CN110522358A

CN110522358A - A kind of cleaning equipment

Info

Publication number: CN110522358A
Application number: CN201910828420.1A
Authority: CN
Inventors: 曾勇军; 李建亚
Original assignee: SHENZHEN RUIKE FASHION ELECTRONIC Co Ltd
Current assignee: SHENZHEN RUIKE FASHION ELECTRONIC Co Ltd
Priority date: 2019-09-03
Filing date: 2019-09-03
Publication date: 2019-12-03
Anticipated expiration: 2039-09-03
Also published as: CN110522358B

Abstract

The embodiment of the present invention provides a kind of cleaning equipment, comprising: main body, driving wheel and auxiliary rotating member；Wherein, the driving wheel and the auxiliary rotating member are arranged in main body；The auxiliary rotating member is vacantly arranged；The driving wheel and the auxiliary rotating member have the projection section overlapping of projection, the driving wheel and the auxiliary rotation on the face of the rotation centerline of the vertical driving wheel.Technical solution provided in an embodiment of the present invention, pass through the collective effect of auxiliary rotating member and driving wheel, cleaning equipment may make to clear the jumps very wellly, especially round barrier, square obstacle and other irregular barriers etc., so that cleaning equipment be avoided to block the case where can not working by barrier.

Description

A kind of cleaning equipment

Technical field

The present invention relates to field of mechanical technique more particularly to a kind of cleaning equipments.

Background technique

With the continuous development of science and technology, there are the various cleaning equipments suitable for different cleaning object.Various cleanings are set The standby Working Life for user learns the convenience to bring great convenience, for example, sweeping robot.

But existing sweeping robot also has certain defective, for example, in the prior art, sweeping robot exists When executing cleaning order, it is commonly encountered barrier, especially round barrier, square obstacle or other irregular barriers It can not clear the jumps or be easy to be stuck in above barrier and can not get rid of poverty for a long time Deng, sweeping robot.Common situations are circle Shape barrier is round tube, and round tube card is trapped in driving wheel, and sweeping robot can not get rid of poverty, and machine alarm is caused to stop working.

Summary of the invention

In view of the above problems, the present invention is proposed, in order to provide a kind of cleaning equipment to solve the above problems.

In one embodiment of the invention, a kind of cleaning equipment is provided, comprising: main body, driving wheel and auxiliary rotation Part；Wherein,

The driving wheel and the auxiliary rotating member are arranged in main body；

The auxiliary rotating member is vacantly arranged；

The driving wheel and the auxiliary rotating member have projection on the face of the rotation centerline of the vertical driving wheel, The projection section overlapping of the driving wheel and the auxiliary rotating member.

Optionally, the driving wheel and the auxiliary rotating member are on the face of the rotation centerline of the vertical driving wheel The lap of projection, the lap are greater than or equal to the auxiliary along the maximum distance of the driving wheel direction of travel and turn The 1/5 of the tactical diameter of moving part.

Optionally, the projection on the face of the rotation centerline of the vertical driving wheel, the outer edge warp of the driving wheel Cross the rotation center of the auxiliary rotating member.

Optionally, relative to face to be cleaned, the flying height of the auxiliary rotating member is greater than or equal to the driving wheel The one third of the difference of the radius of gyration of the radius of gyration and the auxiliary rotating member.

Optionally, relative to face to be cleaned, the height of the driving wheel rotation centerline is revolved greater than the auxiliary rotating member Turn the height of center line.

Optionally, the rotation centerline of the driving wheel is parallel with the auxiliary rotation centerline of rotating member.

Optionally, the auxiliary rotating member includes auxiliary wheel or auxiliary oscillating rod.

Optionally, the obstacle detouring groove towards the auxiliary wheel central concave is provided on the auxiliary wheel.

Optionally, the obstacle detouring groove has the first arcuate structure towards the auxiliary wheel central concave.

Optionally, the obstacle detouring groove is multiple, and the obstacle detouring groove is evenly arranged along the periphery of the auxiliary wheel；

The second arcuate structure towards the auxiliary wheel central concave is provided between the obstacle detouring groove of adjacent two.

Optionally, the auxiliary rotating member and the driving wheel are driven by same driving motor.

Optionally, the auxiliary rotating member is identical with the direction of rotation of the driving wheel.

Correspondingly, the embodiment of the invention also provides a kind of cleaning equipments, comprising: main body, driving wheel and auxiliary rotating member； Wherein,

The auxiliary rotating member is vacantly arranged

The driving wheel and the auxiliary rotating member have projection on the face of the rotation centerline of the vertical driving wheel, The projection section overlapping of the driving wheel and the auxiliary rotating member；

When breaking the barriers, the auxiliary rotating member first contacts the barrier, and the auxiliary rotating member drives described clear Clean equipment continuation moves forward, moves to the auxiliary rotating member and the driving wheel while contacting the barrier.

Optionally, the obstacle detouring groove towards the auxiliary rotating member central concave is provided on the auxiliary rotating member；

When by the barrier, the auxiliary rotating member first contacts the barrier, at least by the obstacle detouring groove Barrier is stated in portion envelops residence, and then, cleaning equipment continuation moves forward, moves to the auxiliary rotating member and described Driving wheel contacts the barrier simultaneously.

And the auxiliary rotating member is vacantly arranged；

When breaking the barriers, the auxiliary rotating member first contacts the barrier, and the auxiliary rotating member drives described clear Clean equipment continuation moves forward, until driving wheel contacts the barrier.

Correspondingly, the embodiment of the invention also provides a kind of cleaning equipments, comprising: main body, main body be equipped with driving wheel and Assist rotating member；Wherein,

The auxiliary rotating member is vacantly arranged；

When obstacle detouring, the auxiliary rotating member is identical with the direction of rotation of the driving wheel.

Technical solution provided in an embodiment of the present invention is provided with driving wheel and auxiliary rotating member in the main body of cleaning equipment, Driving wheel and auxiliary rotating member have projection, driving wheel and auxiliary rotating member on the face of the rotation centerline of perpendicular drive wheel Projection section overlapping, and rotating member is assisted vacantly to be arranged.When cleaning equipment breaks the barriers, auxiliary rotating member first contacts obstacle Object, auxiliary rotating member provide the power for making cleaning equipment advance and move to auxiliary so that cleaning equipment can continue to move Rotating member and driving wheel contact barrier simultaneously, at this point, because auxiliary rotating member be connected to barrier and barrier with to clear Face cleaning contact assists one upward power of rotating member so that barrier is given, meanwhile, and because assist rotating member and driving wheel simultaneously The frictional force of a traveling can be generated by contacting barrier, driving wheel and face to be cleaned and barrier, give auxiliary rotation in barrier While the upward power of part and driving wheel and face to be cleaned and barrier generate the frictional force advanced under effect, driving wheel is crossed Barrier continues to work normally so that cleaning equipment be enable smoothly to clear the jumps.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the schematic perspective view in the bottom visual field for the cleaning equipment that one embodiment of the invention provides；

Fig. 2 is the schematic perspective view in the another bottom visual field for the cleaning equipment that one embodiment of the invention provides；

Fig. 3 is the schematic diagram of the section structure for the cleaning equipment that one embodiment of the invention provides；

Fig. 4 is the schematic diagram of the driving wheel that one embodiment of the invention provides and auxiliary rotating member in the projection of the first plane；

Fig. 5 is that the cross-section structure for cleaning equipment of the auxiliary rotating member with obstacle detouring groove that one embodiment of the invention provides shows It is intended to；

Fig. 6 contacts state diagram when barrier for the auxiliary rotating member and driving wheel of cleaning equipment shown in Fig. 4 simultaneously；

Fig. 7 is the schematic perspective view on face to be cleaned for the cleaning equipment that one embodiment of the invention provides.

Specific embodiment

In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.

In the prior art, sweeping robot is commonly encountered barrier, sweeping robot can not be crossed when executing cleaning order Barrier is easy to be stuck in above barrier and can not get rid of poverty for a long time.Common situations are the round barrier such as round tube or rectangular product The square obstacles card such as wood is trapped in driving wheel, and sweeping robot can not get rid of poverty, and machine alarm is caused to stop working.To find out its cause, It is the following aspects:

1, the size of barrier is larger, especially round barrier, such as round tube or square obstacle, such as square building block, by It is relatively large in diameter in barrier, driving wheel is caused not break the barriers directly.For example, the round tube chair leg of chair or other circles Shape barrier diameter range is approximately more than 8mm, in this case, before the round tube chair leg card of chair is trapped in the driving wheel of sweeping robot End, sweeping robot can retreat, and to be detached from barrier, but the region in the round tube chair leg region of chair and its front is not It is cleaned；

2, blocking surfaces are smooth, such as metal circular tube or smooth smooth rectangular of round tube or surface of other surfaces Building blocks, such blocking surfaces are smooth, and coefficient of friction is low, and the tire of driving wheel and floor and barrier frictional force reduce, and cause Driving wheel can not clear the jumps, and sweeping robot pushes barrier and moves together, and barrier will affect the clear of sweeping robot Clean effect；

3, smooth floor surface is encountered, the coefficient of friction reduction of barrier and floor causes driving wheel that can not cross barrier Hinder object, the especially round barrier of such barrier, such as round tube.Or square obstacle, such as square building block.The tire of driving wheel It is reduced with floor and barrier frictional force, causes driving wheel that can not clear the jumps, sweeping robot pushes barrier one and starts shipment It is dynamic, so that barrier influences the cleaning effect of sweeping robot；

4, in the prior art, sweeping robot is provided with cisten mechanism mostly, and the sweeping robot load with water tank becomes larger, Face to be cleaned after clear water cleaning simultaneously, tire and floor and barrier frictional force reduce, especially round barrier, such as circle Pipe or square obstacle, such as square building block cause driving wheel that can not clear the jumps, and sweeping robot pushes barrier one Play movement.The round tube chair leg of chair is such as encountered, and because becoming larger with water tank load, sweeping robot can not be retreated, the circle of chair Pipe chair leg card is trapped in the driving wheel front end of sweeping robot, and sweeping robot can not retreat again, and final machine is caught in, triggering report It is alert, it can not work on.

In view of the above-mentioned problems, the present invention provides a kind of cleaning equipment, cleaning equipment may make to surmount obstacles very wellly Object, so that cleaning equipment be avoided to block the case where influencing cleaning generation by barrier.

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description.Obviously, the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, those skilled in the art's every other implementation obtained without making creative work Example, shall fall within the protection scope of the present invention.

Embodiment 1

Fig. 1 is the schematic perspective view in the bottom visual field for the cleaning equipment that one embodiment of the invention provides, and Fig. 2 is this hair The schematic perspective view in the another bottom visual field for the cleaning equipment that a bright embodiment provides, Fig. 3 mention for one embodiment of the invention The schematic diagram of the section structure of the cleaning equipment of confession, as shown in Figure 1 to Figure 3.

In one embodiment of the invention, a kind of cleaning equipment is provided, comprising: main body 10, driving wheel 20 and auxiliary Rotating member 30.

Wherein, the driving wheel 20 and the auxiliary rotating member 30 are arranged in main body 10.The auxiliary rotating member 30 Hanging setting.The driving wheel 20 and the auxiliary rotating member 30 have on the face of the rotation center of the vertical driving wheel 20 Projection, the projection section overlapping of the driving wheel 20 and the auxiliary rotating member 30.

Technical solution provided in an embodiment of the present invention is provided with driving wheel 20 and auxiliary rotation in the main body 10 of cleaning equipment Part 30, driving wheel 20 and auxiliary rotating member 30 have projection, driving wheel 20 on the face of the rotation centerline of perpendicular drive wheel 20 And the projection section overlapping of auxiliary rotating member 30, and rotating member 30 is assisted vacantly to be arranged.When cleaning equipment breaks the barriers, auxiliary Rotating member 30 first contacts barrier, and auxiliary rotating member 30 provides the power for making cleaning equipment advance, so that cleaning equipment can It to continue to move, moves to auxiliary rotating member 30 and driving wheel 20 while contacting barrier, at this point, because auxiliary rotating member 30 supports It is connected to barrier and barrier is contacted with face 40 to be cleaned so that barrier gives auxiliary 30 1 upward power of rotating member, together When, and because auxiliary rotating member 30 and driving wheel 20 contact barrier, driving wheel 20 and face 40 to be cleaned and barrier meeting simultaneously The frictional force for generating a traveling, barrier to the upward power and driving wheel 20 of auxiliary rotating member 30 and face 40 to be cleaned and While barrier generates the frictional force advanced under effect, driving wheel 20 clears the jumps, so that cleaning equipment be enable smoothly to get over Barrier is crossed, continues to work normally, significant increase cleaning efficiency.

What needs to be explained here is that: in the embodiment of the present invention, the main body 10 of cleaning equipment can be in the prior art clear The main body 10 of clean equipment, for example, the main body 10 of the equipment such as sweeping robot, dust catcher.Cleaning equipment at work, usual main body 10 can move towards a certain specific direction, this specific direction can be defined as the direction of advance of cleaning equipment, with direction of advance phase Anti- direction is the direction of retreat of cleaning equipment.The direction of advance and direction of retreat of cleaning equipment, it is understood that for cleaning The front and back of equipment, relative to front and back, the two sides of cleaning equipment are the left and right of cleaning equipment.Cause This, direction of advance involved in the embodiment of the present invention and direction of retreat each mean cleaning equipment when in use, for cleaning equipment Angle for.Driving wheel 20 in the embodiment of the present invention can be designed as one or two or multiple, example according to different demands It is as shown in figure 1 a kind of achievable mode, driving wheel 20 is two, is separately positioned on the position of the left and right of cleaning equipment.Auxiliary Rotating member 30 is also two, is separately positioned on the position of the left and right of cleaning equipment.

In the embodiment of the present invention, auxiliary rotating member 30 may be provided at the front or behind or driving wheel of driving wheel 20 20 front and back is provided with auxiliary rotating member 30.

In the embodiment of the present invention, the vacantly setting of the auxiliary rotating member 30, also refer to auxiliary rotating member 30 relative to Face 40 to be cleaned has certain distance, which is to assist the hanging distance of rotating member 30.Meanwhile assisting rotating member 30 hanging Setting is also also referred to relative to face 40 to be cleaned, and the outer edge of the driving wheel 20 and the auxiliary rotating member 30 are most There is difference in height, which is to assist the hanging distance of rotating member 30 between outer edge.

The rotation centerline of driving wheel 20 refers to driving wheel 20 around drive shaft turns, and the longitudinal center line of drive shaft passes through The center of turning circle when driving wheel 20 rotates, the longitudinal center line of drive shaft is the rotation axis of driving wheel 20.Alternatively, It is to be understood that driving wheel 20 can be around by driving wheel 20 when the rotation centerline of driving wheel 20 refers to that driving wheel 20 rotates Turning circle center axis thereof, the central axis of the turning circle of the driving wheel 20 is the rotation centerline of driving wheel 20. Referring to fig. 2, dotted line L can be regarded as the rotation centerline of driving wheel 20 in Fig. 2, and dotted line P can be regarded as the rotation of perpendicular drive wheel 20 Turn the face of center line.

The projection of driving wheel 20 and auxiliary rotating member 30 on the face of the rotation centerline of perpendicular drive wheel 20 is understood that For the driving wheel 20 and the auxiliary rotating member 30 have projection on the face that dotted line P is indicated.Dotted portion table in Fig. 4 What is shown is driving wheel 20 and the projection for assisting rotating member 30 on the face of the rotation centerline of perpendicular drive wheel 20.Certainly, scheme Dotted portion in 4 is also referred to as driving wheel 20 and assists the turning circle of rotating member 30 in the rotation center of perpendicular drive wheel 20 Projection on the face of line.

In embodiments of the present invention, the implementation of the auxiliary rotating member 30 includes a variety of, it may for example comprise but be not limited to For auxiliary wheel or auxiliary oscillating rod.

In the embodiment of the present invention, auxiliary wheel can be can be realized by common wheel.With auxiliary wheel, driving wheel 20 is set For front, cleaning equipment break the barriers 1 when, auxiliary wheel first contacts barrier 1, and auxiliary wheel drives cleaning equipment to continue forward Movement, moves to auxiliary wheel and driving wheel 20 while contacting barrier 1, because auxiliary wheel is connected to barrier 1 and barrier 1 Make barrier 1 to one upward power of auxiliary wheel with face contact to be cleaned, and because auxiliary wheel and driving wheel 20 contact simultaneously Barrier 1, driving wheel 20 and face 40 to be cleaned and barrier 1 can generate a forward frictional force, give auxiliary wheel in barrier 1 While upward power and driving wheel 20 and face 40 to be cleaned and barrier 1 generate forward frictional force under effect, driving wheel 20 clear the jumps 1, so that cleaning equipment be enable smoothly to clear the jumps 1.

A kind of achievable mode of auxiliary oscillating rod is that auxiliary oscillating rod includes shaft and the swing rod that is arranged in shaft, Shaft and swing rod axially intersect, and swing rod rotation is driven when shaft rotates.Cleaning equipment break the barriers 1 when, swing rod first contacts barrier Hinder object 1, swing rod drives cleaning equipment continuation to move forward, moves to swing rod and driving wheel 20 while contacting barrier 1, swing rod supports It is connected to barrier 1 and barrier 1 and face contact to be cleaned makes barrier 1 to one upward power of swing rod, and because swing rod And driving wheel 20 contacts barrier 1 simultaneously, driving wheel 20 can generate a forward friction with face 40 to be cleaned and barrier 1 Power generates forward frictional force to the upward power of swing rod and driving wheel 20 and face 40 to be cleaned and barrier 1 in barrier 1 Under acting on simultaneously, driving wheel 20 clears the jumps 1, so that cleaning equipment be enable smoothly to clear the jumps 1.

Further, in a kind of achievable embodiment of the invention, the driving wheel 20 and the auxiliary rotating member The lap of 30 projection on the face of the rotation centerline of the vertical driving wheel 20, lap is along the driving wheel 20 The maximum distance of direction of travel is greater than or equal to the 1/5 of the tactical diameter of the auxiliary rotating member 30.The lap of projection is small If the 1/5 of auxiliary 30 tactical diameter of rotating member, it be easy to cause auxiliary rotating member 30 to have passed past barrier 1, driving wheel 20 is also Not in contact with barrier 1 is arrived, obstacle detouring does not work.It is big to can both contact auxiliary rotating member but if barrier 1 is sufficiently large 30, driving wheel 20 can also be contacted, obstacle detouring is also set up.

Further, referring to fig. 4, in order to improve cleaning equipment obstacle detouring effective percentage, in the vertical driving wheel 20 Rotation centerline face on projection, the outer edge of the driving wheel 20 by the auxiliary rotating member 30 rotation center. By this structure, the active force of driving wheel 20 and auxiliary rotating member 30 can be loaded simultaneously on barrier 1, thus in driving wheel 20 clear the jumps 1 when it is more smooth, obstacle detouring success rate improve, to improve the effective percentage of the obstacle detouring of cleaning equipment.

For example, as driving wheel 20 and auxiliary rotating member 30 represented by B is vertically driving in Fig. 4 with continued reference to Fig. 4 The part of projection overlapping on the face of the rotation centerline of driving wheel 20, maximum of the lap along 20 direction of travel of driving wheel Distance, the size of A in the hanging height, that is, Fig. 3 of auxiliary rotating member 30.Wherein, the size of B is greater than or equal to auxiliary rotating member 30 The 1/5 of tactical diameter.The size of A is greater than or equal to the revolution of the radius of gyration and the auxiliary rotating member 30 of the driving wheel 20 The one third of the difference of radius.Since the size of driving wheel 20 and auxiliary rotating member 30 can be become according to different needs More, driving wheel 20 and auxiliary rotating member 30 can change size simultaneously, alternatively, individually changing in driving wheel 20 and auxiliary rotating member 30 Therefore the size of one improves obstacle detouring according to various sizes of driving wheel 20 and auxiliary rotating member 30 to guarantee smooth obstacle detouring Effective percentage, Preferable scheme is that the size of B is so that the outer edge of driving wheel 20 passes through the rotation center of auxiliary rotating member 30 Size.The size of A be the driving wheel 20 the radius of gyration and it is described auxiliary rotating member 30 the radius of gyration difference three/ One.

If the size of B is too small, illustrate to assist the distance between rotating member 30 and driving wheel 20 larger, it is possible to cause auxiliary Rotating member 30 is helped to have passed past barrier 1, also not in contact with barrier 1 is arrived, such cleaning equipment can not clear the jumps driving wheel 20.

If the size of B is too big, illustrate to assist the distance between rotating member 30 and driving wheel 20 smaller, it is possible to it causes, Driving wheel 20 first touches barrier 1, and auxiliary rotating member 30 does not reach barrier 1, and obstacle detouring does not work.

When the outer edge of driving wheel 20 passes through the rotation center of auxiliary rotating member 30, it is ensured that in obstacle detouring, barrier 1 It can be acted on simultaneously with auxiliary rotating member 30 and driving wheel 20, thus smooth obstacle detouring.

Throwing in a kind of achievable embodiment of the invention, on the face of the rotation centerline of perpendicular drive wheel 20 Shadow, the outer edge of driving wheel 20 pass through the rotation center of auxiliary rotating member 30, and the barrier of diameter 0-18mm can be crossed.If The distance for assisting rotating member hanging is sufficiently high, and diameter is more than that the barrier of 18mm can contact auxiliary rotating member 30, can also be same When contact driving wheel 20, then obstacle detouring is also set up.Wherein, the size of A in the height, that is, Fig. 3 for assisting rotating member 30 hanging, A are indicated Assist the vertical range between rotating member 30 and face to be cleaned 40.I.e. relative to face 40 to be cleaned, the outside of the driving wheel 20 There is difference in height between edge and the outermost edge of the auxiliary rotating member 30, which is the size of A in Fig. 3.It is to be cleaned Face 40 can refer to ground or desktop or other clean surfaces.The difference in height of driving wheel 20 and auxiliary rotating member 30 relative to face to be cleaned It is smaller, it can prevent biggish barrier 1 from crossing auxiliary rotating member 30 and directly be contacted with driving wheel 20, to avoid barrier 1 Not with auxiliary rotating member 30 contact, cause cleaning equipment can not obstacle detouring the case where generation.

In embodiments of the present invention, relative to face 40 to be cleaned, the flying height of the auxiliary rotating member 30 is greater than or waits In the one third of the difference of the radius of gyration of the radius of gyration and auxiliary rotating member 30 of the driving wheel 20.Due to driving wheel 20 and auxiliary rotating member 30 size can change according to different needs, driving wheel 20 and auxiliary rotating member 30 can be simultaneously Size is changed, alternatively, individually changing driving wheel 20 and assisting the size of one in rotating member 30, therefore, according to various sizes of Driving wheel 20 and auxiliary rotating member 30 improve obstacle detouring effective percentage, the size of A is the driving wheel 20 to guarantee smooth obstacle detouring The one third of the difference of the radius of gyration of the radius of gyration and the auxiliary rotating member 30.

Further, relative to face 40 to be cleaned, the height of 20 rotation centerline of driving wheel is greater than auxiliary rotating member 30 and revolves Turn the height of center line.Wherein, rotation centerline refers to driving wheel 20 or assists the longitudinal center line institute of 30 rotation axis of rotating member Line, rotation centerline overdrive wheel 20 or assist 30 turning circle of rotating member the center of circle.Relative to face 40 to be cleaned, driving wheel The height of 20 rotation centerlines is greater than the height of auxiliary 30 rotation centerline of rotating member, it can be understood as the height in 20 center of circle of driving wheel Degree is greater than the height in 30 center of circle of Stump-jump wheel, i.e., the center of circle of auxiliary rotating member 30 is below 20 center of circle of driving wheel, to ensure meeting When to barrier 1, auxiliary rotating member 30 can touch barrier 1.It assists rotating member 30 to be vacantly arranged, has apart from face 40 to be cleaned There is certain altitude, which can be found in Fig. 4 and 7.

For assisting rotating member 30 that the front of driving wheel 20 is set, cleaning equipment break the barriers 1 when, auxiliary rotation Part 30 first contacts barrier 1, and auxiliary rotating member 30 drives cleaning equipment continuation to move forward, moves to auxiliary rotating member 30 and drives Driving wheel 20 contacts barrier 1 simultaneously, because auxiliary rotating member 30 is connected to barrier 1 and barrier 1 and face contact to be cleaned So that barrier 1 gives auxiliary 30 1 upward power of rotating member, and because auxiliary rotating member 30 and driving wheel 20 contact barrier simultaneously Hinder object 1, driving wheel 20 and face 40 to be cleaned and barrier 1 that can generate a forward frictional force, gives auxiliary rotation in barrier 1 While the upward power of part 30 and driving wheel 20 and face 40 to be cleaned and barrier 1 generate forward frictional force under effect, drive Driving wheel 20 clears the jumps 1, so that cleaning equipment be enable smoothly to clear the jumps 1.

Further, in the embodiment of the present invention, the rotation centerline of the driving wheel 20 and the auxiliary rotating member 30 Rotation centerline is parallel.This setup can guarantee to assist the rotation direction of rotating member 30 and the rotation direction of driving wheel 20 It is consistent, i.e., the described auxiliary rotating member 30 is identical with the direction of rotation of the driving wheel 20, thus can when encountering barrier 1 So that auxiliary rotating member 30 more swimmingly drives driving wheel 20 to clear the jumps 1.

In the embodiment of the present invention, auxiliary wheel can be can be realized by common wheel.Referring to Fig. 5, for convenient for being retouched in conjunction with attached drawing It states, the attached drawing mark of auxiliary wheel described below in the accompanying drawings continues to use the attached drawing mark of auxiliary rotating member 30, i.e. auxiliary wheel 30.

Further, to make auxiliary wheel preferably secondary equipment can carry out obstacle detouring, so that cleaning equipment energy Enough preferably clear the jumps 1, especially circle barrier, such as round tube or square obstacle, such as square building block.At this In a kind of achievable embodiment of invention, the obstacle detouring towards 30 central concave of auxiliary wheel is provided on the auxiliary wheel 30 Groove 31.The frictional force before auxiliary wheel 30 and barrier 1 can be further increased by the obstacle detouring groove 31 on auxiliary wheel 30, with Just auxiliary wheel 30 can more swimmingly drive driving wheel 20 to clear the jumps 1.

For example, referring to fig. 4 to Fig. 6, cleaning equipment, such as sweeping robot, to cross cleaning equipment preferably Barrier 1, the projection on the face of the rotation centerline of perpendicular drive wheel 20, auxiliary wheel 30 partly overlap with driving wheel 20, and Auxiliary wheel 30 is vacantly arranged, that is, auxiliary wheel 30 does not land.It wherein, is along driving wheel 20 and auxiliary represented by B in Fig. 4 Take turns the portion of the projection overlapping of 30 front-rear directions, driving wheel 20 and auxiliary wheel 30 on the face of the rotation centerline of perpendicular drive wheel 20 Point maximum distance, the size of A in the hanging height, that is, Fig. 4 of auxiliary wheel 30.Wherein, wherein the size of B is greater than or equal to auxiliary Take turns the 1/5 of 30 tactical diameters.The size of A is greater than or equal to the revolution of the radius of gyration and the auxiliary wheel 30 of the driving wheel 20 The one third of the difference of radius.Since the size of driving wheel 20 and auxiliary wheel 30 can change according to different needs, drive Driving wheel 20 and auxiliary wheel 30 can change size simultaneously, alternatively, individually change the size of one in driving wheel 20 and auxiliary wheel 30, because This, to guarantee smooth obstacle detouring, improves obstacle detouring effective percentage, preferred scheme according to various sizes of driving wheel 20 and auxiliary wheel 30 The size for being B is so that the outer edge of driving wheel 20 passes through the size of the rotation center of auxiliary wheel 30.The size of A is the driving The one third of the difference of the radius of gyration of the radius of gyration and auxiliary wheel 30 of wheel 20.

If the size of B is too small, illustrate that the distance between auxiliary wheel 30 and driving wheel 20 are larger, it is possible to cause auxiliary wheel 30 have passed past barrier 1, and also not in contact with barrier 1 is arrived, such cleaning equipment can not clear the jumps driving wheel 20.

If the size of B is too big, illustrate that the distance between auxiliary wheel 30 and driving wheel 20 are smaller, it is possible to cause, drive Wheel 20 first touches barrier 1, and auxiliary wheel 30 does not reach barrier 1, and obstacle detouring does not work.

When the outer edge of driving wheel 20 passes through the rotation center of auxiliary wheel 30, it is ensured that in obstacle detouring, barrier 1 can Auxiliary wheel is acted on auxiliary wheel 30 and driving wheel 20 simultaneously, thus smooth obstacle detouring.

The size of A in the hanging height, that is, Fig. 4 of auxiliary wheel 30, A indicate vertical between auxiliary wheel 30 and face 40 to be cleaned Distance.I.e. relative to face 40 to be cleaned, have between the outer edge of the driving wheel 20 and the outermost edge of the auxiliary wheel 30 Difference in height, the difference in height are the size of A in Fig. 4.Face 40 to be cleaned can refer to ground or desktop or other clean surfaces.Driving wheel 20 is smaller relative to the difference in height in face to be cleaned with auxiliary wheel 30, can prevent biggish barrier 1 from crossing auxiliary wheel 30 direct Contacted with driving wheel 20, so that barrier 1 be avoided not contact with auxiliary wheel 30, cause cleaning equipment can not obstacle detouring the case where hair It is raw.In embodiments of the present invention, relative to face 40 to be cleaned, the flying height of the auxiliary wheel 30 is greater than or equal to the driving The one third of the difference of the maximum radius of the maximum radius and auxiliary wheel 30 of wheel 20.

Further, relative to face 40 to be cleaned, the height in 20 center of circle of driving wheel is greater than the height in 30 center of circle of auxiliary wheel, i.e., The center of circle of auxiliary wheel 30 is below 20 center of circle of driving wheel, and to ensure when encountering barrier 1, auxiliary wheel 30 can touch obstacle Object 1.Auxiliary wheel 30 is vacantly arranged, and has certain altitude apart from face 40 to be cleaned, which can be found in Fig. 4 and 7.

By taking the setting of auxiliary wheel 30 is in 20 front of driving wheel as an example, when encountering barrier 1, auxiliary wheel 30 first contacts barrier 1, barrier 1 is wrapped by obstacle detouring groove 31, then, sweeping robot continuation moves forward, moves to auxiliary wheel 30 and drives Driving wheel 20 contacts barrier 1 simultaneously, and obstacle detouring groove 31 still wraps barrier 1, at this point, obstacle detouring groove 31 wraps barrier 1 to sweeping robot one advance driving force, meanwhile, barrier 1 by obstacle detouring groove 31 wrap and barrier 1 with to clear Face cleaning contacts so that barrier 1 is to 30 1 upward power of auxiliary wheel；Again because barrier 1 is wrapped simultaneously together by obstacle detouring groove 31 When contacted with driving wheel 20, driving wheel 20 and face to be cleaned and barrier 1 can generate a forward frictional force.In auxiliary wheel 30 To sweeping robot one driving force advanced, barrier 1 to auxiliary wheel 30 upward power and driving wheel 20 and face to be cleaned And under barrier 1 generates forward frictional force while acting on, driving wheel 20 is driven to clear the jumps 1.

In the embodiment of the present invention, the obstacle detouring groove 31 can according to different requirement for cleaning and use environment it is different into The corresponding setting of row farthest helps cleaning equipment to clear the jumps 1, to improve cleaning efficiency to realize.In one kind In achievable embodiment, with continued reference to Fig. 5 and Fig. 6, the obstacle detouring groove 31 is towards 30 central concave of auxiliary wheel First arcuate structure.It can make auxiliary wheel 30 that barrier 1 be driven to while be contacted auxiliary very wellly by arcuate structure Wheel 30 and driving wheel 20 are helped, then barrier 1 is wrapped and contacted with driving wheel 20 simultaneously by obstacle detouring groove 31 at this time.Obstacle detouring groove 31 wrap barrier 1 to the driving force of sweeping robot one advance, meanwhile, barrier 1 is wrapped simultaneously by obstacle detouring groove 31 And barrier 1 and face contact to be cleaned make barrier 1 to 30 1 upward power of auxiliary wheel；Again because barrier 1 is by obstacle detouring Groove 31 is wrapped and is contacted simultaneously with driving wheel 20, and driving wheel 20 and face to be cleaned and barrier 1 can generate forward friction Power.Auxiliary wheel 30 1 upward power and drive are given to the driving force of sweeping robot one advance, barrier 1 in auxiliary wheel 30 Driving wheel 20 and face to be cleaned and barrier 1 generate under forward frictional force acts on simultaneously, so that driving wheel 20 be driven to surmount obstacles Object 1, the barrier 1 are in particular limited in the round barrier of the first arcuate structure.

For example, auxiliary wheel 30 can wrap round tube by the first arcuate structure, moves to round tube while contacting auxiliary wheel 30 and driving wheel 20, so that driving wheel 20 be driven to cross round tube, round tube is, for example, the round tube chair leg of chair.

For another example round tube is metal circular tube, round tube is metal material, and surface is smooth, and coefficient of friction is low, passes through the first arc Structure can wrap round tube, move to round tube while contacting auxiliary wheel 30 and driving wheel 20, so that driving wheel 20 be driven to cross Round tube.

For another example the sweeping robot with water tank, water tank rag will increase the frictional force in face to be cleaned, lead to driving wheel 20 can not cross round tube, can wrap round tube by the first arcuate structure, move to round tube while contacting auxiliary wheel 30 and driving Driving wheel 20, so that driving wheel 20 be driven to cross round tube.

For another example round tube diameter, which is large enough to driving wheel 20, to be crossed in more coarse face to be cleaned, auxiliary wheel 30 Round tube is wrapped by the first arcuate structure, then, sweeping robot continuation moves forward, moves to auxiliary wheel 30 and driving wheel 20 contact round tube simultaneously, and the first arcuate structure still wraps round tube, and obstacle detouring groove 31 wraps round tube to sweeping robot one The driving force of a advance, meanwhile, round tube is wrapped by obstacle detouring groove 31 and round tube and face contact to be cleaned make round tube to auxiliary 30 1 upward power of wheel are helped, and because round tube is wrapped and contacted with driving wheel 20 simultaneously by obstacle detouring groove 31, driving wheel 20 A forward frictional force can be generated with face to be cleaned and round tube.The driving of sweeping robot one advance is given in auxiliary wheel 30 Power, round tube generate forward frictional force with face to be cleaned and round tube to the upward power of auxiliary wheel 30 and driving wheel 20 and act on simultaneously Under, drive driving wheel 20 to cross round tube.

In embodiments of the present invention, the quantity of the obstacle detouring groove 31 can be one, or multiple.It is got over described When barrier groove 31 is multiple, the obstacle detouring groove 31 is evenly arranged along the periphery of the auxiliary wheel 30.When one obstacle detouring groove 31, Clear the jumps 1 when, needing, which just can be carried out until obstacle detouring groove 31 turns at barrier 1, wraps barrier.When more When barrier groove 31 is multiple, the time withouted waiting for, the obstacle detouring groove 31 is evenly arranged along the periphery of the auxiliary wheel 30, It may be implemented during auxiliary wheel 30 continuously rolls, when encountering barrier 1, barrier 1 can be wrapped up quickly by obstacle detouring groove 31, To realize the obstacle detouring of cleaning equipment.

Further, the frictional force between raising auxiliary wheel 30 and barrier 1, with continued reference to Fig. 5, one kind of the invention In achievable embodiment, it is provided between the obstacle detouring groove 31 of adjacent two towards 30 central concave of auxiliary wheel Second arcuate structure 32.When encountering barrier 1, it is recessed that obstacle detouring to can quickly be taken barrier 1 by the second arcuate structure 32 In slot 31, to improve obstacle detouring efficiency.

When there is no obstacle detouring groove 31 on auxiliary wheel 30, cleaning equipment break the barriers 1 when, auxiliary wheel 30 first contacts barrier 1, auxiliary wheel 30 drives cleaning equipment continuation to move forward, moves to auxiliary wheel 30 and driving wheel 20 while contacting barrier 1, because Barrier 1 is connected to for auxiliary wheel 30 and barrier 1 and face contact to be cleaned make barrier 1 upward to auxiliary wheel 30 1 Power, and because auxiliary wheel 30 and driving wheel 20 contact barrier 1, driving wheel 20 and 1 meeting of face 40 to be cleaned and barrier simultaneously A forward frictional force is generated, in barrier 1 to auxiliary wheel 30 upward power and driving wheel 20 and face 40 to be cleaned and barrier Under acting on while hindering object 1 to generate forward two power of frictional force, driving wheel 20 clears the jumps 1, to enable cleaning equipment Smoothly clear the jumps 1.

When being provided with obstacle detouring groove 31 on auxiliary wheel 30, cleaning equipment break the barriers 1 when, auxiliary wheel 30 first contacts obstacle Object 1 wraps barrier 1 by obstacle detouring groove 31, and then, sweeping robot continuation moves forward, moves to 30 He of auxiliary wheel Driving wheel 20 contacts barrier 1 simultaneously, and obstacle detouring groove 31 still wraps barrier 1, at this point, obstacle detouring groove 31 wraps obstacle Object 1 give sweeping robot one advance driving force, meanwhile, barrier 1 by obstacle detouring groove 31 wrap and barrier 1 with to Cleaning face contact makes barrier 1 to 30 1 upward power of auxiliary wheel；Again because barrier 1 is wrapped simultaneously by obstacle detouring groove 31 It is contacted simultaneously with driving wheel 20, driving wheel 20 and face to be cleaned and barrier 1 can generate a forward frictional force.In auxiliary wheel 30 to the driving force of sweeping robot one advance, barrier 1 to the upward power and driving wheel 20 of auxiliary wheel 30 with it is to be cleaned Under face and barrier 1 generate forward frictional force while acting on, driving wheel 20 is driven to clear the jumps 1.

In embodiments of the present invention, the Manual push-pull that is also possible to that the main body 10 of cleaning equipment can be automatic running is transported Row.In automatic running mode, the rotation of driving wheel 20 and auxiliary rotating member 30 needs driving force, the realization of the embodiment of the present invention Mode include but is not limited to be following several:

A kind of achievable mode is that the auxiliary rotating member 30 and the driving wheel 20 are driven by same driving motor It is dynamic.For example, being provided with the first driver 50 and transmission system in the main body 10 with continued reference to Fig. 2.The driving wheel 20 and institute State the connection of the first driver 50.The auxiliary rotating member 30 is connect by transmission system with first driver 50.Such side Formula, driving wheel 20 and auxiliary rotating member 30 share a driver, so as to save the space inside main body 10, the first driving Device 50 includes but is not limited to for driving motor.Transmission system include but is not limited to be gear, screw rod, rack etc..For example, driving While transmission axis connection driving wheel 20 of motor, driving motor also passes through another transmission shaft connection gear, is passed by gear Dynamic band dynamic auxiliary rotating member 30 rotates.Battery is provided in main body 10 can provide electric power for motor.

The achievable mode of another kind is that the second driver and third driver are provided in the main body 10.Described second Driver is connect with the driving wheel 20.The third driver is connect with the auxiliary rotating member 30.Second driver and Three drivers include but is not limited to be driving motor, driving wheel 20 is individually connect with driver with auxiliary rotating member 30, from And driving wheel 20 and auxiliary rotating member 30 is made bigger driving force can be obtained, so that obstacle detouring is more smooth in obstacle detouring.

Further, in a kind of achievable embodiment of the invention, auxiliary rotating member 30 may be provided at driving wheel 20 Direction of advance, also can be set equal in the direction of retreat of driving wheel 20 or the direction of advance and direction of retreat of driving wheel 20 It is provided with auxiliary rotating member 30.The side of driving wheel 20 towards the direction of retreat is provided with the auxiliary rotating member 30.Sometimes The rear for waiting cleaning equipment is possible to will appear barrier 1, by the way that 20 groups towards the one of direction of retreat of the driving wheel is arranged in The auxiliary rotating member 30 of side, can drive cleaning equipment that can cross the barrier 1 at rear, to guarantee that cleaning equipment continues Work.

It should be noted that the auxiliary rotating member 30 of side of 20 groups of the driving wheel towards direction of retreat is arranged in Specific implementation structure can be found in the related content in above-described embodiment, details are not described herein again.

Embodiment 2

Referring to Fig. 1 to Fig. 6, correspondingly, the embodiment of the invention also provides a kind of cleaning equipments, comprising: main body 10, driving Wheel 20 and auxiliary rotating member 30.

Wherein, the driving wheel 20 and the auxiliary rotating member 30 are arranged in main body 10.The auxiliary rotating member 30 Hanging setting.The driving wheel 20 and the auxiliary rotating member 30 have on the face of the rotation centerline of the vertical driving wheel 20 There are projection, the projection section overlapping of the driving wheel 20 and the auxiliary rotating member 30.Break the barriers 1 when, it is described auxiliary turn Moving part 30 first contacts the barrier 1, and the auxiliary rotating member 30 drives the cleaning equipment continuation to move forward, moves to institute It states auxiliary rotating member 30 and driving wheel 20 while contacting the barrier 1.The auxiliary rotating member 30 is connected to the barrier 1 And the barrier 1 is contacted with the face 40 to be cleaned so that the barrier 1 is upward to the auxiliary rotating member 30 1 Power, meanwhile, the auxiliary rotating member 30 and the driving wheel 20 contact the barrier 1, the driving wheel 20 and institute simultaneously A forward frictional force can be generated by stating face 40 to be cleaned and the barrier 1, give the auxiliary rotating member in the barrier 1 While 30 upward power and the driving wheel 20 and the face 40 to be cleaned and the barrier 1 generate forward frictional force Under effect, the driving wheel 20 crosses the barrier 1.

Further optionally, getting over towards auxiliary 30 central concave of rotating member is provided on the auxiliary rotating member 30 Hinder groove 31.When by the barrier 1, the auxiliary rotating member 30 first contacts the barrier 1, passes through the obstacle detouring groove 31 wrap the barrier 1, and the cleaning equipment continuation moves forward, move to the auxiliary rotating member 30 and the driving Wheel 20 contacts the barrier 1 simultaneously.The obstacle detouring groove 31 still wraps the barrier 1, at this point, the obstacle detouring groove 31 wrap the barrier 1 to the driving force of the cleaning equipment one advance, meanwhile, the barrier 1 is by the obstacle detouring Groove 31 wraps and the barrier 1 is contacted with the face 40 to be cleaned so that the barrier 1 is rotated to the auxiliary 30 1 upward power of part, the barrier 1 are wrapped and contacted simultaneously with the driving wheel 20, institute by the obstacle detouring grooves 31 A forward frictional force can be generated by stating driving wheel 20 and the face 40 to be cleaned and the barrier 1, be rotated in the auxiliary Part 30 is to the driving force of cleaning equipment one advance, the barrier 1 to the upward power of the auxiliary rotating member 30 and described Driving wheel 20 and the face 40 to be cleaned and the barrier 1 generate under forward frictional force act on simultaneously, drive driving wheel 20 Clear the jumps 1.

Documented technical solution can be referred to mutually with documented technical solution in embodiment 1, be used for reference in embodiment 2, It no longer repeats one by one herein.

Embodiment 3

Wherein, the driving wheel 20 and the auxiliary rotating member 30 are arranged in main body 10.The auxiliary rotating member 30 Hanging setting.The driving wheel 20 and the auxiliary rotating member 30 have on the face of the rotation centerline of the vertical driving wheel 20 There are projection, the projection section overlapping of the driving wheel 20 and the auxiliary rotating member 30.

Break the barriers 1 when, the auxiliary rotating member 30 first contacts the barrier 1, and the auxiliary rotating member 30 drives The cleaning equipment continuation moves forward, until driving wheel 20 contacts the barrier 1 simultaneously.The auxiliary rotating member 30 abuts In the barrier 1 and the barrier 1 is contacted with the face 40 to be cleaned so that the barrier 1 gives auxiliary rotation 30 1 upward power of part, meanwhile, the driving wheel 20 contacts the barrier 1, the driving wheel 20 and the face to be cleaned 40 and the barrier 1 can generate a forward frictional force, give the auxiliary rotating member 30 upward power in the barrier 1 And the driving wheel 20 is while generate forward frictional force with the face 40 to be cleaned and the barrier 1 under effect, institute It states driving wheel 20 and crosses the barrier 1.

Further optionally, getting over towards auxiliary 30 central concave of rotating member is provided on the auxiliary rotating member 30 Hinder groove 31.When by the barrier 1, the auxiliary rotating member 30 first contacts the barrier 1, passes through the obstacle detouring groove 31 wrap the barrier 1, and the cleaning equipment continuation moves forward, moves to the driving wheel 20 and contact the barrier 1.The obstacle detouring groove 31 wraps the barrier 1 to the driving force of the cleaning equipment one advance, meanwhile, the obstacle Object 1 by the obstacle detouring groove 31 wrap and the barrier 1 contact with the face 40 to be cleaned so that the barrier 1 to Described auxiliary 30 1 upward power of rotating member.The barrier 1 is contacted with the driving wheel 20, the driving wheel 20 with it is described Face 40 to be cleaned and the barrier 1 can generate a forward frictional force, give cleaning equipment one in the auxiliary rotating member 30 The driving force of a advance, the barrier 1 to the upward power and the driving wheel 20 of the auxiliary rotating member 30 and it is described to Under clean surface 40 and the barrier 1 generate forward frictional force while acting on, driving wheel 20 is driven to clear the jumps 1.

Documented technical solution can mutually join with documented technical solution in embodiment 1 and embodiment 2 in embodiment 3 It examines, use for reference, no longer repeat one by one herein.

Embodiment 4

Referring to Fig. 1 to Fig. 6, correspondingly, the embodiment of the invention also provides a kind of cleaning equipments, comprising: main body 10, it is described Driving wheel 20 and auxiliary rotating member 30 are provided in main body 10.

Wherein, the vacantly setting of auxiliary rotating member 30.The driving wheel 20 and the auxiliary rotating member 30 are in vertical institute Stating has projection on the face of the rotation centerline of driving wheel 20, the projection section of the driving wheel 20 and the auxiliary rotating member 30 Overlapping.When obstacle detouring, the auxiliary rotating member 30 is identical with the direction of rotation of the driving wheel 20.

Break the barriers 1 when, the auxiliary rotating member 30 first contacts the barrier 1, and the auxiliary rotating member 30 drives The cleaning equipment continuation moves forward, until driving wheel 20 contacts the barrier 1 simultaneously.The auxiliary rotating member 30 abuts In the barrier 1 and the barrier 1 is contacted with the face 40 to be cleaned so that the barrier 1 gives auxiliary rotation 30 1 upward power of part, meanwhile, auxiliary rotating member 30 is identical as the rotation direction of driving wheel 20, assists rotating member 30 and obstacle Object 1 generates a forward frictional force.The driving wheel 20 contacts the barrier 1, the driving wheel 20 with it is described to be cleaned Face 40 and the barrier 1 can generate a forward frictional force, upward to the auxiliary rotating member 30 in the barrier 1 Power, the auxiliary forward frictional force of rotating member 30 and the driving wheel 20 and the face 40 to be cleaned and the barrier 1 generate Under acting on while forward frictional force, the driving wheel 20 crosses the barrier 1.

Documented technical solution and documented technical solution in embodiment 1, embodiment 2 and embodiment 3 in embodiment 4 It can mutually refer to, use for reference, no longer repeat one by one herein.

Shown in sum up, technical solution provided in an embodiment of the present invention has the following beneficial effects: that on the one hand, the present invention is implemented The technical solution that example provides, driving wheel and auxiliary rotating member have projection on the face of the rotation centerline of perpendicular drive wheel, drive Driving wheel and the projection section overlapping for assisting rotating member, i.e. auxiliary rotating member spatially partly overlap with driving wheel front-rear direction, And auxiliary rotating member be vacantly arranged, that is, auxiliary rotating member not with face contact to be cleaned.It is auxiliary when cleaning equipment breaks the barriers Rotating member is helped first to contact barrier, auxiliary rotating member drives cleaning equipment to continue to move, moves to auxiliary rotating member and driving wheel Barrier is contacted simultaneously, at this point, auxiliary rotating member is connected to barrier and barrier and face contact to be cleaned make barrier Give auxiliary one upward power of rotating member, meanwhile, because auxiliary rotating member and driving wheel contact barrier simultaneously, driving wheel with to Clean surface and barrier can generate a forward frictional force, barrier to the upward power and driving wheel of auxiliary rotating member with While face to be cleaned and barrier generate forward frictional force under effect, driving wheel clears the jumps, to make cleaning equipment It can smoothly clear the jumps.

On the other hand, technical solution provided in an embodiment of the present invention assists rotating member and driving wheel in perpendicular drive wheel There is projection, driving wheel and the projection section overlapping for assisting rotating member on the face of rotation centerline, and rotating member is assisted vacantly to set It sets, that is, auxiliary rotating member and assists being provided with obstacle detouring groove on rotating member not with face contact to be cleaned.Cleaning equipment is logical When crossing barrier, auxiliary rotating member first contact barrier, barrier is wrapped by obstacle detouring groove, then, sweeping robot after It is continuous to move forward, it moves to auxiliary rotating member and driving wheel while contacting barrier, obstacle detouring groove still wraps barrier, this When, obstacle detouring groove wraps the driving force that barrier advances to sweeping robot one, meanwhile, barrier is wrapped up by obstacle detouring groove Firmly and barrier and face contact to be cleaned make barrier give auxiliary one upward power of rotating member；Again because barrier is got over Barrier groove is wrapped and is contacted simultaneously with driving wheel, and driving wheel and face to be cleaned and barrier can generate a forward friction Power.In auxiliary the rotating member power and drive upward to auxiliary rotating member to sweeping robot one driving force advanced, barrier Under driving wheel and face to be cleaned and the forward frictional force of barrier generation act on simultaneously, driving wheel is driven to clear the jumps.

The technical solution provided according to embodiments of the present invention, may make cleaning equipment to clear the jumps very wellly, especially It is round barrier, square obstacle and other irregular barriers etc., so that cleaning equipment be avoided to be blocked by barrier The case where can not working, guarantee capable of working normally for cleaning equipment, significant increase cleaning efficiency.

Below with reference to concrete application scene, the technical solution adopted by the present invention is illustrated, to help to understand.It answers below With in scene, by taking cleaning equipment is sweeping robot as an example.

Application scenarios 1

There is barrier in the direction of advance of sweeping robot, the size of barrier is larger, especially round barrier, such as Round tube or square obstacle, such as square building block.Since barrier is relatively large in diameter, lead to the driving of existing sweeping robot Wheel can not directly break the barriers.For example, round tube chair leg that barrier is chair or other round barrier diameter ranges are about Greater than 8mm, in this case, the round tube chair leg card of chair is trapped in the driving wheel front end of sweeping robot, and sweeping robot can be with It retreats, to be detached from barrier, but the region in the round tube chair leg region of chair and its front is not cleaned.

Sweeping robot provided in an embodiment of the present invention, in the round tube chair leg for encountering chair, auxiliary rotating member is first contacted Barrier, auxiliary rotating member drive cleaning equipment continuation to move forward, move to auxiliary rotating member and driving wheel while contacting barrier Hinder object, at this point, auxiliary rotating member is connected to barrier and barrier and face contact to be cleaned make barrier give auxiliary rotation One upward power of part, meanwhile, because auxiliary rotating member and driving wheel contact barrier, driving wheel and face to be cleaned and barrier simultaneously Hinder object that can generate a forward frictional force, barrier to the upward power and driving wheel of auxiliary rotating member and face to be cleaned and While barrier generates forward two power of frictional force under effect, driving wheel clears the jumps, to keep cleaning equipment suitable Benefit clears the jumps, and continues to work normally, and the round tube chair leg card that chair will not occur is trapped in the driving wheel front end of sweeping robot The case where.

Or

It is provided with obstacle detouring groove on the auxiliary rotating member of sweeping robot provided in an embodiment of the present invention, is encountering chair When round tube chair leg, auxiliary rotating member first contact barrier, barrier is wrapped by obstacle detouring groove, then, sweeping robot after It is continuous to move forward, move to auxiliary rotating member and driving wheel while contacting barrier, at this point, obstacle detouring groove wrap barrier to The driving force of sweeping robot one advance, meanwhile, barrier is wrapped by obstacle detouring groove and barrier connects with face to be cleaned Touching is so that barrier gives auxiliary one upward power of rotating member；Again because barrier by obstacle detouring groove wrap and simultaneously with driving Wheel contact, driving wheel and face to be cleaned and barrier can generate a forward frictional force.In auxiliary rotating member to machine of sweeping the floor The driving force of people one advance, barrier are generated to auxiliary rotating member upward power and driving wheel and face to be cleaned and barrier Under forward frictional force acts on simultaneously, driving wheel is driven to clear the jumps, the round tube chair leg card that chair will not occur, which is trapped in, sweeps the floor The case where driving wheel front end of robot.

Application scenarios 2

There is barrier in the direction of advance of sweeping robot, blocking surfaces are smooth, such as metal circular tube or other tables The smooth square building block of the smooth round tube in face or surface, such blocking surfaces are smooth, and coefficient of friction is low, existing to sweep the floor The driving wheel of robot and floor and barrier frictional force reduce, and cause driving wheel that can not clear the jumps barrier, sweeper Device people pushes barrier and moves together, and barrier will affect the cleaning effect of sweeping robot.

Sweeping robot provided in an embodiment of the present invention, when encountering the smooth barrier in surface, auxiliary rotating member is first connect Barrier is touched, auxiliary rotating member drives cleaning equipment continuation to move forward, moves to auxiliary rotating member and driving wheel while contacting Barrier, at this point, auxiliary rotating member is connected to barrier and barrier and face contact to be cleaned turn barrier to auxiliary One upward power of moving part, meanwhile, because auxiliary rotating member and driving wheel contact barrier simultaneously, driving wheel and face to be cleaned and Barrier can generate a forward frictional force, in barrier to auxiliary rotating member upward power and driving wheel and face to be cleaned And while barrier generation forward two power of frictional force under effect, driving wheel clears the jumps, to enable cleaning equipment It smoothly clears the jumps, continues to work normally, driving wheel, which will not occur, to clear the jumps, and sweeping robot pushes barrier The case where moving together.

Or

It is provided with obstacle detouring groove on the auxiliary rotating member of sweeping robot provided in an embodiment of the present invention, is encountering surface light When sliding barrier, auxiliary rotating member first contacts barrier, wraps barrier, then, sweeping robot by obstacle detouring groove Continuation moves forward, moves to auxiliary rotating member and driving wheel while contacting barrier, at this point, obstacle detouring groove wraps barrier The driving force advanced to sweeping robot one, meanwhile, barrier is wrapped and barrier and face to be cleaned by obstacle detouring groove Contact is so that barrier gives auxiliary one upward power of rotating member；Again because barrier by obstacle detouring groove wrap and simultaneously with drive Driving wheel contact, driving wheel and face to be cleaned and barrier can generate a forward frictional force.In auxiliary rotating member to sweeper The driving force of device people one advance, the barrier power and driving wheel and to be cleaned face and obstacle produce upward to auxiliary rotating member Under raw forward frictional force acts on simultaneously, driving wheel is driven to clear the jumps, driving wheel, which will not occur, to clear the jumps, and sweep Floor-washing robot pushes the case where barrier moves together.

Application scenarios 3

Sweeping robot is cleaned in smooth floor surface, has barrier in the direction of advance of sweeping robot, Especially round barrier, such as round tube or square obstacle, such as square building block.Barrier and the coefficient of friction on floor reduce, The driving wheel of existing sweeping robot can not clear the jumps, and sweeping robot pushes barrier and moves together, thus obstacle The cleaning effect of object influence sweeping robot.

Sweeping robot provided in an embodiment of the present invention encounters barrier when smooth floor surface is cleaned, auxiliary Rotating member is helped first to contact barrier, auxiliary rotating member drives cleaning equipment continuation to move forward, moves to auxiliary rotating member and drive Driving wheel contacts barrier simultaneously, at this point, auxiliary rotating member is connected to barrier and barrier to hinder with face contact to be cleaned Object is hindered to give auxiliary one upward power of rotating member, meanwhile, because auxiliary rotating member and driving wheel contact barrier, driving wheel simultaneously A forward frictional force can be generated with face to be cleaned and barrier, in the barrier power and driving upward to auxiliary rotating member While wheel generates forward two power of frictional force with face to be cleaned and barrier under effect, driving wheel clears the jumps, thus So that cleaning equipment is smoothly cleared the jumps, so that cleaning equipment be enable smoothly to clear the jumps, continues to work normally, Bu Huifa Raw driving wheel can not clear the jumps, and sweeping robot pushes the case where barrier moves together.

Or

It is provided with obstacle detouring groove on the auxiliary rotating member of sweeping robot provided in an embodiment of the present invention, is encountering barrier When, auxiliary rotating member first contacts barrier, wraps barrier by obstacle detouring groove.Then, sweeping robot continuation is transported forward It is dynamic, it moves to auxiliary rotating member and driving wheel while contacting barrier, obstacle detouring groove still wraps barrier, at this point, obstacle detouring Groove wraps the driving force that barrier advances to sweeping robot one, meanwhile, barrier wrapped by obstacle detouring groove and Barrier and face contact to be cleaned make barrier give auxiliary one upward power of rotating member；Again because barrier is by obstacle detouring groove It wraps and is contacted simultaneously with driving wheel, driving wheel and face to be cleaned and barrier can generate a forward frictional force.Auxiliary Help rotating member to sweeping robot one driving force advanced, barrier to the upward power and driving wheel of auxiliary rotating member with to Clean surface and barrier generate under the effect simultaneously of forward frictional force, drive driving wheel to clear the jumps, driving wheel will not occur It can not clear the jumps, sweeping robot pushes the case where barrier moves together.

Application scenarios 4

Sweeping robot band cisten mechanism, with water tank sweeping robot load becomes larger, while clear water clean after to Clean surface, tire and floor and barrier frictional force reduce.The driving wheel of sweeping robot in the prior art can not cross barrier Object, especially circle barrier, such as round tube or square obstacle, such as square building block, sweeping robot is hindered to push barrier one Play movement.The round tube chair leg of chair is such as encountered, and because becoming larger with water tank load, sweeper can not be retreated, the round tube chair of chair Foot card is trapped in the driving wheel front end of sweeping robot, and sweeping robot can not retreat again, and final machine is caught in.

Sweeping robot provided in an embodiment of the present invention encounters barrier, and auxiliary rotating member first contacts barrier, and auxiliary turns Moving part drives cleaning equipment continuation to move forward, moves to auxiliary rotating member and driving wheel while contacting barrier, at this point, auxiliary Rotating member is connected to barrier and barrier and face contact to be cleaned make barrier give auxiliary one upward power of rotating member, Meanwhile because auxiliary rotating member and driving wheel contact barrier, driving wheel and face to be cleaned and barrier simultaneously can generate one Forward frictional force generates forward in barrier to auxiliary rotating member upward power and driving wheel and face to be cleaned and barrier Two power of frictional force while effect under, driving wheel clears the jumps, so that cleaning equipment be enable smoothly to clear the jumps, from And cleaning equipment is enable smoothly to clear the jumps, continue to work normally.

Or

It is provided with obstacle detouring groove on the auxiliary rotating member of sweeping robot provided in an embodiment of the present invention, is encountering barrier When, auxiliary rotating member first contacts barrier, wraps barrier by obstacle detouring groove.Then, sweeping robot continuation is transported forward It is dynamic, it moves to auxiliary rotating member and driving wheel while contacting barrier, at this point, obstacle detouring groove wraps barrier to machine of sweeping the floor The driving force of people one advance, meanwhile, barrier is wrapped by obstacle detouring groove and barrier with face contact to be cleaned to hinder Object is hindered to give auxiliary one upward power of rotating member；Again because barrier is wrapped and contacted with driving wheel simultaneously by obstacle detouring groove, Driving wheel and face to be cleaned and barrier can generate a forward frictional force.Before auxiliary rotating member is to sweeping robot one Into driving force, barrier is to the upward power and driving wheel of auxiliary rotating member and face to be cleaned and barrier generation is forward rubs It wipes under power effect simultaneously, driving wheel is driven to clear the jumps.

Application scenarios 5

In application scenarios 4, sweeping robot provided in an embodiment of the present invention can also be by being arranged in driving wheel direction The auxiliary rotating member of the side of direction of retreat, retrogressing clear the jumps.

By the way that auxiliary rotating member of the driving wheel towards the side of direction of retreat is arranged in, hinder at sweeping robot rear When hindering object, sweeping robot can also be retreated and be cleared the jumps.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims

1. a kind of cleaning equipment characterized by comprising main body, driving wheel and auxiliary rotating member；Wherein,

The auxiliary rotating member is vacantly arranged；

The driving wheel and the auxiliary rotating member have projection on the face of the rotation centerline of the vertical driving wheel, described The projection section overlapping of driving wheel and the auxiliary rotating member.

2. cleaning equipment according to claim 1, which is characterized in that the driving wheel and the auxiliary rotating member are vertical The lap of projection on the face of the rotation centerline of the driving wheel, the lap is along the driving wheel direction of travel Maximum distance be greater than or equal to it is described auxiliary rotating member tactical diameter 1/5.

3. cleaning equipment according to claim 2, which is characterized in that in the face of the rotation centerline of the vertical driving wheel On projection, the outer edge of the driving wheel by the auxiliary rotating member rotation center.

4. cleaning equipment according to any one of claim 1 to 3, which is characterized in that described auxiliary relative to face to be cleaned Help rotating member flying height be greater than or equal to the driving wheel the radius of gyration and it is described auxiliary rotating member the radius of gyration it The one third of difference.

5. cleaning equipment according to claim 4, which is characterized in that relative to face to be cleaned, in the driving wheel rotation The height of heart line is greater than the height of the auxiliary rotating member rotation centerline.

6. cleaning equipment according to any one of claim 1 to 3, which is characterized in that the rotation center of the driving wheel Line is parallel with the auxiliary rotation centerline of rotating member.

7. cleaning equipment according to any one of claim 1 to 3, which is characterized in that the auxiliary rotating member includes auxiliary Help wheel or auxiliary oscillating rod.

8. cleaning equipment according to claim 7, which is characterized in that be provided on the auxiliary wheel towards the auxiliary wheel The obstacle detouring groove of central concave.

9. cleaning equipment according to claim 8, which is characterized in that the obstacle detouring groove has towards in the auxiliary wheel First arcuate structure of heart recess.

10. cleaning equipment according to claim 8, which is characterized in that the obstacle detouring groove is multiple, the obstacle detouring groove Periphery along the auxiliary wheel is evenly arranged；

11. cleaning equipment according to any one of claim 1 to 3, which is characterized in that the auxiliary rotating member and described Driving wheel is driven by same driving motor.

12. cleaning equipment according to any one of claim 1 to 3, which is characterized in that the auxiliary rotating member and described The direction of rotation of driving wheel is identical.

13. a kind of cleaning equipment characterized by comprising main body, driving wheel and auxiliary rotating member；Wherein,

The auxiliary rotating member is vacantly arranged

The driving wheel and the auxiliary rotating member have projection on the face of the rotation centerline of the vertical driving wheel, described The projection section overlapping of driving wheel and the auxiliary rotating member；

When breaking the barriers, the auxiliary rotating member first contacts the barrier, and the auxiliary rotating member drives the cleaning to set It is standby to continue to move forward, it moves to the auxiliary rotating member and the driving wheel while contacting the barrier.

14. cleaning equipment according to claim 13, which is characterized in that be provided on the auxiliary rotating member described in Assist the obstacle detouring groove of rotating member central concave；

When by the barrier, the auxiliary rotating member first contacts the barrier, at least partly by the obstacle detouring groove The barrier is wrapped, then, the cleaning equipment continuation moves forward, moves to the auxiliary rotating member and the driving It takes turns while contacting the barrier.

15. a kind of cleaning equipment characterized by comprising main body, driving wheel and auxiliary rotating member；Wherein,

And the auxiliary rotating member is vacantly arranged；

When breaking the barriers, the auxiliary rotating member first contacts the barrier, and the auxiliary rotating member drives the cleaning to set It is standby to continue to move forward, until driving wheel contacts the barrier.

16. a kind of cleaning equipment characterized by comprising main body, main body are equipped with driving wheel and auxiliary rotating member；Wherein,

The auxiliary rotating member is vacantly arranged；

The driving wheel and the auxiliary rotating member have projection on the face of the rotation centerline of the vertical driving wheel, described The projection section overlapping of driving wheel and the auxiliary rotating member；When obstacle detouring, the rotation of the auxiliary rotating member and the driving wheel Direction is identical.