodiments of the fourth embodiment of this application, referring to Figures 22 to 25, the roller structure 100 further includes: a sliding sleeve b14, the sliding sleeve b14 being disposed in the mounting hole b13, the sliding sleeve b14 defining a guide hole b141 extending vertically and open at the lower end, and a first slider b41 being movably disposed vertically in the guide hole b141.

[0281] The guide groove b412 has a clearance hole formed on its side wall, which extends through the sliding sleeve b14 in the first direction. The second slider b42 extends into the guide hole b141 through the clearance hole. The wear resistance of the material of the sliding sleeve b14 is better than that of the housing b10, and the coefficient of friction between the sliding sleeve b14 and the first slider b41 is less than that between the housing b10 and the first slider b41. Thus, by sliding the first slider b41 in the sliding sleeve b14, the up and down movement of the first slider b41 can be smoother, and the service life of the sliding sleeve b14 is longer, which can improve the service life of the roller structure 100.

[0282] According to some embodiments of the fourth embodiment of this application, referring to Figures 25, 26 and 28, a portion of the inner wall of the mounting hole b13 is recessed to form a vertically extending mounting groove b131. A mounting flange is provided on the inner wall of the mounting groove b131. A mounting cantilever b413 is provided on the first slider b41. The mounting cantilever b413 extends into the mounting groove b131. A reset member b43 is provided in the mounting groove b131 and connected between the mounting flange and the mounting cantilever b413.

[0283] Among them, a clearance hole is formed on the side wall of the guide hole b141, which is opposite to the mounting groove b131, and the clearance hole provides clearance space for mounting the cantilever b413.

[0284] Thus, the reset member b43 can be arranged on the housing b10. During the up-and-down movement of the roller assembly b30, the reset member b43 provides a force between the mounting cantilever b413 and the mounting flange, thereby applying a force to the first slider b41 in the opposite direction to that of the guide surface b411 in the up-and-down direction.

[0285] During the product design process, the position and size of the mounting slot b131, the position and size of the mounting cantilever b413, and the position or size of the mounting flange can be adjusted to meet more product design needs.

[0286] According to some embodiments of the fourth embodiment of this application, referring to FIG25, the reset member b43 is a reset spring.

[0287] The working logic of the reset spring is relatively simple. In the product design process, it is relatively easy to make the force exerted by the reset spring on the first slider b41 meet the design requirements, thereby reducing the design difficulty.

[0288] Preferably, the guide surface b411 is arranged facing upwards, so that the return spring is always in a compressed state during the operation of the roller assembly b30, and the return spring always applies an upward force to the first slider b41.

[0289] During the assembly process, the sliding sleeve b14 is first inserted into the mounting hole b13. A support flange is formed on the inner wall of the mounting hole b13, and the sliding sleeve b14 is supported on the support flange. Then, the reset piece b43 is inserted into the mounting groove b131 and supported on the mounting flange. Subsequently, the first slider b41 is inserted into the guide hole b141 and the mounting cantilever b413 presses down on the reset piece b43. Thus, the assembly of the first slider b41 and the reset piece b43 is achieved.

[0290] According to some embodiments of the fourth embodiment of this application, referring to Figures 27 to 29, one of the second slider b42 and the housing b10 is provided with a guide groove b423 extending in a first direction, and the other is provided with a guide rail b15 extending in the first direction, the guide rail b15 cooperating in the guide groove b423.

[0291] Preferably, guide rails b15 and guide grooves b423 are provided on both the upper and lower sides of the second slider b42. During the movement of the second slider b42 along the first direction, the guide grooves b423 and guide rails b15 cooperate to guide and limit the second slider b42, so that the second slider b42 moves in the set stroke and direction, thereby enabling the roller assembly b30 to rise and fall normally.

[0292] According to some embodiments of the fourth embodiment of this application, referring to Figures 25, 28, and 29, the housing b10 includes a base plate b11 and a cover plate b12. The base plate b11 has mounting holes b13 extending through both its upper and lower ends. A first driving member b20, a first slider b41, and a second slider b42 are supported on the base plate b11. The cover plate b12 covers the base plate b11 to cooperate with the base plate b11 in shielding the first driving member b20, the first slider b41, and the second slider b42. The cover plate b12 and the base plate b11 are bolted together. Both the base plate b11 and the cover plate b12 are provided with guide rails b15, and the second slider b42 has guide grooves b423 at both its upper and lower ends.

[0293] According to some embodiments of the fourth embodiment of this application, referring to Figures 22 to 25, the roller structure 100 further includes a bottom guard plate b16, which is disposed on the lower side of the housing b10 and surrounds the roller assembly b30. The bottom plate b11 has high structural strength. By providing the bottom guard plate b16, the roller structure 100 can be protected on the lower side, thereby further improving the reliability of the cleaning equipment during operation.

[0294] According to some embodiments of the fourth embodiment of this application, referring to Figures 22 to 24, the roller assembly b30 includes: a first roller b31, a support frame b32 and a connecting shaft b33. The connecting shaft b33 extends vertically. The first roller b31 is rotatably disposed on the support frame b32. The support frame b32 is connected to the connecting shaft b33. The connecting shaft b33 is rotatably connected to the first slider b41.

[0295] In other words, the roller assembly b30 is a universal wheel assembly (or universal wheel device). During the movement of the main body 10, the first roller b31 rotates relative to the first slider b41, thus enabling the main body 10 to turn.

[0296] Preferably, the roller assembly b30 further includes a rotating sleeve b17, which has a through hole and covers the lower side of the mounting hole b13. The support shaft passes through the through hole and is connected to the first slider b41. The rotating sleeve b17 is bolted to the housing b10. The first slider b41 has a shaft hole, and a limiting protrusion surrounding the axis of the shaft hole is formed on the inner wall of the shaft hole. A limiting groove is formed on the outer peripheral wall of the support shaft, and the limiting protrusion fits into the limiting groove.

[0297] According to some embodiments of the fourth embodiment of this application, the roller assembly b30 includes a first roller b31, and the roller structure 100 further includes a second driving member adapted to drive the first roller b31 to rotate.

[0298] In other words, the first roller b31 is the drive wheel of the cleaning equipment. During the operation of the cleaning equipment, the second drive unit drives the first roller b31 to rotate, which can provide driving force for the movement of the cleaning equipment. When the cleaning equipment encounters an obstacle, the roller assembly b30 moves in the vertical direction, which can adjust the ground height of the main body 10 at the roller assembly b30, thereby facilitating the main body 10 to pass through the obstacle.

[0299] According to some embodiments of the fourth embodiment of this application, please refer to Figures 19 to 29. The cleaning device in the fourth embodiment includes a main body 10 and a roller structure 100 as described in the above embodiment. The housing b10 is connected to the main body 10.

[0300] The housing b10 is located within the main body 10, and the roller assembly b30 is adapted to extend downwards from the main body 10. During the movement of the main body 10, the roller assembly b30 moves up and down, adjusting the ground clearance of the main body 10 at the roller assembly b30, thereby adjusting the posture of the main body 10 and making it easier for the main body 10 to cross obstacles 2000 or clean the environment. The overlap of the vertical space occupied by the first slider b41 and the second slider b42 reduces the thickness of the main body 10, making it easier for the main body 10 to pass through narrow spaces during operation.

[0301] According to some embodiments of the fourth embodiment of this application, the cleaning device can adjust its height from the ground by setting the roller structure 100 of the above embodiment, and can reduce the thickness of the main body 10, thereby making it easier for the cleaning device to cross obstacles 2000 and pass through lower spaces.

[0302] According to some embodiments of the fourth embodiment of this application, referring to Figures 19 to 21, a drive wheel 20 (which may also be referred to as a second roller in some embodiments) is provided on the lower side of the main body 10. The roller structure 100 and the drive wheel 20 are arranged at intervals in the traveling direction of the main body 10. The first slider b41 is movable up and down between a first position and a second position. In the first position, the length of the roller assembly b30 extending downward from the main body 10 is greater than the length of the drive wheel 20 extending downward from the main body 10. In the second position, the length of the roller assembly b30 extending downward from the main body 10 is less than the length of the drive wheel 20 extending downward from the main body 10.

[0303] In this way, the front end of the main body 10 can be raised in the direction of travel, making it easier for the main body 10 to cross the obstacle 2000, or the front end of the main body 10 can be lowered in the direction of travel, allowing the main body 10 to perform deep cleaning of the ground, thus enabling the cleaning equipment to adapt to more cleaning scenarios.

[0304] In the first position, the second slider b42 abuts between the upper end of the first slider b41 and the housing b10; in the second position, the upper end of the first slider b41 abuts against the housing b10.

[0305] According to some embodiments of the fourth embodiment of this application, please refer to Figures 19 to 21. The lower side of the main body 10 is also provided with a guide surface b210. The guide surface b210 is located at the front end of the main body 10 in the direction of travel. In the direction from bottom to top, the guide surface b210 extends obliquely toward the direction of travel of the main body 10.

[0306] During the travel of the main body 10, when the main body 10 encounters an obstacle 2000, the roller assembly b30 is oriented towards the front end of the travel direction and the second slider b42 drives the first slider b41 to extend downward, thereby increasing the height of the main body 10 above the ground. When the main body 10 crosses the obstacle 2000, the guide surface 210 cooperates with the obstacle 2000, making it easier for the main body 10 to cross the obstacle 2000.

[0307] The guide surface 210 can be integrally formed on the main body 10, or it can be formed on a guide ramp independent of the main body 10. It should be noted that in some embodiments where the guide surface 210 is integrally formed on the main body 10, the guide surface 210 can be equivalent to the first slope 10c of the main body 10 in the first embodiment of this application. Embodiments applicable to the first slope 10c can also be applied to the guide surface 210, and will not be elaborated further here.

[0308] It should be noted that the various embodiments provided in this application (including the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment) can be combined with each other without creating contradictions.

[0309] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0310] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example that is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0311] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A cleaning device, comprising a main body and a drive wheel, wherein the drive wheel is disposed on the main body and is used to drive the main body to move.

2. The cleaning equipment according to claim 1, wherein, The main body includes a bottom surface, a circumferential surface, a first slope, and a second slope. The first slope is located on the front side of the main body and connects the bottom surface and the circumferential surface. The second slope is located on the rear side of the main body and connects the bottom surface and the circumferential surface. The boundary line between the top edge of the first slope and the circumferential surface is higher than the boundary line between the top edge of the second slope and the circumferential surface.

3. The cleaning equipment according to claim 2, wherein, The distance from the ground of the boundary line between the top edge of the first slope and the circumferential surface is not less than 30 mm.

4. The cleaning equipment according to claim 2, wherein, The number of drive wheels is at least two, and the at least two drive wheels are arranged coaxially. When projected onto a plane perpendicular to the axis of the drive wheels, the angle formed by the first slope and the horizontal plane is greater than the angle formed by the second slope and the horizontal plane.

5. The cleaning equipment according to claim 2, wherein, The number of drive wheels is at least two, and the at least two drive wheels are arranged coaxially. When projected onto a plane perpendicular to the axis of the drive wheels, the angle formed between the first slope and the horizontal plane is 30° to 45°.

6. The cleaning equipment according to any one of claims 2-5, wherein, The first slope includes an adjacent first region and a second region, with the first region located above the second region; the main body also includes a third slope located on the left and right sides of the main body, the third slope connecting the second region and the second slope, and forming a closed-loop slope surrounding the circumferential surface.

7. The cleaning equipment according to claim 6, wherein, The cleaning device includes a collision plate disposed on the front side of the main body. The collision plate has a notch, through which the first area is exposed to the outside of the cleaning device. The bottom edge of the portion of the collision plate located on both sides of the notch along the circumferential direction is not lower than the top edge of the closed-loop slope.

8. The cleaning equipment according to any one of claims 2-5, wherein, The cleaning equipment includes a caster wheel assembly located in front of the drive wheel. When projected onto a plane perpendicular to the axis of the drive wheel, the projected outline of the caster wheel assembly does not exceed the extension line of the projected outline of the first slope.

9. The cleaning equipment according to claim 8, wherein, The main body has a through hole, and a portion of the caster wheel device extends to the outside of the main body through the through hole, wherein a portion of the through hole penetrates the first slope and another portion penetrates the bottom surface.

10. The cleaning equipment according to any one of claims 2-5, wherein, The cleaning device includes a collision plate, which is disposed on the front side of the main body; The collision plate corresponds to the portion of the first slope within the circumferential extension length of the main body, and is not lower than the boundary line between the top edge of the first slope and the circumferential surface; and / or, the ground clearance of the portion of the collision plate corresponding to the portion of the first slope within the circumferential extension length of the main body is not less than 30mm.

11. The cleaning equipment according to any one of claims 2-5, wherein, The cleaning device also includes a plurality of sensors, some of which are disposed on the first slope; and / or, the cleaning device also includes a lighting fixture disposed on the first slope.

12. The cleaning equipment according to any one of claims 1-11, wherein, The cleaning equipment includes a caster wheel assembly, which is located at the front end of the main body. The caster wheel assembly includes: Casters; A base assembly and a steering seat, the steering seat being rotatably mounted on the base assembly; The lifting assembly has casters located at its bottom end. The lifting assembly is anti-rotating with the steering seat. The casters are used to drive the steering seat to rotate relative to the base assembly under external force. The lifting assembly can move up and down relative to the steering seat. The lifting assembly is used to drive the casters to move up and down to adjust the ground clearance of the front side of the main body. A drive mechanism is used to drive the lifting assembly to move up and down relative to the steering seat and the base assembly.

13. The cleaning equipment according to claim 12, wherein, The base assembly includes a base plate portion having a mounting hole, and the steering seat is rotatably disposed through the mounting hole. The lifting assembly includes a mounting frame and a rod portion, and the caster is rotatably disposed on the mounting frame. The steering seat has a through hole, and the top end of the rod portion passes through the through hole and extends to the top side of the base plate portion.

14. The cleaning equipment according to claim 13, wherein, The steering seat includes a shaft portion that passes through the mounting hole, and the outer circumferential surface of the shaft portion has an annular groove; the universal wheel device includes a limiting structure that is fixed relative to the base assembly, a portion of the limiting structure extending into the annular groove, and the steering seat is rotatable relative to the limiting structure.

15. The cleaning equipment according to claim 14, wherein, The limiting structure includes a retaining ring, the beginning and end of which are disconnected to form a notch, the notch being used for the shaft portion to enter and exit the retaining ring.

16. The cleaning equipment according to claim 13, wherein, The universal wheel device includes a bracket disposed on the top side of the base plate portion. The bracket is anti-rotatingly engaged with the base assembly. The top end of the rod portion is rotatably connected to the bracket. The drive mechanism is used to apply force to the bracket so as to drive the lifting assembly to move up and down relative to the base assembly through the bracket.

17. The cleaning equipment according to claim 16, wherein, The universal wheel device includes an elastic element, and the bracket is supported on the elastic element. The elastic element can elastically deform in the lifting direction of the lifting assembly, so that the bracket can move along the lifting direction of the lifting assembly.

18. The cleaning equipment according to claim 16, wherein, The omnidirectional wheel assembly also includes a guide bearing, through which the top end of the rod is rotatably connected to the bracket.

19. The cleaning equipment according to claim 16, wherein, The base assembly further includes a guide seat disposed on the top side of the base plate portion. The guide seat has a sliding groove that extends along the lifting direction of the lifting assembly. A portion of the bracket extends into the sliding groove and slides in cooperation with the sliding groove.

20. The cleaning equipment according to claim 16, wherein, The universal wheel device also includes a rolling element, which is rotatably mounted on the bracket, and the bracket makes rolling contact with the drive mechanism through the rolling element.

21. The cleaning equipment according to claim 12, wherein, The universal wheel assembly also includes one or more mounting bearings, which are sleeved on the outer periphery of the steering seat, and the steering seat is rotatably mounted to the base assembly through the mounting bearings.

22. The cleaning equipment according to claim 21, wherein, The base assembly includes a base plate portion having a mounting hole, and a receiving groove provided on the top surface and / or bottom surface of the base plate portion, the receiving groove communicating with the mounting hole, and one or more of the mounting bearings being accommodated in the receiving groove.

23. The cleaning equipment according to claim 22, wherein, The receiving groove provided on the bottom surface of the substrate is a first receiving groove, and the receiving groove provided on the top surface of the substrate is a second receiving groove. The inner diameter of the first receiving groove is larger than the inner diameter of the second receiving groove. The steering seat includes a disk portion and a shaft portion arranged axially and connected to each other. The outer diameter of the disk portion is larger than the outer diameter of the shaft portion. One of the mounting bearings is sleeved on the outer periphery of the disc and embedded in the first receiving groove, and the other mounting bearing is sleeved on the outer periphery of the shaft and embedded in the second receiving groove.

24. The cleaning equipment according to any one of claims 12-23, wherein, The drive mechanism includes a flexible belt and a winding mechanism. One end of the flexible belt is connected to the winding mechanism, and the other end is fixed relative to the base assembly. The winding mechanism is used to wind the flexible belt so that the flexible belt has a straightening tendency, thereby driving the lifting assembly to move toward the caster.

25. The cleaning equipment according to claim 24, wherein, The winding mechanism includes a motor and a pulley, with the drive located on the power output shaft of the motor, and the pulley used to wind the flexible belt.

26. The cleaning equipment according to any one of claims 12-23, wherein, The caster wheel assembly further includes a lower limit position detector, which outputs a signal in response to an event in which the lifting assembly extends to the lower limit position; and / or, the caster wheel assembly further includes an upper limit position detector, which outputs a signal in response to an event in which the lifting assembly retracts to the upper limit position.

27. The cleaning equipment according to any one of claims 1-11, wherein, The cleaning equipment includes a caster wheel assembly, which is located at the front end of the main body. The caster wheel assembly includes: swivel wheels; Base; The lifting assembly has casters located at its bottom end. The lifting assembly can move up and down relative to the base along the height direction of the casters. The lifting assembly is used to drive the casters to move up and down to adjust the ground clearance of the front side of the main body. A driving mechanism is disposed on the base. The driving mechanism includes a rotating component with a rotation axis. The rotating component is used to drive the lifting assembly to move toward the bottom side of the base during rotation about the rotation axis in a first rotation direction. The rotation axis intersects the height direction.

28. The cleaning equipment according to claim 27, wherein, The axis of rotation is perpendicular to the height direction.

29. The cleaning equipment according to claim 27, wherein, The omnidirectional wheel device includes an elastic element, which provides an elastic force to the lifting assembly to move upward along the height direction.

30. The cleaning equipment according to claim 27, wherein, The base has a through hole, and the lifting assembly includes an interconnected mounting frame and a rod. The mounting frame is located on the bottom side of the base, the caster wheel is rotatably mounted on the mounting frame, and the rod passes through the through hole.

31. The cleaning equipment according to claim 30, wherein, The rotating component includes a rod and a deflector, the deflector extending laterally toward the rod, the deflector being used to contact the mounting bracket and driving the lifting assembly toward the bottom side of the base during rotation about the axis of the rod in a first rotation direction; or, The rotating component includes a cam, the outer peripheral surface of which is used to contact the mounting bracket. As the cam rotates about the rotation axis in a first rotation direction, it drives the lifting assembly to move toward the bottom side of the base.

32. The cleaning equipment according to claim 30, wherein, The caster wheel assembly includes a bushing assembly housed within the through hole. The rod passes through the bushing assembly along the height direction and is movable relative to the bushing assembly along the height direction of the caster wheel assembly. The bushing assembly is capable of elastic deformation at least in the radial direction.

33. The cleaning equipment according to claim 32, wherein, The bushing assembly includes an elastic bushing and a shaft sleeve. The shaft sleeve is fitted around the outer periphery of the rod portion, and the elastic bushing is fitted around the outer periphery of the shaft sleeve. The hardness of the shaft sleeve is greater than that of the elastic bushing.

34. The cleaning equipment according to any one of claims 27-33, wherein, The drive mechanism includes a motor, the motor includes a power shaft, and the power shaft is coaxially arranged with the rotating component.

35. The cleaning equipment according to any one of claims 27-33, wherein, The rotatable angle range of the rotating component around the rotation axis is not less than 90°.

36. The cleaning equipment according to any one of claims 27-33, wherein, The caster wheel device includes a bracket disposed on the top side of the base, the bracket being anti-rotationally engaged with the base, the top end of the lifting assembly being connected to the bracket, the lifting assembly being rotatable relative to the bracket, and being able to drive the bracket to move synchronously along the height direction.

37. The cleaning equipment according to any one of claims 1-11, wherein, The cleaning device includes a roller structure connected to the main body, and the roller structure includes: case; A first driving member is disposed in the housing; Roller assembly; A lifting assembly includes a first slider and a second slider. The first slider is movably mounted vertically on the housing. A roller assembly is connected to the first slider. The second slider is movably mounted on the housing along a first direction, which is at an angle to the vertical direction. The first slider has a guide surface that extends obliquely towards one side of the first direction in the vertical direction. The first driving member is adapted to drive the second slider to move along the first direction so that the second slider contacts and slides relative to the guide surface.

38. The cleaning equipment according to claim 37, wherein, The lifting assembly further includes a reset member disposed between the housing and the first slider, the reset member being configured to apply a force to the first slider in the opposite direction to that of the guide surface in the vertical direction.

39. The cleaning equipment according to claim 37, wherein, The second slider includes a driving surface adapted to fit against and slide relative to the guide surface.

40. The cleaning equipment according to claim 37, wherein, The second slider is provided with multiple driving parts, which are arranged in a stepped manner in the inclined direction of the guide surface. The second slider is adapted to contact the guide surface through the driving parts. The first slider is formed as a locking surface on the end face of the guide surface facing in the vertical direction. The guide surface is connected to the locking surface, and the plurality of driving parts are respectively adapted to abut against the locking surface in the vertical direction.

41. The cleaning equipment according to any one of claims 37-40, wherein, The guide surface is arranged facing upwards and its upper end extends to connect with the upper end surface of the first slider. The upper end of the first slider is adapted to abut against the housing, and the upper end of the second slider is slidably connected to the housing.

42. The cleaning equipment according to claim 37, wherein, The first slider is also provided with a guide groove that opens in the direction of the guide surface, the bottom wall of the guide groove is formed as the guide surface, and the second slider is adapted to extend into the guide groove and cooperate with the guide surface.

43. The cleaning equipment according to claim 37, wherein, The second slider has a mating groove that extends vertically and opens in the second direction, wherein the first direction, the second direction, and the vertical direction are perpendicular to each other. The roller structure further includes a swing arm, which is disposed on one side of the second slider in the mating groove opening. One end of the swing arm is connected to the first driving member, and the other end of the swing arm is provided with a driving shaft that is perpendicular to the swing arm and extends along the second direction. The driving shaft extends into the mating groove. The first driving member is adapted to drive the swing arm to swing so that the driving shaft pushes the second slider to move in the first direction.

44. The cleaning equipment according to claim 37, wherein, The housing has a mounting hole that extends vertically and opens at the bottom, and the first slider is movably disposed in the mounting hole.

45. The cleaning equipment according to claim 44, wherein, The roller structure further includes: a sliding sleeve, which is disposed in the mounting hole and defines a guide hole that extends vertically and is open at the lower end, and the first slider is movably disposed in the guide hole.

46. ​​The cleaning equipment according to claim 44, wherein, The inner wall of the mounting hole is partially recessed to form a mounting groove that extends vertically. The inner wall of the mounting groove is provided with a mounting flange. The first slider is provided with a mounting cantilever. The mounting cantilever extends into the mounting groove. The reset member is provided in the mounting groove and is connected between the mounting flange and the mounting cantilever.

47. The cleaning equipment according to claim 38, wherein, The reset component is a reset spring.

48. The cleaning equipment according to claim 37, wherein, One of the second slider and the housing is provided with a guide groove extending along the first direction, and the other is provided with a guide rail extending along the first direction, the guide rail being fitted into the guide groove.

49. The cleaning equipment according to claim 37, wherein, The roller assembly includes: a first roller, a support frame, and a connecting shaft. The connecting shaft extends vertically. The first roller is rotatably mounted on the support frame. The support frame is connected to the connecting shaft. The connecting shaft is rotatably connected to the first slider.

50. The cleaning equipment according to claim 37, wherein, The roller assembly includes a first roller, and the roller structure further includes a second driving member adapted to drive the first roller to rotate.

51. The cleaning equipment according to claim 37, wherein, The roller structure and the drive wheel are arranged at intervals along the travel direction of the main body, and the first slider is movable up and down between a first position and a second position. In the first position, the length by which the roller assembly extends downward beyond the main body is greater than the length by which the drive wheel extends downward beyond the main body. In the second position, the length by which the roller assembly extends downward out of the main body is less than the length by which the drive wheel extends downward out of the main body.

Images