WO2025260583A1 - 行走轮机构和清洁设备 - Google Patents

行走轮机构和清洁设备

Info

Publication number
WO2025260583A1
WO2025260583A1 PCT/CN2024/128462 CN2024128462W WO2025260583A1 WO 2025260583 A1 WO2025260583 A1 WO 2025260583A1 CN 2024128462 W CN2024128462 W CN 2024128462W WO 2025260583 A1 WO2025260583 A1 WO 2025260583A1
Authority
WO
WIPO (PCT)
Prior art keywords
walking wheel
walking
wheel mechanism
angle
traveling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/128462
Other languages
English (en)
French (fr)
Inventor
韩奕非
李智军
包安宁
朱道文
朱海
张磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202421396452.1U external-priority patent/CN223208348U/zh
Priority claimed from CN202410850900.9A external-priority patent/CN118746995A/zh
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of WO2025260583A1 publication Critical patent/WO2025260583A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • This application relates to the field of cleaning equipment technology, and in particular to a walking wheel mechanism and a cleaning device.
  • Cleaning equipment includes a wheel mechanism; when the equipment is in operation, the wheel mechanism moves to propel it forward and achieve cleaning, reducing the burden on people and bringing convenience to their lives.
  • the bottom of the cleaning equipment should not be too far from the ground.
  • the bottom may be too close to the ground, which may affect the operation of the cleaning equipment. For example, when encountering obstacles, the bottom being too low may cause the equipment to fail to overcome them. When encountering deep water, the bottom being too low may cause water to enter the cleaning equipment and damage it.
  • this application provides a walking wheel mechanism and a cleaning device.
  • the degree of overlap between the walking wheel mechanism and the machine body is changed, thereby changing the distance between the machine body of the cleaning device and the ground.
  • a walking wheel mechanism which is mounted on the body of a cleaning device.
  • the walking wheel mechanism includes a walking wheel assembly, which includes a walking component capable of telescopically moving between a first position and a second position relative to the body. The first position is located below the second position along the height direction of the walking component.
  • the amount of overlap between the projection of the walking component on the body and the body along the direction of travel of the fuselage is greater than 1%, preferably greater than 5%, more preferably greater than 10%, greater than 20%, or greater than 30%.
  • the overlap between the projection of the walking component on the body and the body along the direction of travel of the fuselage is less than or equal to 95%.
  • the overlap between the projection of the walking component on the fuselage and the fuselage is greater than or equal to 60%.
  • the overlap between the projection of the wheel mounting base on the body and the body along the traveling direction of the machine body is greater than or equal to 0.
  • each position of the upper part of the wheel mounting base has at least a partial overlap with the body, with a minimum overlap greater than or equal to 0, preferably ⁇ 1%.
  • the overlap between the projection of the wheel mount on the body and the body along the traveling direction of the machine body is less than or equal to 98%, preferably less than or equal to 90%.
  • the traveling component includes: a traveling wheel mounting base with a protective cover; a traveling wheel mounted on the traveling wheel mounting base; wherein, along the traveling direction of the machine body, the protective cover has a protective portion located in front of the traveling wheel.
  • At least a portion of the outer surface of the protective part is inclined in the direction from the bottom to the top, forming the inclined portion.
  • the inclined portion is disposed on the front side of the outer surface along the direction of travel of the fuselage.
  • the angle between the outer surface and the bottom of the body when the walking component is in the first position, the angle between the outer surface and the bottom of the body is a first angle, and when the walking component is in the second position, the angle between the outer surface and the bottom of the body is a second angle, wherein the minimum first angle is less than or equal to the minimum second angle.
  • both the first included angle and the second included angle are greater than or equal to 20° and less than or equal to 60°.
  • At least a portion of the outer surface of the protective part has an inclined first guide surface, which is inclined away from the walking wheel along the direction from the bottom to the top of the first guide surface.
  • the angle between the first guide surface and the bottom of the body is a third angle
  • the angle between the first guide surface and the bottom of the body is a fourth angle
  • the third angle is smaller than the fourth angle
  • the third included angle is greater than or equal to 20° and less than or equal to 40°; the fourth included angle is greater than or equal to 50° and less than or equal to 60°.
  • the outer surface of the protective portion has a protrusion, which is disposed at least in the middle portion of the protective portion in the width direction.
  • the protrusion has curved surfaces, concave surfaces, or flat surfaces with reduced curvature on both sides in the width direction.
  • a cleaning device including the aforementioned walking wheel mechanism.
  • the cleaning device further includes: a body connected to the walking component; wherein the bottom of the body is provided with a hole for the walking component to extend and retract, and the body is provided with a second guide surface, which is located in front of the hole and inclined along the traveling direction of the body.
  • the walking wheel mechanism has a walking wheel mounting seat that is telescopically connected to the machine body and can switch between a first position and a second position. Along the height direction of the walking wheel mounting seat, the first position is located below the second position.
  • the walking wheel mounting seat By telescopically extending the walking wheel mounting seat, the height difference between the walking wheel assembly and the machine body can be changed, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.
  • the extension and retraction of the wheel mounting base can be determined by detecting the overlap between the projection of the wheel mounting base onto the machine body and the machine body itself. This avoids interference from the external environment and ensures the reliability and accuracy of the operation. Simultaneously, using the wheel mounting base and the machine body as the detection objects, they do not rotate, shift, or displace during the detection process.
  • the wheel mounting base and the machine body provide a stable reference system, further ensuring the reliability and accuracy of the detection results. By ensuring the reliability and accuracy of the detection results, the extension or retraction state of the wheel mounting base can be accurately detected or determined. Moreover, only the overlap between the projection of the wheel mounting base onto the machine body and the machine body needs to be detected to determine the extension or retraction state of the wheel assembly.
  • the signal processing is simple and the cost is low.
  • Figure 1 is a schematic diagram of the walking wheel mechanism provided in an embodiment of this application.
  • Figure 2 is a schematic diagram of the drive component structure in the walking wheel mechanism provided in an embodiment of this application;
  • Figure 3 is a schematic diagram of the bearing bracket assembly in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 4 is a schematic diagram of the walking wheel assembly structure in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 5 is a schematic diagram of the abutment pressure plate structure in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 6 is a schematic diagram of the cam structure in the walking wheel mechanism provided in an embodiment of this application.
  • Figure 7 is a schematic diagram of the cam structure in a walking wheel mechanism provided in another embodiment of this application.
  • Figure 8 is a cross-sectional view of the sliding bushing and the walking wheel mounting base assembly in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 9 is a schematic diagram of the structure of the protective cover in the walking wheel mechanism provided in the embodiment of this application.
  • Figure 10 is a front view of the protective cover in the walking wheel mechanism provided in the embodiment of this application.
  • Figure 11 is a side view of the protective cover in the walking wheel mechanism provided in an embodiment of this application.
  • Figure 12 is a schematic diagram of the switching between the first and second positions of the walking wheel mounting base in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 13 is a structural schematic diagram of the protective cover for the walking wheel assembly provided in an embodiment of this application.
  • Figure 14 is a front view of the walking wheel mounting seat in the first position of the walking wheel mechanism provided in the embodiment of this application;
  • Figure 15 is a side view of the walking wheel mounting seat in the first position of the walking wheel mechanism provided in the embodiment of this application;
  • Figure 16 is a front view of the walking wheel mounting base in the second position in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 17 is a side view of the walking wheel mounting seat in the second position in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 18 is a schematic diagram of the structure of the chassis in the walking wheel mechanism provided in the embodiment of this application.
  • 1-walking wheel assembly 11-abutment plate, 111-inclined surface, 112-horizontal surface, 12-sliding bushing, 121-rotor mounting hole, 122-anti-detachment snap-fit structure, 13-walking wheel mounting base, 131-universal rotating shaft, 132-protective cover, 1321-protective part, 1322-first guide surface, 1323-guide surface, 132a-first surface, 132b-second surface, 132c-third surface.
  • an embodiment refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application.
  • the terms “upper,””lower,””left,””right,””top,””bottom,” etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a specific embodiment.
  • This application has limitations.
  • first and second are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of that feature. Moreover, the terms “first,””second,” etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.
  • an embodiment of this application provides a walking wheel mechanism, which includes a walking wheel assembly 1, a cam 2, and a drive assembly 3.
  • the drive assembly 3 is fixedly connected to the first housing 4 of the cleaning device, and the drive assembly 3 is drivenly connected to the cam 2.
  • the cam 2 abuts against the walking wheel assembly 1, and the walking wheel assembly 1 is slidably connected to the second housing 5 of the cleaning device, with the sliding direction being the height direction.
  • the walking wheel assembly 1 is always in contact with the ground and is used to drive the cleaning equipment to move; the cam 2 is used to drive the walking wheel assembly 1 to slide relative to the second housing 5 under the drive of the drive assembly 3; the drive assembly 3 is used to drive the cam 2 to rotate.
  • first outer shell 4 and the second outer shell 5 refer to two different outer shell structures; preferably, the first outer shell 4 can be detachably connected to the second outer shell 5.
  • first outer shell 4 and the second outer shell 5 are fixedly connected; preferably, the first outer shell 4 and the second outer shell 5 are integrally formed.
  • first outer shell 4 and the second outer shell 5 are integrally formed, it can be understood that the first outer shell 4 and the second outer shell 5 refer to two different parts of the same outer shell.
  • the first outer shell 4 and the second outer shell 5 are both outer shells at the bottom of the cleaning device, and the body of the cleaning device moves relative to the ground as the second outer shell 5 moves; specifically, when the second outer shell 5 moves away from the walking wheel assembly 1, the body of the cleaning device moves away from the ground; when the second outer shell 5 moves towards the walking wheel assembly 1, the cleaning device moves towards the ground.
  • the cam 2 can rotate under the drive of the drive assembly 3, and the walking wheel assembly 1 slides relative to the second housing 5 under the action of the abutting force; changing the height difference between the walking wheel assembly 1 and the second housing 5, thereby changing the distance between the cleaning equipment body and the ground, so as to meet the needs of different working scenarios of the cleaning equipment, that is, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.
  • the height difference between the walking wheel assembly 1 and the second housing 5 can be changed by setting the cam 2 and the drive assembly 3, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.
  • the drive assembly 3 includes a drive unit 31 and a transmission shaft 32.
  • the drive unit 31 is fixedly connected to the first housing 4, and one end of the drive unit 31 is drivenly connected to the transmission shaft 32.
  • the other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure.
  • the cam 2 is fixedly connected to the transmission shaft 32.
  • the drive unit 31 is used to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is used to drive the cam 2 to move under the drive of the drive unit 31; the other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure, indicating that the transmission shaft 32 can rotate relative to the first housing 4; specifically, the transmission shaft 32 is arranged in the horizontal direction, the cam 2 is mounted on the transmission shaft 32, and the two sides of the cam 2 are respectively provided with matching bearing assemblies 33; specifically, the bearing assembly 33 includes two snap rings and a bearing.
  • the drive component 3 as a drive unit 31 and a transmission shaft 32 to drive the cam 2 to rotate
  • the drive of the cam 2 is realized with a simple structure, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.
  • the drive unit 31 is driven to the transmission shaft 32 via a coupling 34.
  • the drive unit 31 may be a servo motor, which can precisely control the drive position or angle; preferably, the height difference between the wheel assembly 1 and the second housing 5 can be minimized when the drive angle is set to 0°; the height difference between the wheel assembly 1 and the second housing 5 can be maximized when the drive angle is set to 90°.
  • the first outer casing 4 includes a servo mounting casing 41, and the servo is fixed on the servo mounting casing 41.
  • the cam 2 can be made into a camshaft.
  • the drive unit 31 can directly drive the cam 2 to rotate.
  • the first housing 4 further includes a bearing bracket 42, and the other end of the transmission shaft 32 is connected to the bearing bracket 42 through a bearing structure; preferably, the bearing bracket 42 is provided with a placement space for protecting the cam 2.
  • the drive unit 31 may also be a drive motor.
  • the walking wheel assembly 1 includes an abutment plate 11, a sliding bushing 12, a walking wheel mounting base 13, and a walking wheel 14, with the walking wheel 14 mounted on the walking wheel mounting base 13;
  • the sliding bushing 12 is slidably connected to the second housing 5 and connected to the walking wheel mounting base 13;
  • the cam 2 abuts against the abutment plate 11, and the abutment plate 11 is fixed on the sliding bushing 12.
  • the abutting plate 11 is used to transmit the abutting force of the cam 2 to the sliding bushing 12 so that the sliding bushing 12 slides relative to the second housing 5.
  • the ground clearance of the cam 2 is higher than that of the pressure plate 11.
  • the ground clearance of the cam 2 is higher than that of the pressure plate 11, and the cam 2 presses down towards the ground to abut the pressure plate 11, the sliding bushing 12 slides relative to the second housing 5, the walking wheel assembly 1 moves relative to the second housing 5, and the cleaning equipment body moves away from the ground, thereby lifting the cleaning equipment.
  • either the sliding bushing 12 or the second outer shell 5 is provided with a sliding block, and the other is provided with a sliding groove.
  • the sliding block and the sliding groove are connected in cooperation.
  • a sliding block can be provided on the sliding bushing 12 and a sliding groove can be provided on the second outer shell 5; or a sliding block can be provided on the second outer shell 5 and a sliding groove can be provided on the sliding bushing 12.
  • the walking wheel mounting base 13 can rotate relative to the sliding bushing 12, so the walking wheel 14 is a swivel wheel at this time.
  • the sliding bushing 12 can also be fixedly connected to the walking wheel mounting seat 13, in which case the walking wheel 14 is a directional wheel.
  • the walking wheel assembly 1 further includes an elastic element 15, one end of which is fixedly connected to the abutting pressure plate 11, and the other end of which is fixedly connected to the second outer shell 5.
  • the elastic element 15 is used to provide a restoring force when the walking wheel assembly 1 moves close to the first housing 4.
  • the abutting plate 11 is provided with an inclined surface 111 and a horizontal surface 112.
  • the inclined surface 111 and the horizontal surface 112 are arranged adjacent to each other, and the inclined surface 111 is higher than the horizontal surface 112.
  • the height difference between the walking wheel assembly 1 and the second housing 5 is the first height difference; when the cam 2 abuts against the horizontal surface 112, the height difference between the walking wheel assembly 1 and the second housing 5 is the second height difference; it is foreseeable that the first height difference is less than the second height difference; since the walking wheel assembly 1 is always in contact with the ground, if the ground clearance of the walking wheel assembly 1 is set to zero, then both the first height difference and the second height difference can be equal to the ground clearance of the bottom of the cleaning device; that is, when the cam 2 abuts against the inclined surface 111, the ground clearance of the bottom of the cleaning device is less than the ground clearance of the bottom of the cleaning device when the cam 2 abuts against the horizontal surface 112.
  • the inclined surface 111 can be an inclined plane or an inclined arc surface.
  • the height difference between the inclined surface 111 and the horizontal surface 112 is used to affect the height difference change between the walking wheel assembly 1 and the second housing 5, thereby avoiding the height difference change that relies solely on the curvature change of the cam 2 itself, and also reducing the influence of the height difference change error caused by the wear of the cam 2, thereby improving the reliability of the walking wheel mechanism and thus improving the reliability of the cleaning equipment.
  • the cam 2 is provided with an abutting pulley 21, and the cam 2 abuts against the abutting pressure plate 11 through the abutting pulley 21.
  • the abutting pulley 21 is mounted on the cam 2 via the sliding wheel shaft 22.
  • the cam 2 includes a distal end away from the drive shaft 32 and a proximal end close to the drive shaft 32, and the pulley 21 is disposed on the distal end.
  • the cam 2 abuts against the pressure plate 11 through the curved surface of the cam 2.
  • the curved surface of the cam 2 directly abuts against the pressure plate 11, thereby reducing the size of the walking wheel mechanism and reducing the load on the drive unit by having a shorter lever arm.
  • the abutment when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutment...
  • the pressure plate 11 may have only a horizontal surface 112, which further reduces the size of the walking wheel mechanism.
  • the height difference between the walking wheel assembly 1 and the second housing 5 is a third height difference;
  • the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2 the abutting plate 11 has only a horizontal surface 112, and the proximal end of the cam 2 abuts against the abutting plate 11, the height difference between the walking wheel assembly 1 and the second housing 5 is a fourth height difference; the third height difference is greater than the fourth height difference.
  • the abutting plate 11 when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 may also be provided with an inclined surface 111 and a horizontal surface 112.
  • the shaft mounting hole 121 is provided along the height direction.
  • the walking wheel 14 can rotate relative to the first outer shell 4, thereby realizing the universal rotation of the walking wheel 14, improving the reliability of the walking wheel mechanism, and improving the mobility of the cleaning equipment.
  • the fixing part includes a rotating shaft mounting hole 121 and at least one fixing hole, and the sliding part is fixed to the fixing part through at least one fixing hole.
  • the rotating shaft mounting hole 121 is provided with an anti-detachment snap-fit structure 122, and the rotating shaft mounting hole 121 is sleeved on the outside of the universal rotating shaft 131; the anti-detachment snap-fit structure 122 is snapped into the universal rotating shaft 131.
  • the height difference between the walking wheel assembly 1 and the second housing 5 can be adjusted.
  • the third preset angle is located between the first preset angle and the second preset angle, so that the cleaning equipment can lift the bottom to different heights based on different drive angles of the drive unit 31; preferably, 0° ⁇ third preset angle ⁇ 90°.
  • the cam 2 can rotate under the drive of the drive assembly 3.
  • the walking wheel assembly 1 slides relative to the second housing 5, changing the height difference between the walking wheel assembly 1 and the second housing 5, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning equipment.
  • the key to obstacle crossing is effective extension, which is reflected in the need for effective changes in the overlap between the running gear and the fuselage.
  • the design concept of this application is to determine the extension and retraction state of the walking wheel mechanism by detecting the overlap between the projection of the walking wheel mounting seat on the second housing and the second housing, thus ensuring the detection accuracy.
  • the overlap between the walking component 16 and the fuselage is the percentage of the walking component that overlaps with the fuselage.
  • the degree of overlap changes by more than 1%, preferably more than 5%, more preferably more than 10%, more than 20%, or more than 30%.
  • the amount of overlap between the projection of the traveling component on the fuselage and the fuselage is greater than 1%, more preferably greater than 5%, more preferably greater than 10%, greater than 20%, or greater than 30%.
  • the upper front part of the wheel mounting base has at least a partial overlap with the machine body, i.e., the minimum overlap is greater than or equal to 0, preferably ⁇ 1%.
  • each position on the upper part of the walking wheel mounting base has at least a partial overlap with the machine body, that is, the minimum overlap is greater than or equal to 0, preferably ⁇ 1%.
  • the overlap between the projection of the walking component 16 on the body 6 and the body 6 is greater than or equal to 60%, less than or equal to 98%, preferably less than 90%. This ensures that the walking component 16 can be effectively retracted into the body, allowing the cleaning components such as the brush and mop of the cleaning equipment to contact the ground to ensure normal cleaning, and provides room for better extension (ensuring a large amount of overlap variation), while also ensuring normal driving and guiding functions.
  • the walking wheel mechanism provided in this application embodiment has a walking component 16 that is telescopically connected to the body 6 and can switch between a first position and a second position. Along the height direction of the walking component 16, the first position is located below the second position.
  • the height difference between the walking wheel assembly 1 and the body 6 can be changed, thereby changing the distance between the cleaning equipment body 6 and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.
  • the cleaning equipment enters obstacle-crossing mode.
  • the walking component 16 changes from a retracted state to an extended state, placing the walking component 16 in a first position.
  • the overlap between the projection of the walking component 16 on the body 6 and the body 6 is detected along the traveling direction of the body 6. If the overlap between the projection of the walking component 16 on the body 6 and the body 6 is less than or equal to a second threshold, such as 40%, then it is determined that the walking component 16 has extended to the correct position.
  • a second threshold such as 40%
  • the amount of overlap change e.g., the difference between the first threshold and the second threshold.
  • the measurement results are protected from external environmental interference, ensuring the reliability and accuracy of the detection results. Furthermore, using the walking component 16 and the body 6 as the detection objects, the walking component 16 and the body 6 do not rotate, shift, or displace during the detection process. The walking component 16 and the body 6 provide a stable reference system, further ensuring the reliability and accuracy of the detection results. By ensuring the reliability and accuracy of the detection results, the extension/retraction state of the walking component 16 can be accurately detected or determined. Moreover, only the overlap between the projection of the walking component 16 on the body 6 and the body 6 needs to be detected to determine the extension/retraction state of the walking wheel assembly 1. The signal processing is simple and the cost is low.
  • the traveling component 16 includes a traveling wheel mounting base 13 and a traveling wheel 14.
  • the traveling wheel mounting base 13 has a protective cover 132 and is connected to the body 16.
  • the traveling wheel 14 is mounted on the traveling wheel mounting base 13.
  • the protective cover 132 has a protective portion 1321 located in front of the traveling wheel 14.
  • the protective portion 1321 protects the traveling wheel 14, preventing it from being directly impacted by obstacles and ensuring the integrity of the traveling wheel 14.
  • At least a portion of the outer surface of the protective part 1321 is inclined away from the walking wheel 14 in the direction from bottom to top, so as to form an inclined portion. That is, the outer surface gradually moves away from the central axis of the walking wheel 14 from bottom to top, so that the contact area between the outer surface and the obstacle moves upward along the plane. During the upward movement, the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point, reducing the resistance, and allowing the walking wheel assembly 1 to smoothly cross obstacles.
  • the angle between the outer surface and the bottom of the fuselage 6 is a first angle.
  • the angle between the outer surface and the bottom of the fuselage 6 is the second angle.
  • the minimum first angle is less than or equal to the minimum second angle. In other words, there is no abrupt turn or angle change on the outer surface, which reduces the friction between the outer surface and obstacles, making the upward movement smooth.
  • both the first included angle and the second included angle are greater than or equal to 20° and less than or equal to 60°.
  • the first guide surface 1322 When encountering an obstacle, the first guide surface 1322 will first contact the obstacle.
  • the contact area between the first guide surface 1322 and the obstacle is a contact point or very small, reducing the contact area between the first guide surface 1322 and the obstacle, thereby reducing the friction between the first guide surface 1322 and the obstacle.
  • the contact pressure between the first guide surface 1322 and the obstacle is concentrated in a very small area, thereby reducing the contact pressure and the resistance. Under the pushing force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross obstacles.
  • the first guide surface 1322 can be an arc surface.
  • the first guide surface 1322 is inclined away from the walking wheel 14 in the direction from the bottom to the top. That is, the first guide surface 1322 gradually moves away from the central axis of the walking wheel 14 from the bottom to the top, so that the contact area between the first guide surface 1322 and the obstacle moves upward along the first guide surface 1322. During the upward movement, the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point and further reducing the resistance, so that the walking wheel assembly 1 can smoothly cross obstacles.
  • the third included angle is greater than or equal to 50° and less than or equal to 60°.
  • the fourth included angle is greater than or equal to 20° and less than or equal to 40°.
  • Existing cleaning equipment has a wheel mechanism to clean the ground.
  • the movement of the wheel mechanism enables the cleaning equipment to move.
  • the cleaning equipment cleans up dust, debris and other impurities on the ground to ensure that the ground is clean.
  • this application provides a walking wheel mechanism and a cleaning device, which aims to at least partially solve the technical problem of the walking wheel mechanism's poor ability to overcome obstacles.
  • the design concept of this application is: by setting a first guide surface on the protective part of the guard located in front of the walking wheel, the friction and contact pressure between the walking wheel mechanism and the obstacle are reduced by the first guide surface, so as to reduce the resistance of the walking wheel mechanism and enable the walking wheel mechanism to cross the obstacle smoothly.
  • the traveling wheel mechanism provided in this embodiment has a traveling wheel 14 mounted on a traveling wheel mounting base 13.
  • the traveling wheel 14 rotates to allow the traveling wheel mounting base 13 to move.
  • the traveling wheel mounting base 13 has a protective cover 132, and along the traveling direction of the traveling wheel assembly 1, the protective cover 132 has a protective portion 1321 located in front of the traveling wheel 14, during the movement of the traveling wheel mounting base 13, if it encounters an obstacle, the obstacle will impact the protective portion 1321 instead of directly impacting the traveling wheel 14.
  • the protective portion 1321 protects the traveling wheel 14, thus ensuring its stability.
  • the outer surface of the protective part 1321 has at least a partially inclined first guide surface 1322, when encountering an obstacle, the first guide surface 1322 will first contact the obstacle.
  • the contact area between the first guide surface 1322 and the obstacle is a contact point or very small, reducing the contact area between the first guide surface 1322 and the obstacle, thus reducing the friction between the first guide surface 1322 and the obstacle.
  • the contact pressure between the first guide surface 1322 and the obstacle will be concentrated in a very small area, thereby reducing...
  • the reduced contact pressure decreases the resistance. Under the thrust generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross obstacles.
  • the distance between the bottom of the first guide surface 1322 and the vertical plane containing the central axis of the walking wheel 14 is the first distance
  • the distance between the top of the first guide surface 1322 and the vertical plane containing the central axis of the walking wheel 14 is the second distance.
  • the first distance is smaller than the second distance. That is to say, the first guide surface 1322 gradually moves away from the central axis of the walking wheel 14 from the bottom to the top, so that the contact area between the first guide surface 1322 and the obstacle moves upward along the first guide surface 1322.
  • the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point and further reducing the resistance, so that the walking wheel assembly 1 can smoothly cross obstacles.
  • the protective cover 132 covers at least a portion of the side of the traveling wheel 14 along the traveling direction of the traveling wheel assembly 1. During the travel of the traveling wheel mounting seat 13, if it encounters an obstacle, the obstacle will hit the protective cover 132 instead of directly hitting the protective cover 132.
  • the protective cover 132 protects the traveling wheel 14 and ensures the safety of the traveling wheel 14.
  • the guide surface located at the bottom of the plurality of guide surfaces 1323 has a small radius of curvature, making the guide surface more steep, reducing the contact area between the guide surface and the obstacle, and enhancing the obstacle crossing ability.
  • different parts of the first guide surface 1322 can play their respective roles to improve the overall obstacle crossing performance.
  • the plurality of guide surfaces 1323 include a first surface 132a, a second surface 132b, and a third surface 132c, which are connected sequentially from top to bottom along the height direction of the wheel mounting base 13.
  • the radius of curvature R1 of the first surface 132a is greater than the radius of curvature R2 of the second surface 132b
  • the radius of curvature R2 of the second surface 132b is greater than the radius of curvature R3 of the third surface 132c.
  • each pair of adjacent guide surfaces 1323 are connected to form a smooth transition at the connection point, so that there is no abrupt turn or angle change at the connection point.
  • the first guide surface 1322 includes multiple guide surfaces 1323 connected in sequence.
  • the tilt angle ⁇ of the multiple guide surfaces 1323 increases from top to bottom.
  • the middle guide surface of the multiple guide surfaces 1323 has a moderate tilt angle, which takes into account both passability and stability.
  • the bottom guide surface of the multiple guide surfaces 1323 has a large tilt angle, which can enable the walking wheel assembly 1 to quickly climb low obstacles and improve obstacle crossing efficiency.
  • the plurality of guide surfaces 1323 include a first surface 132a, a second surface 132b, and a third surface 132c, which are connected sequentially from top to bottom along the height direction of the wheel mounting base 13.
  • the tilt angle ⁇ 1 of the first surface 132a is less than the tilt angle ⁇ 2 of the second surface 132b, and the tilt angle ⁇ 2 of the second surface 132b is less than the tilt angle ⁇ 3 of the third surface 132c.
  • the first guide surface 1322 in order to enable the walking wheel assembly 1 to smoothly cross obstacles, along the height direction of the walking wheel mounting base 13, the first guide surface 1322 includes a plurality of guide surfaces 1323 connected in sequence, and the chord length of the plurality of guide surfaces 1323 decreases from top to bottom as a function of the chord height W/h.
  • the larger the radius of curvature the larger the ratio between W and h.
  • the upper part of the multiple guide surfaces 1323 has a chord length greater than its height, resulting in a large radius of curvature and a smoother guide surface, reducing the impact force between the guide surface and obstacles to protect the wheel assembly 1.
  • the middle guide surface of the multiple guide surfaces 1323 has a moderate chord length greater than its height, resulting in a moderate radius of curvature, ensuring that the structural strength and obstacle-crossing ability of the guide surface meet the requirements.
  • the bottom guide surface of the multiple guide surfaces 1323 has a smaller chord length than its height, resulting in a smaller radius of curvature and a steeper guide surface, reducing the contact area between the guide surface and obstacles and enhancing obstacle-crossing ability.
  • different parts of the first guide surface 1322 can... Each component plays a role in improving overall obstacle-crossing performance.
  • the plurality of guide surfaces 1323 include a first surface 132a, a second surface 132b, and a third surface 132c, which are connected sequentially from top to bottom along the height direction of the wheel mounting base 13.
  • the chord length to chord height ratio W1/h1 of the first surface 132a is greater than the chord length to chord height ratio W2/h2 of the second surface 132b
  • the chord length to chord height ratio W2/h2 of the second surface 132b is greater than the chord length to chord height ratio W3/h3 of the third surface 132c.
  • the outer surface of the protective part 1321 has a protrusion 1325.
  • the protrusion 1325 is disposed at least in the middle of the width direction of the protective part 1321.
  • the protrusion 1324 can reduce the contact area between the protective part 1321 and the obstacle, thereby reducing the friction between the protective part 1321 and the obstacle.
  • the contact pressure between the protective part 1321 and the obstacle will be concentrated in a very small area, thereby reducing the contact pressure and reducing the resistance. Under the action of the driving force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross the obstacle.
  • the x-direction is the width direction of the protective part 1321
  • the y-direction is the travel direction of the walking wheel mechanism
  • the z-direction is the height of the walking wheel mechanism.
  • curved surfaces, concave surfaces 1324, or planes with reduced curvature are provided on both sides of the protrusion 1325 in the width direction. That is, the concave surface 1324 is recessed away from the traveling direction of the traveling wheel assembly 1. In the height direction of the traveling wheel mounting seat 13, the two concave surfaces 1324 or planes are respectively located on both sides of the first guide surface 1322, so that the protrusion 1324 between the two concave surfaces 1324 or planes protrudes, thereby reducing the contact area between the protective part 1321 and the obstacle.
  • the inner wall of the protective part is flat.
  • the distance between the inner wall of the protective part and the traveling wheel 14 is relatively large, which makes it easy for debris to enter between the protective part and the traveling wheel.
  • the shape of the projection of the bottom of the protective part 1321 on the traveling wheel mounting base 13 along the height direction of the traveling wheel mounting base 13 is V-shaped. It can be understood that the bottom of the protective part 1321 protrudes at least partially along the traveling direction of the traveling wheel assembly 1 to form a V-shaped structure, which can reduce the distance between the inner wall of the protective part and the traveling wheel 14.
  • the projection of the inner wall of the protective part 1321 onto the wheel mounting base 13 is V-shaped or arc-shaped to fit the wheel 14. It can be understood that at least part of the inner wall of the protective part 1321 protrudes along the traveling direction of the wheel assembly 1 to form a V-shaped or arc-shaped structure. This can reduce the distance between the inner wall of the protective part and the wheel 14, and at the same time, prevent the inner wall of the protective part 1321 from interfering with the rotation of the wheel 14. This makes it difficult for debris to enter the space between the protective part 1321 and the wheel 14, thus preventing debris from interfering with the rotation of the wheel 14 and ensuring the stability of the rotation of the wheel 14.
  • the protruding portion of the inner wall of the protective part 1321 is located in the middle of the bottom of the protective part 1321.
  • the projections of both sides of the V-shape on the traveling wheel mounting base 13 along the height direction of the traveling wheel mounting base 13 are curved, preferably smooth curves or arcs. This reduces the distance between the inner wall of the protective part and the traveling wheel 14, and at the same time, avoids the inner wall of the protective part 1321 interfering with the rotation of the traveling wheel 14, making it difficult for debris to enter the space between the protective part 1321 and the traveling wheel 14, thus preventing debris from interfering with the rotation of the traveling wheel 14 and ensuring the stability of the rotation of the traveling wheel 14.
  • the radius of curvature of the first guide surface 1322 is adapted to the curvature of the traveling wheel 14, and the radius of the first guide surface 1322 is larger than the radius of the traveling wheel 14.
  • the first guide surface 1322 has a smooth layer or a smooth surface, which can reduce the friction between the first guide surface 1322 and the obstacle, thereby reducing resistance. Under the pushing force generated by the rotation of the walking wheel 14, the walking wheel assembly 1 can smoothly cross obstacles.
  • the smooth layer can be made of PTFE material.
  • the embodiments of this application also provide a cleaning device, which includes the walking wheel mechanism, body 6, first housing 4 and second housing 5 as described in the embodiments of this application.
  • the cleaning equipment may be a sweeping machine or a sweeping robot, etc.
  • the cleaning device further includes a body 6.
  • the body 6 is connected to the walking component 16.
  • the bottom of the body 6 is provided with a hole 62 for the walking component 16 to extend and retract.
  • the body 6 is provided with a second guide surface 61, which is located in front of the hole 62 and inclined along the traveling direction of the body 6.
  • the second guide surface 61 is located at the bottom of the chassis of the body 6 and can be an inclined surface, a curved surface, or an arc.
  • the second guide surface 61 when encountering an obstacle, first contacts the obstacle.
  • the contact area between the second guide surface 61 and the obstacle is a contact point or very small, reducing the contact area between the second guide surface 61 and the obstacle. This reduces the friction between the second guide surface 61 and the obstacle, and simultaneously concentrates the contact pressure between the second guide surface 61 and the obstacle in a very small area, further reducing the contact pressure and thus reducing resistance.
  • the second guide surface 61 Under the propulsive force generated during the movement of the walking component 16, the second guide surface 61 can smoothly cross the obstacle, allowing the fuselage 6 to pass over the obstacle.
  • the contact area between the second guide surface 61 and the obstacle moves upward along the second guide surface 61.
  • the contact pressure will gradually disperse, thereby reducing the pressure at the initial contact point and further reducing the resistance, so that the fuselage 6 can smoothly cross the obstacle.

Landscapes

  • Rehabilitation Tools (AREA)

Abstract

公开了一种行走轮机构和清洁设备。行走轮组件（1）包括：行走部件（16），能够相对于机身（6）可伸缩地在第一位置和第二位置之间移动，沿行走轮安装座（13）的高度方向，第一位置位于第二位置的下方。

Description

行走轮机构和清洁设备
本申请要求2024年6月18日提交的中国专利申请202421396452.1的优先权，以及2024年6月27日提交的中国专利申请202410850900.9的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本申请涉及清洁设备技术领域，特别涉及一种行走轮机构和清洁设备。
背景技术
随着科技的进步与社会的发展，用于清洁的清洁设备逐渐进入了人们的生活。清洁设备包括行走轮机构，在清洁设备工作时，行走轮机构动作，以实现清洁设备的行进，实现清洁，可以降低了人们的负担，为人们的生活带来便利。
清洁设备在移动过程中，为了保持平衡以及正常工作，清洁设备的底部与地面距离不能太远；但在特殊场景下，存在底部与地面的距离太近的情况，进而影响到清洁设备的工作；例如，在遇到障碍物的情况下，底部过低导致越障失败；在遇到存在较深积水的情况下，底部过低导致积水进入清洁设备内部，造成清洁设备损坏。
发明内容
为解决上述技术问题，本申请提供一种行走轮机构和清洁设备，通过行走轮机构相对机身的伸缩，改变行走轮机构与机身的重叠度，进而改变清洁设备的机身与地面之间的距离。
在本申请的第一方面，提供一种行走轮机构，安装于清洁设备的机身，所述行走轮机构包括行走轮组件，所述行走轮组件包括：行走部件，能够相对于所述机身可伸缩地在第一位置和第二位置之间移动，沿所述行走部件的高度方向，所述第一位置位于所述第二位置的下方。
在一些实施方式中，在所述行走部件在第一位置和第二位置之间切换时，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度变化量大于1％，优选大于5％，更优选大于10％、大于20％或大于30％。
在一些实施方式中，在所述行走部件位于所述第一位置时，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度小于或等于95％；
在所述行走部件位于所述第二位置时，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度大于或等于60％。
在一些实施方式中，在所述行走轮安装座位于所述第一位置时，沿所述机身的行进方向，所述行走轮安装座在所述机身上的投影与所述机身的重叠度大于或等于0。
在一些实施方式中，在所述行走轮安装座位于所述第一位置时，所述行走轮安装座的上部的各个位置均与所述机身至少具有部分重叠区域，最小重叠度大于或等于0，优选≥1％。
在一些实施方式中，在所述行走轮安装座位于所述第二位置时，沿所述机身的行进方向，所述行走轮安装座在所述机身上的投影与所述机身的重叠度小于或等于98％，优选小于或等于90％。
在一些实施方式中，所述行走部件包括：行走轮安装座，具有护罩；行走轮，安装于所述行走轮安装座；其中，沿所述机身的行进方向，所述护罩具有位于行走轮前侧的防护部。
在一些实施方式中，所述防护部的外表面的至少部分沿所述底部向顶部的方向，所述外表面向远离所述行走轮的方向倾斜设置，以形成所述倾斜部分。
在一些实施方式中，所述倾斜部分设置在所述外表面沿所述机身的行进方向的前侧。
在一些实施方式中，在所述行走部件位于所述第一位置时，所述外表面与所述机身的底部的夹角为第一夹角，在所述行走部件位于所述第二位置时，所述外表面与所述机身的底部的夹角为第二夹角，最小所述第一夹角小于或等于最小所述第二夹角。
在一些实施方式中，所述第一夹角和所述第二夹角均大于或等于20°，小于或等于60°。
在一些实施方式中，所述防护部的外表面的至少部分具有倾斜设置的第一引导面，沿所述第一引导面的底部向顶部的方向，所述第一引导面向远离所述行走轮的方向倾斜设置。
在一些实施方式中，在所述行走部件位于所述第一位置时，所述第一引导面与所述机身的底部的夹角为第三夹角，在所述行走部件位于所述第二位置时，所述第一引导面与所述机身的底部的夹角为第四夹角，所述第三夹角小于所述第四夹角。
在一些实施方式中，所述第三夹角大于或等于20°，小于或等于40°；所述第四夹角大于或等于50°，小于或等于60°。
在一些实施方式中，所述防护部的外表面具有凸出部，所述凸出部设置于所述防护部的宽度方向的中部的至少部分。
在一些实施方式中，所述凸出部的宽度方向的两侧设置有弧度降低的曲面、凹面或平面。
在本申请的第二方面，提供一种清洁设备，包括所述的行走轮机构。
在一些实施方式中，所述清洁设备还包括：机身，与所述行走部件连接；其中，所述机身的底部设置有供所述行走部件伸缩的孔，所述机身设置有第二引导面，沿所述机身的行进方向，所述第二引导面设于所述孔的前侧，并倾斜设置。
根据本申请一个或多个实施例提供的行走轮机构，其行走轮安装座伸缩式地与机身连接，并可在第一位置和第二位置之间切换，沿行走轮安装座的高度方向，第一位置位于第二位置的下方，通过行走轮安装座的伸缩，可以改变行走轮组件与机身之间的高度差，进而改变清洁设备机身与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
此外，还可通过对行走轮安装座在机身上的投影与机身的重叠度的检测，判断行走轮安装座伸出与缩回，以避免测量结果受到外界环境干扰，保证了动作的可靠和准确，同时，以行走轮安装座和机身作为检测对象，在检测过程中，行走轮安装座和机身不会发生旋转、偏移、位移等现象，行走轮安装座和机身提供了稳定的参照系，进一步地保证了检测结果的可靠和准确，通过保证检测结果的可靠和准确，可以精准检测或判断行走轮安装座的伸缩状态，而且，只需要检测行走轮安装座在机身上的投影与机身的重叠度，就可以判断行走轮组件的伸缩状态，信号处理简单，成本低。
附图说明
图1是本申请实施例提供的行走轮机构结构示意图；
图2是本申请实施例提供的行走轮机构中驱动组件结构示意图；
图3是本申请实施例提供的行走轮机构中轴承支架装配示意图；
图4是本申请实施例提供的行走轮机构中行走轮组件结构示意图；
图5是本申请实施例提供的行走轮机构中抵接压板结构示意图；
图6是本申请实施例提供的行走轮机构中凸轮结构示意图；
图7是本申请另一实施例提供的行走轮机构中凸轮结构示意图；
图8是本申请实施例提供的行走轮机构中滑动轴套与行走轮安装座装配剖视图；
图9是本申请实施例提供的行走轮机构中护罩的结构示意图；
图10是本申请实施例提供的行走轮机构中护罩的正视图；
图11是本申请实施例提供的行走轮机构中护罩的侧视图；
图12是本申请实施例提供的行走轮机构中行走轮安装座在第一位置和第二位置切换的示意图；
图13是本申请实施例提供的行走轮组件的护罩的结构示意图；
图14是本申请实施例提供的行走轮机构中行走轮安装座在第一位置的正视图；
图15是本申请实施例提供的行走轮机构中行走轮安装座在第一位置的侧视图；
图16是本申请实施例提供的行走轮机构中行走轮安装座在第二位置的正视图；
图17是本申请实施例提供的行走轮机构中行走轮安装座在第二位置的侧视图；
图18是本申请实施例提供的行走轮机构中机身的结构示意图。
其中，1-行走轮组件，11-抵接压板，111-倾斜面，112-水平面，12-滑动轴套，121-转轴安装孔，122-防脱卡接结构，13-行走轮安装座，131-万向转轴，132-护罩，1321-防护部，1322-第一引导面，1323-导向面，132a-第一面，132b-第二面，132c-第三面，1324-凹面，1325-凸出部，14-行走轮，15-弹性件，16-行走部件，2-凸轮，21-抵接滑轮，22-滑动轮轴，3-驱动组件，31-驱动单元，32-传动轴，33-轴承组件，34-联轴器，4-第一外壳，41-舵机安装壳，42-轴承支架，5-第二外壳，6-机身，61-第二引导面，62-孔。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
此处所称的“一个实施例”或“实施例”是指可包含于本申请至少一个实现方式中的特定特征、结构或特性。在本申请的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“顶”、“底”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对 本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含的包括一个或者更多个该特征。而且，术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。
结合图1，介绍本申请实施例提供的一种行走轮机构，该机构包括行走轮组件1、凸轮2以及驱动组件3，驱动组件3与清洁设备的第一外壳4固定连接，驱动组件3与凸轮2驱动连接；凸轮2与行走轮组件1抵接，行走轮组件1与清洁设备的第二外壳5滑动连接，且滑动方向为高度方向。
在本申请实施例中，行走轮组件1始终与地面接触，行走轮组件1用于带动清洁设备移动；凸轮2用于在驱动组件3的驱动下带动行走轮组件1相对第二外壳5滑动；驱动组件3用于驱动凸轮2转动。
在本申请具体实施例中，第一外壳4与第二外壳5分别指代两个不同的外壳结构；优选的，第一外壳4可以与第二外壳5可拆卸连接。
在本申请另一优选实施例中，第一外壳4与第二外壳5固定连接；优选的，第一外壳4与第二外壳5一体成型。
在本申请另一具体实施例中，在第一外壳4与第二外壳5一体成型的情况下，可以理解的是第一外壳4与第二外壳5分别指代同一个外壳的两个不同部位。
在本申请具体实施例中，第一外壳4以及第二外壳5均为清洁设备底部的外壳，清洁设备机身随第二外壳5的运动相对地面运动；具体的，在第二外壳5向远离行走轮组件1的方向运动的情况下，清洁设备机身向远离地面的方向运动；在第二外壳5向靠近行走轮组件1的方向运动的情况下，清洁设备向靠近地面的方向运动。
在本申请实施例中，通过将驱动组件3与第一外壳4固定连接，凸轮2与行走轮组件1抵接以及行走轮组件1与第二外壳5沿高度方向滑动连接，从而能够在驱动组件3的驱动下，凸轮2发生转动，从而在抵接力的作用下，行走轮组件1相对第二外壳5滑动；改变行走轮组件1与第二外壳5之间的高度差，进而改变清洁设备机身与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
在本申请实施例中，通过设置凸轮2以及驱动组件3即可实现行走轮组件1与第二外壳5之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
参考图1-图2，在本申请实施例中，驱动组件3包括驱动单元31以及传动轴32，驱动单元31与第一外壳4固定连接，驱动单元31与传动轴32的一端驱动连接，传动轴32的另一端通过轴承结构与第一外壳4连接；凸轮2与传动轴32固定连接。
在本申请实施例中，驱动单元31用于驱动传动轴32转动，传动轴32用于在驱动单元31的驱动下带动凸轮2运动；传动轴32的另一端通过轴承结构与第一外壳4连接表征传动轴32能够相对第一外壳4转动；具体的，传动轴32沿水平方向上设置，凸轮2安装于传动轴32上，且凸轮2的两侧分别设有配套设置的轴承组件33；具体的，轴承组件33包括两个卡簧以及一个轴承。
在本申请实施例中，通过将驱动组件3设置成驱动单元31以及传动轴32，以驱动凸轮2转动，以简单的结构实现了凸轮2的驱动，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
在本申请具体实施例中，驱动单元31通过联轴器34与传动轴32驱动连接。
在本申请具体实施例中，驱动单元31可以是舵机，舵机能够精确地控制驱动位置或者角度；优选的，可以设定驱动角度在0°的情况下，行走轮组件1与第二外壳5之间的高度差最小；可以设定驱动角度在90°时，行走轮组件1与第二外壳5之间的高度差最大。
在本申请具体实施例中，第一外壳4包括舵机安装壳41，舵机固定于舵机安装壳41上。
在本申请另一具体实施例中，可以将凸轮2做成凸轮轴，在此情况下，驱动单元31可以直接驱动凸轮2转动。
参考图3，在本申请具体实施例中，第一外壳4还包括轴承支架42，传动轴32的另一端通过轴承结构与轴承支架42连接；优选的，轴承支架42设有用于保护凸轮2的放置空间。
在本申请另一具体实施例中，驱动单元31也可以是驱动电机。
参考图4，在本申请实施例中，行走轮组件1包括抵接压板11、滑动轴套12、行走轮安装座13以及行走轮14，行走轮14安装于行走轮安装座13上；滑动轴套12与第二外壳5滑动连接，滑动轴套12与行走轮安装座13连接；凸轮2与抵接压板11抵接，抵接压板11固定于滑动轴套12上。
在本申请实施例中，抵接压板11用于将凸轮2的抵接力传递至滑动轴套12，以使滑动轴套12相对第二外壳5滑动。
在本申请具体实施例中，凸轮2的离地高度高于抵接压板11的离地高度。在凸轮2的离地高度高于抵接压板11的离地高度，且凸轮2往地面方向下压抵接压板11的情况下，滑动轴套12相对第二外壳5滑动，行走轮组件1向远离第二外壳5的方向相对运动，进而清洁设备机身向远离地面的方向运动，抬升清洁设备。
在本申请具体实施例中，滑动轴套12与第二外壳5二者择一的设置有滑动块，另一设置有滑动槽，滑动块与滑动槽配合连接；具体的，可以在滑动轴套12上设置滑动块，在第二外壳5上设置滑动槽；也可以在第二外壳5上设置滑动块，在滑动轴套12上设置滑动槽。
在本申请具体实施例中，抵接压板11与滑动轴套12一体成型。
在本申请具体实施例中，行走轮安装座13可以相对滑动轴套12转动，那么此时行走轮14为万向轮。
在本申请另一具体实施例中，滑动轴套12也可以与行走轮安装座13固定连接，那么此时行走轮14为定向轮。
在本申请实施例中，通过在行走轮组件1中设置抵接压板11以及滑动轴套12，凸轮2与抵接压板11抵接，滑动轴套12与第二外壳5滑动连接，以简单的结构实现行走轮组件1与第二外壳5之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
在本申请实施例中，行走轮组件1还包括弹性件15，弹性件15的一端与抵接压板11固定连接，弹性件15的另一端与第二外壳5固定连接。
在本申请实施例中，弹性件15用于在行走轮组件1靠近第一外壳4运动的情况下，提供回弹力。
在本申请实施例中，通过在行走轮组件1中设置弹性件15，在行走轮组件1靠近第一外壳4运动的情况下，提供回弹力，避免仅依靠清洁设备自身重力回落，避免自身回落过程中的机械损耗，提高行走轮机构的可靠性，提高清洁设备的可靠性。
参考图5，在本申请实施例中，抵接压板11上设有倾斜面111以及水平面112，倾斜面111与水平面112相邻设置，且倾斜面111高于水平面112。
在本申请具体实施例中，在凸轮2与倾斜面111抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第一高度差；在凸轮2与水平面112抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第二高度差；可以预见的是第一高度差小于第二高度差；由于行走轮组件1始终与地面接触，若将行走轮组件1的离地高度设定为零，那么第一高度差以及第二高度差均能够等同于清洁设备底部的离地高度；也就是说，在凸轮2与倾斜面111抵接的情况下，清洁设备底部的离地高度小于在凸轮2与水平面112抵接的情况下，清洁设备底部的离地高度。
在本申请具体实施例中，倾斜面111可以是倾斜平面，也可以是倾斜弧形面。
在本申请实施例中，通过设置倾斜面111，以利用倾斜面111与水平面112之间的高度差异对行走轮组件1与第二外壳5之间的高度差变化产生影响，进而避免仅依靠凸轮2自身曲率变化的高度差变化，还能够降低凸轮2磨损导致高度差变化出现误差的影响，提高行走轮机构的可靠性，进而提高清洁设备的可靠性。
参考图6，在本申请实施例中，凸轮2上设有抵接滑轮21，凸轮2通过抵接滑轮21与抵接压板11抵接。
在本申请实施例中，通过设置抵接滑轮21，从而降低凸轮2转动过程中的摩擦力，降低凸轮2表面的损耗，进而提高清洁设备的可靠性；此外，设置抵接滑轮21还能够降低驱动凸轮2在抵接压板11上运动的驱动力。
在本申请具体实施例中，抵接滑轮21通过滑动轮轴22安装于凸轮2上。
在本申请实施例中，凸轮2包括远离传动轴32的远心端以及靠近传动轴32的近心端，抵接滑轮21设置于远心端上。
在本申请具体实施例中，凸轮2的远心端为抵接平面，在抵接滑轮21运动到预设位置的情况下，凸轮2通过抵接平面与水平面112抵接；通过在远心端设置抵接平面，从而能够在驱动到预设角度的情况下，实现凸轮2自锁，避免持续的驱动力输出，降低清洁设备的能源损耗。
参考图7，在本申请另一具体实施例中，凸轮2通过凸轮2的曲率表面与抵接压板11抵接。
在本申请另一具体实施例中，通过凸轮2的曲率表面直接与抵接压板11抵接，从而能够降低行走轮机构的尺寸，同时力臂较短，降低驱动单元的负载。
在本申请另一具体实施例中，在凸轮2通过凸轮2的曲率表面与抵接压板11抵接的情况下，抵接 压板11可以有且仅有水平面112，进一步降低行走轮机构的尺寸。
在本申请另一具体实施例中，在凸轮2通过凸轮2的曲率表面与抵接压板11抵接，抵接压板11有且仅有水平面112，且凸轮2的远心端与抵接压板11抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第三高度差；在凸轮2通过凸轮2的曲率表面与抵接压板11抵接，抵接压板11有且仅有水平面112，且凸轮2的近心端与抵接压板11抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第四高度差；第三高度差大于第四高度差。
在本申请另一具体实施例中，在凸轮2通过凸轮2的曲率表面与抵接压板11抵接的情况下，抵接压板11也可以设置倾斜面111以及水平面112。
参考图8，在本申请实施例中，行走轮安装座13上设有万向转轴131，滑动轴套12内设有转轴安装孔121；行走轮安装座13通过万向转轴131以及转轴安装孔121与滑动轴套12转动连接。
在本申请具体实施例中，转轴安装孔121沿高度方向设置。
在本申请实施例中，通过将行走轮安装座13通过万向转轴131以及转轴安装孔121与滑动轴套12转动连接，从而能够实现行走轮14相对第一外壳4转动，进而实现行走轮14的万向转动，提高行走轮机构的可靠性，提高清洁设备的移动灵活性。
在本申请具体实施例中，滑动轴套12包括滑动部以及固定部，滑动部相对地面的高度高于固定部相对地面的高度；滑动部通过紧固件与固定部固定连接，固定部用于与行走轮安装座13连接；优选的，紧固件为螺钉。
在本申请具体实施例中，固定部包括转轴安装孔121以及至少一个固定孔，滑动部通过至少一个固定孔固定于固定部上。
在本申请实施例中，转轴安装孔121内设有防脱卡接结构122，转轴安装孔121套设于万向转轴131外；防脱卡接结构122与万向转轴131卡接。
在本申请实施例中，通过在转轴安装孔121内设置防脱卡接结构122，从而避免万向转轴131与转轴安装孔121脱离连接，进而提高了行走轮机构的可靠性，提高清洁设备的可靠性。
以下，介绍本申请实施例中行走轮机构的具体工作原理。
清洁设备的正常工作状态：驱动单元31(舵机)的驱动角度为第一预设角度的情况下，在抵接滑轮21与抵接压板11抵接的情况下，凸轮2远心端上的抵接滑轮21与抵接压板11的倾斜面111抵接；在通过凸轮2的曲率表面直接与抵接压板11抵接且抵接压板11有且仅有水平面112的情况下，凸轮2的近心端与抵接压板11抵接；此时，行走轮组件1与第二外壳5之间的高度差最小，以便于清洁设备保持平衡以及正常工作；优选的，第一预设角度为0°。
清洁设备底部抬高状态：驱动单元31(舵机)的驱动角度为第二预设角度的情况下，在抵接滑轮21与抵接压板11抵接的情况下，凸轮2远心端的抵接平面与抵接压板11的水平面112抵接；在通过凸轮2的曲率表面直接与抵接压板11抵接且抵接压板11有且仅有水平面112的情况下，凸轮2的远心端与抵接压板11抵接；此时，行走轮组件1与第二外壳5之间的高度差最大，以便于清洁设备的越障或其他需要底部抬高的场景；优选的，第二预设角度为90°；具体的，从正常工作状态到底部抬高状态是凸轮2往地面方向下压抵接压板11。
此外，还可以在驱动单元31(舵机)的驱动角度为第三预设角度的情况下，调整行走轮组件1与第二外壳5之间的高度差，第三预设角度位于第一预设角度以及第二预设角度之间，实现清洁设备能够基于不同驱动单元31的驱动角度进行不同高度的底部抬升；优选的，0°＜第三预设角度＜90°。
本申请实施例中的行走轮机构具备如下有益效果：
通过将驱动组件3与第一外壳4固定连接，凸轮2与行走轮组件1抵接以及行走轮组件1与第二外壳5沿高度方向滑动连接，从而能够在驱动组件3的驱动下，凸轮2发生转动，从而在抵接力的作用下，行走轮组件1相对第二外壳5滑动改变行走轮组件1与第二外壳5之间的高度差，进而改变清洁设备机身与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
通过设置凸轮2以及驱动组件3即可实现行走轮组件1与第二外壳5之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
越障的关键是有效伸出，这反映在行走部件与机身的重叠度上需要具有有效改变。
本申请的设计思路是：通过检测行走轮安装座在第二外壳上的投影与第二外壳的重叠度，判断行走轮机构件的伸缩状态，保证了检测精度。
基于上述设计思路，本申请实施例提供了一种行走轮机构。参考图12、图14、图15、图16和图17，行走轮机构安装于清洁设备的机身6，行走轮机构包括行走轮组件1，行走轮组件1包括：行走部件16。行走部件16相对于机身6可伸缩地可在第一位置和第二位置之间移动或切换，沿行走部件16 的高度方向，第一位置位于第二位置的下方。
所述行走部件16与所述机身重叠的区域在所述行走部件中的占比即重叠度，在所述行走部件16在第一位置和第二位置之间切换时，重叠度变化量大于1％，优选大于5％，更优选大于10％、大于20％或大于30％。
优选地，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度变化量大于1％，优选大于5％，更优选大于10％、大于20％或大于30％。
其中，在行走部件16位于第一位置时，沿机身6的行进方向，行走部件16在机身6上的投影与机身6的重叠度小于或等于95％，大于或等于0；
优选地，所述行走轮安装座的前侧的上部的与所述机身至少具有部分重叠区域，即最小重叠度大于或等于0，优选≥1％。
更优选地，所述行走轮安装座的上部的各个位置均与所述机身至少具有部分重叠区域，即最小重叠度大于或等于0，优选≥1％。
从而保证至少所述行走轮安装座的前侧与机身具有重叠区，从而有效引导越障；比如：在接触到障碍物时，可以更好地抬升。
在行走部件16位于第二位置时，沿机身6的行进方向，行走部件16在机身6上的投影与机身6的重叠度大于或等于60％，小于或等于98％，优选小于90％，从而一方面保证有效缩回机身内部，使清洁设备的刷子、拖布等清洁元件接触地面保证正常清扫，并为更好地伸出提供变化空间(保证具有较大的重叠度变化量)，且保证正常的行驶及导向功能。
本申请实施例提供的行走轮机构，其行走部件16伸缩式地与机身6连接，并可在第一位置和第二位置切换，沿行走部件16的高度方向，第一位置位于第二位置的下方，通过行走部件16的伸缩，可以改变行走轮组件1与机身6之间的高度差，进而改变清洁设备机身6与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
此外，还可通过检测对行走轮安装座在机身上的投影与机身的重叠度的检测，判断行走轮安装座伸出与缩回，以避免测量结果受到外界环境干扰，保证了检测结果的动作的可靠和准确。当未检测到有高度障碍物时，此时，清洁设备是正常清扫模式，行走部件16呈缩回状态，使得行走部件16位于第二位置，在行走部件16位于第二位置时，沿机身6的行进方向，检测行走部件16在机身6上的投影与机身6的重叠度，若检测行走部件16在机身6上的投影与机身6的重叠度大于或等于第一阈值，比如：60％，则判断行走部件16缩回到位。当检测到有高度障碍物时，此时，清洁设备是越障模式，行走部件16由缩回状态变为伸出状态，使得行走部件16位于第一位置，在行走部件16位于第一位置时，沿机身6的行进方向，检测行走部件16在机身6上的投影与机身6的重叠度，若行走部件16在机身6上的投影与机身6小于或等于第二阈值，比如40％，则判断行走部件16伸出到位。
此外，也可以通过重叠度变化量(比如：第一阈值与第二阈值的差值)来检测。
通过检测行走部件16在机身6上的投影与机身6的重叠度，以避免测量结果受到外界环境干扰，保证了检测结果的可靠和准确，同时，以行走部件16和机身6作为检测对象，在检测过程中，行走部件16和机身6不会发生旋转、偏移、位移等现象，行走部件16和机身6提供了稳定的参照系，进一步地保证了检测结果的可靠和准确，通过保证检测结果的可靠和准确，可以精准检测或判断行走部件16的伸缩状态，而且，只需要检测行走部件16在机身6上的投影与机身6的重叠度，就可以判断行走轮组件1的伸缩状态，信号处理简单，成本低。
参考图12-图13，在本申请实施例中，为了保证行走轮14的安全，行走部件16包括：行走轮安装座13和行走轮14。行走轮安装座13具有护罩132，并与机身16连接。行走轮14安装于行走轮安装座13。其中，沿机身6的行进方向，护罩132具有位于行走轮14前侧的防护部1321，在行走轮安装座13的行进的过程中，若遇到障碍物，障碍物会撞击防护部1321，而不会直接撞击行走轮14，通过防护部1321保护行走轮14，避免了行走轮14被障碍物直接撞击，保证了行走轮14的完整性。
在本申请实施例中，为了保证行走轮组件1可以顺畅的跨越障碍物，防护部1321的外表面的至少部分沿底部向顶部的方向，外表面向远离行走轮14的方向倾斜设置，以形成倾斜部分，也就是说，外表面从底部到顶部逐渐远离行走轮14的中轴线，使得外表面与障碍物的接触区域沿着平面向上移动，在上移的过程中，接触压力会逐渐分散，从而降低了在初始接触点的压力，减小阻力，使得行走轮组件1可以顺畅的跨越障碍物。
在本申请实施例中，倾斜部分设置在外表面沿机身6的行进方向的前侧，在防护部1321与障碍物接触时，以实现倾斜部分最先与障碍物接触，使得行走轮组件1可以顺畅的跨越障碍物。
在本申请实施例中，当平面与障碍物的接触区域沿着平面向上移动时，在上移的过程中，为了使得上移不会遇到阻碍，在行走部件16位于第一位置时，外表面与机身6的底部的夹角为第一夹角，在 行走部件16位于第二位置时，外表面与机身6的底部的夹角为第二夹角，最小第一夹角小于或等于最小第二夹角，也就是说，外表面没有突兀的转折或角度变化，减少外表面与障碍物之间的摩擦，使得上移顺畅。
在本申请实施例中，第一夹角和第二夹角均大于或等于20°，小于或等于60°。
在本申请实施例中，外表面可以为平面。
在本申请实施例中，为了保证行走轮组件1可以顺畅的跨越障碍物，防护部1321的外表面的至少部分具有倾斜设置的第一引导面1322，当遇到障碍物时，第一引导面1322会首先与障碍物接触，第一引导面1322与障碍物的接触区域为接触点或非常小，降低了第一引导面1322与障碍物之间的接触面积，使得第一引导面1322与障碍物的之间的摩擦力减小，同时，使得第一引导面1322与障碍物的接触压力会集中在很小的区域内，进而减小了接触压力，使得阻力减小，在行走轮14转动所形成的推动力的作用下，行走轮组件1可以顺畅的跨越障碍物。示例性的，第一引导面1322可以为弧面。
参考图13，在本申请实施例中，为了保证行走轮组件1可以顺畅的跨越障碍物，沿第一引导面1322的底部向顶部的方向，第一引导面1322向远离行走轮14的方向倾斜设置，也就是说，第一引导面1322从底部到顶部逐渐远离行走轮14的中轴线，使得第一引导面1322与障碍物的接触区域沿着第一引导面1322向上移动，在上移的过程中，接触压力会逐渐分散，从而降低了在初始接触点的压力，进一步地减小阻力，使得行走轮组件1可以顺畅的跨越障碍物。
在本申请实施例中，为了使得行走轮组件1可以顺畅的跨越障碍物，在行走部件16位于第一位置时，第一引导面1322与机身6的底部的夹角为第三夹角，在行走部件16位于第二位置时，第一引导面1322与机身6的底部的夹角为第四夹角，第三夹角小于第四夹角，也就是说，第一引导面1322的上部区域的倾斜角度小，第一引导面1322的该区域可以提供较长的接触路径，减小单位长度的高度变化，适合跨越较高的障碍物，减少清洁设备的倾斜角度，保持稳定性，第一引导面1322的底部区域的倾斜角度大，第一引导面1322的该区域可可以使得行走轮组件1能够快速爬上低矮的障碍物，提高越障效率，在行走轮组件1遇到不同高度或者不同类型的障碍物情况下，第一引导面1322的上部区域和下部区域可以分别发挥作用，提高整体的越障性能。
在本申请实施例中，第三夹角大于或等于50°，小于或等于60°。第四夹角大于或等于20°，小于或等于40°。
现有的清洁设备，为了实现对地面的清洁，其会具有行走轮机构，通过行走轮机构的动作，使得清洁设备能够行走，在清洁设备行走的过程中，清洁设备会对地面的灰尘、杂物等进行清洁，以保证地面洁净。
相关技术中，地面存在障碍物，在清洁设备行走的过程中，行走轮机构会与障碍物相碰撞，在行走轮机构与障碍物碰撞时，行走轮机构与障碍物之间的接触面积一般较大，使得行走轮机构与障碍物之间的摩擦力大，接触压力大，导致行走轮机构行走的阻力大，使得行走轮机构越过障碍物能力较差，影响清洁设备的清洁。
基于上述技术问题，本申请提供了一种行走轮机构和清洁设备，旨在至少能够在一定程度上解决行走轮机构越过障碍物能力较差的技术问题。
本申请的设计思路是：通过在护罩位于行走轮前侧的防护部上设置第一引导面，通过第一引导面减小行走轮机构与障碍物之间的摩擦力和接触压力，以减小行走轮机构行走的阻力，使得行走轮机构可以顺畅的跨越障碍物。
基于上述设计思路，本申请实施例提供了一种行走轮机构。参考图3、图9和图10，行走轮机构包括：行走轮组件1。行走轮组件1包括：行走轮安装座13和行走轮14。行走轮安装座13具有护罩132。行走轮14安装于行走轮安装座13。其中，沿行走轮机构1的行进方向，护罩132具有位于行走轮14前侧的防护部1321，防护部1321的外表面至少部分具有倾斜设置的第一引导面1322。第一引导面1322的底部与行走轮14的中轴线所在的竖直面的间距为第一间距，第一引导面1322的顶部与行走轮14的中轴线所在的竖直面的间距为第二间距，第一间距小于第二间距。
本申请实施例提供的行走轮机构，其行走轮14安装于行走轮安装座13，通过行走轮14的转动，以实现行走轮安装座13的行进，由于行走轮安装座13具有护罩132，沿行走轮组件1的行进方向，护罩132具有位于行走轮14前侧的防护部1321，所以，在行走轮安装座13的行进的过程中，若遇到障碍物，障碍物会撞击防护部1321，而不会直接撞击行走轮14，通过防护部1321保护行走轮14，保证了行走轮14的安全，由于防护部1321的外表面至少部分具有倾斜设置的第一引导面1322，所以，当遇到障碍物时，第一引导面1322会首先与障碍物接触，第一引导面1322与障碍物的接触区域为接触点或非常小，降低了第一引导面1322与障碍物之间的接触面积，使得第一引导面1322与障碍物的之间的摩擦力减小，同时，使得第一引导面1322与障碍物的接触压力会集中在很小的区域内，进而减 小了接触压力，使得阻力减小，在行走轮14转动所形成的推动力的作用下，行走轮组件1可以顺畅的跨越障碍物，当障碍物与第一引导面1322接触时，由于第一引导面1322的底部与行走轮14的中轴线所在的竖直面的间距为第一间距，第一引导面1322的顶部与行走轮14的中轴线所在的竖直面的间距为第二间距，第一间距小于第二间距，也就是说，第一引导面1322从底部到顶部逐渐远离行走轮14的中轴线，使得第一引导面1322与障碍物的接触区域沿着第一引导面1322向上移动，在上移的过程中，接触压力会逐渐分散，从而降低了在初始接触点的压力，进一步地减小阻力，使得行走轮组件1可以顺畅的跨越障碍物。
进一步来说，第一引导面1322和轮子分别位于防护部1321相背的两侧，在遇到障碍物时，使得第一引导面1322可以直接与障碍物相接触，以减小防护部1321与障碍物之间的接触面积。
具体而言，护罩132包覆行走轮14沿行走轮组件1的行进方向的侧部的至少部分，在行走轮安装座13的行进的过程中，若遇到障碍物，障碍物会撞击护罩132，而不会直接撞击护罩132，通过护罩132保护行走轮14，保证了行走轮14的安全。
参考图9，在本申请实施例中，为了使得行走轮组件1可以顺畅的跨越障碍物，沿行走轮安装座13的高度方向，第一引导面1322包括多个依次连接的导向面1323，多个导向面1323的曲率半径R由上至下呈减小趋势，可以理解的是，多个导向面1323中位于上部的导向面曲率半径大，使得该导向面较平缓，减小了导向面与障碍物之间的冲击力，以保护行走轮组件1，多个导向面1323中位于中部的导向面曲率半径适中，使得该导向面的结构强度和越障能力均满足要求，多个导向面1323中位于底部的导向面曲率半径小，使得该导向面较陡，减小了该导向面与障碍物之间的接触面积，增强了越障能力，在行走轮组件1遇到不同高度或者不同类型的障碍物情况下，第一引导面1322不同部分可以分别发挥作用，提高整体的越障性能。
参考图9，示例性的，多个导向面1323包括第一面132a、第二面132b和第三面132c，沿行走轮安装座13的高度方向，第一面132a、第二面132b和第三面132c由上至下依次连接。其中，第一面132a的曲率半径R1大于第二面132b的曲率半径R2，第二面132b的曲率半径R2大于第三面132c的曲率半径R3。
参考图11，在本申请实施例中，为了形成连续的弧形面，多个导向面1323中，每相邻的两个导向面1323连接形成连接处平滑过渡，使得连接处没有突兀的转折或角度变化，当第一引导面1322与障碍物的接触区域沿着第一引导面1322向上移动时，在上移的过程中，不会遇到阻碍，减少第一引导面1322与障碍物之间的摩擦，使得上移顺畅。
在本申请实施例中，为了使得行走轮组件1可以顺畅的跨越障碍物，沿行走轮安装座13的高度方向，第一引导面1322包括多个依次连接的导向面1323，多个导向面1323的倾斜角度θ由上至下呈增大趋势，可以理解的是，多个导向面1323中位于上部的导向面的倾斜角度小，该导向面可以提供较长的接触路径，减小单位长度的高度变化，适合跨越较高的障碍物，减少清洁设备的倾斜角度，保持稳定性，多个导向面1323中位于中部的导向面的倾斜角度适中，该导向面兼顾通过性和稳定性，多个导向面1323中位于底部的导向面的倾斜角度大，该导向面可以使得行走轮组件1能够快速爬上低矮的障碍物，提高越障效率，在行走轮组件1遇到不同高度或者不同类型的障碍物情况下，第一引导面1322不同部分可以分别发挥作用，提高整体的越障性能。
参考图9，示例性的，多个导向面1323包括第一面132a、第二面132b和第三面132c，沿行走轮安装座13的高度方向，第一面132a、第二面132b和第三面132c由上至下依次连接。其中，第一面132a的倾斜角度θ1小于第二面132b的倾斜角度θ2，第二面132b的倾斜角度θ2小于第三面132c的倾斜角度θ3。
在本申请实施例中，为了使得行走轮组件1可以顺畅的跨越障碍物，沿行走轮安装座13的高度方向，第一引导面1322包括多个依次连接的导向面1323，多个导向面1323的弦长比弦高W/h由上至下呈减小趋势。
具体而言，在一个圆中，弦长W、弦高h和曲率半径R之间存在以下经验关系：
因此，曲率半径越大，则W/h之间的比值也越大，可以理解的是，多个导向面1323中位于上部的弦长比弦高大，其导向面曲率半径大，使得该导向面较平缓，减小了导向面与障碍物之间的冲击力，以保护行走轮组件1，多个导向面1323中位于中部的导向面弦长比弦高适中，其曲率半径适中，使得该导向面的结构强度和越障能力均满足要求，多个导向面1323中位于底部的弦长比弦高小，其导向面曲率半径小，使得该导向面较陡，减小了该导向面与障碍物之间的接触面积，增强了越障能力，在行走轮组件1遇到不同高度或者不同类型的障碍物情况下，第一引导面1322不同部分可以 分别发挥作用，提高整体的越障性能。
参考图9，示例性的，多个导向面1323包括第一面132a、第二面132b和第三面132c，沿行走轮安装座13的高度方向，第一面132a、第二面132b和第三面132c由上至下依次连接。其中，第一面132a的弦长比弦高W1/h1大于第二面132b的弦长比弦高W2/h2，第二面132b的弦长比弦高W2/h2大于第三面132c的弦长比弦高W3/h3。
参考图9、图10和图11，在本申请实施例中，为了进一步地降低防护部1321与障碍物之间的接触面积，防护部1321的外表面具有凸出部1325，凸出部1325设置于防护部1321的宽度方向的中部的至少部分，在防护部1321与障碍物接触时，障碍物会首先接触凸出部1324，通过凸出部1324可以减小了防护部1321与障碍物之间的接触面积，使得防护部1321与障碍物的之间的摩擦力减小，同时，使得防护部1321与障碍物的接触压力会集中在很小的区域内，进而减小了接触压力，使得阻力减小，在行走轮14转动所形成的推动力的作用下，行走轮组件1可以顺畅的跨越障碍物。
参考图10，其中，以空间直角坐标系为例，x方向为防护部1321的宽度方向，y方向为行走轮机构的行进方向，z方向为行走轮机构的高度。
参考图10，在本申请实施例中，凸出部1325的宽度方向的两侧设置有弧度降低的曲面、凹面1324或平面，也就是说，凹面1324沿背离行走轮组件1的行进方向凹陷，沿行走轮安装座13的高度方向，两个凹面1324或平面分别位于第一引导面1322的两侧，使得两个凹面1324或平面之间的凸出部1324凸出，以减小了防护部1321与障碍物之间的接触面积。
相关技术中，防护部的内壁为平面，为了使得行走轮可以顺畅转动，防护部的内壁与行走轮14之间的间距较大，导致杂物易进入防护部与行走轮之间。参考图9、图10和图11，在本申请实施例中，为了降低杂物进入防护部1321与行走轮14之间的可能性，沿行走轮安装座13的高度方向，防护部1321的底部在行走轮安装座13上的投影的形状为V字形，可以理解的是，防护部1321的底部至少部分沿行走轮组件1的行进方向突出，以形成V字形结构，可以减小防护部的内壁与行走轮14之间的间距，同时，避免防护部1321的底部干涉行走轮14的转动，使得杂物难以进入防护部1321与行走轮14之间的空间，避免杂物干扰行走轮14的转动，保证行走轮14转动的稳定性。
进一步来说，防护部1321的内壁在行走轮安装座13上的投影的形状为V字形或弧形，以适配行走轮14，可以理解的是，防护部1321的内壁至少部分沿行走轮组件1的行进方向突出，以形成V字形结构或弧形结构，可以减小防护部的内壁与行走轮14之间的间距，同时，避免防护部1321的内壁干涉行走轮14的转动，使得杂物难以进入防护部1321与行走轮14之间的空间，避免杂物干扰行走轮14的转动，保证行走轮14转动的稳定性。
示例性的，防护部1321的内壁突出的部分位于防护部1321底部的中部。
参见图9，在本申请实施例中，为了进一步地降低杂物进入防护部1321与行走轮14之间的可能性，沿行走轮安装座13的高度方向，V字形的两侧在行走轮安装座13上的投影均为曲线形，优选圆滑曲线形或弧形，可以减小防护部的内壁与行走轮14之间的间距，同时，避免防护部1321的内壁干涉行走轮14的转动，使得杂物难以进入防护部1321与行走轮14之间的空间，避免杂物干扰行走轮14的转动，保证行走轮14转动的稳定性。示例性的，第一引导面1322的曲率半径与行走轮14的曲率相适配，第一引导面1322的半径大于行走轮14的半径。
在本申请实施例中，为了使得行走轮组件1可以顺畅的跨越障碍物，第一引导面1322具有光滑层或者表面光滑，可以降低第一引导面1322与障碍物的之间的摩擦力，使得阻力减小，在行走轮14转动所形成的推动力的作用下，行走轮组件1可以顺畅的跨越障碍物。示例性的，光滑层的材质可以为PTFE材料。
本申请的实施例还提供一种清洁设备，该清洁设备包括本申请实施例中的行走轮机构、机身6、第一外壳4以及第二外壳5。
在本申请具体实施例中，清洁设备可以是扫地机以及扫地机器人等清洁设备。
参考图18，在本申请实施例中，为了进一步地保证行走轮组件1可以顺畅的跨越障碍物，清洁设备还包括：机身6。机身6与行走部件16连接。其中，机身6的底部设置有供行走部件16伸缩的孔62，机身6设置有第二引导面61，沿机身6的行进方向，第二引导面61设于孔62的前侧，并倾斜设置。其中，第二引导面61位于机身6的底盘的底部，且可以为斜面、曲面或弧形。
在本申请实施例中，当遇到障碍物时，第二引导面61会首先与障碍物接触，第二引导面61与障碍物的接触区域为接触点或非常小，降低了第二引导面61与障碍物之间的接触面积，使得第二引导面61与障碍物的之间的摩擦力减小，同时，使得第二引导面61与障碍物的接触压力会集中在很小的区域内，进而减小了接触压力，使得阻力减小，在行走部件16行进过程中所形成的推动力的作用下，第二引导面61可以顺畅的跨越障碍物，使得机身6可以越过障碍物。当障碍物与第二引导面61接触时， 由于第二引导面61倾斜设置，使得第二引导面61与障碍物的接触区域沿着第二引导面61向上移动，在上移的过程中，接触压力会逐渐分散，从而降低了在初始接触点的压力，进一步地减小阻力，使得机身6可以顺畅的跨越障碍物。
上述说明已经充分揭露了本申请的具体实施方式。需要指出的是，熟悉该领域的技术人员对本申请的具体实施方式所做的任何改动均不脱离本申请的权利要求书的范围。相应地，本申请的权利要求的范围也并不仅仅局限于前述具体实施方式。

Claims (18)

  1. 一种行走轮机构，安装于清洁设备的机身，其特征在于，所述行走轮机构包括行走轮组件，所述行走轮组件包括：
    行走部件，能够相对于所述机身可伸缩地在第一位置和第二位置之间移动，沿所述行走轮安装座的高度方向，所述第一位置位于所述第二位置的下方；
    在所述行走部件在第一位置和第二位置之间切换时，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度变化量大于1％，优选大于5％，更优选大于10％、大于20％或大于30％。
  2. 根据权利要求1所述的行走轮机构，其特征在于，其中，在所述行走部件位于所述第一位置时，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度小于或等于95％。
  3. 根据权利要求1所述的行走轮机构，其特征在于，在所述行走部件位于所述第二位置时，沿所述机身的行进方向，所述行走部件在所述机身上的投影与所述机身的重叠度大于或等于60％。
  4. 根据权利要求1-3任一项所述的行走轮机构，其特征在于，在所述行走部件位于所述第一位置时，沿所述机身的行进方向，所述行走轮安装座在所述机身上的投影与所述机身的重叠度大于或等于0。
  5. 根据权利要求1-3任一项所述的行走轮机构，其特征在于，在所述行走轮安装座位于所述第一位置时，所述行走轮安装座的上部的各个位置均与所述机身至少具有部分重叠区域，最小重叠度大于或等于0，优选≥1％。
  6. 根据权利要求1-3任一项所述的行走轮机构，其特征在于，在所述行走部件位于所述第二位置时，沿所述机身的行进方向，所述行走轮安装座在所述机身上的投影与所述机身的重叠度小于或等于98％，优选小于或等于90％。
  7. 根据权利要求1-3任一项所述的行走轮机构，其特征在于，所述行走部件包括：
    行走轮安装座，具有护罩；
    行走轮，安装于所述行走轮安装座；
    其中，沿所述机身的行进方向，所述护罩具有位于行走轮前侧的防护部。
  8. 根据权利要求7所述的行走轮机构，其特征在于，所述防护部的外表面的至少部分沿底部向顶部的方向，所述外表面向远离所述行走轮的方向倾斜设置，以形成所述倾斜部分。
  9. 根据权利要求8所述的行走轮机构，其特征在于，所述倾斜部分设置在所述外表面沿所述机身的行进方向的前侧。
  10. 根据权利要求8所述的行走轮机构，其特征在于，在所述行走部件位于所述第一位置时，所述外表面与所述机身的底部的夹角为第一夹角，在所述行走部件位于所述第二位置时，所述外表面与所述机身的底部的夹角为第二夹角，最小所述第一夹角小于或等于最小所述第二夹角。
  11. 根据权利要求10所述的行走轮机构，其特征在于，所述第一夹角和所述第二夹角均大于或等于20°，小于或等于60°。
  12. 根据权利要求10所述的行走轮机构，其特征在于，所述防护部的外表面的至少部分具有倾斜设置的第一引导面，沿所述第一引导面的底部向顶部的方向，所述第一引导面向远离所述行走轮的方向倾斜设置。
  13. 根据权利要求12所述行走轮机构，其特征在于，在所述行走部件位于所述第一位置时，所述第一引导面与所述机身的底部的夹角为第三夹角，在所述行走部件位于所述第二位置时，所述第一引导面与所述机身的底部的夹角为第四夹角，所述第三夹角小于所述第四夹角。
  14. 根据权利要求13所述的行走轮机构，其特征在于，所述第三夹角大于或等于20°，小于或等于40°；所述第四夹角大于或等于50°，小于或等于60°。
  15. 根据权利要求7所述的行走轮机构，其特征在于，所述防护部的外表面具有凸出部，所述凸出部设置于所述防护部的宽度方向的中部的至少部分。
  16. 根据权利要求15所述的行走轮机构，其特征在于，所述凸出部的宽度方向的两侧设置有弧度降低的曲面、凹面或平面。
  17. 一种清洁设备，其特征在于，包括如权利要求1-16任一项所述的行走轮机构。
  18. 根据权利要求17所述的清洁设备，其特征在于，所述清洁设备还包括：
    机身，与所述行走部件连接；
    其中，所述机身的底部设置有供所述行走部件伸缩的孔，所述机身设置有第二引导面，沿所述机身的行进方向，所述第二引导面设于所述孔的前侧，并倾斜设置。
PCT/CN2024/128462 2024-06-18 2024-10-30 行走轮机构和清洁设备 Pending WO2025260583A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202421396452.1U CN223208348U (zh) 2024-06-18 2024-06-18 一种行走轮机构和清洁设备
CN202421396452.1 2024-06-18
CN202410850900.9 2024-06-27
CN202410850900.9A CN118746995A (zh) 2024-06-27 2024-06-27 自移动设备及越障控制方法、介质和程序产品

Publications (1)

Publication Number Publication Date
WO2025260583A1 true WO2025260583A1 (zh) 2025-12-26

Family

ID=98212329

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/CN2024/128462 Pending WO2025260583A1 (zh) 2024-06-18 2024-10-30 行走轮机构和清洁设备
PCT/CN2024/128460 Pending WO2025260582A1 (zh) 2024-06-18 2024-10-30 行走轮机构和清洁设备

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/CN2024/128460 Pending WO2025260582A1 (zh) 2024-06-18 2024-10-30 行走轮机构和清洁设备

Country Status (1)

Country Link
WO (2) WO2025260583A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060014716A (ko) * 2004-08-12 2006-02-16 주식회사 한울로보틱스 흡입구 조립체를 갖는 이동로봇의 승월구조
JP2014176509A (ja) * 2013-03-14 2014-09-25 Toshiba Corp 電気掃除機
CN209068046U (zh) * 2018-09-28 2019-07-05 珠海市一微半导体有限公司 一种基于万向轮的升降装置、清洁机器人及其芯片
CN209346898U (zh) * 2018-11-02 2019-09-06 江苏美的清洁电器股份有限公司 清洁装置
CN112587050A (zh) * 2020-12-24 2021-04-02 珠海格力电器股份有限公司 清洁设备及扫地机器人
CN215959678U (zh) * 2021-03-03 2022-03-08 追觅创新科技(苏州)有限公司 自移动设备
CN217792855U (zh) * 2022-07-18 2022-11-15 追觅创新科技(苏州)有限公司 清洁设备
CN118746995A (zh) * 2024-06-27 2024-10-08 北京石头创新科技有限公司 自移动设备及越障控制方法、介质和程序产品

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017131355A (ja) * 2016-01-26 2017-08-03 実季 原田 自走式風呂清掃ロボット
JP7507350B2 (ja) * 2020-08-31 2024-06-28 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
CN112716382A (zh) * 2020-12-29 2021-04-30 科沃斯机器人股份有限公司 轮组件及具有此轮组件的自移动机器人
CN215305532U (zh) * 2021-06-07 2021-12-28 尚科宁家(中国)科技有限公司 一种用于清洁机器人的导向轮组件
CN215687547U (zh) * 2021-06-16 2022-02-01 尚科宁家(中国)科技有限公司 一种用于清洁机器人的导向轮组件
CN116767392B (zh) * 2022-03-11 2026-03-13 美的集团(上海)有限公司 底盘及机器人
CN220331288U (zh) * 2023-06-14 2024-01-12 科沃斯家用机器人有限公司 一种自移动装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060014716A (ko) * 2004-08-12 2006-02-16 주식회사 한울로보틱스 흡입구 조립체를 갖는 이동로봇의 승월구조
JP2014176509A (ja) * 2013-03-14 2014-09-25 Toshiba Corp 電気掃除機
CN209068046U (zh) * 2018-09-28 2019-07-05 珠海市一微半导体有限公司 一种基于万向轮的升降装置、清洁机器人及其芯片
CN209346898U (zh) * 2018-11-02 2019-09-06 江苏美的清洁电器股份有限公司 清洁装置
CN112587050A (zh) * 2020-12-24 2021-04-02 珠海格力电器股份有限公司 清洁设备及扫地机器人
CN215959678U (zh) * 2021-03-03 2022-03-08 追觅创新科技(苏州)有限公司 自移动设备
CN217792855U (zh) * 2022-07-18 2022-11-15 追觅创新科技(苏州)有限公司 清洁设备
CN118746995A (zh) * 2024-06-27 2024-10-08 北京石头创新科技有限公司 自移动设备及越障控制方法、介质和程序产品

Also Published As

Publication number Publication date
WO2025260582A1 (zh) 2025-12-26

Similar Documents

Publication Publication Date Title
TWI732091B (zh) 移動式機器人
EP3651564B1 (en) Blade assembly for a grass cutting mobile robot
WO2025045257A1 (zh) 一种传动装置和清洁设备
EP4039154A1 (en) Roller brush assembly and cleaning robot
SE527093C2 (sv) Robotstädare
CN219578804U (zh) 清洁机器人
EP3783170A1 (en) Suction cleaner for swimming pools
CN218978771U (zh) 清洁设备
WO2025045265A1 (zh) 传动装置和清洁设备
WO2025260583A1 (zh) 行走轮机构和清洁设备
CN117958660A (zh) 自清洁设备及清洁系统
CN118383690A (zh) 越障装置、自行走机器人以及清洁系统
WO2022142393A1 (zh) 撞板结构及扫地机器人
CN223025974U (zh) 清洁设备和清洁系统
CN223067533U (zh) 沿边切割装置以及割草设备
CN215016824U (zh) 一种碰撞摇臂组件及扫地机
WO2025035622A1 (zh) 一种防撞导向装置以及自移动设备
CN120422280A (zh) 一种移动机器人及机器人系统
WO2025260463A1 (zh) 行走轮机构和清洁设备
CN118356123A (zh) 清洁机器人
CN220374716U (zh) 防搁浅水面清洁机器人
CN212755504U (zh) 机器人
CN219593093U (zh) 行进驱动模组及割草机器人
CN223208337U (zh) 一种清洁机器人
CN210476959U (zh) 一种清洗装置及清洗机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24945312

Country of ref document: EP

Kind code of ref document: A1