A cleaning robot chassis structure and a cleaning robot

Abstract

The present application discloses a cleaning robot chassis structure and a cleaning robot, comprising a chassis body, a cleaning device, a driving wheel, a driven wheel, an adjustment bracket and a driving device. The driving wheel is arranged on the chassis body. The adjustment bracket is installed on the chassis body, one end of the adjustment bracket is connected to the cleaning device, and the other end of the adjustment bracket is connected to the driven wheel. The driving device drives the adjustment bracket; wherein, under the drive of the driving device, the adjustment bracket rotates, so that the cleaning robot chassis structure can be switched between an obstacle crossing mode and a cleaning mode. The obstacle crossing mode is a state in which the cleaning device is lifted and the driven wheel is grounded. The cleaning mode is a state in which the cleaning device is grounded and the driven wheel is lifted. The technical solution provided in the present application enables the cleaning robot to ensure obstacle crossing capability while ensuring the cleaning effect.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a cleaning robot chassis structure and a cleaning robot. Background Art

[0002] Existing sweeping, mopping and washing robots are usually low disc-shaped structures. Since they work in a home or indoor environment, various sweeping and mopping and other cleaning components are designed to be very low and need to be close to the ground to ensure the cleaning effect.

[0003] However, existing sweeping, mopping and washing robots may be unable to pass through or get stuck when encountering small obstacles such as wires and steps, which reduces the robot's survivability and cleaning area. Summary of the invention

[0004] The present application provides a cleaning robot chassis structure and a cleaning robot, which can ensure the cleaning effect while ensuring the obstacle-crossing capability.

[0005] In a first aspect, a cleaning robot chassis structure is provided, including a chassis body, a cleaning device, a driving wheel, a driven wheel, an adjustment bracket and a driving device;

[0006] The driving wheel is arranged on the chassis body;

[0007] The adjusting bracket is installed on the chassis body, one end of the adjusting bracket is connected to the cleaning device, and the other end of the adjusting bracket is connected to the driven wheel;

[0008] The driving device drives the adjusting bracket;

[0009] Wherein, under the drive of the driving device, the adjusting bracket rotates, so that the chassis structure of the cleaning robot can be switched between the obstacle crossing mode and the cleaning mode;

[0010] The obstacle crossing mode is a state where the cleaning device is lifted and the driven wheel is grounded;

[0011] The cleaning mode is a state in which the cleaning device is grounded and the driven wheel is lifted.

[0012] The inventors have discovered that some existing cleaning robots, such as sweeping, mopping, and scrubbing robots, usually design the cleaning components to be very low and close to the ground in order to ensure a good cleaning effect, thereby increasing the contact area between the cleaning components and the ground. However, under this design, the ability to overcome obstacles is sacrificed, that is, some obstacles on the ground cannot be passed. At the same time, some existing cleaning robots sacrifice the cleaning effect in order to improve the ability to overcome obstacles. The cleaning robot chassis structure provided by the present application can ensure the obstacle-overcoming ability while ensuring the cleaning effect. To this end, in the above scheme, a cleaning robot chassis structure is provided, and the cleaning robot chassis structure includes an obstacle-overcoming mode and a cleaning mode. Driven by a motor, it can switch between the obstacle-overcoming mode and the cleaning mode. By switching between different modes, the cleaning effect and the obstacle-overcoming ability can be ensured. When in obstacle crossing mode, the chassis body is supported on the ground by the driving wheel and the driven wheel, and can move. At this time, because the cleaning device is lifted, that is, away from the ground, the chassis body can cross small obstacles such as wires and steps under the drive of the driving wheel and the driven wheel to avoid getting stuck and ensure the smooth movement of the chassis body. When in cleaning mode, the driven wheel is lifted and the cleaning device is grounded, so that the cleaning device can bear part of the gravity of the cleaning robot chassis structure to press against the ground, ensuring the cleaning effect.

[0013] In a possible implementation, a first cavity and a second cavity are formed on the bottom surface of the chassis body;

[0014] When the cleaning robot chassis structure is in an obstacle crossing mode, the cleaning device is lifted and accommodated in the first chamber;

[0015] When the cleaning robot chassis structure is in a cleaning mode, the driven wheel is lifted and accommodated in the second chamber.

[0016] In the above scheme, by opening a first chamber on the bottom surface of the chassis body, when the chassis structure of the cleaning robot is in the obstacle crossing mode, the cleaning device is stored in the first chamber to improve the obstacle crossing ability. By opening a second chamber on the bottom surface of the chassis body, when the chassis structure of the cleaning robot is in the cleaning mode, the driven wheel is stored in the second chamber, so that the cleaning device can be close to the ground to ensure the cleaning effect.

[0017] Optionally, in a possible implementation, the driving device includes a first motor, a driving gear and a driven gear, the driving gear is fixed to the output shaft of the motor, the driven gear is fixed to the adjustment bracket, and the driving gear is meshed with the driven gear;

[0018] The rotation axis of the driven gear coincides with the rotation axis of the adjusting bracket.

[0019] Optionally, in a possible implementation, the cleaning device is a roller brush structure, and the roller brush structure is rotatably connected to one end of the adjustment bracket.

[0020] Optionally, in a possible implementation, the cleaning device includes a back plate and a mop, and the mop is arranged on the bottom surface of the back plate.

[0021] Optionally, in a possible implementation manner, the top surface of the back plate is hinged to one end of the adjustment bracket.

[0022] Optionally, in a possible implementation, the cleaning robot chassis structure further includes a swing arm and an adjustment device;

[0023] A rotating shaft is formed at one end of the swing arm, and the rotating shaft is rotatably connected to the chassis body, and the other end of the swing arm is connected to the driving wheel;

[0024] The adjusting device drives the swing arm to rotate relative to the chassis body to change the distance between the chassis body and the ground.

[0025] In the above scheme, the adjustment device can drive the swing arm to rotate around the rotation axis, that is, the other end of the swing arm will move in an arc with the rotation axis as the rotation center, that is, the position of the driving wheel relative to the chassis body can be adjusted, thereby adjusting the distance between the chassis body and the ground. In the cleaning mode, the chassis body can be adjusted to the closest position through the adjustment device so that the cleaning device can clean closely to the ground. In the obstacle crossing mode, the chassis body can be raised by the adjustment device so that the chassis body can be away from the ground to ensure the obstacle crossing capability.

[0026] Optionally, in a possible implementation, the adjusting device includes a second motor, a first gear and a second gear, the first gear is fixed to the output shaft of the second motor, the second gear is fixed to the rotating shaft of the swing arm, and the first gear is meshed with the second gear.

[0027] Optionally, in a possible implementation, the chassis structure of the cleaning robot further includes an elastic member, one end of the elastic member is fixed to the chassis body, and the other end of the elastic member is fixed to the swing arm.

[0028] In the above scheme, an elastic member is arranged between the chassis body and the swing arm to play a role of elastic compression, thereby ensuring the stable arrangement of the swing arm relative to the chassis body, that is, ensuring that the driving wheel can have sufficient friction with the ground to ensure the normal operation of the driving wheel.

[0029] Optionally, in a possible implementation, the cleaning device is located between the driving wheel and the driven wheel.

[0030] In a second aspect, a cleaning robot is provided, wherein the cleaning robot has the cleaning robot chassis structure of any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is a three-dimensional diagram of the chassis structure of the cleaning robot in the embodiment of the present application;

[0033] Figure 2 A three-dimensional diagram of a cleaning device, a driven wheel, an adjustment bracket and a driving device in an embodiment of the present application;

[0034] Figure 3 This is a bottom view of the chassis structure of the cleaning robot in the embodiment of the present application;

[0035] Figure 4 This is a side view of the chassis structure of the cleaning robot in the embodiment of the present application;

[0036] Figure 5 This is a schematic diagram of the structure of the adjusting device and the swing arm in the embodiment of the present application;

[0037] Figure 6 This is a schematic diagram of the structure of another cleaning device in an embodiment of the present application.

[0038] Icons: 10-chassis structure of the cleaning robot; 10A-rotation axis; 11-chassis body; 12-cleaning device; 13-driving wheel; 14-driven wheel; 15-adjusting bracket; 16-driving device; 17-swing arm; 18-adjusting device; 19-elastic member; 91-first chamber; 92-second chamber; 120-back plate; 121-mop; 150-wing rod; 160-first motor; 161-driving gear; 162-driven gear; 170-rotating shaft; 180-second motor; 181-first gear; 182-second gear. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the products of the application are conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0044] In the description of the embodiments of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0046] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0047] The present embodiment provides a cleaning robot chassis structure 10. A cleaning robot (such as a sweeping, mopping, or scrubbing robot) having the cleaning robot chassis structure 10 can ensure both the cleaning effect and the obstacle-crossing capability.

[0048] The cleaning robot chassis structure 10 includes a chassis body 11 , a cleaning device 12 , a driving wheel 13 , a driven wheel 14 , an adjustment bracket 15 and a driving device 16 .

[0049] Please refer to Figures 1 to 4 , Figure 1 A three-dimensional schematic diagram of the cleaning robot chassis structure 10 is shown. Figure 2 The figure shows a three-dimensional schematic diagram of the cleaning device 12, the driven wheel 14, the adjustment bracket 15 and the driving device 16. Figure 3 : is a bottom view of the cleaning robot chassis structure 10 in this embodiment, Figure 4 It is a side view of the chassis structure 10 of the cleaning robot in this embodiment.

[0050] The driving wheel 13 is disposed on the chassis body 11. The adjusting bracket 15 is installed on the chassis body 11, one end of the adjusting bracket 15 is connected to the cleaning device 12, and the other end of the adjusting bracket 15 is connected to the driven wheel 14. The driving device 16 drives the adjusting bracket 15.

[0051] Wherein, under the drive of the driving device 16, the adjusting bracket 15 rotates, so that the cleaning robot chassis structure 10 can be switched between the obstacle crossing mode and the cleaning mode.

[0052] The obstacle crossing mode is a state where the cleaning device 12 is lifted and the driven wheel 14 is grounded;

[0053] The cleaning mode is a state in which the cleaning device 12 is grounded and the driven wheel 14 is lifted.

[0054] The inventors have found that some existing cleaning robots, such as sweeping, mopping and scrubbing robots, in order to ensure a good cleaning effect, usually design the cleaning components to be very low and close to the ground, thereby increasing the contact area between the cleaning components and the ground. However, with this design, the obstacle surmounting capability is sacrificed, that is, some obstacles on the ground cannot be passed. At the same time, some existing cleaning robots sacrifice the cleaning effect in order to improve the obstacle surmounting capability. For this reason, in the above scheme, a cleaning robot chassis structure 10 is provided. The cleaning robot chassis structure 10 includes an obstacle surmounting mode and a cleaning mode. Driven by a motor, it can switch between the obstacle surmounting mode and the cleaning mode. By switching between different modes, the cleaning effect and obstacle surmounting capability can be ensured. When in the obstacle crossing mode, the chassis body 11 is supported on the ground by the driving wheel 13 and the driven wheel 14 and can move. At this time, since the cleaning device 12 is lifted, that is, away from the ground, the chassis body 11 can cross small obstacles such as wires and steps under the drive of the driving wheel 13 and the driven wheel 14 to avoid getting stuck and ensure the smooth movement of the chassis body 11. When in the cleaning mode, the driven wheel 14 is lifted and the cleaning device 12 is grounded, so that the cleaning device 12 can bear part of the gravity of the cleaning robot chassis structure 10 to be pressed against the ground, ensuring the cleaning effect.

[0055] It should be noted that, in the present embodiment, the cleaning device 12 is located between the driving wheel 13 and the driven wheel 14, and the center of gravity of the chassis body 11 is located between the driving wheel 13 and the adjustment bracket 15, so that in the cleaning mode, most of the weight of the chassis body 11 can act on the cleaning device 12, thereby ensuring the cleaning effect of the cleaning device 12.

[0056] Optionally, in a possible implementation, in combination with Figure 1 , Figure 3 as well as Figure 4 The bottom surface of the chassis body 11 is provided with a first cavity 91 and a second cavity 92 .

[0057] When the cleaning robot chassis structure 10 is in the obstacle surmounting mode, the cleaning device 12 is lifted and accommodated in the first chamber 91 .

[0058] When the cleaning robot chassis structure 10 is in the cleaning mode, the driven wheel 14 is lifted and accommodated in the second chamber 92 .

[0059] Among them, by opening a first chamber 91 on the bottom surface of the chassis body 11, when the cleaning robot chassis structure 10 is in the obstacle crossing mode, the cleaning device 12 is stored in the first chamber 91 to improve the obstacle crossing ability. By opening a second chamber 92 on the bottom surface of the chassis body 11, when the cleaning robot chassis structure 10 is in the cleaning mode, the driven wheel 14 is stored in the second chamber 92, so that the cleaning device 12 can be close to the ground to ensure the cleaning effect.

[0060] It should be noted that, in this embodiment, the adjustment bracket 15 is built between the first chamber 91 and the second chamber 92, and the adjustment bracket 15 is hinged inside the chassis body 11 and rotates around an axis, and its specific rotation axis is Figure 2 and Figure 4 The rotation axis 10A is marked in the figure.

[0061] Optionally, in a possible implementation, please combine Figure 2 The driving device 16 includes a first motor 160 , a driving gear 161 and a driven gear 162 , the driving gear 161 is fixed to the output shaft of the motor, the driven gear 162 is fixed to the adjustment bracket 15 , and the driving gear 161 is meshed with the driven gear 162 .

[0062] The rotation axis of the driven gear 162 coincides with the rotation axis of the adjustment bracket 15 .

[0063] Among them, the first motor 160 is located inside the chassis body 11, and the first motor 160 drives the driven gear 162 fixed on the adjusting bracket 15 through the driving gear 161. Since the rotation axis of the driven gear 162 coincides with the rotation axis 10A of the adjusting bracket 15, when the driven gear 162 rotates (that is, the forward or reverse rotation of the first motor 160 drives the forward or reverse rotation of the driven gear 162), the adjusting bracket 15 can follow the rotation, thereby switching the working mode of the cleaning robot chassis structure 10 (that is, obstacle crossing mode and cleaning mode).

[0064] It should be noted that, in the present embodiment, the transmission structure between the first motor 160 and the adjusting bracket 15 is a gear structure transmission, and in other specific embodiments, the transmission can also be performed through a belt transmission structure, for example: the first motor 160 is fixed with a pulley, the adjusting bracket 15 is also fixed with a pulley, and the rotation axis of the pulley on the adjusting bracket 15 coincides with the rotation axis of the adjusting bracket 15, and the pulley on the first motor 160 cooperates with the pulley of the adjusting bracket 15 through a belt, so that the first motor 160 can drive the adjusting bracket 15 to rotate through the belt transmission structure, thereby switching the working mode of the cleaning robot chassis structure 10.

[0065] Optionally, in a possible implementation, the cleaning robot chassis structure 10 further includes a swing arm 17 and an adjustment device 18. Figure 1 and Figure 5 , Figure 5 The specific structures of the adjusting device 18 and the swing arm 17 in this embodiment are shown.

[0066] A rotating shaft 170 is formed at one end of the swing arm 17 , and the rotating shaft 170 is rotatably connected to the chassis body 11 . The other end of the swing arm 17 is connected to the driving wheel 13 .

[0067] The adjusting device 18 drives the swing arm 17 to rotate relative to the chassis body 11 to change the distance between the chassis body 11 and the ground.

[0068] Among them, the adjustment device 18 can drive the swing arm 17 to rotate around the rotating shaft 170, that is, the other end of the swing arm 17 will make an arc motion with the rotating shaft 170 as the rotation center, that is, the position of the driving wheel 13 relative to the chassis body 11 can be adjusted, thereby adjusting the distance between the chassis body 11 and the ground. In the cleaning mode, the chassis body 11 can be adjusted to the closest position by the adjustment device 18, so that the cleaning device 12 can clean close to the ground. In the obstacle crossing mode, the chassis body 11 can be raised by the adjustment device 18 so that the chassis body 11 can be away from the ground to ensure the obstacle crossing capability.

[0069] It should be noted that, in this embodiment, the driving wheel 13 can be a hub motor direct drive structure. It has a built-in motor, and the outer shell is a wheel, which is installed on the swing arm 17 through a fixed non-rotating wheel axle, so that the driving wheel 13 can make the cleaning robot chassis structure 10 walk. At the same time, a battery can be placed in the chassis body 11 to power the working of the driving wheel 13, the adjustment device 18, the driving device 16 and other mechanisms that need to use energy. It should be noted that in other specific embodiments, a motor can also be set on the swing arm 17 to drive the driving wheel 13 to rotate through a transmission mechanism.

[0070] It should be noted that in other specific implementations, the swing arm 17 and the adjustment device 18 may not be provided.

[0071] Optionally, in a possible implementation, as Figure 5 The adjusting device 18 includes a second motor 180 , a first gear 181 and a second gear 182 . The first gear 181 is fixed to the output shaft of the second motor 180 , and the second gear 182 is fixed to the rotating shaft 170 of the swing arm 17 . The first gear 181 is meshed with the second gear 182 .

[0072] Among them, the second motor 180 is located inside the chassis body 11, and the second motor 180 drives the second gear 182 on the rotating shaft 170 fixed on the swing arm 17 through the first gear 181, so that when the second gear 182 rotates (that is, the forward or reverse rotation of the second motor 180 drives the forward or reverse rotation of the second gear 182), the swing arm 17 can follow the rotation, thereby changing the ground clearance of the cleaning robot chassis structure 10 (that is, the distance between the bottom surface of the chassis body 11 and the ground).

[0073] It should be noted that, in the present embodiment, the transmission structure between the second motor 180 and the swing arm 17 is a gear structure transmission, and in other specific embodiments, the transmission can also be performed through a belt transmission structure, for example: the second motor 180 is fixed with a pulley, and the rotating shaft 170 of the swing arm 17 is also fixed with a pulley, and the pulley on the second motor 180 cooperates with the pulley of the swing arm 17 through a belt, so that the second motor 180 can drive one end of the swing arm 17 to rotate through the belt transmission structure, thereby changing the ground clearance of the chassis structure 10 of the cleaning robot.

[0074] Optionally, in a possible implementation, as Figure 1 The cleaning robot chassis structure 10 further includes an elastic member 19 , one end of the elastic member 19 is fixed to the chassis body 11 , and the other end of the elastic member 19 is fixed to the swing arm 17 .

[0075] Among them, by arranging the elastic member 19 between the chassis body 11 and the swing arm 17, the elastic compression effect is played, thereby ensuring the stable arrangement of the swing arm 17 relative to the chassis body 11, that is, ensuring that the driving wheel 13 can have sufficient friction with the ground, thereby ensuring the normal operation of the driving wheel 13.

[0076] It should be noted that the cleaning device 12 in this embodiment is a roller brush structure, and through the function of the roller brush structure, the cleaning robot chassis structure 10 provided in this embodiment can have the function of cleaning the ground. Figure 1 , Figure 2 The roller brush structure is rotatably connected to one end of the adjustment bracket 15. To facilitate the installation of the roller brush structure, two side wing rods 150 extend from one end of the adjustment bracket 15, and the two side wing rods 150 are rotatably connected to the two ends of the roller brush structure.

[0077] In other specific embodiments, the cleaning device 12 may further include a back plate 120 and a mop 121. By wetting the mop 121 with water, the cleaning robot chassis structure 10 provided in this embodiment can have the function of mopping the floor. Figure 6 , Figure 6 The specific structure of another cleaning device 12 is shown. The mop 121 is arranged on the bottom surface of the back plate 120, and the top surface of the back plate 120 is hinged to one end of the adjustment bracket 15. In order to ensure that the mop 121 can be pressed against the ground, the end of the adjustment bracket 15 connected to the back plate 120 is inclined to the end connected to the driven wheel 14. At the same time, since the back plate 120 is hinged to the adjustment bracket 15, the mop 121 can adapt to slightly undulating ground. At the same time, due to the existence of the hinged structure, when in the obstacle crossing mode, the back plate 120 and the mop 121 can be kept as parallel to the ground as possible when they are stored, thereby reducing the occupation of the internal space of the chassis body 11 and reducing the probability of contact with obstacles on the ground.

[0078] At the same time, the present embodiment also provides a cleaning robot, which has the cleaning robot chassis structure 10 provided above. Due to the cleaning robot chassis structure 10, the cleaning robot can ensure the ability to overcome obstacles while ensuring the cleaning effect.

[0079] It should be noted that when the cleaning robot is working, due to the cleaning robot chassis structure 10, the ground clearance can be adjusted and the cleaning device 12 can be close to the ground, so the cleaning range can be effectively increased, such as the bottom of a low bed, the bottom of a sofa, etc. At the same time, due to the adjustable ground clearance, it has a good ability to escape from difficulties and can pass through most obstacles on the ground, such as wires, steps, etc.

[0080] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning robot chassis structure, characterized in that: It includes a chassis body, a cleaning device, a driving wheel, a driven wheel, an adjustment bracket and a driving device; The driving wheel is arranged on the chassis body; The adjusting bracket is installed on the chassis body, one end of the adjusting bracket is connected to the cleaning device, and the other end of the adjusting bracket is connected to the driven wheel; The driving device drives the adjusting bracket; Wherein, under the drive of the driving device, the adjusting bracket rotates, so that the chassis structure of the cleaning robot can be switched between the obstacle crossing mode and the cleaning mode; The obstacle crossing mode is a state in which the cleaning device is lifted and the driven wheel is grounded; The cleaning mode is a state in which the cleaning device is grounded and the driven wheel is lifted.

2. The cleaning robot chassis structure according to claim 1, characterized in that: The bottom surface of the chassis body is provided with a first cavity and a second cavity; When the cleaning robot chassis structure is in the obstacle crossing mode, the cleaning device is lifted and accommodated in the first chamber; When the cleaning robot chassis structure is in the cleaning mode, the driven wheel is lifted and accommodated in the second chamber.

3. The cleaning robot chassis structure according to claim 1, characterized in that: The driving device comprises a first motor, a driving gear and a driven gear, wherein the driving gear is fixed to the output shaft of the motor, the driven gear is fixed to the adjustment bracket, and the driving gear is meshed with the driven gear; The rotation axis of the driven gear coincides with the rotation axis of the adjusting bracket.

4. The cleaning robot chassis structure according to claim 1, characterized in that: The cleaning device is a roller brush structure, and the roller brush structure is rotatably connected to one end of the adjustment bracket.

5. The cleaning robot chassis structure according to claim 1, characterized in that: The cleaning device comprises a back plate and a mop, and the mop is arranged on the bottom surface of the back plate.

6. The cleaning robot chassis structure according to claim 5, characterized in that: The top surface of the back plate is hinged to one end of the adjustment bracket.

7. The cleaning robot chassis structure according to claim 1, characterized in that: The cleaning robot chassis structure also includes a swing arm and an adjustment device; A rotating shaft is formed at one end of the swing arm, and the rotating shaft is rotatably connected to the chassis body, and the other end of the swing arm is connected to the driving wheel; The adjusting device drives the swing arm to make the swing arm rotate relative to the chassis body to change the distance between the chassis body and the ground.

8. The cleaning robot chassis structure according to claim 7, characterized in that: The adjusting device includes a second motor, a first gear and a second gear, wherein the first gear is fixed to the output shaft of the second motor, the second gear is fixed to the rotating shaft of the swing arm, and the first gear is meshed with the second gear.

9. The cleaning robot chassis structure according to claim 7, characterized in that: The cleaning robot chassis structure also includes an elastic member, one end of which is fixed to the chassis body, and the other end of which is fixed to the swing arm.

10. The cleaning robot chassis structure according to claim 1, characterized in that: The cleaning device is located between the driving wheel and the driven wheel.

11. A cleaning robot, characterized in that: include: The cleaning robot has the cleaning robot chassis structure according to any one of claims 1-10.

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