CN219331548U - Obstacle surmounting wheel device and cleaning robot - Google Patents

Abstract

The application discloses obstacle crossing wheel device and cleaning robot belongs to cleaning equipment technical field. The obstacle detouring wheel device comprises: the mounting bracket is connected with the body of the cleaning robot, the wheel body which is rotationally arranged on the mounting bracket and is provided with a containing cavity and a rod penetrating hole, and the obstacle surmounting assembly. The obstacle surmounting assembly comprises: the elastic ferrule is sleeved on the wheel body and is arranged opposite to the rod penetrating hole, and the push rod is movably arranged in the accommodating cavity. The application provides a barrier wheel device more, through setting up the barrier subassembly that passes that has elastic ferrule and push rod, when cleaning robot need cross the barrier, the push rod is used for inserting the pole hole of wearing and supports the elastic ferrule, makes at least partial elastic ferrule protrusion in the wheel body to increase the external diameter of wheel body, improve the ground clearance of organism, thereby promote cleaning robot's barrier ability of crossing.

Description

Obstacle surmounting wheel device and cleaning robot

Technical Field

The application relates to the technical field of cleaning equipment, in particular to an obstacle crossing wheel device and a cleaning robot.

Background

The cleaning robot is intelligent equipment serving people, is mainly used for cleaning household sanitation, can be used for sucking dust, cleaning and mopping a surface to be cleaned, and brings great convenience to the life of people.

The existing cleaning robots are all provided with driving wheel sets, and the driving wheel sets are arranged on the machine body of the cleaning robot and used for driving the cleaning robot to move on a surface to be cleaned.

However, the existing driving wheel set can only meet the most basic moving requirement of the cleaning robot, when encountering obstacles such as a threshold and a large volume of garbage, the driving wheel set needs to be controlled by software to increase the rotating speed so as to utilize the inertia after acceleration to surmount the obstacle, and the driving speed is increased to surmount the obstacle, so that the tire of the cleaning robot is easy to slip and cannot surmount the obstacle or the obstacle surmounting process is bumpy and unstable, and the user experience is influenced.

Disclosure of Invention

In view of this, the purpose of the present application is to overcome the defects in the prior art, and provide an obstacle surmounting wheel device and a cleaning robot, so as to solve the technical problem of poor obstacle surmounting capability of the cleaning robot in the prior art.

To solve the above technical problem, in a first aspect, the present application provides:

a barrier-crossing wheel device comprising:

the mounting bracket is used for being connected with the machine body of the cleaning robot;

the wheel body is rotationally arranged on the mounting bracket, is provided with a containing cavity and is provided with a rod penetrating hole communicated with the containing cavity;

the obstacle crossing assembly comprises an elastic sleeve ring and a push rod, the elastic sleeve ring is sleeved on the wheel body and is opposite to the rod penetrating hole, the push rod is movably arranged in the accommodating cavity and used for being inserted into the rod penetrating hole and supporting the elastic sleeve ring, and at least part of the elastic sleeve ring protrudes out of the wheel body along the direction perpendicular to the rotation axis of the wheel body.

In addition, the obstacle detouring wheel device according to the application can also have the following additional technical features:

in some embodiments of the present application, the obstacle surmounting assembly further comprises a first driving mechanism and a driving disc, the driving disc is rotationally arranged in the accommodating cavity, a guide part is arranged on the driving disc, one end of the push rod is slidably connected with the guide part, the other end of the push rod is used for being inserted into the rod penetrating hole, the first driving mechanism is arranged on the mounting bracket, and the output end of the first driving mechanism is connected with the driving disc, and the driving disc is used for driving the driving disc to rotate so as to drive the push rod to move.

In some embodiments of the present application, the guide portion is an arc-shaped guide hole penetrating through the transmission disc, and one end of the push rod is provided with a slide rod penetrating through the arc-shaped guide hole.

In some embodiments of the present application, the transmission disc is a partial fluted disc, the partial fluted disc includes a disc body, a toothed portion and a toothless portion, be provided with on the disc body the guiding portion, toothed portion with toothless portion is followed the circumference setting of disc body, first actuating mechanism's output be provided with toothed portion meshing's drive gear.

In some embodiments of the present application, the transmission disc is a turbine disc, and the output end of the first driving mechanism is provided with a worm meshed with the turbine disc.

In some embodiments of the present application, a side of the elastic ferrule facing away from the wheel body is provided with a sucker assembly, the sucker assembly is arranged in a dislocation manner with the rod penetrating hole, and the sucker assembly is composed of a plurality of sucker structures.

In some embodiments of the present application, the obstacle detouring wheel device further comprises a connection assembly comprising a connection disc and a glue cover, the connection disc and the glue cover are both rotatably arranged in the accommodation cavity, and the transmission disc is connected between the connection disc and the glue cover.

In some embodiments of the present application, the glue cover is provided with a guide groove, and the push rod is slidably disposed in the guide groove.

In some embodiments of the present application, the obstacle detouring wheel device further comprises a second driving mechanism and a transmission mechanism, wherein the second driving mechanism is arranged on the mounting bracket, the transmission mechanism is connected between the second driving mechanism and the wheel body, and the second driving mechanism drives the wheel body to rotate through the transmission mechanism.

In a second aspect, the present application also provides a cleaning robot comprising the obstacle detouring wheel arrangement as described in any one of the embodiments above.

Compared with the prior art, the beneficial effects of this application are:

the application proposes a barrier wheel device, includes: the mounting bracket is connected with the body of the cleaning robot, the wheel body which is rotationally arranged on the mounting bracket and is provided with a containing cavity and a rod penetrating hole, and the obstacle surmounting assembly. Wherein, obstacle crossing subassembly includes: the elastic ferrule is sleeved on the wheel body and is arranged opposite to the rod penetrating hole, and the push rod is movably arranged in the accommodating cavity. The push rod is used for being inserted into the rod penetrating hole and supporting the elastic ferrule so that at least part of the elastic ferrule protrudes out of the wheel body along the direction perpendicular to the rotation axis of the wheel body.

The application provides a barrier wheel device more, through setting up the barrier subassembly that passes that has elastic ferrule and push rod, when cleaning robot need cross the barrier, the push rod is used for inserting the pole hole of wearing and supports the elastic ferrule, makes at least partial elastic ferrule protrusion in the wheel body to increase the external diameter of wheel body, improve the ground clearance of organism, thereby promote cleaning robot's barrier ability of crossing.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 illustrates a schematic view of a cleaning robot with an elastomeric boot retracted in some embodiments of the present application;

FIG. 2 is a schematic view of a cleaning robot with an elastic collar protruding from a wheel according to some embodiments of the present application;

FIG. 3 illustrates a schematic diagram of the obstacle detouring wheel arrangement with the elastic collar retracted in some embodiments of the present application;

FIG. 4 is a schematic view of the obstacle surmounting wheel device with the elastic collar protruding from the wheel body according to some embodiments of the present application;

FIG. 5 illustrates a schematic exploded view of the configuration of the obstacle detouring wheel device with the elastic collar retracted in some embodiments of the present application;

FIG. 6 is an exploded view of the obstacle detouring wheel device with the elastomeric collar protruding from the wheel in some embodiments of the present application;

FIG. 7 illustrates a schematic diagram of the obstacle surmounting assembly with the elastomeric boot retracted in some embodiments of the present application;

FIG. 8 is a schematic view of the obstacle surmounting assembly with the elastomeric boot raised from the wheel in accordance with some embodiments of the present application;

FIG. 9 is a schematic view showing an assembled view of the obstacle surmounting assembly and the connecting assembly with the elastomeric collar protruding from the wheel according to some embodiments of the present application;

FIG. 10 is a schematic view of another view of the assembled structure of the obstacle surmounting assembly and the connecting assembly with the elastomeric collar protruding from the wheel in accordance with some embodiments of the present application;

FIG. 11 illustrates a schematic diagram of the structure of a drive disk in some embodiments of the present application;

fig. 12 is a schematic diagram of a transmission assembly and a second drive mechanism and assembly structure according to some embodiments of the present application.

Description of main reference numerals:

1000-cleaning robot; 100-obstacle detouring wheel device; 110-mounting a bracket; 120-wheel body; 121-a receiving cavity; 122-a rod penetrating hole; 130-obstacle surmounting assembly; 131-an elastic ferrule; 1311-a chuck assembly; 132-a drive disk; 1321-tray; 13211-guide; 1322-toothed portion; 1323-toothless portion; 1324-a first clamping portion; 1325-a second snap-fit portion; 133-push rod; 1331-sliding bar; 134-a first drive mechanism; 1341-drive gear; 140-a connection assembly; 141-a connection pad; 142-a glue cover; 1421-guide slots; 150-a second drive mechanism; 160-a transmission mechanism; 200-organism; 300-mop.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

As shown in fig. 3 and 4, in a first aspect, an embodiment of the present application provides an obstacle detouring wheel device 100, which belongs to the technical field of cleaning equipment, and is mainly applied to a cleaning robot 1000, so as to realize that the cleaning robot 1000 moves relative to a surface to be cleaned and improve the obstacle detouring capability of the cleaning robot 1000.

Referring to fig. 5 and 6, the obstacle detouring wheel device 100 comprises: a mounting bracket 110 for connection with the body 200 of the cleaning robot 1000, a wheel body 120 rotatably provided on the mounting bracket 110 and having a receiving cavity 121 and a rod penetrating hole 122 communicating with the receiving cavity 121, and a obstacle surmounting assembly 130.

Wherein, obstacle detouring assembly 130 comprises: the elastic ring 131 is sleeved on the wheel body 120 and is arranged opposite to the rod penetrating hole 122, and the push rod 133 is movably arranged in the accommodating cavity 121, and the push rod 133 is used for being inserted into the rod penetrating hole 122 and supporting the elastic ring 131 so that at least part of the elastic ring 131 protrudes out of the wheel body 120 along the direction perpendicular to the rotation axis of the wheel body 120.

Specifically, the obstacle detouring wheel device 100 comprises a mounting bracket 110, a wheel body 120 and an obstacle detouring assembly 130. The mounting bracket 110 is used to connect with the body 200 of the cleaning robot 1000 so that the wheel 120 is fixed on the body 200. The wheel 120 is rotatably disposed on the mounting bracket 110, such that the wheel 120 can rotate about its rotation axis relative to the mounting bracket 110. The wheel 120 has a receiving cavity 121, and a rod hole 122 is formed in the wheel 120 and is communicated with the receiving cavity 121. The obstacle surmounting assembly 130 includes an elastic collar 131 and a push rod 133.

The elastic ring 131 is sleeved on the wheel body 120, the elastic ring 131 is opposite to the rod penetrating hole 122, and the push rod 133 is movably arranged in the accommodating cavity 121. The push rod 133 is used to insert into the rod through hole 122 and support the elastic collar 131, so that at least part of the elastic collar 131 protrudes from the wheel body 120 along a direction perpendicular to the rotation axis of the wheel body 120.

In this embodiment, the elastic ring 131 may be made of a gel material, such as silica gel and rubber, and in this embodiment, the elastic ring 131 is preferably made of silica gel, so that the elastic ring 131 has better wear resistance, and can help the wheel body 120 better surmount the obstacle and prolong the service life of the elastic ring 131. In addition, the elastic ring 131 is disposed opposite to the rod penetrating hole 122, so that the push rod 133 can accurately abut against the elastic ring 131 after passing through the rod penetrating hole 122, so as to elastically deform the elastic ring 131.

It can be appreciated that, in the obstacle detouring wheel device 100 provided in this embodiment, by providing the obstacle detouring assembly 130 having the elastic collar 131 and the push rod 133, when the cleaning robot needs to surmount an obstacle, the push rod 133 is used to insert the rod through hole 122 and support the elastic collar 131, so that at least part of the elastic collar 131 protrudes from the wheel body 120, thereby increasing the outer diameter of the wheel body 120 and increasing the ground clearance of the machine body 200, and further improving the obstacle detouring capability of the cleaning robot.

With continued reference to fig. 5 and 6, in some embodiments of the present application, the obstacle surmounting assembly 130 further includes a first driving mechanism 134 and a driving disc 132, where the driving disc 132 is rotatably disposed in the accommodating cavity 121, so that the driving disc 132 can rotate around its axis relative to the wheel body 120, a guiding portion 13211 is disposed on the driving disc 132, one end of a push rod 133 is slidably connected to the guiding portion 13211, the other end of the push rod 133 is used for being inserted into the rod penetrating hole 122, the first driving mechanism 134 is disposed on the mounting bracket 110, and an output end of the first driving mechanism 134 is connected to the driving disc 132, so as to drive the driving disc 132 to rotate, so as to drive the push rod 133 to move.

In this embodiment, the driving disc 132 is provided with the guide portion 13211, and the guide portion 13211 plays a role in guiding the push rod 133, so that the push rod 133 can stably move along the direction perpendicular to the rotation axis of the wheel body 120. Alternatively, the first drive mechanism 134 may be a rotary electric machine or a drive motor, both of which are capable of driving the drive disk 132 to rotate.

It can be appreciated that when the cleaning robot 1000 needs to surmount an obstacle, the first driving mechanism 134 of the obstacle surmounting assembly 130 drives the push rod 133 through the rod penetrating hole 122 via the driving disc 132 to support the elastic ring 131, so that at least part of the elastic ring 131 protrudes from the wheel body 120, so as to increase the outer diameter of the wheel body 120 and increase the ground clearance of the machine body 200, thereby improving the obstacle surmounting capability of the cleaning robot 1000.

In addition, in the conventional cleaning robot, since the outer diameter of the driving wheel set cannot be adjusted, the machine body 200 is relatively close to the surface to be cleaned, that is, the distance from the ground is relatively small, so that the driving wheel set is easy to sink into the blanket when the cleaning robot 1000 cleans the blanket, and the stability and the service life of the cleaning robot 1000 are affected. In the present embodiment, as shown in fig. 1 and 2, by providing the obstacle surmounting assembly 130, the ground clearance of the machine body 200 can be increased, which is beneficial for the cleaning robot 1000 to perform cleaning work on the blanket.

Furthermore, in the conventional cleaning robot, the mopping force of the mop 300 on the surface to be cleaned cannot be adjusted in the mopping mode, so that it is difficult to simulate the action of mopping the floor manually by gradually pressing and applying force from light to heavy, so that the cleaning effect of the mop 300 on stubborn stains is poor.

It should be noted that, when the cleaning robot 1000 is over the obstacle, that is, the push rod 133 pushes the elastic collar 131 to protrude from the wheel body 120, the first driving mechanism 134 is in a forward rotation state. When the cleaning robot 1000 passes over the obstacle, the second driving mechanism 150 rotates reversely, so as to drive the push rod 133 to move away from the elastic ring 131 and separate from the rod penetrating hole 122, thereby realizing elastic resetting of the elastic ring 131, and the wheel body 120 can recover to the original outer diameter. When the cleaning robot 1000 does not need to surmount the obstacle, that is, when the cleaning robot 1000 performs normal cleaning operation, the first driving mechanism 134 stops working, and a certain gap is formed between the other end of the push rod 133 and the wheel body 120, so that the other end of the push rod 133 does not contact the hole wall of the rod penetrating hole 122 or the inner surface of the wheel body 120, and the wheel body 120 can normally rotate without interference with the push rod 133.

As shown in connection with fig. 7, 8 and 11, in some embodiments of the present application, the guide portion 13211 is an arc-shaped guide hole penetrating the driving disc 132, and one end of the push rod 133 is provided with a sliding rod 1331 penetrating the arc-shaped guide hole.

In this embodiment, by providing the sliding rod 1331 and the arc-shaped guide hole, the sliding rod 1331 can slide along the hole wall of the arc-shaped guide hole, so that the push rod 133 can stably move along the direction perpendicular to the rotation axis of the wheel body 120, and the arc-shaped guide hole plays a guiding role on the push rod 133.

In other embodiments, the guiding portion 13211 may be a guiding rod, and an arc-shaped sliding groove is formed at one end of the pushing rod 133, and the guiding rod is disposed in the arc-shaped sliding groove, so as to achieve the guiding function on the pushing rod 133.

With continued reference to fig. 7, 8 and 11, in some embodiments of the present application, the driving disc 132 is a partial fluted disc, the partial fluted disc includes a disc body 1321, a toothed portion 1322 and a toothless portion 1323, wherein the disc body 1321 is provided with a guiding portion 13211, the toothed portion 1322 and the toothless portion 1323 are disposed along a circumferential direction of the disc body 1321, and an output end of the first driving mechanism 134 is provided with a driving gear 1341 meshed with the toothed portion 1322.

In this embodiment, by providing the partial fluted disc and the driving gear 1341, the first driving mechanism 134 can drive the disc 1321 to rotate through the driving gear 1341 and the toothed portion 1322, and further drive the push rod 133 to move along the direction perpendicular to the rotation axis of the wheel body 120 through the guiding portion 13211, so as to achieve the purpose of at least partially protruding the elastic collar 131 from the wheel body 120, thereby increasing the outer diameter of the wheel body 120.

In other embodiments, the transmission disc 132 may also be a turbine disc, and the output end of the first driving mechanism 134 is provided with a worm engaged with the turbine disc. It is understood that the first driving mechanism 134 can drive the push rod 133 to move through a transmission structure formed by the turbine disc and the worm, and can also push at least part of the elastic ring 131 to protrude from the wheel body 120.

As shown in fig. 7 and 8, in some embodiments of the present application, a suction cup assembly 1311 is disposed on a side of the elastic collar 131 facing away from the wheel body 120, where the suction cup assembly 1311 is disposed in a dislocation manner with respect to the rod through hole 122, and the suction cup assembly 1311 is composed of a plurality of suction cup structures.

In this embodiment, by arranging the chuck assembly 1311 composed of a plurality of chuck structures on the elastic collar 131, when the cleaning robot 1000 drags the floor and the elastic collar 131 protrudes out of the wheel body 120, the chuck structure can adsorb the surface to be cleaned containing moisture, so as to enhance the grip between the wheel body 120 and the surface to be cleaned, avoid the phenomena of slipping and drifting of the cleaning robot 1000, and improve the use experience of the user.

In any of the above embodiments of the present application, referring to fig. 9 and 10, optionally, the barrier-crossing wheel apparatus 100 further includes a connection assembly 140, the connection assembly 140 includes a connection disc 141 and a glue cover 142, the connection disc 141 and the glue cover 142 are rotatably disposed in the receiving cavity 121, and the driving disc 132 is connected between the connection disc 141 and the glue cover 142.

In this embodiment, the connecting disc 141 and the rubber cover 142 are provided, so that the driving disc 132 is conveniently assembled in the accommodating cavity 121 of the wheel body 120, so as to improve the assembly efficiency of the driving disc 132.

With continued reference to fig. 9 and 10, in some embodiments, the glue cover 142 is provided with a guiding groove 1421, and the push rod 133 is slidably disposed in the guiding groove 1421.

In this embodiment, by providing the guiding groove 1421 on the glue cover 142, the push rod 133 can stably slide along the groove wall of the guiding groove 1421 during the sliding process of the push rod 133, so as to improve the movement stability of the push rod 133.

As shown in fig. 9 to 11, in some specific embodiments, the two opposite sides of the driving disc 132 are respectively provided with a first clamping portion 1324 and a second clamping portion 1325, where the first clamping portion 1324 is clamped with the connecting disc 141, and the second clamping portion 1325 is clamped with the glue cover 142, so that the driving disc 132 is detachably connected between the connecting disc 141 and the glue cover 142.

In this embodiment, the first clamping portion 1324 and the second clamping portion 1325 are respectively disposed on two opposite sides of the driving disc 132, so that the driving disc 132 and the connecting assembly 140 are convenient to assemble, and the assembling efficiency of the driving disc 132 is improved.

As shown in fig. 12, in some embodiments of the present application, the obstacle detouring wheel device 100 further includes a second driving mechanism 150 and a transmission mechanism 160, the second driving mechanism 150 is disposed on the mounting bracket 110, the transmission mechanism 160 is connected between the second driving mechanism 150 and the wheel body 120, and the second driving mechanism 150 drives the wheel body 120 to rotate through the transmission mechanism 160.

In this embodiment, by providing the second driving mechanism 150 and the transmission mechanism 160, the second driving mechanism 150 can drive the transmission mechanism 160 to act so as to drive the wheel body 120 to rotate, so as to realize that the cleaning robot 1000 moves along the surface to be cleaned. The second drive mechanism 150 may be a rotating electric machine or a drive motor and the transmission mechanism 160 may be a gear assembly or a worm gear assembly.

With continued reference to fig. 12, the second driving mechanism 150 is illustratively a rotating electric machine, the transmission mechanism 160 is a gear assembly, a rotating shaft of the rotating electric machine is connected to an input end of the gear assembly, and an output end of the gear assembly is connected to the wheel body 120. The rotating motor can drive the gear assembly to rotate so as to drive the wheel body 120 to rotate, so that the cleaning robot 1000 moves along the surface to be cleaned.

As shown in fig. 1 and 2, in a second aspect, embodiments of the present application further provide a cleaning robot 1000 including a body 200 and the obstacle detouring wheel device 100 in any of the above embodiments. The obstacle detouring device is fixed to the body 200 for driving the cleaning robot 1000 to move along the surface to be cleaned.

It can be appreciated that the cleaning robot 1000 provided in this embodiment has the obstacle detouring wheel device 100 in any of the above embodiments, so that the cleaning robot has all the beneficial effects of the obstacle detouring wheel device 100, which are not described in detail herein.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. A barrier wheel apparatus, comprising:

the mounting bracket is used for being connected with the machine body of the cleaning robot;

the wheel body is rotationally arranged on the mounting bracket, is provided with a containing cavity and is provided with a rod penetrating hole communicated with the containing cavity;

the obstacle crossing assembly comprises an elastic sleeve ring and a push rod, the elastic sleeve ring is sleeved on the wheel body and is opposite to the rod penetrating hole, the push rod is movably arranged in the accommodating cavity and used for being inserted into the rod penetrating hole and supporting the elastic sleeve ring, and at least part of the elastic sleeve ring protrudes out of the wheel body along the direction perpendicular to the rotation axis of the wheel body.

2. The obstacle detouring wheel device according to claim 1, wherein the obstacle detouring assembly further comprises a first driving mechanism and a driving disc, the driving disc is rotatably arranged in the accommodating cavity, a guiding part is arranged on the driving disc, one end of the push rod is slidably connected with the guiding part, the other end of the push rod is used for being inserted into the rod penetrating hole, the first driving mechanism is arranged on the mounting bracket, and the output end of the first driving mechanism is connected with the driving disc and used for driving the driving disc to rotate so as to drive the push rod to move.

3. The obstacle detouring wheel device according to claim 2, wherein the guiding portion is an arc-shaped guiding hole penetrating the driving disc, and a sliding rod penetrating the arc-shaped guiding hole is arranged at one end of the push rod.

4. The obstacle detouring wheel device according to claim 2, wherein the transmission disc is a partial fluted disc, the partial fluted disc comprises a disc body, a toothed portion and a toothless portion, the disc body is provided with the guiding portion, the toothed portion and the toothless portion are arranged along the circumferential direction of the disc body, and the output end of the first driving mechanism is provided with a driving gear meshed with the toothed portion.

5. The obstacle detouring wheel device according to claim 2, wherein the transmission disc is a worm wheel disc, and the output end of the first drive mechanism is provided with a worm which meshes with the worm wheel disc.

6. The obstacle detouring wheel device according to claim 2, wherein a sucker assembly is arranged on one side of the elastic ferrule, which is away from the wheel body, and the sucker assembly is arranged in a staggered manner with the rod penetrating hole, and the sucker assembly is composed of a plurality of sucker structures.

7. The barrier-surmounting wheel device according to any one of claims 2 to 6, further comprising a connection assembly comprising a connection disc and a glue cover, both rotatably disposed within the receiving cavity, the drive disc being connected between the connection disc and the glue cover.

8. The barrier-crossing wheel device of claim 7, wherein the glue cover is provided with a guide slot, and the push rod is slidably disposed in the guide slot.

9. The obstacle detouring wheel device according to claim 1, further comprising a second driving mechanism and a transmission mechanism, wherein the second driving mechanism is arranged on the mounting bracket, the transmission mechanism is connected between the second driving mechanism and the wheel body, and the second driving mechanism drives the wheel body to rotate through the transmission mechanism.

10. A cleaning robot comprising the obstacle detouring wheel arrangement according to any one of claims 1 to 9.

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