CN214712419U - Cleaning equipment and robot of sweeping floor - Google Patents

Abstract

The utility model relates to a cleaning equipment and robot of sweeping floor, include: a main body; a bracket mounted on the main body and capable of rotating around a first axis relative to the main body; an accommodating cavity is arranged in the support, and an opening communicated with the accommodating cavity is also formed in one end of the support, which is back to the main body; the walking wheel is arranged in the containing cavity, part of the walking wheel protrudes out of the opening, a tangent plane tangent to the peripheral surface of the part of the walking wheel protruding out of the opening is a first tangent plane, and a first included angle formed between the first tangent plane and a traveling plane of the walking wheel is larger than 0 degree and smaller than or equal to 55 degrees. When the sweeping robot walks and touches an obstacle, the force exerted on the walking wheels by the obstacle is opposite to the advancing direction of the walking wheels, if the force exerted on the walking wheels by the obstacle is set to be F1 and the first included angle is theta 1, the main force for obstructing the walking wheels from crossing the obstacle is F1 sin theta 1, and when the angle is set to be more than 0 degree and less than or equal to 55 degrees, the force for obstructing the walking wheels from crossing the obstacle is ensured to be small, and the obstacle crossing effect is good.

Description

Cleaning equipment and robot of sweeping floor

Technical Field

The utility model relates to a cleaning equipment technical field especially relates to a cleaning equipment and robot of sweeping floor.

Background

With the development of economy and the progress of society, the quality requirement of people on life is higher and higher, so some cleaning equipment capable of freeing hands are produced. Among them, the sweeping robot is used as one of cleaning devices, and plays an increasingly important role in daily life of people.

The sweeping robot generally includes a housing, and a dust collecting system, a traveling system, a mopping system, a navigation system, and the like assembled on the housing, wherein the traveling system is assembled at the bottom of the housing to provide a traveling driving force for the sweeping robot.

The sweeping robot inevitably encounters obstacles in the working process, so that a certain capacity of crossing the obstacles is required. However, the traditional sweeping robot is stressed greatly when crossing obstacles, so that the obstacle crossing effect of the sweeping robot is poor.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a cleaning device and a sweeping robot capable of reducing obstacle crossing stress and improving obstacle crossing effect, aiming at the problem that the obstacle crossing effect of the traditional sweeping robot is not good due to large stress when the traditional sweeping robot crosses the obstacle.

A cleaning device, the cleaning device comprising:

a main body;

a bracket mounted on the body and rotatable relative to the body about a first axis; an accommodating cavity is formed in the support, and an opening communicated with the accommodating cavity is formed in one end, back to the main body, of the support;

the walking wheel is arranged in the accommodating cavity, part of the walking wheel protrudes out of the opening, a tangent plane tangent to the peripheral surface of the part of the walking wheel protruding out of the opening is a first tangent plane, and a first included angle formed between the first tangent plane and a traveling plane of the walking wheel is larger than 0 degree and smaller than or equal to 55 degrees.

In one embodiment, the bracket is externally provided with a guide surface which is communicated with the outer peripheral surface of the part of the walking wheel protruding out of the opening, the guide surface is inclined inwards towards the opening from one end close to the main body to one end far away from the main body, and the guide surface can guide an obstacle to the outer peripheral surface of the part of the walking wheel protruding out of the opening;

the tangent plane on the guide surface is a second tangent plane, and a second included angle formed between the second tangent plane and the advancing plane is larger than or equal to 23 degrees and smaller than 45 degrees.

In one embodiment, the bracket is externally provided with a guide surface which is communicated with the outer peripheral surface of the part of the walking wheel protruding out of the opening, the guide surface is inclined inwards towards the opening from one end close to the main body to one end far away from the main body, and the guide surface can guide an obstacle to the outer peripheral surface of the part of the walking wheel protruding out of the opening;

the tangent plane tangent to the outer peripheral surface of the part of the traveling wheel protruding out of the opening and the guide surface is a third tangent plane, and a third included angle formed between the traveling planes of the third tangent plane is larger than 0 degree and smaller than 30 degrees.

In one embodiment, the bracket is externally provided with a guide surface which is communicated with the outer peripheral surface of the part of the walking wheel protruding out of the opening, the guide surface is inclined inwards towards the opening from one end close to the main body to one end far away from the main body, and the guide surface can guide an obstacle to the outer peripheral surface of the part of the walking wheel protruding out of the opening; the guide surface is an arc surface which is back to the walking wheel and protrudes outwards.

In one embodiment, one of the bracket and the main body comprises an assembly shaft, the other one comprises a shaft sleeve, the bracket further comprises a guide frame connected with the assembly shaft or the shaft sleeve, the assembly shaft is sleeved in the shaft sleeve, the accommodating cavity and the opening are formed in the guide frame, and the assembly shaft and the shaft sleeve are matched to drive the guide frame and the travelling wheel to rotate around the first axis relative to the main body.

In one embodiment, the guide frame partially surrounds the travelling wheel along the circumferential direction, the travelling wheel is rotatably arranged in the guide frame around a second axis, the second axis is perpendicular to the first axis and is arranged at an interval, a guide surface communicated with the outer peripheral surface of the part of the travelling wheel protruding out of the opening is arranged on one side of the guide frame, which is opposite to the second axis, of the first axis, and the guide surface can guide obstacles to the outer peripheral surface of the part of the travelling wheel protruding out of the opening.

In one embodiment, the bracket is provided with a first clamping portion, the main body is provided with a second clamping portion, and the second clamping portion is clamped with the first clamping portion.

In one embodiment, one of the bracket and the main body comprises an assembly shaft, the other one comprises a shaft sleeve, the bracket further comprises a guide frame connected with the assembly shaft or the shaft sleeve, the assembly shaft is sleeved in the shaft sleeve, the accommodating cavity and the opening are formed in the guide frame, and the assembly shaft and the shaft sleeve are matched to drive the guide frame and the travelling wheel to rotate around the first axis relative to the main body;

the first clamping portion is arranged on one of the shaft sleeve and the assembling shaft, and the second clamping portion is arranged on the other of the shaft sleeve and the assembling shaft.

In one embodiment, the clamping portion arranged on the assembling shaft is a circumferential groove, the clamping portion arranged on the shaft sleeve is an elastic buckle, and the elastic buckle is clamped with the circumferential groove and can rotate in the circumferential direction.

A sweeping robot, comprising:

a main body;

a bracket mounted on the body and rotatable relative to the body about a first axis; an accommodating cavity is formed in the support, and an opening communicated with the accommodating cavity is formed in one end, back to the main body, of the support;

the walking wheel is arranged in the accommodating cavity, part of the walking wheel protrudes out of the opening, a tangent plane tangent to the peripheral surface of the part of the walking wheel protruding out of the opening is a first tangent plane, and a first included angle formed between the first tangent plane and a traveling plane of the walking wheel is larger than 0 degree and smaller than or equal to 55 degrees.

According to the cleaning equipment and the sweeping robot, when the sweeping robot walks and touches an obstacle, the force exerted on the walking wheel by the obstacle is opposite to the advancing direction of the walking wheel, if the force exerted on the walking wheel by the obstacle is set to be F1 and the first included angle is theta 1, the main force for obstructing the walking wheel from crossing the obstacle is F1 sin theta 1, and when the angle is set to be more than 0 degree and less than or equal to 55 degrees, the force for obstructing the walking wheel from crossing the obstacle is ensured to be smaller, so that the obstacle crossing effect of the sweeping robot is improved.

Drawings

Fig. 1 is an exploded view of a cleaning device according to an embodiment of the present invention;

FIG. 2 is an assembly view of the cleaning device shown in FIG. 1;

FIG. 3 is an isometric view of a portion of the structure of the cleaning device shown in FIG. 1;

FIG. 4 is a front view of the structure shown in FIG. 3;

FIG. 5 is a block diagram of the cleaning appliance of FIG. 1 when in an obstacle detouring position;

FIG. 6 is an enlarged view of the cleaning apparatus shown in FIG. 5 at A;

FIG. 7 is a block diagram of another perspective of the structure shown in FIG. 3;

FIG. 8 is a block diagram of a road wheel included in the configuration shown in FIG. 3;

FIG. 9 is a cross-sectional view of the cleaning apparatus shown in FIG. 1;

FIG. 10 is an enlarged view of the cleaning apparatus shown in FIG. 9 at B;

FIG. 11 is a block diagram of the structure shown in FIG. 3 in cooperation with a bushing;

FIG. 12 is a structural view of a boss and a second catching portion of the cleaning apparatus shown in FIG. 1;

FIG. 13 is a cross-sectional view of the structure shown in FIG. 12;

fig. 14 is a partial structural view of the structure shown in fig. 3.

100. Cleaning equipment; 10. a main body; 11. a housing; 111. an assembly hole; 20. a universal wheel assembly; 21. a support; 211. a first clamping part; 212. assembling a shaft; 213. a guide frame; 214. an accommodating cavity; 215. an opening; 2131. a guide surface; 22. a traveling wheel; 30. a shaft sleeve; 40. a second clamping part; 41. a connecting end; 42. A free end; 43. a guide surface; 200. an obstacle.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 2, an embodiment of the present invention provides a cleaning device 100, in which a universal wheel assembly 20 is disposed on the cleaning device 100, and specifically, the cleaning device 100 is a sweeping robot. It should be understood that in other embodiments, the cleaning apparatus 100 may be other cleaning apparatuses 100 provided with the universal wheel assembly 20, for example, the cleaning apparatus 100 may be a wall climbing robot, and the type of the cleaning apparatus 100 is not limited herein.

The following describes the technical solution of the present application in detail by taking the cleaning apparatus 100 as a sweeping robot as an example. The present embodiment is only for exemplary purposes and does not limit the technical scope of the present application. In addition, the drawings in the embodiments omit unnecessary components to clearly show the technical features of the application.

The sweeping robot comprises a main body 10 and a universal wheel assembly 20, wherein the universal wheel assembly 20 is assembled on the main body 10 and used for walking of the sweeping robot. The universal wheel assembly 20 includes a bracket 21 and a road wheel 22, the bracket 21 is mounted on the main body 10 and can rotate around a first axis relative to the main body 10, that is, the bracket 21 is rotatably mounted on the main body 10 around the first axis by 360 degrees, and when the sweeping robot is placed on a horizontal plane, the bracket 21 is rotatably mounted on the main body 10 around the first axis by 360 degrees in the horizontal plane. The bracket 21 is provided with a receiving cavity 214, an opening 215 (see fig. 3) communicating with the receiving cavity 214 is further provided at an end of the bracket 21 opposite to the main body 10, and the walking wheel 22 is installed in the receiving cavity 214 through the opening 215.

A part of the projecting opening 215 of the traveling wheel 22 (see fig. 4), and a first tangent plane B tangent to the outer peripheral surface of the part of the projecting opening 215 of the traveling wheel 22, wherein a first included angle θ 1 formed between the first tangent plane B and the traveling plane a of the traveling wheel 22 is greater than 0 ° and equal to or less than 55 ° (see fig. 5 and 6). That is, when the sweeping robot is placed on a horizontal plane, the first included angle θ 1 formed between the first tangent plane B and the horizontal plane is greater than 0 ° and equal to or less than 55 °.

When the sweeping robot walks and collides with the obstacle 200, the force exerted on the walking wheels 22 by the obstacle 200 is opposite to the traveling direction of the walking wheels 22, if the force exerted on the walking wheels 22 by the obstacle 200 is set to be F1, the main force for obstructing the walking wheels 22 from crossing the obstacle 200 is F1 sin theta 1, and when the angle theta 1 is set to be more than 0 degrees and less than or equal to 55 degrees, the force for obstructing the walking wheels 22 from crossing the obstacle 200 is ensured to be smaller, so that the obstacle crossing effect of the sweeping robot is improved. Meanwhile, as the stress of the walking wheels 22 is small, the service life of the walking wheels 22 is long.

Referring to fig. 7 and 8, it should be noted that, since the first included angle θ 1 is larger as the number of the portions of the road wheels 22 protruding out of the openings 215 is larger, if the maximum size of the road wheels 22 protruding out of the openings 215 in a direction parallel to the first axis is defined as a and the diameter of the road wheels 22 is defined as d, the larger the value of E ═ a/d is, the larger the first included angle θ 1 is. Therefore, the part of the walking wheel 22 protruding out of the opening 215 is not too large, that is, the size of the part of the walking wheel 22 protruding out of the opening 215 is not too large, and the part of the walking wheel 22 larger than 1/2 is accommodated in the accommodating cavity. It should be noted that the diameter d of the traveling wheel 22 is the maximum diameter thereof, that is, the diameter d is the diameter of a cylinder if the traveling wheel 22 is cylindrical, and the diameter d is the diameter of a middle portion if the traveling wheel 22 is concave at both ends and convex at the middle in the axial direction thereof.

Further, the first included angle theta 1 is set to be larger than 20 degrees and smaller than 50 degrees, so that the obstacle crossing effect of the travelling wheels 22 is guaranteed, and the size of the part, protruding out of the opening 215, of the travelling wheels 22 is not too small. It should be understood that, in other embodiments, the angle of the first included angle θ 1 is not particularly limited as long as it is in a range of greater than 0 ° and equal to or less than 55 °.

Referring to fig. 9 and 10, in an embodiment, the bracket 21 is provided with a first clamping portion 211, the main body 10 is provided with a second clamping portion 40, and the first clamping portion 211 and the second clamping portion 40 are clamped and fixed. Set up like this, avoided adopting the external component to be connected support 21 and main part 10, support 21 and main part 10 are directly fixed with first joint portion 211 joint through second joint portion 40, have reduced the quantity of spare part to the assembly process of robot of sweeping the floor has been simplified.

One of the support 21 and the main body 10 includes a shaft sleeve 30, the other includes an assembly shaft 212, the first clamping portion 211 is disposed on one of the shaft sleeve 30 and the assembly shaft 212, the second clamping portion 40 is disposed on the other of the shaft sleeve 30 and the assembly shaft 212, the assembly shaft 212 is sleeved in the shaft sleeve 30 (refer to fig. 11), and the support 21 drives the traveling wheel 22 to rotate 360 degrees in the horizontal plane around an axis by matching the assembly shaft 212 and the shaft sleeve 30.

Further, the bracket 21 includes an assembly shaft 212 and a guide frame 213, the main body 10 includes a shaft sleeve 30, the first engaging portion 211 is disposed on the assembly shaft 212, the second engaging portion 40 is disposed on the shaft sleeve 30 (see fig. 12 and 13), and the receiving cavity 214 and the opening 215 are formed on the guide frame 213. It should be understood that, in another embodiment, the bracket 21 includes the shaft sleeve 30, the main body 10 includes the assembly shaft 212, the first snap-fit portion 211 is provided on the shaft sleeve 30, and the second snap-fit portion 40 is provided on the assembly shaft 212.

In one embodiment, the guide surface 2131 is an arcuate surface that projects outwardly away from the road wheels 22 to facilitate guiding. Specifically, the guide frame 213 partially surrounds the traveling wheel 22 along the circumferential direction, the traveling wheel 22 is rotatably disposed in the guide frame 213 about a second axis, the second axis is perpendicular to and spaced from the first axis, and the guide surface 2131 is disposed on a side of the first axis opposite to the second axis.

Specifically, the first clamping portion 211 is a circumferential groove formed in the assembly shaft 212, the second clamping portion 40 is an elastic buckle arranged on the shaft sleeve 30, and the elastic buckle is clamped with the circumferential groove and can rotate in the circumferential direction. Therefore, when the sweeping robot works, the bracket 21 can drive the walking wheels 22 to rotate 360 degrees around the axis of the assembly shaft 212 in the horizontal plane.

With continued reference to fig. 10, the elastic buckle includes a connecting end 41 connected to the shaft sleeve 30 and a free end 42 connected to the connecting end 41, wherein a side of the free end 42 facing the circumferential groove is provided with a protrusion, and the protrusion is engaged with the circumferential groove. The elastic buckles comprise an even number of elastic buckles, all the elastic buckles form at least one group of elastic buckle groups, and each group of elastic buckle groups comprises two elastic buckles which are symmetrically arranged by using the axis of the assembling shaft 212 so as to ensure the uniformity of stress.

The inner side of each protrusion is provided with a guide surface 43 which is matched with the guide of the circumferential groove in a guiding way, and the elastic buckle is convenient to be clamped or separated from the circumferential groove by arranging the guide surface 43.

From the connecting end 41 to the free end 42, the thickness of the elastic buckle is gradually reduced, so that the elastic buckle is ensured to have good elasticity, and the elastic buckle can be conveniently elastically deformed to be clamped with the circumferential groove or separated from the circumferential groove.

In one embodiment, the main body 10 includes a housing 11 and a shaft sleeve 30, the housing 11 is provided with a mounting hole 111, the shaft sleeve 30 is disposed in the mounting hole 111, a thickness of the elastic buckle is gradually reduced from the connecting end 41 to the free end 42, and the free end 42 does not protrude out of an outer circumferential surface of the shaft sleeve 30. With such an arrangement, when the bracket 21 is detached from the shaft sleeve 30 or the bracket 21 is assembled in the shaft sleeve 30, the elastic buckle is ensured to have good elasticity, and interference with the inner wall of the assembling hole 111 can be avoided when the elastic buckle deforms, so that the bracket 21 can be conveniently disassembled and assembled.

Further, the surface of link 41 and the outer peripheral face parallel and level of axle sleeve 30, so set up, the surface that can guarantee the link 41 that elasticity was detained and the outer peripheral face of axle sleeve 30 all with the inner wall contact of pilot hole 111 to make casing 11 can restrict the outer peripheral face of axle sleeve 30 and second joint portion 40, thereby guarantee axle sleeve 30 and second joint portion 40 and casing 11's fixed fastness.

In one embodiment, the guide frame 213 externally forms a guide surface 2131 communicating with the outer peripheral surface of the portion of the road wheel 22 protruding out of the opening 215, the guide surface 2131 being inclined inwardly toward the opening 215 from an end close to the main body 10 to an end away from the main body 10, the guide surface 2131 being capable of guiding the obstacle 200 to the outer peripheral surface of the portion of the road wheel 22 protruding out of the opening 215. That is, when the sweeping robot is operated, if the obstacle 200 is high, the guide surface 2131 of the guide frame 213 first touches the obstacle 200, and the outer peripheral surface of the portion of the traveling wheel 22 protruding out of the opening 215 touches the obstacle 200 again by the guide surface 2131.

Referring to fig. 14, a tangent plane to the guiding surface 2131 is a second tangent plane C, and a second included angle θ 2 formed between the second tangent plane C and the traveling plane is greater than or equal to 23 ° and smaller than 45 °. The same reason for the obstacle 200 being touched by the walking wheels 22 is that when the guide frame 213 touches the obstacle 200, the force applied to the guide frame 213 by the obstacle 200 is opposite to the traveling direction of the sweeping robot, if the force applied to the guide frame 213 by the obstacle 200 is set to be F2, the main force for obstructing the walking wheels 22 from crossing the obstacle 200 is F2 sin θ 2, and when the force is set to be 23 ° or more and θ 2 < 45 °, the force for obstructing the guide frame 213 from guiding the obstacle 200 to the walking wheels 22 is ensured to be small, thereby improving the obstacle crossing effect of the sweeping robot. Meanwhile, the stress of the guide frame 213 is small, and accordingly, the service life of the guide frame 213 is long.

With reference to fig. 7, further, a tangent plane tangent to the outer peripheral surface of the portion of the walking wheel 22 protruding out of the opening 215 and the guide surface 2131 is a third tangent plane D, a third included angle θ 3 formed between the traveling planes of the third tangent plane D is greater than 0 ° and smaller than 30 °, which ensures that the force of the obstacle guide frame 213 guiding the obstacle 200 to the walking wheel 22 is small, and ensures that the force of the walking wheel 22 crossing the obstacle 200 is small, thereby improving the obstacle crossing effect of the sweeping robot.

The utility model discloses another embodiment still provides a robot of sweeping floor, and the robot of sweeping floor includes main part 10, support 21 and walking wheel 22, and support 21 can assemble on main part 10 around 360 can changeably of first axis, and when the robot of sweeping floor placed in the horizontal plane, support 21 can change and assemble on main part 10 around 360 in the horizontal plane of first axis. An accommodating cavity 214 is formed in the bracket 21, an opening 215 communicated with the accommodating cavity 214 is further formed at one end of the bracket 21, which is opposite to the main body 10, and the travelling wheel 22 is partially accommodated in the accommodating cavity 214 from the opening 215.

The traveling wheel 22 has a portion protruding out of the opening 215, and a first tangent plane B tangent to the outer peripheral surface of the portion protruding out of the opening 215 of the traveling wheel 22, and a first included angle θ 1 formed between the first tangent plane B and the traveling plane a of the traveling wheel 22 is greater than 0 ° and equal to or less than 55 °. That is, when the sweeping robot is placed on a horizontal plane, the first included angle θ 1 formed between the first tangent plane B and the horizontal plane is greater than 0 ° and equal to or less than 55 °.

When the sweeping robot walks and collides with the obstacle 200, the force exerted on the walking wheels 22 by the obstacle 200 is opposite to the traveling direction of the walking wheels 22, if the force exerted on the walking wheels 22 by the obstacle 200 is set to be F1, the main force for obstructing the walking wheels 22 from crossing the obstacle 200 is F1 sin theta 1, and when the angle theta 1 is set to be more than 0 degrees and less than or equal to 55 degrees, the force for obstructing the walking wheels 22 from crossing the obstacle 200 is ensured to be smaller, so that the obstacle crossing effect of the sweeping robot is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A cleaning device, characterized in that the cleaning device comprises:

a main body (10);

a bracket (21) fitted on the main body (10) and rotatable about a first axis with respect to the main body (10); an accommodating cavity (214) is formed in the support (21), and an opening (215) communicated with the accommodating cavity (214) is further formed in one end, back to the main body (10), of the support (21);

the walking wheel (22) is installed in the containing cavity (214), the part of the walking wheel (22) protrudes out of the opening (215), a tangent plane of the peripheral surface of the part of the walking wheel (22) protruding out of the opening (215) is a first tangent plane, and a first included angle formed between the first tangent plane and a traveling plane of the walking wheel (22) is larger than 0 degree and smaller than or equal to 55 degrees.

2. The cleaning apparatus according to claim 1, wherein the bracket (21) externally forms a guide surface (2131) communicating with an outer peripheral surface of a portion of the traveling wheel (22) protruding out of the opening (215), the guide surface (2131) being inclined inward toward the opening (215) from an end close to the main body (10) to an end remote from the main body (10), the guide surface (2131) being capable of guiding an obstacle (200) to the outer peripheral surface of the portion of the traveling wheel (22) protruding out of the opening (215);

wherein, the tangent plane tangent to the guide surface (2131) is a second tangent plane, and a second included angle formed between the second tangent plane and the advancing plane is larger than or equal to 23 degrees and smaller than 45 degrees.

3. The cleaning apparatus according to claim 1, wherein the bracket (21) externally forms a guide surface (2131) communicating with an outer peripheral surface of a portion of the traveling wheel (22) protruding out of the opening (215), the guide surface (2131) being inclined inward toward the opening (215) from an end close to the main body (10) to an end remote from the main body (10), the guide surface (2131) being capable of guiding an obstacle (200) to the outer peripheral surface of the portion of the traveling wheel (22) protruding out of the opening (215);

the tangent plane tangent to the guide surface (2131) and the peripheral surface of the part of the traveling wheel (22) protruding out of the opening (215) is a third tangent plane, and a third included angle formed between the traveling planes of the third tangent plane is larger than 0 degree and smaller than 30 degrees.

4. The cleaning apparatus according to claim 1, wherein the bracket (21) externally forms a guide surface (2131) communicating with an outer peripheral surface of a portion of the traveling wheel (22) protruding out of the opening (215), the guide surface (2131) being inclined inward toward the opening (215) from an end close to the main body (10) to an end remote from the main body (10), the guide surface (2131) being capable of guiding an obstacle (200) to the outer peripheral surface of the portion of the traveling wheel (22) protruding out of the opening (215); the guide surface (2131) is an arc surface protruding outwards and facing away from the travelling wheel (22).

5. The cleaning apparatus according to claim 1, wherein one of the bracket (21) and the main body (10) comprises a mounting shaft (212) and the other comprises a bushing (30), the bracket (21) further comprises a guide frame (213) connected to the mounting shaft (212) or the bushing (30), the mounting shaft (212) is sleeved in the bushing (30), the receiving cavity (214) and the opening (215) are formed on the guide frame (213), and the mounting shaft (212) and the bushing (30) are matched to drive the guide frame (213) and the road wheel (22) to rotate around the first axis relative to the main body (10).

6. The cleaning apparatus according to claim 5, wherein the guide frame (213) partially surrounds the traveling wheel (22) along a circumferential direction, the traveling wheel (22) is rotatably provided in the guide frame (213) about a second axis which is perpendicular to and spaced from the first axis, a guide surface (2131) communicating with an outer peripheral surface of a portion of the traveling wheel (22) protruding out of the opening (215) is provided on a side of the guide frame (213) facing away from the first axis toward the second axis, and the guide surface (2131) is capable of guiding the obstacle (200) to the outer peripheral surface of the portion of the traveling wheel (22) protruding out of the opening (215).

7. The cleaning device according to claim 1, wherein a first clamping portion (211) is arranged on the bracket (21), a second clamping portion (40) is arranged on the main body (10), and the second clamping portion (40) is clamped with the first clamping portion (211).

8. The cleaning device according to claim 7, characterized in that one of the bracket (21) and the main body (10) comprises a mounting shaft (212) and the other comprises a bushing (30), the bracket (21) further comprises a guide frame (213) connected with the mounting shaft (212) or the bushing (30), the mounting shaft (212) is sleeved in the bushing (30), the accommodating cavity (214) and the opening (215) are formed on the guide frame (213), and the mounting shaft (212) and the bushing (30) are matched to drive the guide frame (213) and the road wheel (22) to rotate around the first axis relative to the main body (10);

the first clamping portion (211) is arranged on one of the shaft sleeve (30) and the assembling shaft (212), and the second clamping portion (40) is arranged on the other of the shaft sleeve (30) and the assembling shaft (212).

9. The cleaning device as claimed in claim 8, characterized in that the clamping portion provided on the assembly shaft (212) is a circumferential groove, and the clamping portion provided on the shaft sleeve (30) is an elastic buckle which is clamped with the circumferential groove and is rotatable in circumferential direction.

10. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:

a main body (10);

the support (21) is assembled on the main body (10) and can rotate around a first axis relative to the main body (10), an accommodating cavity (214) is formed in the support (21), and an opening (215) communicated with the accommodating cavity (214) is further formed in one end, back to the main body (10), of the support (21);

the walking wheel (22) is installed in the containing cavity (214), the part of the walking wheel (22) protrudes out of the opening (215), a tangent plane of the peripheral surface of the part of the walking wheel (22) protruding out of the opening (215) is a first tangent plane, and a first included angle formed between the first tangent plane and a traveling plane of the walking wheel (22) is larger than 0 degree and smaller than or equal to 55 degrees.

Images