A cleaning robot facilitating climbing slopes and overcoming obstacles

Abstract

The present application provides a cleaning robot facilitating climbing slopes and overcoming obstacles, relating to the technical field of cleaning equipment. The cleaning robot includes a body, a roller brush assembly having a roller brush, and a driving wheel assembly having driving wheels. The driving wheel assembly can float up and down. Both the driving wheels and the roller brush rotate forward. The rotation axis of the roller brush is located on the front side of the axis of the driving wheels. The driving wheel assembly is pivotally connected to the body. The driving wheels move forward and approach the rotation axis of the roller brush as the driving wheel assembly floats downward, so that the forward driving force formed by the rotation of the driving wheels and the roller brush forms a resultant force for climbing slopes. Using the present application can improve the slope climbing ability of the cleaning robot.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning equipment, and specifically provides a cleaning robot that is easy to climb slopes and overcome obstacles. Background Art

[0002] With the improvement of people's living standards, cleaning robots have gradually entered the daily lives of more and more people. The cleaning robot moves itself through driving wheels, and uses a mopping member to mop and clean the surface to be cleaned during the self-movement. The cleaning robot is also provided with a dust suction fan, a dust collection chamber and a dust suction port. A roller brush is arranged at the dust suction port. The cleaning robot can use the suction force generated by the dust suction fan to suck the garbage on the surface to be cleaned into the dust collection chamber through the dust suction port. At the same time, the rotating roller brush can sweep up the garbage on the surface to be cleaned, so as to facilitate the collection by the dust suction fan.

[0003] During the working process, the cleaning robot needs to face various terrains. However, the existing cleaning robots have insufficient climbing ability and are prone to getting stuck when facing convex surfaces to be cleaned or obstacles with gradually decreasing slopes such as arc-shaped slopes. Summary of the Invention

[0004] To solve the above problems in the prior art, that is, to solve the problem that the cleaning robot is prone to getting stuck on convex surfaces to be cleaned or obstacles with gradually decreasing slopes such as arc-shaped slopes, this application provides a cleaning robot that is easy to climb slopes and overcome obstacles, including a body, a roller brush assembly with a roller brush, and a driving wheel assembly with driving wheels. The driving wheel assembly can float up and down. The driving wheels and the roller brush both rotate forward. The rotation axis of the roller brush is located in front of the axis of the driving wheels. The driving wheel assembly is pivotally connected to the body. The driving wheels move forward closer to the rotation axis of the roller brush as the driving wheel assembly floats downward, so that the forward driving forces formed by the rotation of the driving wheels and the roller brush form a resultant force for climbing slopes.

[0005] Optionally, the roller brush assembly can float up and down relative to the body, and the roller brush moves backward closer to the rotation axis of the driving wheels as the roller brush assembly floats upward.

[0006] Optionally, the rotation axis of the driving wheels is located below the pivot axis of the driving wheel assembly, and the driving wheels are located behind the roller brush.

[0007] Optionally, the roller brush assembly is pivotally connected to the body through its front part.

[0008] Optionally, the cleaning robot further includes a first elastic member arranged between the driving wheel assembly and the body. The first elastic member is used to provide a downward floating force for the driving wheel assembly so that the driving wheel assembly contacts the surface to be cleaned.

[0009] Optionally, the foregoing cleaning robot further includes a second elastic member disposed between the foregoing roller brush assembly and the foregoing body. The second elastic member is configured to provide a downward floating force for the foregoing roller brush assembly so that the foregoing roller brush assembly contacts the foregoing surface to be cleaned. And the elastic coefficient of the foregoing first elastic member is greater than that of the foregoing second elastic member

[0010] Optionally, the elastic force exerted by the foregoing first elastic member on the foregoing drive wheel assembly increases as the foregoing drive wheel assembly floats downward.

[0011] Optionally, the foregoing first elastic member includes a compression spring, and the compression spring and the foregoing drive wheel are respectively located on both sides of the pivot axis of the foregoing drive wheel assembly.

[0012] Optionally, the foregoing cleaning robot is configured with a base station. The base station includes a base station main body having a cleaning chamber. A sealing portion is provided on the side wall of the cleaning chamber. The foregoing cleaning robot includes a mopping member. The mopping member of the foregoing cleaning robot is cleaned in the foregoing cleaning chamber. The sealing portion is in sealing contact with the cleaning robot in the foregoing cleaning chamber to isolate the cleaning liquid in the foregoing cleaning chamber below the sealing portion.

[0013] Optionally, the foregoing base station further includes a base. The foregoing roller brush assembly includes a baffle located behind the foregoing roller brush. The cleaning robot in the foregoing cleaning chamber causes the foregoing baffle to sink so that the foregoing baffle is in sealing contact with the top surface of the foregoing base.

[0014] Those skilled in the art can understand that the foregoing cleaning robot of the present application has at least the following beneficial effects:

[0015] By causing the drive wheel to move forward and approach the roller brush assembly as the drive wheel assembly floats downward, during the process of the cleaning robot crossing a convex surface to be cleaned or an obstacle with a gradually decreasing slope such as a corresponding arc-shaped slope, the roller brush located in front of the drive wheel of the cleaning robot contacts the area with a smaller slope relative to the drive wheel. The relatively rear drive wheel needs to contact the area with a larger slope, so that the drive wheel descends relative to its state on a flat surface to be cleaned. The descending drive wheel approaches the roller brush, which can make the slope of the contact area of the drive wheel closer to the slope of the contact area of the roller brush. When the drive wheel and the roller brush rotate, the direction of the force exerted by the arc-shaped slope on the drive wheel and the roller brush (i.e., the forward driving force formed by the rotation of the drive wheel and the roller brush) can be closer and will not be too scattered, forming a larger resultant force helpful for climbing the slope, which helps the cleaning robot cross terrains with gradually decreasing slopes such as arc-shaped slopes, improving the climbing ability of the cleaning robot and expanding the range of terrains that the cleaning robot can handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following describes some embodiments of the present application with reference to the drawings, in which:

[0017] Figure 1 It is a schematic structural diagram of a partial cleaning robot in the first embodiment of the present application;

[0018] Figure 2 It is a schematic structural diagram of a driving wheel assembly in the first embodiment of the present application;

[0019] Figure 3 It is a top view of a roller brush assembly in the first embodiment of the present application;

[0020] Figure 4 It is a side view of a roller brush assembly in the first embodiment of the present application;

[0021] Figure 5 It is a simplified schematic diagram of the floating of the driving wheel assembly and the roller brush assembly in the first embodiment of the present application;

[0022] Figure 6 A simplified schematic diagram of the cleaning robot crossing an arc-shaped terrain in the first embodiment of the present application;

[0023] Figure 7 It is a schematic structural diagram of a base station in the first embodiment of the present application.

[0024] Explanation of reference numerals:

[0025] 1. Cleaning robot; 11. Body; 12. Mopping member; 13. Driving wheel assembly; 131. Driving wheel; 132. Swing arm; 14. Roller brush assembly; 141. Roller brush; 142. Floating bracket; 143. Rotating shaft; 144. Baffle;

[0026] 2. Base station; 21. Base station body; 211. Cleaning chamber; 22. Base; 221. Guiding surface; 222. Positioning groove; 23. Sealing portion; 24. Charging terminal. Detailed implementation manners

[0027] It should be noted that in the description of the present application, the terms indicating directions or positional relationships such as "center", "upper", "lower", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0028] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installation", "connection", and "linkage" 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can also be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] A cleaning robot facilitating climbing slopes and overcoming obstacles includes a body, a roller brush assembly having a roller brush, and a driving wheel assembly having driving wheels. The driving wheel assembly can float up and down. Both the driving wheels and the roller brush rotate forward. The rotation axis of the roller brush is located in front of the axis of the driving wheels. The driving wheel assembly is pivotally connected to the body. As the driving wheel assembly floats downward, the driving wheels move forward closer to the rotation axis of the roller brush, so that the forward driving forces formed by the rotation of the driving wheels and the roller brush form a resultant force for climbing slopes.

[0030] Wherein, the rotation axis of the driving wheels refers to the axis around which the driving wheels rotate relative to the driving wheel assembly, and the rotation axis of the roller brush refers to the axis around which the roller brush rotates relative to the roller brush assembly.

[0031] In the cleaning robot of this application, by making the driving wheels move forward closer to the roller brush assembly as the driving wheel assembly floats downward, during the process of the cleaning robot crossing a convex cleaning surface or an obstacle with a gradually decreasing slope such as a corresponding arc-shaped slope, the roller brush located in front of the driving wheels in the cleaning robot contacts the area with a smaller slope, and the relatively rear driving wheels need to contact the area with a larger slope. As a result, the driving wheels drop relative to their state on a flat cleaning surface. The descending driving wheels approaching the roller brush can make the slopes of the contact areas of the driving wheels closer to those of the contact areas of the roller brush. When the driving wheels and the roller brush rotate, the directions of the forces exerted on the driving wheels and the roller brush by the arc-shaped slope (i.e., the forward driving forces formed by the rotation of the driving wheels and the roller brush) can be closer and will not be overly dispersed, forming a resultant force helpful for climbing slopes, which helps the cleaning robot cross terrains with gradually decreasing slopes such as arc-shaped slopes, improves the climbing ability of the cleaning robot, and expands the range of terrains that the cleaning robot can handle.

[0032] The specific structure of the cleaning robot of this application will be described below with reference to the accompanying drawings.

[0033] Those skilled in the art should understand that the embodiments described below are only the preferred embodiments of the present disclosure, which does not mean that the present disclosure can only be implemented through these preferred embodiments. These preferred embodiments are only used to explain the technical principles of the present disclosure and are not used to limit the protection scope of the present disclosure. Based on the preferred embodiments provided by the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts should still fall within the protection scope of the present disclosure.

[0034] Preferred embodiments of the present application:

[0035] As Figure 1 shown, the cleaning robot 1 of this embodiment includes a body 11, a mopping member 12, a driving wheel assembly 13, a roller brush assembly 14, and a dust suction fan (not shown in the figure). A dust suction port (not marked in the figure) that is in fluid communication with the dust suction fan is provided on the body 11. The mopping member 12, the driving wheel assembly 13, the roller brush assembly 14, and the dust suction fan are arranged on the body 11. Among them, the mopping member 12 is used to mop and clean the surface to be cleaned, the driving wheel assembly 13 is used to drive the cleaning robot 1 to move forward, and the roller brush assembly 14 is arranged at the dust suction port and is used to sweep up the garbage on the surface to be cleaned so that the dust suction fan can suck in the garbage.

[0036] As Figure 2 shown, specifically, the driving wheel assembly 13 includes a driving wheel 131 and a swing arm 132. One end of the swing arm 132 is pivotally connected to the body 11, so that the driving wheel assembly 13 can float up and down relative to the body 11. The other end of the swing arm 132 is pivotally connected to the driving wheel 131, so that the driving wheel 131 can roll on the surface to be cleaned while floating up and down in the driving wheel assembly 13. Moreover, the front part of the driving wheel assembly 13 is pivotally connected to the body 11, that is, the end of the swing arm 132 connected to the body 11 is located on the front side of the end of the swing arm 132 connected to the driving wheel 131 in the front-rear direction of the cleaning robot 1, so as to avoid the external force received by the driving wheel assembly 13 pointing to the pivot axis connected to the body 11, making it easier for the driving wheel assembly 13 to float when encountering foreign objects.

[0037] As Figure 3 and Figure 4 shown, specifically, the roller brush assembly 14 includes a roller brush 141 and a floating bracket 142. The roller brush 141 is pivotally connected to the floating bracket 142, so that it can roll on the surface to be cleaned to sweep up the garbage on the surface to be cleaned. Moreover, the rotation direction of the roller brush 141 is the same as that of the driving wheel 131. The floating bracket 142 is provided with a rotating shaft 143, and the entire roller brush assembly 14 is pivotally connected to the cleaning robot 1 through the rotating shaft 143, so that the entire roller brush assembly 14 can move up and down relative to the cleaning robot 1 around the rotating shaft 143. Combining Figure 1 and Figure 4As shown, the front part of the roller brush assembly 14 is pivotally connected to the body 11, that is, the rotating shaft 143 of the roller brush assembly 14 mounted on the cleaning robot 1 is relatively forward in the front-rear direction of the cleaning robot 1 with respect to the overall roller brush assembly 14.

[0038] Referring to Figure 5 the simplified schematic diagram, the rotating shaft of the driving wheel 131 (the pivot shaft where the driving wheel 131 is connected to the swing arm 132) is located below (in terms of the center points of the two shafts) the pivot shaft where the driving wheel assembly 13 is connected to the body 11, that is, when the driving wheel assembly 13 floats to the highest position relative to the body 11, the rotating shaft of the driving wheel 131 is also located below the pivot shaft of the driving wheel assembly 13. Further, in the front-rear direction of the cleaning robot 1, the driving wheel 131 is located behind the roller brush 141, so that the driving wheel 131 gradually approaches the roller brush assembly 14 in the front-rear direction of the cleaning robot 1 as the driving wheel assembly 13 floats downward (for example, the driving wheel 131 is closer to the roller brush assembly 14 after moving from the solid line position to the dotted line position in the figure).

[0039] Continuing to refer to Figure 5 the figure, the rotating shaft of the roller brush 141 (the pivot shaft where the roller brush 141 is connected to the floating bracket 142) is located below (in terms of the center points of the two shafts) the pivot shaft where the roller brush assembly 14 is connected to the body 11 (i.e., the rotating shaft 143), that is, when the roller brush assembly 14 floats to the highest position relative to the body 11, the rotating shaft of the roller brush 141 is also located below the rotating shaft 143, so that the roller brush 141 gradually approaches the driving wheel assembly 13 in the front-rear direction of the cleaning robot 1 as the roller brush assembly 14 floats upward (for example, the roller brush 141 is closer to the driving wheel assembly 13 after moving from the solid line position to the dotted line position in the figure).

[0040] It should be noted that Figure 5 in the figure is only a simplified schematic diagram, and the specific setting position of the driving wheel 131 can overlap with the roller brush 141 in the left-right direction of the cleaning robot 1, as long as it is ensured that the central axis of the driving wheel 131 is behind the central axis of the roller brush 141.

[0041] Although not shown in the figure, in a preferred embodiment of this embodiment, a first elastic member is provided between the driving wheel assembly 13 and the body 11, and the first elastic member is used to provide a downward floating force for the driving wheel assembly 13, so that the driving wheel 131 contacts the surface to be cleaned more closely. Specifically, the first elastic member can be a compression spring, and the compression spring and the driving wheel 131 are respectively located on both sides of the pivot shaft of the driving wheel assembly 13. When the driving wheel assembly 13 floats upward relative to the body 11, the compression spring is stretched, so that the acting force of the compression spring on the driving wheel assembly 13 drives the driving wheel assembly 13 to float downward.

[0042] In addition, a second elastic member is provided between the roller brush assembly 14 and the body 11. The second elastic member is used to provide a downward floating force for the roller brush assembly 14, so that the roller brush 141 contacts the surface to be cleaned more closely. Further, the elastic coefficient of the first elastic member is greater than that of the second elastic member, so that the floating response speed of the roller brush assembly 14 is faster than that of the driving wheel assembly 13, avoiding the influence of the roller brush assembly 14 on the contact between the driving wheel assembly 13, which is the main driver, and the ground.

[0043] In addition, preferably, the first elastic member is a tapered spring whose stiffness decreases as the load increases, so that the elastic force exerted by the first elastic member on the driving wheel assembly 13 increases as the driving wheel assembly 13 floats downward.

[0044] Although not shown in the figure, in a preferred embodiment of the present embodiment, the mopping member 12 is two cleaning turntables. The mopping member 12 is located behind the roller brush assembly 14, and the mopping member 12 has a left extension part and a right extension part that extend forward to the left and right sides of the roller brush assembly 14. During the rotation of the two cleaning turntables, it is beneficial to concentrate the garbage at the roller brush 141, and then the roller brush 141 sweeps it up and is sucked away by the suction fan.

[0045] Combined Figures 1-6 As shown, during the cleaning process of the cleaning robot 1 of the present embodiment on the surface to be cleaned, the rotating driving wheel 131 drives the cleaning robot 1 to travel on the surface to be cleaned. The mopping member 12 and the roller brush 141 are in contact with the surface to be cleaned. The mopping member 12 can mop the surface to be cleaned, and the rotating roller brush 141 can sweep up the garbage on the surface to be cleaned, so that the cleaning robot 1 can suck in the garbage. At the same time, referring to Figure 6 As shown, when the cleaning robot encounters a terrain with a gradually decreasing slope such as an arc-shaped slope, after the cleaning robot 1 drives onto the arc-shaped slope, the roller brush 141 contacts the area with a larger slope, and the driving wheel 131 contacts the area with a smaller slope. Compared with when the cleaning robot is on a flat terrain, the roller brush 141 floats upward relative to the body 11 (for example, moves from the Figure 6 dashed line position to the solid line position in the figure), and the driving wheel 131 floats downward relative to the body 11 (for example, moves from the Figure 6 dashed line position to the solid line position in the figure), so that the positions of the roller brush 141 and the driving wheel 131 are closer, that is, the slope of the area where the roller brush 141 contacts is closer to the slope of the area where the driving wheel 131 contacts, so that the direction of the force exerted by the arc-shaped slope on the cleaning robot 1 is closer, that is, the resultant force driving the cleaning robot 1 forward is greater, which helps the cleaning robot 1 cross terrains with gradually decreasing slopes such as arc-shaped slopes. At the same time, the rotation direction of the roller brush 141 is the same as that of the driving wheel 131 (as shown in Figure 6as shown by the arrow direction, thus jointly providing assistance for the forward movement of the cleaning robot 1 with the driving wheel 131, further improving the ability of the cleaning robot 1 to cross the arc-shaped slope terrain.

[0046] Those skilled in the art can understand that by pivotally connecting the front part of the driving wheel assembly 13 to the body 11, the external force received by the driving wheel assembly 13 can be prevented from pointing to the pivot axis where it is connected to the body 11, so that the driving wheel assembly 13 is more likely to float when encountering external objects.

[0047] Furthermore, during the process of the cleaning robot 1 crossing convex surfaces or obstacles with gradually decreasing slopes such as arc-shaped slopes, the relatively forward roller brush 141 contacts the area with a smaller slope, and the relatively rearward driving wheel 131 needs to contact the area with a larger slope. Compared with when the cleaning robot 1 is on a flat terrain, the driving wheel 131 descends. The descending driving wheel 131 approaches the roller brush 141. At the same time, the roller brush 141 floats upward, and the floating roller brush 141 also approaches the driving wheel 131, so that the driving wheel 131 and the roller brush 141 are closer, that is, the slopes of the contact areas of the driving wheel 131 and the roller brush 141 are closer, so that the direction of the force exerted by the arc-shaped slope on the cleaning robot 1 is closer, and then the resultant force driving the cleaning robot 1 forward is greater, which helps the cleaning robot 1 cross terrains with gradually decreasing slopes such as arc-shaped slopes, improves the climbing ability of the cleaning robot 1, and expands the range of terrains that the cleaning robot 1 can handle. Moreover, both the driving wheel 131 and the roller brush 141 rotate forward, jointly providing a force for the cleaning robot 1 to move forward, further improving the ability of the cleaning robot 1 to cross terrains with gradually decreasing slopes such as arc-shaped slopes.

[0048] Even further, by providing a first elastic member between the driving wheel assembly 13 and the body 11 for driving the driving wheel assembly 13 to descend, the ability of the driving wheel assembly 13 to approach the roller brush 141 is enhanced, which helps the driving wheel 131 of the cleaning robot 1 to further approach the roller brush 141 on terrains such as arc-shaped slopes.

[0049] It should be noted that the roller brush assembly 14 can also be pivotally connected to the body 11 at the rear (that is, the rotation axis 143 of the roller brush assembly 14 installed on the cleaning robot 1 is relatively rearward in the front-rear direction of the cleaning robot 1 relative to the overall roller brush assembly 14), and the rotation axis of the roller brush 141 is always located above the rotation axis 143.

[0050] The cleaning robot 1 of this embodiment is also configured with a base station 2, combined with Figure 1 and Figure 7As shown, the base station 2 includes a base station body 21 and a base 22. The base station body 21 is provided with a cleaning cavity 211. The base 22 is used to guide the cleaning robot 1 into the cleaning cavity 211. The bottom of the cleaning cavity 211 is provided with cleaning components such as cleaning ribs, which can clean the mopping part 12 of the cleaning robot 1. Further, a sealing part 23 is provided on the side wall of the cleaning cavity 211. The sealing part 23 is a flexible strip structure, and the shape of the sealing part 23 matches the cleaning robot 1, so that the sealing part 23 can abut against the cleaning robot 1 and deform under the extrusion of the cleaning robot 1.

[0051] Furthermore, a charging terminal 24 is provided on the base station body 21, and an inclined guide surface 221 is provided on the base 22. The cleaning robot 1 is provided with a power receiving terminal (not shown in the figure) docked with the charging terminal 24. A positioning groove 222 is provided on the guide surface 221. The driving wheel 131 moves to the edge of the positioning groove 222, and the power receiving terminal contacts the charging terminal 24. The driving wheel 131 stops in the positioning groove 222, and the power receiving terminal presses against the charging terminal 24, so that the charging terminal moves rearward and downward relative to the base station body 21.

[0052] Combination Figure 1 and Figure 7 As shown, a baffle 144 is provided at the rear side of the roller brush 141 of the cleaning robot 1. When the cleaning robot 1 cleans the surface to be cleaned, the baffle 144 contacts the surface to be cleaned. The baffle 144 can prevent the side brush or roller brush 141 of the cleaning robot 1 from pushing the dirt on the surface to be cleaned to the rear of the suction port, and prevent the air behind the suction port from entering the suction port, so that the air enters the suction port from the front, left and right sides of the suction port 14, so that the cleaning robot 1 provides sufficient suction to the surface to be cleaned. When the cleaning robot 1 enters the cleaning chamber 211, the baffle 144 will be sealed against the top surface of the base 22.

[0053] Combination Figure 1 and Figure 7 The use of base station 2 is described below:

[0054] When the cleaning robot 1 needs to be charged or the mopping member 12 needs to be cleaned, the cleaning robot 1 moves itself to the base station 2 and enters the base station 2 in a reverse manner (i.e., the rear side of the cleaning robot 1 where the mopping member 12 is located enters the base station 2 first). First, the cleaning robot 1 on the surface to be cleaned travels onto the guiding surface 221 and advances along the guiding surface 221. The cleaning robot 1 on the guiding surface 221 is in an inclined state. As the cleaning robot 1 travels on the guiding surface 221, the cleaning robot 1 first abuts against the sealing portion 23. When the cleaning robot 1 reaches the edge of the positioning groove 222 (when about to enter the positioning groove 222 or when it has entered a small part of the positioning groove 222), the power receiving terminal of the cleaning robot 1 contacts the charging terminal 24. As the driving wheel 13 of the cleaning robot 1 moves within the positioning groove 222, the movement state of the cleaning robot 1 is to advance and move downward while gradually returning to the horizontal state. During this period, the charging terminal 24 in contact with the cleaning robot 1 moves backward and downward relative to the base body 21 of the base station under the drive of the cleaning robot 1, so that the charging terminal 24 and the power receiving terminal of the cleaning robot 1 remain in close contact. After the cleaning robot 1 stabilizes at the lowest point of the positioning groove 222, the mopping member 12 of the cleaning robot 1 contacts the cleaning ribs at the bottom of the cleaning chamber 211. The cleaning robot 1 is in close contact with the sealing portion 23, and the baffle 144 at the bottom of the cleaning robot 1 is in close contact with the top surface of the base 22. Then, the mopping member 12 of the cleaning robot 1 is cleaned in the cleaning chamber 211. The liquid below the cleaning robot 1 is blocked by the body 11 and the sealing portion 23 and will not splash onto other parts of the cleaning robot 1 and the charging terminal 24. Moreover, the baffle 144 is in close contact with the top surface of the base 22. Since the baffle 144 is located between the mopping member 12 and the roller brush 141, it can block the sewage splashed out by the mopping member 12 and prevent the sewage from flowing to the roller brush 141 of the cleaning robot 1. At the same time, the base station 2 charges the cleaning robot 1.

[0055] Those skilled in the art can understand that by movably arranging the charging terminal 24 on the base body 21 of the base station, the charging terminal 24 can be docked with the cleaning robot 1 when the driving wheel 13 of the cleaning robot 1 travels to the edge of the positioning groove 222 (when about to enter the positioning groove 222 or when a small part has already entered the positioning groove 222), and then the charging terminal 24 moves as the cleaning robot 1 moves in the positioning groove 222, so that the two are relatively stationary, thereby effectively reducing the impact force and the friction force between the cleaning robot 1 and the charging terminal 24 during the descent process of the cleaning robot 1, playing a protective role for the charging terminal 31. Moreover, during the process of the base station 2 cleaning the mopping member 12 of the cleaning robot 1, the charging terminal 24 in contact with the cleaning robot 1 can move as the cleaning robot 1 shakes, so as to remain relatively stationary with the cleaning robot 1, further reducing the friction between the cleaning robot 1 and the charging terminal 24, playing a protective role for the charging terminal 24, and being able to ensure the close contact between the charging terminal 24 and the cleaning robot 1.

[0056] Furthermore, by arranging a sealing portion in contact with the cleaning robot 1, the cleaning liquid can be isolated at the bottom of the cleaning robot 1, preventing the cleaning liquid at the bottom of the cleaning cavity 211 from splashing onto other parts of the cleaning robot 1 and the charging terminal 24 when cleaning the mopping member 12 of the cleaning robot 1. And by arranging a baffle 144 at the rear side of the roller brush 141, the baffle 144 is in close contact with the top surface of the base 22. Since the baffle 144 is located between the mopping member 12 and the roller brush 141, it can block the sewage splashed by the mopping member 12 and prevent the sewage from flowing to the roller brush 141 of the cleaning robot 1.

[0057] So far, the technical solutions of the present disclosure have been described in combination with the foregoing preferred embodiments. However, it is easy for those skilled in the art to understand that the protection scope of the present disclosure is not limited to the above-mentioned preferred embodiments. Without departing from the technical principle of the present disclosure, those skilled in the art can split and combine the technical solutions in the above-mentioned preferred embodiments, and can also make equivalent changes or substitutions to the relevant technical features. Any changes, equivalent substitutions, improvements, etc. made within the technical concept and / or technical principle of the present disclosure will fall within the protection scope of the present disclosure.

Claims

1. A cleaning robot facilitating climbing slopes and crossing obstacles, comprising a body, a roller brush assembly having a roller brush, and a driving wheel assembly having driving wheels, wherein the driving wheel assembly can float up and down, and both the driving wheels and the roller brush rotate forward. It is characterized in that, The rotation axis of the roller brush is located on the front side of the axis of the drive wheel. The drive wheel assembly is pivotally connected to the body. As the drive wheel assembly floats downward, the drive wheel moves forward toward the rotation axis of the roller brush, so that the forward driving force formed by the rotation of the drive wheel and the roller brush forms a resultant force for climbing slopes.

2. The cleaning robot according to claim 1, characterized in that, The roller brush assembly is vertically floating relative to the body. As the roller brush assembly floats upward, the roller brush moves backward toward the rotation axis of the drive wheel.

3. The cleaning robot according to claim 2, wherein, The rotation shaft of the drive wheel is located below the pivot shaft of the drive wheel assembly. The drive wheel is located behind the roller brush.

4. The cleaning robot according to claim 3, characterized in that The rotation shaft of the roller brush is located below the pivot shaft of the roller brush assembly. The roller brush assembly is pivotally connected to the body through its front part.

5. The cleaning robot according to claim 2, wherein The cleaning robot further includes a first elastic member disposed between the drive wheel assembly and the body. The first elastic member is used to provide a downward floating force for the drive wheel assembly, so that the drive wheel assembly contacts the surface to be cleaned.

6. The cleaning robot according to claim 5, characterized in that The cleaning robot further includes a second elastic member disposed between the roller brush assembly and the body. The second elastic member is used to provide a downward floating force for the roller brush assembly, so that the roller brush assembly contacts the surface to be cleaned; and the elastic coefficient of the first elastic member is greater than that of the second elastic member.

7. The cleaning robot according to claim 5, characterized in that, The elastic force exerted by the first elastic member on the drive wheel assembly increases as the drive wheel assembly floats downward.

8. The cleaning robot according to claim 7, characterized in that, The first elastic member includes a compression spring. The compression spring and the drive wheel are respectively located on both sides of the pivot shaft of the drive wheel assembly.

9. The cleaning robot according to any one of claims 1-8, characterized in that, The cleaning robot is configured with a base station. The base station includes a base station body having a cleaning chamber. A sealing portion is provided on the side wall of the cleaning chamber. The cleaning robot includes a mopping member. The mopping member of the cleaning robot is cleaned in the cleaning chamber. The sealing portion is in sealed contact with the cleaning robot in the cleaning chamber to isolate the cleaning liquid in the cleaning chamber below the sealing portion.

10. The cleaning robot according to claim 9, characterized in that, The base station further includes a base. The roller brush assembly includes a baffle located behind the roller brush. The cleaning robot in the cleaning chamber causes the baffle to sink, so that the baffle is in sealed contact with the top surface of the base.

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