CN112971609A

CN112971609A - Device for crossing barrier and cleaning device

Info

Publication number: CN112971609A
Application number: CN201911213670.0A
Authority: CN
Inventors: 程杰锋; 业明坤; 张军歌; 李清; 李忠华; 曹国新
Original assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Current assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2021-06-18

Abstract

The invention is suitable for the technical field of smart homes, and provides a device for crossing barriers and a cleaning device. The device for crossing the obstacle comprises: the connecting rod mechanism is movably connected with the shell; and one end of the obstacle crossing component is movably connected with the connecting rod mechanism, and the other opposite end of the obstacle crossing component is used for abutting against the obstacle to lift the shell. The cleaning device comprises a shell; a running wheel; the driving part is arranged in the shell and connected with the movable wheel so as to drive the movable wheel to move; the above-mentioned device for crossing an obstacle; the support piece is connected with the shell, and the obstacle crossing assembly is connected with the driving piece. In the invention, the connecting rod mechanism is movably connected to one end of the obstacle crossing assembly, so that the obstacle crossing assembly has a larger movement space under the guidance of the connecting rod mechanism in the movement process, and the shell can be lifted to a larger height, thereby improving the reliability of the obstacle crossing.

Description

Device for crossing barrier and cleaning device

Technical Field

The invention belongs to the technical field of intelligent home furnishing, and particularly relates to a device for crossing barriers and a cleaning device.

Background

In modern life, the appearance of the autonomous cleaning device provides convenience for cleaning the ground, and reduces the labor intensity. A household cleaning robot is a common autonomous cleaning device, and can automatically travel in a home room and simultaneously suck peripheral dust or foreign substances, thereby completing floor cleaning.

In a household, step doorsills exist in many occasions, such as a balcony living room, a living room toilet, a sliding door and the like, and the step doorsills can become barriers to the movement of the cleaning robot. When meeting the obstacles, a large part of the existing sweeping robots can be blocked, and people are required to intervene to get rid of difficulties. In order to improve the obstacle crossing capability of the cleaning robot, the roller wheels are usually adopted for obstacle crossing, and the problem of poor obstacle crossing capability still exists when the roller wheels cross the obstacle, so that the use requirement of reliable obstacle crossing cannot be really met.

Disclosure of Invention

In view of the above, the present invention provides a device for crossing an obstacle and a cleaning device, so as to solve the problem of poor obstacle crossing capability of the cleaning device.

In order to solve the above problems, the technical solution of the present invention is realized as follows: a barrier-spanning device for mounting on a housing of a mobile cleaning device, comprising: the connecting rod mechanism is movably connected with the shell; and one end of the obstacle crossing component is movably connected with the connecting rod mechanism, and the other opposite end of the obstacle crossing component is used for abutting against the obstacle to lift the shell.

Preferably, the obstacle crossing assembly comprises a first rotatable part and a second rotatable part, and the first part and the second part are pressed against the obstacle in turn.

Preferably, the link mechanism includes: one end of the supporting piece is movably connected with the shell, and the other end of the supporting piece is movably connected with the second part; a connector for articulation between the support member and the first component; the end head of one end of the first component is at least movably connected with the connecting piece, and the second component is also movably connected with the first component so as to rotate along with the rotation of the first component.

Preferably, the obstacle crossing assembly further comprises a transmission member for connecting the connecting member and the first member to drive the first member and the connecting member to rotate.

Preferably, one end of the transmission member is connected to the connecting member and the first member, and the other end of the transmission member is connected to a driving member disposed in the housing.

Preferably, the first member comprises: one end of the first connecting part is used for being connected with the transmission part and/or the connecting part; and the first pressing part is arranged at the other end of the first connecting part and is provided with a first free contact part which is bent downwards.

Preferably, the second member comprises: a second connecting portion for connecting with the first member; and the second pressing part is arranged at one end of the second connecting part and is provided with a second free contact part which is bent downwards.

Preferably, the second connecting portion is further configured to be movably connected to the first member.

The present invention also provides a cleaning device comprising: a housing; a running wheel; the driving part is arranged in the shell and connected with the movable wheel so as to drive the movable wheel to move; the above-mentioned device for crossing an obstacle; wherein, support piece with the casing is connected, obstacle crossing assembly with the driving piece is connected.

Preferably, the drive member comprises: a motor having an output shaft; the driving gear is fixed with the output shaft; a speed change gear set cooperating with the drive gear to change a rotational speed; the driving wheels and the obstacle crossing assemblies are respectively located on two opposite sides of the speed change gear set and are connected with the speed change gear set.

The invention provides a device for crossing obstacles, which comprises a link mechanism and an obstacle crossing assembly; the link mechanism is used for being movably connected with the shell, one end of the obstacle crossing component is movably connected with the link mechanism, and the other end opposite to the obstacle crossing component is used for abutting against the obstacle to lift the shell. The connecting rod mechanism is movably connected to one end of the obstacle crossing assembly, so that the obstacle crossing assembly has a larger movement space under the guidance of the connecting rod mechanism in the movement process. Therefore, in the obstacle crossing process, compared with the normal state, the obstacle crossing assembly can exceed the movement range of the normal state more, and further can lift the shell to a larger height, so that effective obstacle crossing is realized, and the obstacle crossing reliability is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic side view of a cleaning device provided in accordance with an embodiment of the present invention, with a portion of the housing omitted;

FIG. 2 is a schematic partial cross-sectional view of a cleaning apparatus provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an apparatus for crossing an obstacle according to an embodiment of the present invention;

FIG. 4 is a schematic view of an obstacle crossing device according to an embodiment of the present invention in an obstacle crossing state;

FIG. 5 is a schematic view of the internal structure of a driving member provided in the embodiment of the present invention;

FIG. 6 is a schematic view of a configuration in which an auxiliary obstacle detouring assembly is mounted in a housing according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an auxiliary obstacle detouring assembly according to an embodiment of the present invention.

Description of reference numerals:

11. a link mechanism; 111. a support member; 112. a connecting member; 12. an obstacle crossing assembly; 121. a first member; 1211. a first connection portion; 1212. a first pressing part; 1213. a first free contact portion; 122. a second component; 1221. a second connecting portion; 1222. a second pressing part; 1223. a second free contact portion; 1224. a bending section; 124. a transmission member; 20. a housing; 21. a running wheel; 22. a drive member; 221. a motor; 222. a driving gear; 223. a speed change gear set; 224. an output gear; 23. a buffer bracket; 231. a first end; 232. a second end; 25. an auxiliary obstacle crossing assembly; 251. a drive member; 2511. an electric motor; 2512. a first transmission member; 252. a push-out assembly; 2520. a pressing part; 2521. a cam; 2522. a drive shaft; 2523. a second transmission member.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, directly disposed or connected, or indirectly disposed or connected through intervening elements or intervening structures.

The individual features and embodiments described in the detailed description can be combined in any suitable manner, for example different embodiments and solutions can be formed by combining different specific features, without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations of the specific features of the invention will not be described further.

As shown in fig. 1, the device for crossing an obstacle provided by the embodiment of the present invention is mainly used for equipment such as a toy car or a floor cleaning device that can move on the floor, so that when such equipment needs to cross an obstacle (for example, the equipment needs to pass an obstacle such as a step threshold with a lower height), the device can play an auxiliary supporting role in crossing the obstacle, so as to improve the obstacle crossing ability of the equipment. In the embodiment of the present invention, the obstacle crossing device is exemplified as being applied to a cleaning device. Specifically, the obstacle crossing device is used for being mounted on a shell 20 of a movable cleaning device, the obstacle crossing device is used for realizing movable cleaning of the cleaning device, and when an obstacle is met, the obstacle crossing device can play a role in helping the cleaning device to smoothly pass through the obstacle, so that the situation that the cleaning device cannot be normally cleaned due to being trapped by the obstacle is avoided.

As shown in fig. 1 and 2, the obstacle crossing device includes a link mechanism 11 and an obstacle crossing assembly 12. The link mechanism 11 is used for being movably connected with the shell 20; one end of the obstacle crossing assembly 12 is movably connected to the link mechanism 11, and the opposite end is used for pressing against an obstacle to lift the housing 20. The movable connection between the link mechanism 11 and the housing 20 may be a direct connection or an indirect connection. One end of the obstacle crossing component 12 is movably connected with the connecting rod mechanism 11 to form a kinematic pair in a combined mode, the mounting position of the obstacle crossing component 12 is located through the connecting rod mechanism 11, the rotating range of the obstacle crossing component 12 can be guided and limited, the obstacle crossing component 12 is pressed against an obstacle to lift the shell 20, the distance between the shell 20 and a cleaning surface is larger than the height of the obstacle, and therefore the obstacle crossing component can pass through the cleaning surface smoothly. In the embodiment of the invention, the link mechanism 11 is movably connected to one end of the obstacle crossing assembly 12, and is preferably connected to the obstacle crossing assembly 12 at the limit position in the length direction. Namely, the obstacle crossing component 12 has two end heads at the extreme positions in the length direction, and the link mechanism 11 is movably connected at one end head in the obstacle crossing component 12 on the premise of satisfying effective movable connection. So that the other end of the obstacle crossing assembly 12 can have a larger movement space under the guidance of the link mechanism 11 during the rotation of the obstacle crossing assembly 12. In this way, in the process of obstacle crossing, compared with the normal state, the free end of the rotating obstacle crossing component 12 can exceed the movement range in the normal state more, and further can lift the shell to a larger height, so that effective obstacle crossing is realized, and the reliability of obstacle crossing is improved.

In some possible embodiments, as shown in FIG. 1, the obstacle crossing assembly 12 may be a member that is capable of rotating against an obstacle to effect lifting of the housing 20. In the embodiment of the present invention, as shown in fig. 2 and fig. 2, the obstacle crossing assembly 12 is configured to include a first rotatable member 121 and a second rotatable member 122, and the first rotatable member 121 and the second rotatable member 122 are configured to cross an obstacle in a manner of alternately pressing against the obstacle. Specifically, the first part 121 and the second part 122 may be driven by different driving members 22, and the rotation speeds may be different, so as to sequentially press against the obstacle; it is also possible to connect the first part 121 and the second part 122 at different positions on the same driver 22 to ensure that sequential pressing against obstacles is achieved; when the first part 121 and the second part 122 are connected to the same driving member 22, the driving member 22 may be a driving member 22 separately and additionally arranged, or may be directly connected to a roller of the cleaning device, and the driving member 22 and the roller share one driving member to realize driving, so that the arrangement mode has good flexibility.

As shown in fig. 2 and 3, in the embodiment of the present invention, the first member 121 and the second member 122 share a driving motor with the roller of the cleaning device, so that during the normal walking cleaning process of the cleaning device, the first member 121 and the second member 122 are arranged to rotate together, and the first member 121 and the second member 122 do not move beyond the movement range of the roller, but only rotate within a movement range not greater than the movement range of the roller, and do not contact with the cleaning surface to interfere with the normal rotation of the roller. When the roller encounters an obstacle, the roller is rotatably and movably connected with the housing 20 and supported by the elastic member, so that the roller is compressed after contacting the obstacle, and then the roller contracts to reduce the distance between the roller and the housing 20. At this time, the movement range of the first member 121 and the second member 122 is shifted beyond the movement range of the roller. Referring to fig. 4, the first part 121 and the second part 122 are pressed against the obstacle in turn to lift the housing 20 gradually, so that the housing 20 is prevented from touching the obstacle to climb over the obstacle, and the obstacle crossing stability can be improved.

The pressing in the above refers to the contact between two interacting objects and has a certain amount of force. For example, the first member 121 contacts an obstacle, and the first member 121 exerts a certain force on the obstacle to press the obstacle.

As shown in fig. 2 and 3, the link mechanism 11 includes a support member 111 and a connecting member 112. One end of the supporting member 111 is movably connected with the housing 20, and the other end is movably connected with the second member 122; the connecting member 112 is adapted to be movably connected between the supporting member 111 and the first member 121, and an end of the first member 121 is movably connected to at least the connecting member 112, and the second member 122 is also movably connected to the first member 121 to rotate with the rotation of the first member 121. The tip refers to an extreme position near one end of the connection member 112 in the length direction of the first member 121. By adopting the arrangement, a four-bar mechanism is formed between the link mechanism 11 and the obstacle crossing assembly 12, and each connection part is movably connected. Under the common guide and limit of the supporting part 111 and the connecting part 112, the first part 121 and the second part 122 can smoothly and reliably move in turns to be pressed against the obstacle, and the end head of one end of the first part 121 is movably connected with the connecting part 112 at least, so that the length of the first part 121 is utilized to the maximum extent, the movable range of the first part 121 is increased, the first part 121 and the second part 122 have larger movement space, and the obstacle crossing height and reliability are improved.

As shown in fig. 2 and 3, the obstacle crossing assembly 12 is configured to further include a transmission member 124, as the first member 121 and the second member 122 are driven to rotate by the same driving member 22. The transmission member 124 is used to connect the connecting member 112 and the first member 121 to drive the first member 121 and the connecting member 112 to rotate. Specifically, in practical arrangement, since the movement tracks of the first member 121 and the second member 122 are limited and guided by the supporting member 111, and the supporting member 111 is movably connected with the first member 121, the second member 122 can be directly connected with the first member 121 or directly connected with the supporting member 111, in the embodiment of the present invention, it is preferable to connect the second member 122 with the first member 121 and the supporting member 111 at the same time, and in this arrangement, all the parts of the supporting member 111, the transmission member 124, the connecting member 112, the first member 121 and the second member 122 are preferably movably connected, so that the obstacle crossing assembly 12 forms a five-bar linkage mechanism. Moreover, the driving force for driving the whole obstacle crossing assembly 12 to rotate is transmitted by the transmission member 124, and meanwhile, during the rotation, the movement tracks of the first part 121 and the second part 122 are limited and guided by the support member 111, so as to ensure that the first part 121 and the second part 122 can rotate according to the specified movement tracks, and further can continuously press against the obstacle to lift the housing 20 during the obstacle crossing process, thereby realizing the reliable obstacle crossing of the cleaning device.

As shown in fig. 2 and 3, one end of the transmission member 124 is connected to the connecting member 112 and the first member 121, and the other end of the transmission member 124 is connected to the driving member 22 disposed in the housing 20. Specifically, a connecting column is eccentrically disposed on the transmission member 124, and the connecting member 112 and the first component 121 are both connected to the connecting column, so that when the driving member 22 drives the transmission member 124 to rotate, the driving member can drive the first component 121 and the connecting member 112 to eccentrically rotate, and meanwhile, the connecting member 112 transmits a rotating force to the supporting member 111, and the supporting member 111 is driven to rotate, so that the movement tracks of the first component 121 and the second component 122 are limited and guided. Ensuring that the first and

second members

121, 122 do not interfere with the normal movement of the cleaning device when the cleaning device is in a normal cleaning state; when the cleaning device is in an obstacle crossing state, the first part 121 and the second part 122 can continuously press against the obstacle to realize obstacle crossing.

As shown in fig. 3, the first member 121 includes a first connecting portion 1211 and a first pressing portion 1212. One end of the first connection portion 1211 is used to connect the driving member 124 and the connection member 112, and the first pressing portion 1212 is disposed at the other end of the first connection portion 1211 and has a first free contact portion 1213 bent downward. When the first member 121 rotates to clear an obstacle, the first free contact portion 1213 presses against the obstacle, thereby generating an urging force to lift the housing 20. In a specific arrangement, the first member 121 is generally formed by integral molding, and the first free contact portion 1213 is preferably arranged at the front end of the first member 121 and is bent toward the obstacle. Thus, it is ensured that the first free contact portion 1213 of the first member 121 can first come into contact with the obstacle to generate a force to lift the housing 20 when the obstacle crossing is performed. The front end refers to an end of the first member 121 that is first in contact with an obstacle. Meanwhile, at least one side of the first free contact portion 1213 contacting the cleaning surface may be formed in an arc shape, so that smoothness of the first free contact portion 1213 rotating on the obstacle may be improved, and a frictional force of the contact with the obstacle may be reduced. Furthermore, an anti-slip structure such as an anti-slip groove or an anti-slip bump may be further provided at a position where the first free contact portion 1213 first contacts with the obstacle, so as to ensure that the first free contact portion 1213 does not slip immediately when contacting with the obstacle, thereby achieving reliable abutting and obstacle crossing.

As shown in fig. 2, the second member 122 includes a second connecting portion 1221 and a second pressing portion 1222. The second connecting portion 1221 is used to be movably connected to the first member 121, and the second pressing portion 1222 is disposed at one end of the second connecting portion 1221 and has a second free contact portion 1223 bent downward. Similarly, when the second member 122 needs to be pressed against an obstacle to clear the obstacle, the second free contact portion 1223 is pressed against the obstacle, so that an ejecting force can be generated to lift the housing 20. In a specific arrangement, the second member 122 is usually formed by integral molding, and the second free contact portion 1223 is preferably arranged at the front end of the second member 122, which is the first contact portion of the second member 122 with an obstacle, and is bent in a direction toward the obstacle. Therefore, it is ensured that the second free contact portion 1223 of the second member 122 first comes into contact with the obstacle to generate a force for lifting the housing 20 when the obstacle crossing is performed. Meanwhile, at least one side of the second free contact part 1223, which is in contact with the cleaning surface, is arranged to be arc-shaped, so that the smoothness of the second free contact part 1223 when rotating on an obstacle can be improved, and the friction force of the contact between the second free contact part 1223 and the obstacle is reduced. Furthermore, an anti-slip structure such as an anti-slip groove or an anti-slip protrusion may be disposed at a position where the second free contact portion 1223 first contacts with the obstacle, so as to ensure that the second free contact portion 1223 does not slip when just contacting with the obstacle, thereby achieving reliable abutting and obstacle crossing.

In the embodiment of the present invention, the second connection portion 1221 is connected to the support member 111 and the first member 121 at the same time. Thus, after the connection, the second connection portion 1221 is movably connected between the supporting member 111 and the first portion 121, the first portion 121 rotates to drive the second portion 122 to rotate, the supporting member 111 can guide the movement track of the second portion 122, and the second free contact portion 1223 can accurately swing. Specifically, in practical use, the first part 121 and the second part 122 are required to be pressed against the obstacle in turn, that is, the first part 121 is firstly pressed against the obstacle to lift the housing 20, and then the second part 122 is pressed against the obstacle to lift the housing 20 again. Therefore, in order to make the first free contact portion 1213 and the second free contact portion 1223 sequentially and alternately press against the obstacle, as shown in fig. 2, the second connection portion 1221 is further provided with a curved portion 1224 in a direction opposite to the direction in which the second free contact portion 1223 is curved, that is, the curved portion 1224 and the second free contact portion 1223 are continuously and reversely curved. Thus, the curved portion 1224 can raise the position of the second free contact portion 1223 upward by a predetermined height with respect to the position of the first free contact portion 1213, so that the first free contact portion 1213 and the second free contact portion 1223 are arranged in a staggered manner, and the second free contact portion 1223 can be pressed against the obstacle later than the first free contact portion 1213.

The device for crossing the obstacle provided by the embodiment of the invention is movably connected with the obstacle crossing assembly 12 by arranging the link mechanism 11, so that the obstacle crossing assembly 12 has a larger movement space, and the shell 20 can be lifted to a larger height. And the obstacle crossing assembly 12 comprises a first part 121 and a second part 122 which are movable, and the first part 121 and the second part 122 are arranged to be pressed against the obstacle in turn. Therefore, in the obstacle crossing process, the first part 121 and the second part 122 rotate to abut against an obstacle, so that the shell 20 can be lifted, in the process of lifting the shell 20, the first part 121 and the second part 122 adopt a mode of alternately abutting against, the first part 121 lifts the shell 20 firstly, then the second part 122 lifts the shell 20, and under the continuous lifting action of the first part 121 and the second part 122 on the shell 20, the cleaning device can reliably cross the obstacle.

As shown in fig. 1 and 2, in an embodiment of the present invention, there is also provided a cleaning apparatus including: a housing 20, a running wheel 21, a driving member 22 and the above-mentioned obstacle crossing device. The driving wheel 21 is connected with the shell 20; the driving part 22 is arranged in the shell 20 and connected with the running wheel 21 to drive the running wheel 21 to move; and support member 111 is coupled to housing 20 and barrier assembly 12 is coupled to drive member 22. The arrangement is that under the action of the driving force provided by the driving part 22, the driving wheel 21 and the obstacle crossing component 12 can rotate simultaneously, and when obstacle crossing is needed, the obstacle crossing component 12 is pressed on an obstacle to lift the shell 20, so that obstacle crossing is realized. Because the obstacle crossing device has the function of continuously lifting the shell 20, the cleaning device can reliably cross the obstacle when needing to cross the obstacle under the action of the device, and the problem that the automatic cleaning function cannot be smoothly realized due to the fact that the obstacle cannot be effectively crossed is avoided. The cleaning device is provided with the device for crossing the obstacle, so that the obstacle can be effectively crossed, and the automatic cleaning can be reliably realized.

As shown in fig. 3 and 5, the driving member 22 includes a motor 221, a driving gear 222, and a speed change gear set 223. The motor 221 has an output shaft, and the driving gear 222 is fixed to the output shaft so as to be rotated by the output shaft. The speed change gear set 223 is engaged with the driving gear 222 to change the rotation speed, and the traveling wheel 21 and the obstacle detouring assembly 12 are respectively located at opposite sides of the speed change gear set 223 and are connected to the speed change gear set 223. Specifically, the drive gear 222 is engaged with the speed change gear set 223 to rotate the speed change gear set 223. The speed change gear set 223 is engaged with an output gear 224 capable of outputting different rotation, and the driving wheel 21 and the obstacle crossing assembly 12 are respectively connected with the corresponding output gear 224 according to the requirement of the rotation speed thereof, so that the driving force can be obtained to realize the rotation. In the transmission process of the driving force, the transmission reliability is good through the mutual meshing transmission of the gears. The movable wheel 21 and the obstacle crossing assembly 12 are respectively arranged on two opposite sides of the speed change gear set 223, so that the movable wheel 21 and the obstacle crossing assembly 12 are arranged separately and non-continuously, one side of the movable wheel 21 is not connected with other parts, the structural complexity when the movable wheel 21 and the obstacle crossing assembly 12 are arranged on the same side is reduced, and the integral attractiveness is improved.

As shown in fig. 2 and 3, when the cleaning device surmounts and climbs an obstacle, collision vibration is easily generated due to the height difference, and in order to reduce the influence of the collision vibration on the smoothness of the cleaning device when surmounting the obstacle, a buffer bracket 23 is adopted, the buffer bracket 23 is provided with a first end 231 fixedly connected with the shell 20 and a second end 232 abutting against the walking assembly, and the first end 231 is opposite to the second end 232. And a return is provided between the buffer bracket 23 and the housing 20 for holding the second end 232 of the buffer bracket 23 against the running assembly. In actual setting, preferably set buffer support 23 and restoring piece to the component that can take place certain degree elastic deformation to support the second end 232 of buffering the support frame and lean on crossing barrier device, thereby when walking wheel and obstacle touch and are extrudeed, can give buffer support 23 with the collision impact transmission that the walking wheel received, rethread buffer support 23 and/or restoring piece take place elastic deformation and absorb the vibration that the in-process produced that crosses the barrier, avoid because cleaning device receives the collision and lead to moving unstable condition emergence, ensured cleaning device at the stationarity of crossing the barrier in-process.

As shown in fig. 2, during a specific obstacle crossing process, since the obstacle blocks the movement of the cleaning device in front of the movement of the cleaning device, the obstacle crossing assembly 12 lifts up the front side of the movement of the cleaning device to cross the obstacle. Therefore, the whole cleaning device can be inclined, the tail part of the shell 20 of the cleaning device is in contact friction with the cleaning surface, and the obstacle crossing difficulty of the cleaning device is increased. The tail part is the position of the cleaning device which is positioned behind the cleaning direction along the moving cleaning direction, namely close to the edge of the rear end of the machine shell in the working state; or tail may also refer to a distance from the rear end of the housing 20 within 20% of the length of the housing 20. Therefore, in order to avoid the friction between the tail part of the housing 20 and the cleaning surface in the obstacle crossing process of the cleaning device, an auxiliary obstacle crossing assembly 25 is arranged at the bottom of the housing 20 of the cleaning device, and the friction between the tail part of the housing 20 of the cleaning device and the cleaning surface is avoided through the auxiliary obstacle crossing assembly 25, so that the obstacle crossing reliability of the cleaning device is improved.

As shown in fig. 6 and 7, the auxiliary obstacle detouring assembly 25 includes a driving member 251 and an ejector assembly 252. The driving member 251 is disposed on the housing 20, and the pushing assembly 252 includes an abutting portion 2520 contacting the cleaning surface, and is connected with the driving member 251 for enabling at least the abutting portion 2520 to move between a first position and a second position under the driving of the driving member 251. The first position is the position where the pushing assembly 252 is farthest from the cleaning surface, and the second position is the position where the pushing assembly 252 abuts against the cleaning surface; meanwhile, the distance refers to a distance from the center of gravity of the ejector assembly 252 to the cleaning surface. That is, in actual use, when the auxiliary obstacle crossing is not needed, the pushing assembly 252 is kept in the retracted state and kept at the first position, and when the auxiliary obstacle crossing is needed, the pushing assembly is unfolded under the driving of the driving member 251 until the pushing assembly moves to the second position so as to lift at least the tail part of the shell.

As shown in fig. 7, the driving member 251 includes an electric motor 2511 and a first transmission member 2512. An electric motor 2511 is provided on the housing 20 (see fig. 1) for generating a driving force capable of moving the ejector assembly 252. The first transmission member 2512 is connected between the electric motor 2511 and the ejection assembly 252, and is used for transmitting the driving force generated by the electric motor 2511 to the ejection assembly 252 to drive the ejection assembly 252 to move between the first position and the second position, so that the use requirement of the auxiliary cleaning device for obstacle crossing is met.

As shown in fig. 7, the ejector assembly 252 is provided to include a cam 2521, a transmission shaft 2522, and a second transmission member 2523. The cam 2521 is a member having a curved profile, and the range of motion of each portion is unequal during rotation, with the portion having the greatest range of motion and the portion having the smallest range of motion. Therefore, the cam 2521 is provided, and the pressing portion 2520 capable of forming the maximum movement range is provided. In this way, in the auxiliary obstacle crossing process, the pressing portion 2520 rotates to make contact with the cleaning surface in a circulating manner, so that the tail of the housing 20 (see fig. 2) can be lifted intermittently, and the use requirement of the auxiliary cleaning device for realizing reliable obstacle crossing is met. Specifically, the transmission shaft 2522 passes through the cam 2521 and the cam 2521 is fixedly connected, and both ends of the transmission shaft 2522 are movably connected with the housing 20 to achieve stable installation of the ejection assembly 252; meanwhile, the second transmission member 2523 is fixedly connected to the transmission shaft 2522, and the second transmission member 2523 is connected to the first transmission member 2512, and the connection between the first transmission member 2512 and the second transmission member 2523 may be an indirect connection by means of a belt, or a direct connection between the first transmission member 2512 and the second transmission member 2523. Thus, after the driving force generated by the electric motor 2511 is transmitted to the second transmission element 2523 by the first transmission element 2512, the cam 2521 can be directly driven to rotate, and when the part of the cam 2521 capable of realizing the maximum movement range is pressed against the cleaning surface, the tail of the housing 20 is lifted.

Specifically, as another implementation manner of the pushing assembly 252, the pushing assembly 252 may also be configured as a lifting structure composed of a screw rod and a slider, and then the motor drives the screw rod to rotate forward and backward to lift the tail portion of the housing 20.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A barrier-spanning device for mounting on a housing of a mobile cleaning device, comprising:

the connecting rod mechanism is movably connected with the shell;

and one end of the obstacle crossing component is movably connected with the connecting rod mechanism, and the other opposite end of the obstacle crossing component is used for abutting against the obstacle to lift the shell.

2. A device for spanning an obstacle as recited in claim 1, wherein said obstacle crossing assembly includes rotatable first and second members which in turn bear against said obstacle.

3. A device for crossing an obstacle according to claim 2, wherein said linkage comprises:

one end of the supporting piece is movably connected with the shell, and the other end of the supporting piece is movably connected with the second part;

a connector for articulation between the support member and the first component;

the end head of one end of the first component is at least movably connected with the connecting piece, and the second component is also movably connected with the first component so as to rotate along with the rotation of the first component.

4. A device for spanning an obstacle as recited in claim 3, wherein said obstacle crossing assembly further comprises:

and the transmission piece is connected with the connecting piece and the first component so as to drive the first component and the connecting piece to rotate.

5. A device for spanning an obstacle according to claim 4 wherein one end of said transmission member is connected to said connector and said first member and the other end of said transmission member is connected to a driving member disposed within said housing.

6. An apparatus for spanning an obstacle as recited in claim 5, wherein said first member comprises:

one end of the first connecting part is movably connected with the transmission part and the connecting part;

and the first pressing part is arranged at the other end of the first connecting part and is provided with a first free contact part which is bent downwards.

7. A device for crossing an obstacle according to claim 3, wherein said second member comprises:

the second connecting part is movably connected with the supporting part and the first part;

and the second pressing part is arranged at one end of the second connecting part and is provided with a second free contact part which is bent downwards.

8. A device for spanning an obstacle as claimed in claim 7, wherein said second connecting portion is also adapted to be movably connected to said first member.

9. A cleaning device, comprising:

a housing;

a running wheel;

the driving part is arranged in the shell and connected with the movable wheel so as to drive the movable wheel to move;

an apparatus for crossing an obstacle according to any one of claims 1 to 8;

wherein, support piece with the casing is connected, obstacle crossing assembly with the driving piece is connected.

10. The cleaning apparatus defined in claim 9, wherein the drive member comprises:

a motor having an output shaft;

the driving gear is fixed with the output shaft;

a speed change gear set cooperating with the drive gear to change a rotational speed;

the driving wheels and the obstacle crossing assemblies are respectively located on two opposite sides of the speed change gear set and are connected with the speed change gear set.