Obstacle crossing mechanism and cleaning robot

Abstract

An obstacle crossing mechanism is mounted on a body of a cleaning robot and includes: a first bracket provided with a rotation center, wherein the first bracket is rotatable relative to the body around the rotation center; a roller assembly mounted on the first bracket, wherein the roller assembly includes a first roller and a second roller adjacently arranged, and the first roller and the second roller are located on a same side of the body; and an elastic telescopic assembly, wherein a first end of the elastic telescopic assembly is rotatably connected to the body, and a second end of the elastic telescopic assembly is rotatably connected to the first bracket at a preset rotation position.

What is claimed is: 
     
         1 . An obstacle crossing mechanism, being mounted on a body of a cleaning robot and comprising:
 a first bracket provided with a rotation center, wherein the first bracket is rotatable relative to the body around the rotation center;   a roller assembly mounted on the first bracket, wherein the roller assembly comprises a first roller and a second roller adjacently arranged, and the first roller and the second roller are located on a same side of the body; and   an elastic telescopic assembly, wherein a first end of the elastic telescopic assembly is rotatably connected to the body, and a second end of the elastic telescopic assembly is rotatably connected to the first bracket at a preset rotation position;   wherein the preset rotation position does not coincide with the rotation center, and the elastic telescopic assembly applies pressure toward the first bracket through the second end, thereby causing the first bracket to apply pressure to at least one of the first roller or the second roller.   
     
     
         2 . The obstacle crossing mechanism according to  claim 1 , wherein the elastic telescopic assembly comprises a mounting rod, a telescopic rod and a reset member, one end of the telescopic rod is inserted into the mounting rod, and the telescopic rod is movable relative to the mounting rod along an axial direction of the mounting rod; wherein another end of the telescopic rod serves as the first end of the elastic telescopic assembly, and an end of the mounting rod away from the first end of the elastic telescopic assembly serves as the second end of the elastic telescopic assembly; and
 wherein the reset member is respectively connected to the mounting rod and the telescopic rod, and is configured to provide a reset force resisting relative movement between the mounting rod and the telescopic rod.   
     
     
         3 . The obstacle crossing mechanism according to  claim 2 , wherein the reset member comprises a spring, and the spring is sleeved on at least one of the mounting rod or the telescopic rod. 
     
     
         4 . The obstacle crossing mechanism according to  claim 2 , wherein a preset angle is formed between an axis of the mounting rod and gravity direction. 
     
     
         5 . The obstacle crossing mechanism according to  claim 1 , wherein, along a traveling direction of the body, the first roller is located in front of the second roller, and the preset rotation position is provided close to the second roller relative to the rotation center. 
     
     
         6 . The obstacle crossing mechanism according to  claim 5 , wherein a diameter of the first roller is greater than a diameter of the second roller. 
     
     
         7 . The obstacle crossing mechanism according to  claim 5 , wherein the first bracket comprises a roller frame and a power assembly, the first roller and the second roller are rotatably mounted on the roller frame, the power assembly is mounted on the roller frame, and the power assembly is respectively connected to the first roller and the second roller to drive rotation of the first roller and the second roller. 
     
     
         8 . The obstacle crossing mechanism according to  claim 7 , wherein the roller frame comprises a frame body, the frame body is located between the first roller and the second roller, and the power assembly is mounted on the frame body; and
 wherein the rotation center and the preset rotation position are both provided on the frame body.   
     
     
         9 . The obstacle crossing mechanism according to  claim 7 , wherein the roller frame comprises a frame body and a turntable connected to the frame body, the turntable is used for mounting the second roller, the frame body is located between the first roller and the second roller, the power assembly is mounted on the frame body, and the rotation center is provided on the frame body; and
 wherein a baffle is arranged on a radial outer side of the turntable, and the preset rotation position is provided on the baffle.   
     
     
         10 . The obstacle crossing mechanism according to  claim 5 , further comprising:
 a second bracket, wherein the second bracket is rotatably connected to the body, and is rotatably connected to the first bracket at the rotation center.   
     
     
         11 . The obstacle crossing mechanism according to  claim 10 , wherein a first limiting part is arranged on top of the first bracket, and a second limiting part is arranged on the second bracket; and
 wherein, when the second roller crosses an obstacle, the first bracket moves toward the second bracket, and the second limiting part abuts against the first limiting part to limit the first bracket.   
     
     
         12 . A cleaning robot, comprising:
 a body; and   an obstacle crossing mechanism mounted on the body,   wherein the obstacle crossing mechanism comprises:   a first bracket provided with a rotation center, wherein the first bracket is rotatable relative to the body around the rotation center;   a roller assembly mounted on the first bracket, wherein the roller assembly comprises a first roller and a second roller adjacently arranged, and the first roller and the second roller are located on a same side of the body; and   an elastic telescopic assembly, wherein a first end of the elastic telescopic assembly is rotatably connected to the body, and a second end of the elastic telescopic assembly is rotatably connected to the first bracket at a preset rotation position;   wherein the preset rotation position does not coincide with the rotation center, and the elastic telescopic assembly applies pressure toward the first bracket through the second end, thereby causing the first bracket to apply pressure to at least one of the first roller or the second roller.   
     
     
         13 . The cleaning robot according to  claim 12 , wherein the elastic telescopic assembly comprises a mounting rod, a telescopic rod and a reset member, one end of the telescopic rod is inserted into the mounting rod, and the telescopic rod is movable relative to the mounting rod along an axial direction of the mounting rod; wherein another end of the telescopic rod serves as the first end of the elastic telescopic assembly, and an end of the mounting rod away from the first end serves as the second end of the elastic telescopic assembly; and
 wherein the reset member is respectively connected to the mounting rod and the telescopic rod, and is configured to provide a reset force resisting relative movement between the mounting rod and the telescopic rod.   
     
     
         14 . The cleaning robot according to  claim 13 , wherein the reset member comprises a spring, and the spring is sleeved on at least one of the mounting rod or the telescopic rod. 
     
     
         15 . The cleaning robot according to  claim 13 , wherein a preset angle is formed between an axis of the mounting rod and gravity direction. 
     
     
         16 . The cleaning robot according to  claim 12 , wherein, along a traveling direction of the body, the first roller is located in front of the second roller, and the preset rotation position is provided close to the second roller relative to the rotation center. 
     
     
         17 . The cleaning robot according to  claim 16 , wherein a diameter of the first roller is greater than a diameter of the second roller. 
     
     
         18 . The cleaning robot according to  claim 16 , wherein the first bracket comprises a roller frame and a power assembly, the first roller and the second roller are rotatably mounted on the roller frame, the power assembly is mounted on the roller frame, and the power assembly is respectively connected to the first roller and the second roller to drive rotation of the first roller and the second roller. 
     
     
         19 . The cleaning robot according to  claim 18 , wherein the roller frame comprises a frame body, the frame body is located between the first roller and the second roller, and the power assembly is mounted on the frame body; and
 wherein the rotation center and the preset rotation position are both provided on the frame body.   
     
     
         20 . The cleaning robot according to  claim 18 , wherein the roller frame comprises a frame body and a turntable connected to the frame body, the turntable is used for mounting the second roller, the frame body is located between the first roller and the second roller, the power assembly is mounted on the frame body, and the rotation center is provided on the frame body; and
 wherein a baffle is arranged on a radial outer side of the turntable, and the preset rotation position is provided on the baffle.