CN217013827U - Cleaning equipment - Google Patents

Abstract

The utility model discloses a cleaning device, belonging to the technical field of cleaning, the cleaning device comprises: a body; the cleaning mechanism is connected with the machine body; the obstacle crossing mechanism is connected with the machine body; the walking mechanism is arranged on the machine body; the cleaning equipment has a first state and a second state, the first state is that the walking mechanism is in contact with the surface to be cleaned, and the obstacle crossing mechanism is retracted; and in the second state, the obstacle crossing mechanism extends out to be in contact with the surface to be cleaned, and the travelling mechanism is separated from the surface to be cleaned. The cleaning device has better obstacle crossing performance.

Description

Cleaning equipment

Technical Field

The utility model relates to the technical field of cleaning, in particular to cleaning equipment.

Background

Cleaning equipment, such as a floor sweeping robot, a floor washing robot, a glass cleaning machine and the like, can automatically move on the surface to be cleaned, and perform cleaning operations such as dust collection, sweeping, mopping and wiping on the surface to be cleaned, so that the life of people is greatly facilitated, and people are liberated from heavy cleaning work.

Existing cleaning devices are typically provided with a running mechanism comprising rollers and a motor that drives the rollers to rotate so that the cleaning device moves across the surface to be cleaned. The existing cleaning equipment can only move on a relatively flat surface to be cleaned, has poor obstacle crossing capability and is easy to block when crossing obstacles. In addition, current cleaning device can not climb the step, leads to it can't go upstairs and downstairs, can only carry out cleaning at a certain floor, can't go upstairs or downstairs after the cleanness is accomplished to automatically go to other floor and carry out cleaning work, in the building that has a plurality of floors such as villa, for example, need the people to carry cleaning device to different floors and clean, it is very inconvenient to use.

Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a cleaning device which has stronger obstacle crossing capability.

The purpose of the utility model is realized by the following technical scheme: a cleaning device, comprising:

a body;

the cleaning mechanism is connected with the machine body;

the obstacle crossing mechanism is connected with the machine body; and

the traveling mechanism is arranged on the machine body;

wherein the cleaning device has a first state and a second state,

the first state is that the walking mechanism is in contact with the surface to be cleaned, and the obstacle crossing mechanism retracts;

and in the second state, the obstacle crossing mechanism extends out to be in contact with the surface to be cleaned, and the travelling mechanism is separated from the surface to be cleaned.

Further, the cleaning device further comprises a detection device arranged on the machine body, the detection device is used for detecting obstacles, and the cleaning device is switched between the first state and the second state according to a detection result of the detection device.

Further, the obstacle crossing mechanism comprises a plurality of mechanical legs connected with the machine body.

Further, the mechanical leg comprises a first motor connected with the body, a thigh driven by the first motor to rotate, a second motor connected with the thigh, a shank driven by the second motor to swing and a foot connected with the shank.

Furthermore, the mechanical leg further comprises a swing arm driven by the second motor to rotate and a connecting rod, wherein one end of the connecting rod is rotatably connected with the swing arm, and the other end of the connecting rod is rotatably connected with the lower leg.

Further, the obstacle crossing mechanism comprises at least two crawler belt traveling devices which are respectively connected to two sides of the machine body, the crawler belt traveling devices drive the machine body to move, and in the moving direction, at least one end of each crawler belt traveling device exceeds the machine body.

Furthermore, the obstacle crossing mechanism further comprises a rack connected with the crawler unit and a first lifting device connected between the rack and the machine body, and the machine body is movably connected with the rack and driven by the first lifting device to lift.

Further, obstacle crossing mechanism include with two at least stair climbing wheel devices that the organism links to each other, stair climbing wheel device is including being located two of organism both sides climb the stair wheel and drive climb stair wheel pivoted driving motor, climb the drive of stair wheel device the organism removes, and on the moving direction, the rotation range of the stair climbing wheel of a set of at least stair climbing wheel device surpasss the organism.

Further, climb the building wheel device with organism swing joint, obstacle crossing mechanism still including connect in the organism with climb the second elevating gear between the building wheel device, climb the building wheel device by second elevating gear drive is gone up and down.

Furthermore, the stair climbing wheel device further comprises a frame body and a guide rod connected with the machine body, the frame body is connected with the guide rod in a sliding mode, and the second lifting device drives the frame body to move along the guide rod.

Compared with the prior art, the utility model has the following beneficial effects:

according to the cleaning equipment, the obstacle crossing mechanism is arranged on the machine body, so that the obstacle crossing capability of the cleaning equipment can be improved, and the cleaning equipment can cross obstacles and climb stairs. So, cleaning device can come and go between different floors and carry out cleaning operation, has improved its degree of automation greatly, and it is more convenient to use. In addition, the cleaning device has a first state and a second state, wherein the first state is a state that the walking mechanism is in contact with the surface to be cleaned, and the obstacle crossing mechanism is retracted; the second state is that the obstacle crossing mechanism extends out to be in contact with the surface to be cleaned, and the travelling mechanism is separated from the cleaning surface, so that the obstacle crossing mechanism does not influence the normal cleaning operation of the cleaning equipment, the travelling mechanism and the cleaning mechanism do not influence the obstacle crossing effect of the cleaning equipment, and the cleaning effect and the obstacle crossing effect of the cleaning equipment are guaranteed.

Drawings

Fig. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of another perspective of the cleaning apparatus shown in fig. 1.

Fig. 3 is a side view of the cleaning device shown in fig. 1, with the cleaning device in a first state.

Fig. 4 is a schematic structural view of the mechanical leg of the present invention.

Fig. 5 is a schematic view of another viewing direction of the mechanical leg shown in fig. 4, which shows the structure of the inner portion of the thigh.

Fig. 6 is a schematic view of a cleaning apparatus according to an embodiment of the present invention.

Fig. 7 is a schematic view of the body of the cleaning device shown in fig. 6 disposed inside the housing.

Figure 8 is a schematic view of the body of the cleaning device shown in figure 6 attached to the base plate of the chassis.

Fig. 9 is an enlarged view of a portion I in fig. 8.

Figure 10 is a schematic view of another aspect of the cleaning apparatus shown in figure 6.

Fig. 11 is a side view of the cleaning device shown in fig. 6, with the cleaning device in a second state.

Figure 12 is a side view of the cleaning device shown in figure 6, with the cleaning device in a first state.

Fig. 13 is a schematic view of a cleaning apparatus according to an embodiment of the present invention.

Figure 14 is a side view of the cleaning device shown in figure 13, with the cleaning device in a first state.

Fig. 15 is a schematic view of the stair climbing wheel device of the present invention connected to a machine body.

Fig. 16 is a schematic structural view of the stair climbing wheel device of the present invention.

In the figure: 1. a body; 10. a chassis; 11. a long hole; 2. a cleaning mechanism; 3. a mechanical leg; 30. a first motor; 31. a thigh; 32. a lower leg; 33. a second motor; 34. a foot section; 35. swinging arms; 36. a connecting rod; 4. a traveling mechanism; 5. a crawler traveling device; 50. a frame; 500. a base plate; 501. a guide shaft; 502. a guide sleeve; 503. a spring; 504. avoiding holes; 51. a first lifting device; 53. a crawler; 54. a driving wheel; 55. a support wheel; 6. a stair climbing wheel device; 60. a stair climbing wheel; 61. a drive motor; 62. a frame body; 63. a second lifting device; 64. a guide rod; 65. a long axis; 66. a driven gear; 67. a drive gear.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not to be construed as limiting the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "comprising" and "having," as well as any variations thereof, in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the utility model. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

As shown in fig. 1 to 16, a cleaning apparatus according to a preferred embodiment of the present invention includes a body 1, and a cleaning mechanism 2, an obstacle crossing mechanism and a traveling mechanism 4 all connected to the body 1.

The traveling mechanism 4 is used for driving the machine body 1 to move, and generally comprises a motor and a roller driven by the motor, and the roller is driven by the motor to rotate so as to drive the machine body 1 to move integrally. The cleaning mechanism 2 is used for cleaning the surface to be cleaned on the ground, and the cleaning mechanism can comprise a rolling brush or a cleaning cloth, the rolling brush and the cleaning cloth are in contact with the surface to be cleaned, and the cleaning operation can be performed on the surface to be cleaned in the moving process of the machine body 1.

Obstacle-crossing mechanism is used for crossing the obstacle to improve obstacle-crossing ability, preferred, obstacle-crossing mechanism can also climb the step, so that cleaning equipment can clean the operation between different floors automatically, further improves its obstacle-crossing ability and degree of automation.

In order to be able to improve the obstacle crossing ability of the cleaning device without affecting the cleaning function of the cleaning device, the cleaning device is arranged to have a first state and a second state.

When the cleaning device is in the first state, the travelling mechanism 4 is in contact with the surface to be cleaned, the obstacle crossing mechanism is retracted, the obstacle crossing mechanism is lifted and is not in contact with the surface to be cleaned, and the travelling mechanism 4 and the cleaning mechanism 2 can normally work to perform moving and cleaning operations. When the obstacle crossing mechanism is in the second state, the obstacle crossing mechanism extends to be in contact with the surface to be cleaned, the traveling mechanism 4 is separated from the surface to be cleaned, at the moment, the obstacle crossing mechanism extends downwards to be in contact with the surface to be cleaned, the machine body 1 is further lifted, and the cleaning mechanism 2 and the traveling mechanism 4 are separated from the surface to be cleaned, so that the cleaning equipment is in an obstacle crossing state at the moment, cleaning operation is not performed, and after the obstacle crossing is finished, the cleaning equipment can be switched to the first state to perform cleaning operation.

By switching between the first state and the second state, the obstacle crossing mechanism arranged on the cleaning equipment can cross obstacles as required, and when the obstacle crossing mechanism is not required to cross obstacles, the obstacle crossing mechanism is in a withdrawing state, so that the normal cleaning operation of the cleaning equipment is not influenced, and the reliable operation of the cleaning operation can be ensured.

Furthermore, the cleaning device further comprises a detection device connected with the machine body 1, wherein the detection device is used for detecting obstacles, and the types of the obstacles are not limited, and for example, the obstacles can be one or more of a laser ranging sensor, an ultrasonic ranging sensor, a millimeter wave radar, a camera and a laser radar; the installation position of the detection device is not limited, and the detection device may be disposed at the front end or the upper end of the machine body 1, and can detect at least an obstacle at the front end of the machine body 1, so that the cleaning apparatus can sense the obstacle ahead when moving forward. As a preferred embodiment, the detection device can also detect the approximate height of the obstacle to make a more accurate determination of the environment. The detection device is electrically connected with a controller of the cleaning equipment, can feed detection information back to the controller, and further controls the cleaning equipment to be switched between a first state and a second state through the controller, specifically, when an obstacle in the moving direction is detected, the cleaning equipment is switched from the first state to the second state; when the fact that no obstacle exists in the moving direction is detected, the cleaning device is switched to the first state from the second state, and therefore the cleaning device can intelligently cross obstacles and clean according to the surrounding environment.

The cleaning device is described in more detail below by way of several embodiments, which are described below with different configurations of the obstacle crossing mechanism.

In a first embodiment, as shown in fig. 1 to 3, the obstacle detouring mechanism includes a plurality of mechanical legs 3 connected to the machine body 1. In a preferred embodiment, the number of the mechanical legs 3 is four, and the mechanical legs are symmetrically arranged on both sides of the machine body 1. The machine body 1 is driven by the mechanical legs 3 to cross obstacles and climb steps.

As a preferred embodiment, as shown in fig. 4, the mechanical leg 3 includes a first motor 30 connected to the body 1, an upper leg 31 driven to rotate by the first motor 30, a second motor 33 connected to the upper leg 31, a lower leg 32 driven to swing by the second motor 33, and a foot 34 connected to the lower leg 32.

Specifically, the housing of the first motor 30 is connected to the machine body 1 by a bolt, a hinge, etc., the housing of the second motor 33 is connected to the thigh 31 by a bolt, a hinge, etc., and the housing of the second motor 33 is also connected to the rotating shaft of the first motor 30, so that the second motor 33 and the thigh 31 can be driven to rotate by the first motor 30. The first motor 30 can drive the mechanical leg 3 to extend or retract, as shown in fig. 3, fig. 3 shows a state that the first motor 30 drives the mechanical leg 3 to retract, at this time, the mechanical leg 3 is not in contact with the surface to be cleaned, the walking mechanism 4 is in contact with the surface to be cleaned, and the cleaning device is in a first state; with further reference to fig. 1, fig. 1 shows the first motor 30 driving the robotic legs 3 to an extended position in which they are in contact with the surface to be cleaned, while the chassis 4 is out of contact with the surface to be cleaned, and the cleaning device is in a second position.

Further, the lower leg 32 is rotatably connected to the upper leg 31, as shown in fig. 5, a swing arm 35 is connected to a rotating shaft of the second motor 33, a connecting rod 36 is disposed between the swing arm 35 and the lower leg 32, one end of the connecting rod 36 is rotatably connected to the swing arm 35, and the other end is rotatably connected to the lower leg 32. When the second motor 33 drives the swing arm 35 to rotate, the link 36 can drive the lower leg 32 to swing, and thus the machine body 1 is driven to move. The foot 34 is intended to be in direct contact with the surface to be cleaned and may be provided externally with a soft layer, such as a rubber layer, which may serve to absorb shock, dampen noise, and protect the floor. Through the cooperation drive of first motor 30 and second motor 33, can drive thigh 31 and the bionical walking of shank 32, and then make cleaning equipment can conveniently hinder and climb the building.

In a second embodiment, as shown in fig. 6 and 7, the obstacle crossing mechanism includes at least two crawler belt units 5 respectively connected to two sides of the machine body 1, the crawler belt units 5 may adopt a crawler belt structure conventional in the art, for example, the crawler belt units 5 may include a first motor, a crawler belt 53, a driving wheel 54, and a plurality of supporting wheels 55, the driving wheel 54 and the supporting wheels 55 are both coupled in the crawler belt 53, and the driving wheel 54 is connected to a third motor, when the third motor drives the driving wheel 54 to rotate, the driving wheel 54 can drive the crawler belt 53 to rotate, and further drive the whole machine body 1 to move, so as to cross obstacles and climb the building.

In order to make crawler travel unit 5 can be reliable hinder and climb the building more, in the moving direction of organism 1, crawler travel unit 5 at least one end surpasses organism 1, like this, after detection device discerns the barrier, cleaning equipment can adjust the direction to its crawler travel unit 5 and surpass that end of organism 1 and face the barrier, and then make crawler travel unit 5 contact with the barrier earlier after removing to reliably utilize crawler travel unit 5 to hinder more and climb the building. Preferably, both ends of the crawler belt 5 are beyond the machine body 1 in the moving direction, so that the machine body 1 can conveniently cross obstacles and climb stairs no matter when moving forwards or backwards.

Further, in order to enable the cleaning device to be switched between the first state and the second state, as shown in fig. 7 to 9, the obstacle crossing mechanism further includes a frame 50 connected to the crawler unit 5 and a first lifting device 51 connected between the frame 50 and the body 1, and the body 1 is disposed in the frame 50, movably connected to the frame 50, and can be driven to lift by the first lifting device 51.

The first elevating device 51 may be, for example, an electric cylinder, an electric push rod, or other devices or structures having a linear driving function, and the number thereof is not limited to one. A plurality of guide shafts 501 may be further disposed on the bottom plate 500 of the frame 50, and a guide sleeve 502 adapted to the guide shafts 501 is disposed outside the machine body 1, so that the machine body 1 has better directionality when ascending and descending. A spring 503 may be disposed between the guide sleeve 502 and the guide shaft 501 for buffering and damping.

Obviously, when the first lifting device 51 is in the extended state, the machine body 1 is lifted, at this time, the traveling mechanism 4 and the cleaning mechanism 2 are out of contact with the surface to be cleaned, the crawler traveling device 5 is in contact with the surface to be cleaned, and the cleaning device is in the second state; when the second lifting device 51 is retracted, referring to fig. 10, the body 1 is extended from the escape hole 504 of the bottom plate 500 of the frame 50, so that the traveling mechanism 4 and the cleaning mechanism 2 are brought into contact with the surface to be cleaned beyond the lower end of the crawler belt 53, and the crawler belt 5 is correspondingly lifted and retracted out of contact with the surface to be cleaned, at which time the cleaning apparatus is in the first state. In this way, the cleaning apparatus can be conveniently switched between the first state and the second state by the driving of the first elevating means 51.

In a third embodiment, as shown in fig. 13 to 16, the obstacle crossing mechanism includes at least two stair climbing wheel devices 6 connected to the machine body 1, and the two stair climbing wheel devices 6 are arranged on the machine body 1 at intervals in front and back. The stair climbing wheel device 6 comprises two stair climbing wheels 60 positioned at both sides of the machine body 1 and a driving motor 61 for driving the stair climbing wheels 60 to rotate. The stair climbing wheel 60 is preferably a three-wheel stair climbing wheel or a four-wheel stair climbing wheel in the prior art, and fig. 13 and 16 show the stair climbing wheel 60 as a three-wheel stair climbing wheel.

When cleaning device is in the second state, climb building wheel 60 and support in treating clean surface, climb building wheel 60 through the drive of driving motor 61 and rotate, can drive organism 1 and remove, and then when meetting barrier or step, can be convenient climb building wheel 60 and cross the barrier or climb the building. As a preferred embodiment, the rotation range of the stair climbing wheel 60 of at least one stair climbing wheel device 6 exceeds the machine body 1 in the moving direction of the machine body 1, so that after the detection device identifies an obstacle, the cleaning device can adjust the direction to the end of the stair climbing wheel 60 with the rotation range exceeding the machine body 1 and face the obstacle, and further make the stair climbing wheel 60 contact with the obstacle after moving, so as to reliably utilize the stair climbing wheel 60 to climb the obstacle. Preferably, the rotation range of the stair climbing wheels 60 of the two stair climbing wheel devices 6 exceeds the machine body 1 in the moving direction, so that the machine body 1 can conveniently cross obstacles and climb stairs no matter when advancing or retreating.

Further, in order to enable the cleaning device to be switched between the first state and the second state, as shown in fig. 15, the stair climbing wheel device 6 is movably connected with the machine body 1, the obstacle crossing mechanism further comprises a second lifting device 63 connected between the chassis 10 of the machine body 1 and the frame body 62 of the stair climbing wheel device 6, and the stair climbing wheel device 6 is driven to lift by the second lifting device 63. Likewise, the second lifting device 63 may be an electric cylinder, an electric push rod, or other devices or structures with linear driving function, and the number of the devices or structures may be one or more.

Obviously, when the second lifting device 63 is in the extended state, the stair climbing wheel device 6 is lifted and retracted, so that the stair climbing wheel 60 is out of contact with the surface to be cleaned, and the machine body 1 and the traveling mechanism 4 are lowered to be in contact with the surface to be cleaned, at this time, the cleaning device is in the first state; when the second lifting device 63 is in the retracted state, the stair climbing wheel device 6 is driven to descend, the stair climbing wheel 60 is in contact with the surface to be cleaned, the machine body 1 and the traveling mechanism 4 are correspondingly lifted, the traveling mechanism 4 is further separated from the surface to be cleaned, and at the moment, the cleaning device is in the second state. In this way, the cleaning device can be conveniently switched between the first state and the second state by the driving of the second lifting device 63.

Further, referring to fig. 15 and 16, the stair climbing wheel device 6 includes a long shaft 65 rotatably connected to the frame body 62, a driven gear 66 connected to the long shaft 65, and a driving gear 67 connected to a motor shaft of the driving motor 61, wherein the driving motor 61 is fixedly connected to the frame body 62, and rotates the driven gear 66 and the long shaft 65 through the driving gear 67. The support body 62 is installed in the machine body 1, the long holes 11 vertically arranged are formed in two sides of the machine body 1, two ends of the long shaft 65 penetrate through the long holes 11 and extend to the outside of the machine body 1, and are connected with two stair climbing wheels 60 located outside the machine body 1, so that the driving motor 61 can drive the stair climbing wheels 60 to rotate. When the stair climbing wheel device 6 is driven to ascend and descend, the long shaft 65 moves along the long hole 11.

The stair climbing wheel device 6 further comprises a guide rod 64 connected to the chassis 10 of the machine body 1, the axis of the guide rod 64 is parallel to the lifting direction of the stair climbing wheel device 6, and the frame body 62 is in sliding fit with the guide rod 64 and can move along the guide rod 64, so that the stair climbing wheel device 6 can be guided by the guide rod 64 to move up and down. The frame body 62 may be provided with a guide hole for coupling with the guide rod 64, or the frame body 62 may be provided with a linear bearing or the like for coupling with the guide rod 64, so that the frame body 62 can smoothly move along the guide rod 64.

According to the cleaning equipment, the obstacle crossing mechanism is arranged on the machine body, so that the obstacle crossing capability of the cleaning equipment can be improved, and the cleaning equipment can cross obstacles and climb stairs. Therefore, the cleaning equipment can perform cleaning operation back and forth between different floors, the automation degree of the cleaning equipment is greatly improved, and the use is more convenient. In addition, the cleaning equipment has a first state and a second state, wherein the first state is a state that the travelling mechanism is in contact with the surface to be cleaned, and the obstacle crossing mechanism is retracted; the second state is that the obstacle crossing mechanism extends to be in contact with the surface to be cleaned, and the travelling mechanism is separated from the cleaning surface, so that the obstacle crossing mechanism cannot influence the normal cleaning operation of the cleaning equipment, and the travelling mechanism and the cleaning mechanism cannot influence the obstacle crossing effect of the cleaning equipment, thereby being beneficial to ensuring the cleaning effect and the obstacle crossing effect of the cleaning equipment.

The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered as the protection scope of the present invention.

Claims (10)

1. A cleaning apparatus, comprising:

a body;

the cleaning mechanism is connected with the machine body;

the obstacle crossing mechanism is connected with the machine body; and

the traveling mechanism is arranged on the machine body;

wherein the cleaning device has a first state and a second state,

the first state is that the walking mechanism is in contact with the surface to be cleaned, and the obstacle crossing mechanism is retracted;

and in the second state, the obstacle crossing mechanism extends out to be in contact with the surface to be cleaned, and the travelling mechanism is separated from the surface to be cleaned.

2. The cleaning apparatus as claimed in claim 1, further comprising a detecting device provided on the body for detecting an obstacle, the cleaning apparatus being switched between the first state and the second state based on a detection result of the detecting device.

3. A cleaning appliance as claimed in claim 1 or 2, wherein the obstacle crossing mechanism comprises a plurality of mechanical legs connected to the body.

4. The cleaning apparatus as claimed in claim 3, wherein the mechanical leg comprises a first motor connected to the body, a thigh driven to rotate by the first motor, a second motor connected to the thigh, a shank driven to swing by the second motor, and a foot connected to the shank.

5. The cleaning apparatus as claimed in claim 4, wherein the robot leg further comprises a swing arm driven to rotate by the second motor and a link having one end rotatably connected to the swing arm and the other end rotatably connected to the lower leg.

6. The cleaning apparatus as claimed in claim 1 or 2, wherein the obstacle crossing mechanism includes at least two crawler units respectively connected to both sides of the body, the crawler units driving the body to move, and at least one end of the crawler unit extending beyond the body in a moving direction.

7. The cleaning apparatus as claimed in claim 6, wherein the obstacle crossing mechanism further comprises a frame connected to the crawler unit and a first elevating unit connected between the frame and the body, and the body is movably connected to the frame and driven to be elevated by the first elevating unit.

8. The cleaning device as claimed in claim 1 or 2, wherein the obstacle crossing mechanism comprises at least two stair climbing wheel devices connected with the machine body, the stair climbing wheel devices comprise two stair climbing wheels positioned at two sides of the machine body and a driving motor driving the stair climbing wheels to rotate, the stair climbing wheel devices drive the machine body to move, and the rotation range of the stair climbing wheels of at least one stair climbing wheel device exceeds the machine body in the moving direction.

9. The cleaning apparatus as claimed in claim 8, wherein the climbing wheel device is movably connected to the body, the obstacle crossing mechanism further comprises a second lifting device connected between the body and the climbing wheel device, and the climbing wheel device is driven by the second lifting device to lift.

10. The cleaning apparatus as claimed in claim 9, wherein the stair climbing wheel device further comprises a frame body and a guide rod connected to the machine body, the frame body is slidably coupled to the guide rod, and the second lifting device drives the frame body to move along the guide rod.

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