Obstacle Crossing Assembly and Robotic Cleaner

The present application is provided based on and claims priority to the Chinese Patent Application No. 202421022915.8, filed on May 11, 2024, the entire contents of which are incorporated herein by reference.

At present, a robotic cleaner is usually equipped with a universal wheel and a traveling wheel, usually only a single traveling wheel is configured on one side of the robotic cleaner, resulting in no auxiliary support when the robotic cleaner crosses an obstacle, the obstacle crossing height of the robotic cleaner is limited, and the ability to cross the obstacle is low.

The disclosure relates to the technical field of terminals, in particular to an obstacle crossing assembly and a robotic cleaner, so as to overcome the defects in the related art.

According to examples of the disclosure, an obstacle crossing assembly is provided, including:

According to a second aspect of examples of the disclosure, a robotic cleaner is provided, including:

Examples will be described in detail here, instances of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals in different accompanying drawings indicate the same or similar elements. The implementations described in the following examples do not represent all implementations consistent with the disclosure. Rather, they are merely instances of apparatuses and methods consistent with some aspects of the disclosure as detailed in the appended claims.

The terms used in the disclosure are merely for the purpose of describing specific examples, and not intended to limit the disclosure. The singular forms “one”, “said” and “the” used in the disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term “and/or” as used here refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that, although the terms “first”, “second”, “third”, etc. may be used to describe various information in the disclosure, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word “if” as used here may be interpreted as “at the time of” or “when” or “in response to determining that”.

is a simplified structural diagram of a robotic cleaner including an obstacle crossing assembly according to an example.is a schematic upward diagram of the robotic cleaner in.is a schematic structural diagram of an obstacle crossing assembly according to an example. In the following examples, by taking the obstacle crossing assembly being applied to a commonly used household robotic cleaner as an example, the obstacle crossing assembly, of course, may also be applied to other types of robotic cleaners, which is not limited in the disclosure.

As shown inand, the robotic cleaner includes an obstacle crossing assembly and a device main body, and the device main body I may include a universal wheel, a housing, a main board, a sensor, a cleaning assembly, and other components. As shown in, the obstacle crossing assembly includes a traveling wheel group, a first connecting member, a second connecting member, a first elastic member, and a second elastic member. The quantity of traveling wheel groupsmay be an odd number, and the traveling wheel groupsof the odd number are disposed basically in a straight line in a front-and-back direction. Of course, the quantity of traveling wheel groupsmay be an even number, and the traveling wheel groups of the even number are symmetrically distributed on both sides of the device main body. For example, as shown in, the robotic cleaner may include two traveling wheel groupssymmetrically distributed, each of which includes a front wheeland a rear wheel, where the front wheeland the rear wheelare rotatably connected to the device main bodyrespectively, and the front wheelis closer to a front end of the robotic cleaner than the rear wheel, which could be understood that the front wheelis closer to the universal wheel of the robotic cleaner than the rear wheel.

The first connecting memberis rotatably connected to the front wheeland the rear wheelrespectively, the second connecting memberis rotatably connected to the first connecting memberand the device main body I respectively, and the second connecting memberis disposed by extending towards the front end of the robotic cleaner relative to the first connecting member. The first connecting memberand the second connecting membermay adopt any structural form respectively, as long as the necessary avoidance design is made according to the structure of the robotic cleaner. For example, the first connecting membermay be a first connecting bar or housing, similarly, the second connecting membermay be a second connecting bar or housing, and the first connecting memberand the second connecting membermay be of the same structure or different structures, which is not limited by the disclosure. The second connecting memberextends towards the front end of the robotic cleaner relative to the first connecting member. Specifically, the second connecting membermay extend in a direction perpendicular to a height direction of the robotic cleaner, or may extend at an angle of no zero and nodegrees relative to the height direction of the robotic cleaner, which could be specifically designed as required.

In order to realize the rotatable connection between the first connecting memberand the second connecting member, the robotic cleaner further includes a first rotating shaft, the first connecting memberand the second connecting memberare rotatably connected by the first rotating shaft, and the first rotating shaftmay be fixedly connected to one of the first connecting memberand the second connecting memberand rotatably connected to the other. Similarly, in order to realize the rotatable connection between the second connecting memberand the device main body, the robotic cleaner further includes a second rotating shaft, the second connecting memberand the device main bodyare rotatably connected by the second rotating shaft, and the second rotating shaftmay be fixedly connected to one of the second connecting memberand the device main bodyand rotatably connected to the other.

The first elastic memberis connected to the first connecting memberand the second connecting member, and the second elastic memberis connected to the device main bodyand the second connecting member. As shown in, in an obstacle climbing stage of the front wheel, that is, in the stage when the front wheelgoes upstairs or uphill, the second elastic membercould provide acting force to the second connecting member, so as to drive the second connecting memberto clockwise rotate to a stop position, so that an upward tension is produced on the first connecting memberthrough the second connecting member, to help the front wheelto climb an obstacle smoothly. In the obstacle climbing stage of the front wheel, the first elastic membercould drive the first connecting memberto anticlockwise rotate to a stop position, and the first connecting memberanticlockwise rotates to drive the front wheelto anticlockwise rotate and be elevated relative to the rear wheel, thus helping the front wheelto climb the obstacle smoothly. At the same time, the anticlockwise rotation of the first connecting membercould generate downward pressure towards the rear wheel, so that the rear wheelis contacted with the ground to form support for the robotic cleaner. Through the cooperative action of the first elastic memberand the second elastic member, an elevation height of the front wheelis advantageously increased, so as to improve the obstacle crossing ability of the robotic cleaner.

As shown in, after the front wheelclimbs the obstacle and is located on a stair or is contacted with a top edge of the stair or climbs over the stair, the rear wheelswitches to the obstacle climbing stage, that is, after the front wheelis contacted with the obstacle to be supported, the first elastic membercould drive the first connecting memberto clockwise rotate and reset to an initial position. Through the clockwise rotation of the first connecting member, downward acting force could be generated towards the front wheel, helping the front wheelto maintain contact with the stair and helping to achieve traveling through friction force. At the same time, the clockwise rotation of the first connecting membercould generate upward acting force towards the rear wheel, helping the rear wheelto be elevated, so that the rear wheelcould climb and contact with the stair advantageously.

After obstacle climbing is completed, the front wheelis contacted with the obstacle to form support, and the second elastic memberdrives the second connecting memberto anticlockwise rotate to the initial position, thus generating downward pressure acting on the first connecting member, and then through the first connecting member, downward pressure could be applied to the front wheeland the rear wheelto maintain contact with the ground. Moreover, the second connecting memberis driven through the second elastic memberto perform reciprocating rotation, which is conducive to improving the shock absorption ability of the robotic cleaner. When the robotic cleaner is in a flat traveling state, the first elastic memberand the second elastic membermay be at the initial position, and downward pressure could be provided always for the traveling wheel groupthrough the function of the second elastic member, so that the traveling wheel groupand the ground maintain contact, thus improving the friction force and being conducive to the robotic cleaner traveling on the smooth ground. After both the front wheeland the rear wheelcomplete obstacle climbing, the first elastic memberand the second elastic memberare restored to the initial position shown in

The first elastic membermay be an elastic member of any structure, for example, the first elastic membermay include a tension spring, a torsion spring, or a pressure spring. Similarly, the second elastic membermay be an elastic member of any structure, for example, the second elastic membermay include a tension spring, a torsion spring, or a pressure spring. It is not limited by the disclosure. A specific connection position of the first elastic memberis also not limited in the disclosure, and the design is sufficient to generate corresponding acting force to drive the first connecting memberto rotate in a target direction in each stage of the above-mentioned examples. Similarly, a specific connection position of the second elastic memberis not limited in the disclosure, and the design is sufficient to generate corresponding acting force to drive the second connecting memberin the target direction in each stage of the above-mentioned examples.

In the above-mentioned examples, description is made by taking the robotic cleaner including the first elastic memberand the second elastic memberas an example. In other examples, the robotic cleaner may only include the second clastic member, the second elastic memberis connected to the device main bodyand the second connecting member, in addition, in the obstacle climbing stage of the front wheel, the second elastic membercould drive the second connecting memberto clockwise rotate, and after the front wheelis contacted with the obstacle, the second elastic memberdrives the second connecting memberto anticlockwise rotate and reset, so as to produce downward pressure acting on the traveling wheel group. Alternatively, the robotic cleaner may also only include the first elastic member, the first elastic memberis connected to the first connecting memberand the second connecting member, in the obstacle climbing stage of the front wheel, the first elastic memberdrives the first connecting memberto anticlockwise rotate, and in the obstacle climbing stage of the rear wheel, the first elastic memberdrives the first connecting member to clockwise rotate and reset.

Correspondingly, in an obstacle climbing stage of the front wheel, the disclosure includes an embodiment only the first connecting pieceanticlockwise rotates to a stop position, and the second connecting pieceremains fixed to produce upward tension acting on the front wheel. The disclosure also includes an embodiment where only the second connecting piececlockwise rotates to a stop position, while the first connecting pieceremains fixed to produce upward tension acting on the front wheel. Of course, the disclosure also includes embodiments where the first connecting memberand the second connecting memberrotate simultaneously.

In the above-mentioned examples, description is made by taking the first elastic memberdriving the first connecting memberto clockwise or anticlockwise rotate, and the second elastic memberdriving the second connecting memberto clockwise or anticlockwise rotate as an example. In fact, the first connecting memberand the second connecting membermay also be driven by other means to clockwise or anticlockwise rotate, respectively. For example, the obstacle crossing assembly further includes a drive motor and a sensor, when the sensor detects that the front wheelis in the obstacle climbing stage, the drive motor could drive the second connecting memberto anticlockwise rotate to the stop position, and after the obstacle climbing is completed, the drive motor drives the second connecting memberto clockwise rotate to the initial position. Similarly, the first connecting membercould be driven through the drive motor to clockwise or anticlockwise rotate to assist in obstacle crossing.

In other words, in the obstacle climbing stage of the front wheel, the first connecting memberanticlockwise rotates to the stop position, and/or the second connecting memberclockwise rotates to the stop position, so as to produce upward tension acting on the front wheel. A source of rotational power of the first connecting membermay refer to any one of the above-mentioned examples, and a source of rotational power of the second connecting membermay refer to any one of the above-mentioned examples.

In each above-mentioned example, in order to limit the position of the first connecting member, the device main bodyfurther includes a first limiting memberand a second limiting member, the first limiting memberand the first connecting membermake contact limit, the first connecting memberis limited to the stop position, the second limiting memberand the first connecting membermake contact limit, and the first connecting memberis limited to the initial position. The first limiting memberand the second limiting membermay be stop blocks or other structures. Similarly, the device main body includes a third limiting memberand a fourth limiting member, the third limiting memberand the second connecting membermake contact limit, the second connecting memberis limited to the stop position, the fourth limiting memberand the second connecting membermake contact limit, and the second connecting memberis limited to the initial position. The third limiting memberand the fourth limiting membermay be stop blocks or other structures.

In each above-mentioned example, the initial position of the first connecting membermay be the position shown inthe stop position of the first connecting membermay be the position shown inThe initial position of the second connecting membermay be the position shown inand the stop position of the second connecting membermay be the position shown in

In each above-mentioned example, a diameter of the front wheeland a diameter of the rear wheelare the same, and in the obstacle climbing stage of the front wheel, the rear wheelplays a supporting role. Alternatively, in other examples, as shown in, the diameter of the front wheelis larger than the diameter of the rear wheel. In the obstacle climbing stage of the front wheel, the rear wheelplays a supporting role, and since the diameter of the rear wheelis small, the weight could be set relatively low, and thus the rear wheelcould easily cross the obstacle under driving of the front wheel.

Other implementations of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure here. The disclosure is intended to cover any variations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the disclosure as come within known or customary practice in the art. It is intended that the specification and examples are considered as examples only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be appreciated that the disclosure is not limited to the exact construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope of the disclosure. It is intended that the scope of the disclosure merely is limited by the appended claims.

An obstacle crossing assembly, including:

A second embodiment includes the obstacle crossing assembly of embodiment 1, including:

A third embodiment includes the obstacle crossing assembly of embodiment 1, including:

A fourth embodiment includes the obstacle crossing assembly of embodiment 1, including:

A fifth embodiment includes the obstacle crossing assembly of embodiment 1, after the front wheel is contacted with an obstacle to be supported, the first connecting member clockwise rotates to an initial position, so as to produce downward pressure acting on the front wheel and upward tension acting on the rear wheel.

A sixth embodiment includes the obstacle crossing assembly of embodiment 1, after the front wheel is contacted with an obstacle to be supported, the second connecting member anticlockwise rotates to an initial position, so as to produce downward pressure acting on the traveling wheel group.

A seventh embodiment includes the obstacle crossing assembly of embodiment 4, the first elastic member includes: a tension spring, a torsion spring, or a pressure spring; and/or,

An eighth embodiment includes the obstacle crossing assembly of embodiment 1, the first connecting member includes a first connecting bar, and the second connecting member includes a second connecting bar.

A ninth embodiment includes the obstacle crossing assembly of embodiment 1, further including a first rotating shaft and a second rotating shaft, the first connecting member and the second connecting member are rotatably connected by the first rotating shaft, and the device main body and the second connecting member are rotatably connected by the second rotating shaft.

A tenth embodiment includes the obstacle crossing assembly of embodiment 1, a diameter of the front wheel and a diameter of the rear wheel are the same.

An eleventh embodiment includes the obstacle crossing assembly of embodiment 1, a diameter of the front wheel is larger than a diameter of the rear wheel.

A twelfth embodiment includes a robotic cleaner, including: