A cleaning robot

Abstract

The application provides a cleaning robot. The cleaning robot comprises a device main body, a traveling driving element and an auxiliary supporting element. The device main body is supported on the traveling driving element and the auxiliary supporting element. The device main body is used for traveling on a surface to be cleaned under the driving of the traveling driving element. The auxiliary supporting element is used for moving relative to the surface to be cleaned under the driving of the device main body. The profile surface of the auxiliary supporting element comprises a first supporting surface. The device main body has a second supporting surface facing the surface to be cleaned. The second supporting surface is adjacent to the first supporting surface. The first supporting surface and the second supporting surface are both used for contacting and supporting the surface to be cleaned. When the surface to be cleaned is a non-smooth surface, the first supporting surface of the auxiliary supporting element will sink relative to the micro-uneven structure. Since the second supporting surface is adjacent to the first supporting surface, the second supporting surface can support the vertex of the micro-uneven structure or granular object, so as to prevent the first supporting surface from sinking in time, and the whole machine is in a stable state on the non-smooth surface.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning equipment, and more particularly to a cleaning robot. BACKGROUND

[0002] The intelligent cleaning robot is used to travel on a surface to be cleaned, and the cleaning element thereon is used to clean the surface to be cleaned by sweeping, dusting or wiping. Generally, the device main body of the cleaning robot is supported by two traveling wheels and an auxiliary wheel, the two traveling wheels are arranged in parallel, and the two traveling wheels and the auxiliary wheel form a three-point non-collinear support, the traveling wheels provide power to drive the device main body to travel in the traveling direction, and the auxiliary wheel supports the device main body to keep balance during traveling.

[0003] In the prior art, the wheel shaft of the auxiliary wheel is supported on the water tank structure of the device main body. When the device main body travels on a smooth surface, the device main body is kept in high balance under the support of the two traveling wheels and the auxiliary wheel. However, when the device main body travels on a non-smooth surface, such as a blanket surface, the non-smooth surface has a micro-concave-convex structure or granular matter, and the auxiliary wheel is prone to sinking. Moreover, since the resistance of the non-smooth surface is large, the auxiliary wheel is prone to sinking when traveling on the non-smooth surface, and needs to overcome a large resistance to get out of the sinking state, so it is easy to cause the whole machine to shake obviously during traveling, affecting the smoothness and safety of the whole machine. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a cleaning robot to solve the technical problem that the cleaning robot is prone to shaking during traveling on a non-smooth surface in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0006] A cleaning robot is provided, which comprises a device main body, a traveling driving element and an auxiliary support element.

[0007] The device main body is supported on the traveling driving element and the auxiliary support element, the device main body is used to travel on a surface to be cleaned under the driving of the traveling driving element, and the auxiliary support element is used to move relative to the surface to be cleaned under the driving of the device main body.

[0008] The profile surface of the auxiliary support element comprises a first support surface, the device main body has a second support surface facing the surface to be cleaned, the second support surface is adjacent to the first support surface, and the first support surface and the second support surface are both used to contact and support the surface to be cleaned.

[0009] In one embodiment, the device body comprises a body structure and a water tank structure connected to the body structure, the water tank structure being configured to provide cleaning liquid to the body structure; the body structure is supported on the traveling driving member, the water tank structure is supported on the auxiliary support member, and the water tank structure has the second support surface facing the surface to be cleaned.

[0010] In one embodiment, the water tank structure comprises a water tank assembly and an auxiliary support, the water tank assembly is connected to the body structure and configured to provide cleaning liquid to the body structure; the water tank assembly has a bottom shell facing the surface to be cleaned, the body structure has a bottom plate facing the surface to be cleaned, and the auxiliary support is connected to the bottom shell and has the second support surface; the bottom plate and the bottom shell are both higher than the second support surface.

[0011] At least one of the water tank assembly and the auxiliary support is supported on the auxiliary support member, so that the water tank structure is supported on the auxiliary support member.

[0012] In one embodiment, the auxiliary support is supported on the auxiliary support member, and the water tank assembly is supported on the auxiliary support.

[0013] In one embodiment, the auxiliary support member has a movement axis perpendicular to the traveling direction of the device body, and along the extension direction of the movement axis, the second support surface is symmetrically arranged on both sides of the first support surface.

[0014] In one embodiment, the auxiliary support further has a traveling guide surface and a retreating guide surface facing the surface to be cleaned, and along the traveling direction of the device body, the second support surface has opposite first and second side edges;

[0015] The traveling guide surface is connected to the first side edge, and the traveling guide surface and the second support surface are smoothly connected, so as to cross an obstacle in the traveling direction when the device body travels in the traveling direction;

[0016] The retreating guide surface is connected to the second side edge, and the retreating guide surface and the second support surface are smoothly connected, so as to cross an obstacle in the retreating direction when the device body travels in the retreating direction, wherein the traveling direction and the retreating direction are opposite.

[0017] In one embodiment, the auxiliary support member has a movement axis perpendicular to the traveling direction of the device body.

[0018] The auxiliary support has at least two support walls and two connecting walls, and a support part; the two support walls are opposite and spaced along the movement axis, and are respectively detachably supported on the opposite two ends of the auxiliary support; the two connecting walls are arranged outside the two support walls, and the water tank assembly is detachably supported on the two connecting walls; the support part is arranged between the support wall and the connecting wall, and has the second support surface.

[0019] In an embodiment, the auxiliary support is an integrally formed structure, including a first support, a second support, and a support part;

[0020] The first support includes two support walls, and a first receiving cavity is arranged in the support walls; the second support is arranged outside the first support, and includes two connecting walls; a second receiving cavity is arranged between the first support and the second support, the first receiving cavity has a first cavity opening, and the second receiving cavity has a second cavity opening, and the first cavity opening and the second cavity opening are both directed to the surface to be cleaned;

[0021] Part of the auxiliary support members are arranged in the first receiving cavity and are detachably connected to the two support walls, another part of the auxiliary support members are arranged outside the first cavity opening, and another part of the auxiliary support members have the first support surface; the support part is arranged in the second receiving cavity and is integrally connected to the cavity wall of the first receiving cavity and / or the receiving cavity.

[0022] In an embodiment, the support part includes a first support rib plate and a plurality of second support rib plates, the first support rib plate extends along the direction of the movement axis, the second support rib plates extend along the direction of travel, the plurality of second support rib plates are arranged in parallel and spaced in sequence, and the first support rib plate and the second support rib plates are perpendicular to each other;

[0023] The side of the first support rib plate facing the surface to be cleaned is the second support surface.

[0024] In an embodiment, the second support rib plate has a travel guide sliding surface and a retreat guide sliding surface facing the surface to be cleaned, and along the direction of travel of the equipment body, the second support surface has opposite first and second side edges;

[0025] The travel guide sliding surface is connected to the first side edge, and the travel guide sliding surface and the second support surface are smoothly connected, so as to cross the obstacle in the direction of travel when the equipment body travels in the direction of travel;

[0026] The rearward sliding surface is connected to the second side edge, and the rearward sliding surface and the second support surface are smoothly connected to provide a function of crossing an obstacle in a rearward direction when the device body travels in the rearward direction, wherein the travel direction and the rearward direction are opposite.

[0027] In an embodiment, the auxiliary support includes a support body and a support cover, the support cover is detachably supported on the auxiliary support member, the support body is detachably supported on the support cover, and the water tank assembly is detachably supported on the support body.

[0028] The support cover has the second support surface, the support cover is provided with a mounting cavity, an opening of the mounting cavity is arranged on the second support surface, part of the auxiliary support member is arranged in the mounting cavity, another part of the auxiliary support member is arranged outside the opening, and another part of the auxiliary support member has the first support surface.

[0029] In an embodiment, the auxiliary support member has an axis of movement perpendicular to the travel direction of the device body.

[0030] The support body is provided with a containing cavity, an opening of the containing cavity faces the surface to be cleaned, the support cover is arranged on the opening of the containing cavity, and the support cover and a cavity wall of the containing cavity are detachably connected; the containing cavity has two mounting walls opposite and spaced along the axis of movement, the two mounting walls are respectively arranged on opposite sides of the support cover, and the water tank assembly is detachably supported on the two mounting walls.

[0031] In an embodiment, the auxiliary support further includes a clamping portion, the clamping portion is connected to a side of the two connecting walls away from the surface to be cleaned, and the clamping portion is detachably clamped on the water tank assembly.

[0032] In an embodiment, the auxiliary support has a stretching cavity stretching towards the surface to be cleaned, a side of the stretching cavity facing the surface to be cleaned includes the second support surface, the stretching cavity has a stretching opening arranged on the second support surface, part of the auxiliary support member is arranged in the stretching cavity, another part of the auxiliary support member is arranged outside the stretching opening, and another part of the auxiliary support member has the first support surface.

[0033] In an embodiment, the side of the stretching cavity facing the surface to be cleaned further includes a travel sliding surface and a rearward sliding surface, and the second support surface has opposite first and second side edges in the travel direction of the device body.

[0034] The advancing guide surface is connected to the first side edge, and the advancing guide surface and the second support surface are smoothly connected to allow the device main body to cross an obstacle in the advancing direction when the device main body advances in the advancing direction.

[0035] The retreating guide surface is connected to the second side edge, and the retreating guide surface and the second support surface are smoothly connected to allow the device main body to cross an obstacle in the retreating direction when the device main body advances in the retreating direction, wherein the advancing direction and the retreating direction are opposite.

[0036] In an embodiment, the auxiliary support has a movement axis perpendicular to the advancing direction of the device main body.

[0037] The auxiliary support is a one-piece structure, and the auxiliary support further has two connecting plates spaced apart along the movement axis, and the stretching cavity is arranged between the two connecting plates, and the water tank assembly is detachably supported on the two connecting plates.

[0038] The cleaning robot provided by the present application has the following beneficial effects:

[0039] Compared with the prior art, the cleaning robot provided by the present application, wherein the profile surface of the auxiliary support includes a first support surface, the device main body has a second support surface facing the surface to be cleaned, the second support surface is adjacent to the first support surface, the second support surface is higher than the first support surface, and the first support surface and the second support surface are both used to contact and support the surface to be cleaned. When the surface to be cleaned is a non-smooth surface, for example, a surface of a blanket, the non-smooth surface has a micro-convex structure or granular objects, and the first support surface of the auxiliary support will be about to sink relative to the micro-convex structure. Since the second support surface is adjacent to the first support surface, the area of the first support surface is increased, the second support surface can be supported on the top of the micro-convex structure or the granular object, so that the sinking of the first support surface can be prevented in time, and the whole machine can run smoothly and stably on the non-smooth surface, and the running smoothness and safety are guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative labor.

[0041] Figure 1 A schematic view of the cleaning robot provided by the first embodiment of the present application;

[0042] Figure 2 An assembly schematic view of the water tank structure and the auxiliary support provided by the first embodiment of the present application;

[0043] Figure 3 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0044] Figure 4 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0045] Figure 5 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0046] Figure 6 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0047] Figure 7 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0048] Figure 8 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0049] Figure 9 Split schematic view of the water tank structure and the auxiliary support provided for the first embodiment of the present application;

[0050] In the drawings, various reference numerals are used to refer to the same or similar items throughout the drawings.

[0051] 10, device main body; 20, travel drive; 30, auxiliary support;

[0052] 11, main body structure; 12, water tank structure;

[0053] 111, chassis;

[0054] 121, water tank assembly; 122, auxiliary support;

[0055] 1211, bottom shell; 1221, first support; 1222, second support; 1223, support portion; 1221a, first receiving cavity; 1221b, support wall; 1221c, first cavity opening; 1222a, second receiving cavity; 1222b, connecting wall; 1222c, second cavity opening; 1223a, first support rib plate; 1223b, second support rib plate;

[0056] 1224, support main body; 1225, support cover; 1226, clamping portion; 1224a, receiving cavity; 1224b, mounting wall; 1225a, mounting cavity;

[0057] 1227, stretching cavity; 1228, connecting plate; 1227, stretching opening;

[0058] 31, wheel axle; 32, wheel;

[0059] a, first support surface; b, second support surface; c, advancing guide surface; d, retreating guide surface. DETAILED DESCRIPTION

[0060] In order to make the technical problems solved by the present application, the technical solutions and the beneficial effects clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0061] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element with intervening elements present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element with intervening elements present.

[0062] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the 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 cannot be understood as limiting the present application.

[0063] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0064] Now the cleaning robot provided by the embodiments of the present application will be described.

[0065] Please refer to Figures 1 to 9 As shown in the drawings, the cleaning robot provided by the embodiments of the present application comprises a device main body 10, an advancing driving member 20 and an auxiliary support member 30. The device main body 10 is supported on the advancing driving member 20 and the auxiliary support member 30, the device main body 10 is driven to advance on a surface to be cleaned under the driving of the advancing driving member 20, and the auxiliary support member 30 is driven to move relative to the surface to be cleaned under the driving of the device main body 10. The profile surface of the auxiliary support member 30 comprises a first support surface a, and the device main body 10 has a second support surface b facing the surface to be cleaned, the second support surface b is adjacent to the first support surface a, and the first support surface a and the second support surface b are both used to contact and support the surface to be cleaned.

[0066] Compared with the prior art, the cleaning robot provided by the embodiment of the application can prevent the first supporting surface a from sinking when the first supporting surface a is close to the micro-uneven structure, and the cleaning robot can run smoothly and safely on the non-smooth surface.

[0067] In the embodiment of the application, the traveling driving member 20 and the auxiliary supporting member 30 can both be in the form of a wheel or a chain, and preferably, the traveling driving member 20 and the auxiliary supporting member 30 are both in the form of a wheel, for example, the traveling driving member 20 is in the form of a driving wheel, and the cleaning robot comprises two driving wheel structures which are arranged side by side in a direction perpendicular to the traveling direction. For example, the auxiliary supporting member 30 is in the form of a roller 32 which comprises a roller shaft 31 and a roller 32 rotatably connected to the roller shaft 31 by a bearing member, and the roller shaft 31 can be fitted to the device main body 10 by interference or other means, so that the roller 32 rolls relative to the surface to be cleaned under the driving of the device main body 10. The two driving wheel structures and the roller 32 form three-point non-collinear support for the device main body 10, so as to maintain the balance of the device main body 10.

[0068] In the embodiment of the application, the second supporting surface b is arranged close to the first supporting surface a, the device main body 10 comprises a plurality of components, and any suitable component can be selected to support the roller shaft 31 of the roller 32 structure. The second supporting surface b can be arranged on any suitable component, so as to assist the first supporting surface a and increase the area of the first supporting surface a.

[0069] In the embodiment of the application, the roller 32 structure can be connected to the component provided with the second supporting surface b, or the roller 32 structure and the second supporting surface b are arranged on different components. Preferably, in the embodiment of the application, the roller 32 structure is connected to the component provided with the second supporting surface b, and the two are arranged on the same component, so as to reduce the design complexity of the structure and simplify the internal structure of the whole machine.

[0070] In a preferred embodiment, the device main body 10 comprises a main body structure 11 and a water tank structure 12 connected to the main body structure 11, wherein the main body structure 11 is provided with a cleaning module and a charging module, the water tank structure 12 is in communication with the cleaning module, and the water tank structure 12 provides cleaning liquid to the cleaning module in the main body structure 11. The main body structure 11 is supported on the traveling driving member 20, the water tank structure 12 is supported on the auxiliary supporting member 30, and the water tank structure 12 has the second supporting surface b facing the surface to be cleaned.

[0071] Further, the water tank structure 12 comprises a water tank assembly 121 and an auxiliary support 122, the water tank assembly 121 is connected to the main body structure 11 to provide the main body structure 11 with cleaning liquid. The water tank assembly 121 has a bottom shell 1211 facing the surface to be cleaned, the main body structure 11 has a bottom plate 111 facing the surface to be cleaned, the auxiliary support 122 is connected to the bottom shell 1211, and the auxiliary support 122 has a second support surface b, the bottom plate 111 and the bottom shell 1211 are both higher than the second support surface b. At least one of the water tank assembly 121 and the auxiliary support 122 is supported on the auxiliary support 30, so that the water tank structure 12 is supported on the auxiliary support 30.

[0072] In a preferred embodiment, the auxiliary support 122 is supported on the auxiliary support 30, and the water tank assembly 121 is supported on the auxiliary support 122. In other words, the roller 32 structure is connected to the auxiliary support 122, and the auxiliary support 122 is connected to the water tank assembly 121, and the three are detachably connected in sequence.

[0073] In an embodiment, the water tank assembly 121 is supported on the auxiliary support 30, so that the entire water tank structure 12 is supported on the auxiliary support 30, and the auxiliary support 122 is connected to the bottom shell 1211 of the water tank assembly 121, and there is no direct connection relationship between the auxiliary support 122 and the auxiliary support 30.

[0074] In an embodiment, both the water tank assembly 121 and the auxiliary support 122 can be supported on the auxiliary support 30, so that the water tank structure 12 is supported on the auxiliary support 30, for example, the water tank assembly 121 and the auxiliary support 122 are respectively supported on the opposite two ends of the roller 32 structure, so that the roller 32 structure can keep balance during travel.

[0075] In the embodiments of the present application, the auxiliary support 30 has a movement axis perpendicular to the travel direction of the device main body 10, and the center axis of the wheel shaft 31, along the extension direction of the movement axis, the second support surface b is symmetrically arranged on both sides of the first support surface a to provide auxiliary support from the opposite sides of the first support surface a to prevent any side of the opposite sides of the first support surface a from sinking to cause the whole machine to be obliquely shaken. Since smooth transition design is required on the opposite sides along the travel direction of the whole machine to enable the whole machine to smoothly cross obstacles, the second support surface b can only be arranged on the opposite sides along the movement axis direction.

[0076] Further, in order to realize the smooth obstacle crossing of the whole machine on the non-smooth surface, the auxiliary support 122 further has a forward sliding surface c and a backward sliding surface d facing the surface to be cleaned, the second support surface b has opposite first and second side edges along the moving direction of the device main body 10; the forward sliding surface c is connected to the first side edge, and the forward sliding surface c and the second support surface b are smoothly connected to cross the obstacle in the moving direction when the device main body 10 moves in the moving direction; the backward sliding surface d is connected to the second side edge, and the backward sliding surface d and the second support surface b are smoothly connected to cross the obstacle in the backward direction when the device main body 10 moves in the backward direction, wherein the moving direction and the backward direction are opposite to realize the smooth obstacle crossing in the moving and backward directions.

[0077] The embodiments of the present application provide three schemes of the adjacent arrangement of the first support surface a and the second support surface b.

[0078] Please refer to Figures 1 to 3 In the first embodiment, the auxiliary support 30 has a movement axis perpendicular to the moving direction of the device main body 10; the auxiliary support 122 has at least two support walls 1221b and two connecting walls 1222b, and a support part 1223.

[0079] The two support walls 1221b are opposite and spaced along the movement axis, and the two support walls 1221b are respectively detachably supported on the opposite two ends of the auxiliary support 30, which are preferably the two shaft ends of the above-mentioned wheel shaft 31, and the two shaft ends are tightly fitted to the two support walls 1221b by interference, pin or screw, etc.

[0080] The two connecting walls 1222b are arranged on the outer sides of the two support walls 1221b, and the water tank assembly 121 is detachably supported on the two connecting walls 1222b. Since the two connecting walls 1222b are arranged on the opposite sides along the moving direction, which may affect the obstacle crossing function of the whole machine, it is preferred that the two connecting walls 1222b are arranged on the opposite sides along the movement axis, so as to realize the detachable connection with the water tank assembly 121 while avoiding the adverse effect on the obstacle crossing function of the whole machine.

[0081] The support part 1223 is arranged in the space between the support wall 1221b and the connecting wall 1222b, and the support part 1223 can be connected to any support wall 1221b and / or any connecting wall 1222b, and the support part 1223 has the second support surface b. In the embodiment, the support part 1223 is symmetrically arranged in the space between the outer sides of the two support walls 1221b and the inner sides of the two connecting walls 1222b, so that the second support surface b is symmetrically arranged on the opposite sides of the first support surface a to provide more balanced auxiliary support.

[0082] In specific embodiments, the auxiliary support 122 is preferably a one-piece structure, which comprises a first support 1221, a second support 1222 and a support portion 1223; the first support 1221 is generally in the shape of a U, which comprises the two support walls 1221b, and the two support walls 1221b are connected by the bottom side wall of the U, and the first support 1221 is provided with the first receiving cavity 1221a, and the generally U-shaped first support 1221 makes the overall structure of the auxiliary support 122 more compact.

[0083] The second support 1222 is arranged at the periphery of the first support 1221, which is generally in the shape of a ring, which comprises the two connecting walls 1222b, and the two connecting walls 1222b are connected by the intermediate side wall, and the first support 1221 and the second support 1222 form a double-layer structure support, so that the overall structure of the auxiliary support 122 is more compact, and since the water tank assembly 121 is arranged at the edge area of the whole machine, the generally U-shaped and ring-shaped support can adapt to the shape of the whole machine.

[0084] The first support 1221 and the second support 1222 are provided with the second receiving cavity 1222a, the first receiving cavity 1221a has the first cavity opening 1221c, and the second receiving cavity 1222a has the second cavity opening 1222c, and the first cavity opening 1221c and the second cavity opening 1222c are both directed to the surface to be cleaned. Among them, part of the auxiliary support 30 is arranged in the first receiving cavity 1221a and can be detachably connected to the two support walls 1221b, and the other part of the auxiliary support 30 is arranged outside the first cavity opening 1221c, and the other part of the auxiliary support 30 has the first support surface a; the support portion 1223 is arranged in the second receiving cavity 1222a and is integrally connected to the cavity wall of the first receiving cavity 1221a and / or the receiving cavity.

[0085] In the first embodiment, the first support surface a of the roller 32 structure and the second support surface b of the support portion 1223 are reasonably arranged in the area of the first receiving cavity 1224a and the area of the second receiving cavity 1224a, and the symmetrical second support surface b is arranged on both sides of the first support surface a through the double-layer structure support, and the overall structure layout is more reasonable and compact.

[0086] More specifically, the support portion 1223 comprises a first support rib plate 1223a extending along the direction of the movement axis and a plurality of second support rib plates 1223b extending along the direction of travel, the plurality of second support rib plates 1223b are sequentially and parallelly arranged in the direction from the first support 1221 to the second support 1222, and the first support rib plate 1223a and the second support rib plate 1223b are perpendicular to each other. The side of the first support rib plate 1223a facing the surface to be cleaned is a second support surface b, which is flush with or lower than the rim of the first cavity opening 1221c.

[0087] In the embodiment, each of the second support rib plates 1223b has a travel guide surface c and a retreat guide surface d facing the surface to be cleaned. The second support surface b has opposite first and second side edges in the direction of travel of the device main body 10. The travel guide surface c is connected to the first side edge and is smoothly connected to the second support surface b, so as to allow the device main body 10 to cross an obstacle in the direction of travel. The retreat guide surface d is connected to the second side edge and is smoothly connected to the second support surface b, so as to allow the device main body 10 to cross an obstacle in the direction of retreat. The direction of travel and the direction of retreat are opposite to each other, so as to further realize smooth obstacle crossing of the device on a non-smooth surface.

[0088] In the embodiment, the support portion 1223 can use various structures, and is not limited to the structure of the support rib plate. The support portion 1223 can use a block structure or a flat plate structure having a smooth curved surface, which has the second support surface b, the travel guide surface and the retreat guide surface. In addition, based on the support rib plate, the first support rib plate 1223a and the second support rib plate 1223b are not limited to the number defined in the embodiment, and can be flexibly selected according to actual needs.

[0089] In the embodiment, the auxiliary support 122 further comprises a clamping portion 1226 integrally connected to the side of the two connecting walls 1222b away from the surface to be cleaned, i.e., the clamping portion 1226 is integrally connected to the second support 1222. When installing the auxiliary support 122, the clamping portion 1226 is clamped in the water tank assembly 121 first, so that the auxiliary support 122 is fixed relative to the water tank assembly 121. Then, a threaded member is passed through the two connecting walls 1222b, and the threaded member is screwed into the reserved hole of the water tank assembly 121, so that the auxiliary support 122 is reliably connected to the water tank assembly 121 as a whole.

[0090] Please refer to Figures 4 to 6As shown, in the second embodiment, the auxiliary support 122 adopts a split structure, which comprises a support body 1224 and a support cover 1225, the support cover 1225 is detachably supported on the auxiliary support 30, the support body 1224 is detachably supported on the support cover 1225, and the water tank assembly 121 is detachably supported on the support body 1224. The support cover 1225 has a second support surface b, the support cover 1225 is provided with a mounting cavity 1225a, the cavity opening of the mounting cavity 1225a is arranged on the second support surface b, part of the auxiliary support 30 is arranged in the mounting cavity 1225a, and the other part of the auxiliary support 30 is arranged outside the cavity opening, and the other part of the auxiliary support 30 has the first support surface a.

[0091] In specific embodiments, the auxiliary support 30 has a movement axis perpendicular to the advancing direction of the equipment body 10; the support body 1224 is provided with a containing cavity 1224a, the cavity opening of the containing cavity 1224a faces the surface to be cleaned, the support cover 1225 is arranged on the cavity opening of the containing cavity 1224a, the support cover 1225 and the cavity wall of the containing cavity 1224a are detachably connected, preferably the support cover 1225 is detachably connected with the inner cavity wall of the containing cavity 1224a through a threaded member, and the roller 32 is arranged on the side of the support cover 1225 facing the containing cavity 1224a.

[0092] The containing cavity 1224a has two mounting walls 1224b opposite and spaced along the movement axis, the two mounting walls 1224b are respectively arranged on the opposite sides of the support cover 1225, and the water tank assembly 121 is detachably supported on the two mounting walls 1224b through a threaded member. Since the two mounting walls 1224b are arranged on the opposite sides along the advancing direction, which may affect the obstacle crossing function of the whole machine, preferably the two mounting walls 1224b are arranged on the opposite sides along the movement axis, so as to realize the detachable connection with the water tank assembly 121, and avoid adversely affecting the obstacle crossing function of the whole machine.

[0093] In the embodiment, the auxiliary support 122 further comprises a clamping portion 1226, which is integrally connected to the side of the two mounting walls 1224b away from the surface to be cleaned, that is, the clamping portion 1226 is integrally connected to the support body 1224. When the auxiliary support 122 is installed, the clamping portion 1226 is first clamped in the water tank assembly 121, so that the auxiliary support 122 is fixed relative to the water tank assembly 121, and then the threaded member is passed through the two mounting walls 1224b, and the threaded member is screwed into the reserved hole of the water tank assembly 121, so that the auxiliary support 122 is reliably connected to the water tank assembly 121 as a whole.

[0094] In the second embodiment, the supporting cover 1225 is used to fix the roller 32 structure, and the supporting cover 1225 is detachably fixed to the support body 1224, and the entire auxiliary support 122 adopts a split design. The side of the supporting cover 1225 facing the surface to be cleaned can be used as the second supporting surface b as a whole, or part of it can be used as the second supporting surface b, and the remaining part can be used as the advancing guide surface c and / or the retreating guide surface d as described in the first embodiment.

[0095] In the second embodiment, the supporting cover 1225 on the periphery of the roller 32 structure can be regarded as the second supporting surface b. The periphery of the second supporting surface b increases the area of the first supporting surface a, so that the auxiliary supporting effect of the second supporting surface b on the first supporting surface a is better.

[0096] Please refer to Figures 7 to 9 In the third embodiment, the auxiliary support 122 has a stretching cavity 1227 extending towards the surface to be cleaned. The side of the stretching cavity 1227 facing the surface to be cleaned includes the second supporting surface b. The stretching cavity 1227 has a stretching opening 1227 on the second supporting surface b. Part of the auxiliary supporting member 30 is arranged in the stretching cavity 1227, and the other part of the auxiliary supporting member 30 is arranged outside the stretching opening 1227. The other part of the auxiliary supporting member 30 has the first supporting surface a.

[0097] In this embodiment, the second supporting surface b is symmetrically arranged on both sides of the first supporting surface a along the extension direction of the movement axis of the roller 32 structure, so as to provide auxiliary supporting effect from the opposite sides of the first supporting surface a, and prevent the phenomenon of the entire machine tilting from occurring due to the sinking of any of the opposite sides of the first supporting surface a.

[0098] Further, the side of the stretching cavity 1227 facing the surface to be cleaned further includes the advancing guide surface c and the retreating guide surface d. The second supporting surface b has opposite first and second side edges along the advancing direction of the device body 10. The advancing guide surface c is connected to the first side edge, and the advancing guide surface c and the second supporting surface b are smoothly connected, so as to cross the obstacles in the advancing direction when the device body 10 advances in the advancing direction. The retreating guide surface d is connected to the second side edge, and the retreating guide surface d and the second supporting surface b are smoothly connected, so as to cross the obstacles in the retreating direction when the device body 10 advances in the retreating direction, wherein the advancing direction and the retreating direction are opposite, so as to further realize the smooth obstacle crossing of the entire machine on the non-smooth surface.

[0099] In the embodiment, the auxiliary support 30 has a movement axis perpendicular to the advancing direction of the device main body 10; the auxiliary support 122 is an integral structure, the auxiliary support 122 further has two connecting plates 1228 arranged at intervals along the movement axis, the stretching cavity 1227 is arranged between the two connecting plates 1228, and the water tank assembly 121 is detachably supported on the two connecting plates 1228, preferably, the water tank assembly 121 is detachably connected to the two connecting plates 1228 through a threaded member.

[0100] In the third embodiment, the auxiliary support 122 with the stretching cavity 1227 and the stretching port 1227 is used to realize the installation of the roller 32 structure, and part of the outer cavity wall of the stretching cavity 1227 can be used as the second support surface b; based on the second support surface b, the shape of the stretching cavity 1227 is designed to obtain the advancing guide sliding surface c and the retreating guide sliding surface d as in the above two embodiments; in the third embodiment, the first support surface a and the second support surface b are arranged adjacent to each other through a cavity structure, the structure is simpler, and the internal structure of the whole machine is simplified.

[0101] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: It includes the main body of the equipment (10), the driving component (20), and the auxiliary support component (30); The main body (10) of the device is supported on the driving member (20) and the auxiliary support member (30). The main body (10) is driven by the driving member (20) to move on the surface to be cleaned. The auxiliary support member (30) is driven by the main body (10) to move relative to the surface to be cleaned. The contour surface of the auxiliary support (30) includes a first support surface (a), and the device body (10) has a second support surface (b) facing the surface to be cleaned. The second support surface (b) is higher than the first support surface (a) and the second support surface (b) is adjacent to the first support surface (a) to increase the area of ​​the first support surface when it is about to sink relative to the micro-convex structure. Both the first support surface (a) and the second support surface (b) are used to contact and support the surface to be cleaned.

2. The cleaning robot as described in claim 1, characterized in that: The main body (10) of the device includes a main structure (11) and a water tank structure (12) connected to the main structure (11), the water tank structure (12) being provided to the main structure (11) for supplying cleaning liquid; the main structure (11) is supported on the driving member (20), the water tank structure (12) is supported on the auxiliary support member (30), and the water tank structure (12) has a second support surface (b) facing the surface to be cleaned.

3. The cleaning robot as described in claim 2, characterized in that: The water tank structure (12) includes a water tank assembly (121) and an auxiliary support (122). The water tank assembly (121) is connected to the main structure (11) for providing cleaning liquid to the main structure (11). The water tank assembly (121) has a bottom shell (1211) facing the surface to be cleaned. The main structure (11) has a chassis (111) facing the surface to be cleaned. The auxiliary support (122) is connected to the bottom shell (1211) and has a second support surface (b). Both the chassis (111) and the bottom shell (1211) are higher than the second support surface (b). At least one of the water tank assembly (121) and the auxiliary support (122) is supported on the auxiliary support member (30) so that the water tank structure (12) is supported on the auxiliary support member (30).

4. The cleaning robot as described in claim 3, characterized in that: The auxiliary bracket (122) is supported on the auxiliary support member (30), and the water tank assembly (121) is supported on the auxiliary bracket (122).

5. The cleaning robot as described in claim 4, characterized in that: The auxiliary support (30) has a motion axis perpendicular to the travel direction of the main body of the equipment (10), and the second support surface (b) is symmetrically arranged on both sides of the first support surface (a) along the extension direction of the motion axis.

6. The cleaning robot as described in claim 5, characterized in that: The auxiliary support (122) also has a traveling guide surface (c) and a retracting guide surface (d) facing the surface to be cleaned, and along the traveling direction of the main body (10), the second support surface (b) has opposing first and second sides; The traveling guide surface (c) is connected to the first side, and the traveling guide surface (c) and the second support surface (b) are smoothly connected, so as to allow the device body (10) to cross obstacles located in the traveling direction when it travels along the traveling direction; The backward guide surface (d) is connected to the second side, and the backward guide surface (d) and the second support surface (b) are smoothly connected, so as to allow the device body (10) to cross an obstacle located in the backward direction when it travels in the backward direction, wherein the travel direction is opposite to the backward direction.

7. The cleaning robot as described in any one of claims 3-6, characterized in that: The auxiliary support (30) has a motion axis that is perpendicular to the travel direction of the main body of the equipment (10); The auxiliary support (122) has at least two support walls (1221b) and two connecting walls (1222b), as well as a support portion (1223); the two support walls (1221b) are opposite to each other and spaced apart along the axis of motion, and the two support walls (1221b) are detachably supported on opposite ends of the auxiliary support member (30); the two connecting walls (1222b) are located on the outside of the two support walls (1221b), and the water tank assembly (121) is detachably supported on the two connecting walls (1222b); the support portion (1223) is located between the support walls (1221b) and the connecting walls (1222b), and the support portion (1223) has a second support surface (b).

8. The cleaning robot as described in claim 7, characterized in that: The auxiliary support (122) is an integrally formed structure, including a first support (1221), a second support (1222), and a support part (1223); The first support (1221) includes two supporting walls (1221b) and a first receiving cavity (1221a) therein; the second support (1222) is located on the periphery of the first support (1221) and includes two connecting walls (1222b); a second receiving cavity (1222a) is provided between the first support (1221) and the second support (1222), the first receiving cavity (1221a) has a first opening (1221c), the second receiving cavity (1222a) has a second opening (1222c), and both the first opening (1221c) and the second opening (1222c) face the surface to be cleaned; Among them, some of the auxiliary support members (30) are disposed in the first receiving cavity (1221a) and are detachably connected to the two support walls (1221b), and other auxiliary support members (30) are disposed on the outside of the first cavity opening (1221c), and other auxiliary support members (30) have the first support surface (a); the support part (1223) is disposed in the second receiving cavity (1222a) and is integrally connected to the first receiving cavity (1221a) and / or the cavity wall of the receiving cavity.

9. The cleaning robot as described in claim 8, characterized in that: The support portion (1223) includes a first support rib (1223a) and a plurality of second support ribs (1223b). The first support rib (1223a) extends along the direction of the motion axis, and the second support ribs (1223b) extend along the travel direction. The plurality of second support ribs (1223b) are arranged in parallel intervals in sequence, and the first support rib (1223a) and the second support ribs (1223b) are perpendicular to each other. The side of the first support rib (1223a) facing the surface to be cleaned is the second support surface (b).

10. The cleaning robot as described in claim 9, characterized in that: The second support rib (1223b) has a traveling guide surface (c) and a retracting guide surface (d) facing the surface to be cleaned. Along the traveling direction of the equipment body (10), the second support surface (b) has opposing first and second sides. The traveling guide surface (c) is connected to the first side, and the traveling guide surface (c) and the second support surface (b) are smoothly connected, so as to allow the device body (10) to cross obstacles located in the traveling direction when it travels along the traveling direction; The backward guide surface (d) is connected to the second side, and the backward guide surface (d) and the second support surface (b) are smoothly connected, so as to allow the device body (10) to cross an obstacle located in the backward direction when it travels in the backward direction, wherein the travel direction is opposite to the backward direction.

11. The cleaning robot as described in any one of claims 3-6, characterized in that: The auxiliary support (122) includes a support body (1224) and a support cover (1225). The support cover (1225) is detachably supported on the auxiliary support (30). The support body (1224) is detachably supported on the support cover (1225). The water tank assembly (121) is detachably supported on the support body (1224). The supporting cover (1225) has a second supporting surface (b) and a mounting cavity (1225a). The opening of the mounting cavity (1225a) is located on the second supporting surface (b). Part of the auxiliary support member (30) is located inside the mounting cavity (1225a), and another part of the auxiliary support member (30) is located outside the opening of the cavity. The other part of the auxiliary support member (30) has the first supporting surface (a).

12. The cleaning robot as described in claim 11, characterized in that: The auxiliary support (30) has a motion axis that is perpendicular to the travel direction of the main body of the equipment (10); The main body of the support (1224) is provided with a receiving cavity (1224a), the opening of the receiving cavity (1224a) facing the surface to be cleaned, the supporting cover (1225) is provided on the opening of the receiving cavity (1224a), and the supporting cover (1225) and the cavity wall of the receiving cavity (1224a) are detachably connected; the receiving cavity (1224a) has two mounting walls (1224b) that are opposite to each other and spaced apart along the axis of motion, the two mounting walls (1224b) are respectively provided on opposite sides of the supporting cover (1225), and the water tank assembly (121) is detachably supported on the two mounting walls (1224b).

13. The cleaning robot as described in claim 7, characterized in that: The auxiliary bracket (122) further includes a snap-fit ​​part (1226), which is connected to the side of the two connecting walls (1222b) opposite to the surface to be cleaned, and the snap-fit ​​part (1226) is detachably snapped into the water tank assembly (121).

14. The cleaning robot as described in any one of claims 3-6, characterized in that: The auxiliary support (122) has a stretching cavity (1227) that stretches toward the surface to be cleaned. The side of the stretching cavity (1227) facing the surface to be cleaned includes a second support surface (b). The stretching cavity (1227) has a stretching opening provided on the second support surface (b). Part of the auxiliary support member (30) is provided inside the stretching cavity (1227), and another part of the auxiliary support member (30) is provided outside the stretching opening. Another part of the auxiliary support member (30) has the first support surface (a).

15. The cleaning robot as described in claim 14, characterized in that: The side of the stretching cavity (1227) facing the surface to be cleaned also includes a traveling guide surface (c) and a retracting guide surface (d). Along the traveling direction of the main body (10) of the equipment, the second support surface (b) has a first side and a second side opposite to each other. The traveling guide surface (c) is connected to the first side, and the traveling guide surface (c) and the second support surface (b) are smoothly connected, so as to allow the device body (10) to cross obstacles located in the traveling direction when it travels along the traveling direction; The backward guide surface (d) is connected to the second side, and the backward guide surface (d) and the second support surface (b) are smoothly connected, so as to allow the device body (10) to cross an obstacle located in the backward direction when it travels in the backward direction, wherein the travel direction is opposite to the backward direction.

16. The cleaning robot as described in claim 14, characterized in that: The auxiliary support (30) has a motion axis that is perpendicular to the travel direction of the main body of the equipment (10); The auxiliary support (122) is an integrally formed structure. The auxiliary support (122) also has two connecting plates (1228) spaced apart along the motion axis. The tension cavity (1227) is located between the two connecting plates (1228). The water tank assembly (121) is detachably supported on the two connecting plates (1228).

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