CN-121987100-A - Cleaning robot, obstacle crossing travelling wheel device and obstacle crossing method of robot

Abstract

The embodiment of the application provides a cleaning robot, an obstacle surmounting travelling wheel device and an obstacle surmounting method of the robot. The cleaning robot comprises a machine body, a swing arm, an auxiliary obstacle crossing assembly and a clutch device. In the scheme of the embodiment of the application, the travelling wheel and the power device are arranged on the swing arm, and the auxiliary obstacle surmounting assembly and the clutch device are also arranged, so that the cleaning robot can smoothly travel on any travelling surface by changing the state of the clutch device. When the vehicle passes over a low obstacle, the swing arm swings downwards, the clutch device can be in a separated state, and the power device drives the travelling wheel to pass through. When crossing higher barrier, the swing arm descends, and clutch can switch to the engaged state, and power device drives the wheel of marcing and supplementary obstacle crossing subassembly rotation simultaneously, and supplementary obstacle crossing subassembly lower hem can assist the wheel of marcing to cross the barrier for cleaning robot's obstacle crossing ability will show improvement, and then can adapt to multiple complicated family environment, satisfies the clear needs of whole house.

Inventors

• REN XUSHENG
• HUANG DI
• CHEN CHAO
• CAO ZIJING
• Ji Lujing

Assignees

• 科沃斯机器人股份有限公司

Dates

Publication Date

20260508

Application Date

20251104

Priority Date

20241105

Claims (19)

1. 1. A cleaning robot, comprising: A body; The swing arm is rotatably connected to the machine body and is provided with a traveling wheel and a power device; the auxiliary obstacle surmounting assembly is rotatably connected to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary obstacle surmounting assembly; The clutch device is in a separation state and an engagement state, when the clutch device is in the separation state, the power device drives the traveling wheel to rotate, and when the clutch device is in the engagement state, the power device drives the traveling wheel to rotate and simultaneously drives the auxiliary obstacle crossing assembly to rotate so as to assist the traveling wheel to surmount an obstacle.
2. 2. The cleaning robot according to claim 1, wherein, When the swing arm swings to a first preset position along a first direction, the clutch device is switched from the separation state to the engagement state.
3. 3. The cleaning robot of claim 1, wherein the auxiliary obstacle detouring assembly is periodically connected to the clutch device such that the auxiliary obstacle detouring assembly is periodically rotated when the clutch device is in an engaged state.
4. 4. The cleaning robot according to claim 1, characterized in that the clutch means is triggered by a mechanical structure to switch from the disengaged state to the engaged state when the cleaning robot needs to surmount an obstacle, or the clutch means is electrically controlled by a control means of the cleaning robot to switch from the disengaged state to the engaged state.
5. 5. The cleaning robot of claim 1, wherein the auxiliary obstacle surmounting assembly is a swing rod, one end of the swing rod is connected to an obstacle surmounting rotating shaft of the swing arm, and when the swing rod rotates to a downward vertical state, the end of the swing rod extends to a position below the edge of the swing arm.
6. 6. The cleaning robot of claim 5, wherein the swing link comprises a main body section and a telescopic section, the telescopic section is connected to the main body section, and the telescopic section can be telescopic along the length direction of the main body section.
7. 7. The cleaning robot of claim 6, wherein the swing arm has a housing with a baffle thereon, the baffle being located in the swing link rotation path region; the distance between the baffle and the axle center of the obstacle crossing rotating shaft is smaller than the length of the swing rod when the swing rod is fully extended.
8. 8. The cleaning robot of any one of claims 1 to 7, wherein the clutching device comprises a connected trigger assembly and clutch; When the swing arm swings to the first preset position along the first direction, the trigger component acts to trigger the clutch to be switched from a separation state to an engagement state; when the swing arm swings to a second preset position along a second direction, the trigger assembly acts reversely to trigger the clutch to be switched from an engaged state to a disengaged state; wherein the first direction and the second direction are two different directions.
9. 9. The cleaning robot of claim 8, wherein the clutch comprises a first shaft, a clutch gear, a lifting gear, and a reset member; The clutch gear and the lifting gear are arranged on the first rotating shaft, the lifting gear is positioned below the clutch gear, and the reset piece is abutted with the top of the clutch gear; When the lifting gear ascends, the lifting gear can push the clutch gear to ascend, and after the clutch gear reaches the limit position, the clutch is switched to an engaged state; when the lifting gear descends, the reset piece drives the clutch gear to descend, and after the clutch gear reaches an initial position, the clutch is switched to a separated state.
10. 10. The cleaning robot of claim 9, wherein the lifting gear is provided with internal threads, the first rotating shaft is provided with external threads, and the lifting gear is in fit connection with the first rotating shaft; When the lifting gear rotates in different directions, the lifting gear can move up and down along the axial direction of the lifting gear relative to the first rotating shaft.
11. 11. The cleaning robot of claim 9, further comprising a transmission assembly comprising a sheave with a bar-shaped groove thereon; a deflector rod is arranged on the clutch gear, and synchronously rotates along with the clutch gear, and can be connected in the strip-shaped groove in a matching way; When the clutch is in an engaged state, the deflector rod is inserted into the bar-shaped groove after being lifted along with the clutch gear; And along with the rotation of the clutch gear, the deflector rod slides in the strip-shaped groove and simultaneously drives the grooved wheel to rotate.
12. 12. The cleaning robot of claim 11, wherein a plurality of the bar-shaped grooves are uniformly arranged on the grooved wheel at intervals along the radial direction of the grooved wheel; When the clutch is in an engaged state, one deflector rod drives the grooved pulley to rotate for an angle distance, the deflector rod is separated from the strip-shaped groove, and is matched and inserted into the next strip-shaped groove along with the continued rotation of the clutch gear so as to continuously drive the grooved pulley to rotate, and the clutch gear periodically drives the grooved pulley to rotate.
13. 13. The cleaning robot of claim 11, wherein the drive assembly further comprises a drive gear coupled to the sheave, the drive gear engaging a driven gear on an obstacle surmounting shaft extending out of a receiving pocket on the swing arm, the auxiliary obstacle surmounting assembly coupled to the obstacle surmounting shaft.
14. 14. The cleaning robot of claim 8, wherein the trigger assembly comprises a sector gear set, a jumper spring assembly, and a swing gear set; The swing gear set comprises a first swing gear and a second swing gear which are coaxially arranged, the first swing gear is connected with the sector gear set, the second swing gear is connected with a lifting gear of the clutch, and the springbar assembly is arranged between the first swing gear and the second swing gear through a connecting rod; When the swing arm swings, the sector gear sets synchronously rotate, the sector gear sets drive the first swing gear to rotate relative to the second swing gear, the springbar assembly is compressed, and when the swing arm swings to a first preset position, the compressed springbar assembly is released to drive the second swing gear to rotate.
15. 15. The cleaning robot of claim 14, wherein the gear segment set comprises a first gear segment and a second gear segment; the first sector gear is fixedly sleeved on the connecting shaft, the second sector gear comprises sector teeth and a driven pinion, and the sector teeth are coaxially connected with the driven pinion; The first sector gear is engaged with the driven pinion gear, and the second sector gear is engaged with the first swing gear.
16. 16. The cleaning robot of claim 1, wherein the auxiliary obstacle detouring assembly is located on the front side of the travelling wheel.
17. 17. An obstacle-surmounting travel wheel assembly comprising: The swing arm is provided with a connecting shaft, can swing around the connecting shaft, and is provided with a travelling wheel and a power device; the auxiliary obstacle surmounting assembly is rotatably connected to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary obstacle surmounting assembly; The clutch device is in a separation state and an engagement state, when the clutch device is in the separation state, the power device drives the traveling wheel to rotate, and when the clutch device is in the engagement state, the power device drives the traveling wheel to rotate and simultaneously drives the auxiliary obstacle crossing assembly to rotate so as to assist the traveling wheel to surmount an obstacle.
18. 18. A robot obstacle crossing method, comprising: The robot advances, and the power device on the robot drives the advancing wheel to rotate; And when the robot moves, the moving wheel of the robot descends, the clutch device is triggered to be switched from a separation state to an engagement state, and the power device drives the auxiliary obstacle surmounting assembly on the robot to rotate so as to assist the moving wheel to surmount an obstacle.
19. 19. The method as recited in claim 18, further comprising: And in the process of assisting the traveling wheel to surmount the obstacle, the auxiliary obstacle surmounting assembly periodically rotates.

Description

Cleaning robot, obstacle crossing travelling wheel device and obstacle crossing method of robot Technical Field The application relates to the field of electrical equipment, in particular to a cleaning robot, an obstacle crossing travelling wheel device and an obstacle crossing method of the robot. Background With the development of technology, the cleaning robot is more and more intelligent, and the cleaning robot can automatically identify the area range of the ground to be cleaned and then clean the surface to be cleaned by independently planning the travelling path. The cleaning robot is more and more popular in the market because of high intelligent level and good cleaning effect. However, as the complexity of the home environment increases, the cleaning robot cannot smoothly cross over the obstacles such as a higher threshold and a sliding rail, which limits the cleaning range of the cleaning robot and cannot meet the requirement of smoothly crossing over high obstacles to realize the cleaning of the whole house. Improving the obstacle surmounting capability of the cleaning robot is a problem that is now urgently needed to be solved. Disclosure of Invention In view of the above problems, the present application has been made to solve the above problems, or at least partially solve the above problems, a cleaning robot, an obstacle surmounting travel wheel apparatus, and a robot obstacle surmounting method. In one embodiment of the present application, a cleaning robot is provided. The cleaning robot includes: A body; The swing arm is rotatably connected to the machine body and is provided with a traveling wheel and a power device; the auxiliary obstacle surmounting assembly is rotatably connected to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary obstacle surmounting assembly; The clutch device is in a separation state and an engagement state, when the clutch device is in the separation state, the power device drives the traveling wheel to rotate, and when the clutch device is in the engagement state, the power device drives the traveling wheel to rotate and simultaneously drives the auxiliary obstacle crossing assembly to rotate so as to assist the traveling wheel to surmount an obstacle. In another embodiment of the present application, an obstacle surmounting travel wheel assembly is provided. The obstacle surmounting traveling wheel device comprises: the swing arm is provided with a rotating shaft, can swing around the rotating shaft and is provided with a traveling wheel and a power device; the auxiliary obstacle surmounting assembly is rotatably connected to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary obstacle surmounting assembly; The clutch device is in a separation state and an engagement state, when the clutch device is in the separation state, the power device drives the traveling wheel to rotate, and when the clutch device is in the engagement state, the power device drives the traveling wheel to rotate and simultaneously drives the auxiliary obstacle crossing assembly to rotate so as to assist the traveling wheel to surmount an obstacle. In another embodiment of the present application, there is also provided a robot obstacle surmounting method, including: The robot advances, and the power device on the robot drives the advancing wheel to rotate; And when the robot moves, the moving wheel of the robot descends, the clutch device is triggered to be switched from a separation state to an engagement state, and the power device drives the auxiliary obstacle surmounting assembly on the robot to rotate so as to assist the moving wheel to surmount an obstacle. Optionally, the method further comprises: And in the process of assisting the traveling wheel to surmount the obstacle, the auxiliary obstacle surmounting assembly periodically rotates. In the technical scheme of the embodiment of the application, the travelling wheel and the power device are arranged on the swing arm, and the auxiliary obstacle crossing assembly and the clutch device are also arranged, so that the cleaning robot can smoothly travel on any travelling surface by changing the state of the clutch device. For example, when the swing arm swings down when the vehicle passes over a low obstacle, the clutch device can be in a separated state, and the power device drives the travelling wheel to pass through. When crossing higher barrier, the swing arm descends, and clutch can switch to the engaged state, and power device drives the wheel of marcing and supplementary obstacle crossing subassembly rotation simultaneously, and supplementary obstacle crossing subassembly lower hem can assist the wheel of marcing to cross the barrier for cleaning robot's obstacle crossing ability will show improvement, and then can ad