Chassis structure of cleaning robot and cleaning robot

Abstract

The present invention discloses a chassis structure of a cleaning robot and a cleaning robot, wherein the chassis structure includes a bottom plate, a walking mechanism, a dust collection mechanism and a mopping mechanism, wherein the walking mechanism includes a driving wheel group and a first universal wheel group and a second universal wheel group located on both sides of the driving wheel group; the dust collection mechanism includes a dust collection assembly located between the first universal wheel group and the driving wheel group, the dust collection assembly includes a dust collection head that moves up and down under the action of a first driving member, and the dust collection head is connected to the first driving member in a floating manner; the mopping mechanism is located between the second universal wheel group and the driving wheel group, and includes a second driving member, a mopping swing arm, and a mopping part, one end of the mopping swing arm is pivoted on the bottom plate, and the other end is connected to the second driving member in a floating manner; the mopping part is pivoted on the mopping swing arm, and the second driving member is used to drive the mopping swing arm to swing, so that the mopping part moves up and down. The structure of the present invention is more compact, and can adapt to the cleaning action of complex roads, thereby improving the cleaning effect of complex roads.

Description

Technical Field

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

[0002] A cleaning robot is a floor cleaning device that combines vacuuming and mopping functions. It is widely used by consumers because of its flexibility and durability. The chassis of a cleaning robot is usually equipped with a walking mechanism, a vacuuming mechanism, and a mopping mechanism. When the walking mechanism can walk along the ground, the vacuuming mechanism can vacuum the ground, and the mopping mechanism can mop the ground. However, the existing walking mechanism, vacuuming mechanism, and mopping mechanism are not designed reasonably, and the overall space occupied is large, which is not conducive to the optimization of the chassis structure of the cleaning robot. The existing vacuuming mechanism and mopping mechanism are difficult to adapt to the unevenness of the ground, resulting in poor cleaning effect on complex roads. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings, the purpose of the present invention is to provide a chassis structure of a cleaning robot and a cleaning robot, which have a more compact structure and can adapt to the cleaning action on complex road surfaces, thereby improving the cleaning effect on complex road surfaces.

[0004] In order to achieve the above objectives, one of the technical solutions adopted by the present invention is: a chassis structure of a cleaning robot, comprising:

[0005] Base plate;

[0006] A walking mechanism is installed at the lower end of the base plate, and includes a driving wheel set and a first universal wheel set and a second universal wheel set located on both sides of the driving wheel set;

[0007] The dust collection mechanism comprises a dust collection assembly located between the first universal wheel assembly and the driving wheel assembly, the dust collection assembly comprises a dust collection head that moves up and down under the action of the first driving member, and the dust collection head is floatingly connected to the first driving member;

[0008] The mopping mechanism is located between the second universal wheel group and the driving wheel group, and includes a second driving member, a mopping swing arm, and a mopping part. One end of the mopping swing arm is pivotally connected to the bottom plate, and the other end is floatingly connected to the second driving member. The middle part of the upper end of the mopping part is pivotally connected to the mopping swing arm, and the lower end is used to contact the ground. The second driving member is used to drive the mopping swing arm to swing, so that the mopping part can be lifted and moved.

[0009] The chassis structure of the cleaning robot of the present invention has the following beneficial effects:

[0010] 1. First, in the walking mechanism, the multi-wheel set of the driving wheel set, the first universal wheel set, and the second universal wheel set can enhance the walking stability of the cleaning robot; then the dust collection component is arranged between the first universal wheel set and the driving wheel set, and the mopping mechanism is arranged between the second universal wheel set and the driving wheel set, so that the space existing between the wheel sets can be effectively used to install the dust collection component and the mopping mechanism, so as to realize the reasonable layout of the space and achieve the purpose of a more compact chassis structure;

[0011] 2. In the dust collection mechanism, the first driving member drives the dust collection head to rise and fall, so that the dust collection head can be lowered to touch the ground when working, and can be raised to leave the ground when not working, so as to reduce the contact between the dust collection head and the ground when not working, and improve the service life of the dust collection head; and the floating connection between the dust collection head and the first driving member enables the dust collection head to float up and down relative to the first driving member when in contact with the ground, thereby adapting to the unevenness of the ground;

[0012] 3. In the mopping mechanism, the second driving member drives the mopping swing arm to swing, so that the mopping part pivoted on the mopping swing arm can realize the function of lifting and lowering during the swinging of the mopping swing arm, so that the mopping part can be lowered to touch the ground when working, and can be raised to leave the ground when not working, so as to ensure the ventilation of the mopping part when not working, which is beneficial to the dryness of the lower end of the mopping part; and the mopping swing arm and the second driving member are connected in a floating manner, so that the mopping swing arm can have the function of floating up and down relative to the second driving member, so that the mopping part pivoted on the mopping swing arm can also have the function of floating up and down to adapt to the unevenness of the ground; and by pivoting the middle part of the upper end of the mopping part to the mopping swing arm, the mopping part can swing adaptively as the slope of the ground changes, so as to better contact the uneven and complex road surface, thereby improving the cleaning effect on the complex road surface.

[0013] Furthermore, the mopping mechanism also includes a second elastic member, which is arranged obliquely, with its high end connected to the mopping swing arm and its low end connected to the base plate via a connecting frame; the second elastic member is always in a stretched state to apply a pulling force in a downward oblique direction to the mopping swing arm.

[0014] When the cleaning robot is walking, the mopping part will be subject to frictional resistance from the ground due to the contact between the mopping part and the ground. At this time, the oblique pulling force of the second elastic member on the mopping swing arm can form a pulling force in the walking direction on the mopping swing arm and the mopping part, thereby offsetting the frictional resistance of the ground to the mopping part, so that the mopping swing arm and the mopping part can walk synchronously with the cleaning robot; at the same time, because the second elastic member is arranged obliquely, the second elastic member can also form a downward force on the mopping swing arm and the mopping part, so that the mopping part can form a downward force on the ground, so as to simulate the state of human hand pressing on the mopping part, thereby enhancing the cleaning effect of mopping.

[0015] In addition, the second elastic member is connected to the mopping swing arm instead of being directly connected to the mopping part because the pulling force of the second elastic member can be transmitted to the mopping part through the mopping swing arm, and the mopping part can be prevented from being affected by the second elastic member when it swings with the change of the ground slope, thereby ensuring the free swing of the mopping part.

[0016] Furthermore, a second waist-shaped hole is provided at one end of the mopping swing arm close to the second driving member. The second driving member is arranged obliquely, and its high end is pivotally connected to the bottom plate, and its low end is connected to a second pin shaft that can be horizontally penetrated in the second waist-shaped hole; the second pin shaft can move along the second waist-shaped hole. The oblique arrangement of the second driving member enables the mopping part to form an oblique lifting path when the second driving member drives the mopping swing arm to swing. Such an arrangement can make full use of the horizontal space between the second universal wheel group and the driving wheel group to save the required vertical space as much as possible, thereby ensuring the lifting and moving of the mopping part in a limited space. The cooperation between the second pin shaft and the second waist-shaped hole can not only transmit the driving force of the second driving member to the mopping swing arm, but also enable the mopping swing arm to float relative to the second driving member when it is squeezed by the mopping part.

[0017] Furthermore, when the mopping portion contacts the ground, the length direction of the second waist-shaped hole is a vertical direction, and a gap is left between the second pin shaft and both ends of the second waist-shaped hole in the length direction.

[0018] Furthermore, the mopping mechanism further includes a leveling portion, which is fixed to the lower end of the base plate and located above the mopping portion, and a leveling plane for the mopping portion to abut against is provided at the lower end of the leveling portion.

[0019] The setting of the leveling part can not only limit the rising position of the mopping part, but also suppress the left and right swinging of the mopping part when it is in the highest position, so as to avoid the cleaning robot being unable to walk normally due to the swinging of the mopping part in a non-working state; and the leveling of the mopping part by the leveling plane can enable the mopping part to remain on a horizontal plane when it descends to contact the ground, which is conducive to full contact between the mopping part and the ground.

[0020] Furthermore, the dust collector head is connected to a guide wheel group for contacting the ground, and the guide wheel group is located at the front side of the dust collector head along the walking direction of the walking mechanism. Since the end of the dust collector head that contacts the ground is usually a brush, and the rigidity of the brush is poor, if the ground suddenly becomes higher, the dust collector head will not float upward directly, but will be squeezed by the ground, causing the brush to deform and bend. At this time, the setting of the guide wheel group can sense the height change of the ground before the dust collector head, and then the dust collector head can float upward relative to the first driving member by lifting the guide wheel group by the ground, so as to avoid the brush being squeezed and deformed by the ground, thereby increasing the service life of the brush. When the ground becomes lower, the guide wheel group can drive the dust collector head to float downward under the action of its own weight, so that the brush can contact the ground again.

[0021] Furthermore, the vacuum cleaner head includes a vacuum cleaner head body with a vacuum port facing downward, a vacuum cleaner head swing arm pivotally connected to the base plate at one end of the vacuum cleaner head body, and a vacuum cleaner head connecting plate floatingly connected to the first driving member at the other end; the first driving member is obliquely arranged, with its high end pivotally connected to the base plate and its low end floatingly connected to the vacuum cleaner head connecting plate.

[0022] Through the arrangement of the dust cleaner head swing arm, the dust cleaner head body and the dust cleaner head connecting plate, the dust cleaner head can form an oblique lifting path under the drive of the first driving member. Such an arrangement can make full use of the horizontal space between the first universal wheel group and the driving wheel group to save the required vertical space as much as possible, thereby ensuring the lifting and lowering movement of the dust cleaner head into place within a limited space.

[0023] Furthermore, the dust collection assembly also includes a first elastic member arranged obliquely, the first elastic member is located on the side of the dust collection head away from the first driving member, and the lower end of the first elastic member is connected to the base plate through a connecting frame, and the high end is connected to the dust collection head body, and the first elastic member is always in a stretched state.

[0024] Since the dust collector head is connected with a guide wheel assembly, the oblique stretching of the dust collector head body by the first elastic member can form a downward force on the dust collector head body, thereby driving the guide wheel assembly to always contact the ground.

[0025] Furthermore, the driving wheel assembly includes two symmetrically arranged driving wheel parts, each of which includes a driving wheel with a built-in wheel hub motor, and the driving wheel is installed on the bottom plate through an elastic cantilever. The driving wheel with a built-in wheel hub motor not only ensures the independent driving of the driving wheel part, but also saves the installation space of the two driving wheel parts, so as to reserve enough space for installing the dust collection mechanism and the mopping mechanism as much as possible, and at the same time, the elastic cantilever can realize the up and down floating of the driving wheel to adapt to the uneven ground.

[0026] The second technical solution adopted by the present invention is: a cleaning robot, comprising any of the above-mentioned chassis structures. The cleaning robot of the present invention has a more compact structure and can adapt to the cleaning action of complex road surfaces, thereby improving the cleaning effect of complex road surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of a chassis structure according to an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the dust collection mechanism and the mopping mechanism of the embodiment of the present invention when they are suspended in the air;

[0029] Figure 3 This is a schematic diagram of the structure of the walking mechanism of an embodiment of the present invention;

[0030] Figure 4 It is a schematic structural diagram of a driving wheel portion according to an embodiment of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the dust suction mechanism and the mopping mechanism of the embodiment of the present invention when they are in contact with the ground;

[0032] Figure 6 It is a structural schematic diagram of a dust collection mechanism according to an embodiment of the present invention;

[0033] Figure 7 A schematic structural diagram of the dust collection mechanism of an embodiment of the present invention from another perspective;

[0034] Figure 8 This is a structural schematic diagram of a mopping mechanism installed on a bottom plate according to an embodiment of the present invention;

[0035] Fig. 9 It is a structural schematic diagram of a mopping mechanism according to an embodiment of the present invention;

[0036] Fig.10 This is a schematic structural diagram of a mopping swing arm according to an embodiment of the present invention;

[0037] Fig.11 It is a structural schematic diagram of a leveling part according to an embodiment of the present invention.

[0038] In the figure:

[0039] 1- bottom plate; 11- connecting frame;

[0040] 2-walking mechanism; 21-driving wheel set; 211-driving wheel; 212-cantilever vertical rod; 213-cantilever spring; 214-cantilever mounting plate; 22-first universal wheel set; 23-second universal wheel set;

[0041] 3-dust suction mechanism; 31-first driving member; 311-first pin shaft; 32-dust suction head; 321-dust suction head body; 322-dust suction head swing arm; 323-dust suction head connecting plate; 3231-first waist-shaped hole; 33-dust storage box; 34-blower; 35-dust suction pipe; 36-guide wheel group; 37-first elastic member;

[0042] 4-mopping mechanism; 41-second driving member; 411-second pin shaft; 42-mopping swing arm; 421-second waist-shaped hole; 422-swing arm plate; 423-bending plate; 43-mopping part; 431-mopping fixing plate; 432-mopping cloth; 44-second elastic member; 45-leveling part; 451-leveling plane; 452-leveling frame; 46-second hinged member. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0044] Example

[0045] See attached Figure 1 , Figure 2 , Figure 5 As shown, a chassis structure of a cleaning robot of the present invention comprises a bottom plate 1, a walking mechanism 2, a dust collecting mechanism 3 and a mopping mechanism 4, wherein the walking mechanism 2 is mounted at the lower end of the bottom plate 1, and comprises a driving wheel set 21 and a first universal wheel set 22 and a second universal wheel set 23 located on both sides of the driving wheel set 21. The dust collecting mechanism 3 comprises a dust collecting assembly located between the first universal wheel set 22 and the driving wheel set 21, and the dust collecting assembly comprises a dust collecting head 32 that moves up and down under the action of a first driving member 31, and the dust collecting head 32 is connected to the first driving member 31 in a floating manner. The mopping mechanism 4 is located between the second universal wheel set 23 and the driving wheel set 21, and comprises a second driving member 41, a mopping swing arm 42, and a mopping part 43, wherein one end of the mopping swing arm 42 is pivotally connected to the bottom plate 1, and the other end is connected to the second driving member 41 in a floating manner. The middle part of the upper end of the mopping part 43 is pivotally connected to the mopping swing arm 42, and the lower end is used to contact the ground. The second driving member 41 is used to drive the mopping swing arm 42 to swing, so that the mopping portion 43 moves up and down.

[0046] In the walking mechanism 2, the multi-wheel group setting of the driving wheel group 21 and the first universal wheel group 22 and the second universal wheel group 23 can enhance the walking stability of the cleaning robot. Then, the dust collection component is arranged between the first universal wheel group 22 and the driving wheel group 21, and the mopping mechanism 4 is arranged between the second universal wheel group 23 and the driving wheel group 21. The space existing between the wheel groups can be effectively utilized to install the dust collection component and the mopping mechanism 4, so as to realize the reasonable layout of the space and achieve the purpose of a more compact chassis structure.

[0047] In the dust collection mechanism 3, the first driving member 31 drives the dust collection head 32 to rise and fall, so that the dust collection head 32 can be lowered to touch the ground when working, and can be raised to leave the ground and remain suspended when not working, so as to reduce the contact between the dust collection head 32 and the ground when not working, and improve the service life of the dust collection head 32; and through the floating connection between the dust collection head 32 and the first driving member 31, the dust collection head 32 can have the function of floating up and down relative to the first driving member 31 when touching the ground, so as to adapt to the unevenness of the ground.

[0048] In the mopping mechanism 4, the second driving member 41 drives the mopping swing arm 42 to swing, so that the mopping part 43 pivoted on the mopping swing arm 42 can realize the function of lifting and lowering during the swinging of the mopping swing arm 42, so that the mopping part 43 can be lowered to touch the ground when working, and can be raised to leave the ground and remain suspended when not working, so as to ensure the ventilation of the mopping part 43 when not working, which is beneficial to the dryness of the lower end of the mopping part 43; and the mopping swing arm 42 and the second driving member 41 are connected in a floating manner, so that the mopping swing arm 42 can have the function of floating up and down relative to the second driving member 41, so that the mopping part 43 pivoted on the mopping swing arm 42 can also have the function of floating up and down to adapt to the uneven ground; and by pivoting the middle part of the upper end of the mopping part 43 to the mopping swing arm 42, the mopping part 43 can swing adaptively as the slope of the ground changes, so as to better contact the uneven and complex road surface, thereby improving the cleaning effect on the complex road surface.

[0049] In some embodiments, see Appendix Figure 3 As shown, the driving wheel set 21 is arranged at the middle of the lower end of the base plate 1, and includes two driving wheel parts symmetrically arranged along a direction perpendicular to the walking direction of the cleaning robot, each driving wheel part includes a driving wheel 211 with a built-in wheel hub motor, and the driving wheel 211 is installed on the base plate 1 through an elastic cantilever. The driving wheel 211 with a built-in wheel hub motor not only ensures the independent driving of the driving wheel part, but also saves the installation space of the two driving wheel parts, so as to reserve enough space to install the dust collection mechanism 3 and the mopping mechanism 4 as much as possible, and at the same time, the driving wheel 211 can float up and down through the setting of the elastic cantilever to adapt to the uneven ground.

[0050] For further information, see Appendix Figure 4As shown, the elastic cantilever includes a cantilever vertical rod 212, a cantilever spring 213 and a cantilever mounting plate 214, and at least one cantilever vertical rod 212 is provided along the direction of travel of the cleaning robot, and one end of each cantilever vertical rod 212 is fixed to the base plate 1, and the other end is suspended. A cantilever mounting plate 214 for mounting a driving wheel 211 is commonly mounted on all cantilever vertical rods 212. The cantilever spring 213 is arranged one-to-one with the cantilever vertical rod 212, and the cantilever spring 213 is mounted on the corresponding cantilever vertical rod 212. One end of the cantilever spring 213 is connected to the base plate 1, and the other end is connected to the cantilever mounting plate 214, and the cantilever spring 213 is always in a compressed state to apply a downward force to the cantilever mounting plate 214, so that the driving wheel 211 mounted on the cantilever mounting plate 214 is always flexibly pressed against the ground. And due to the elastic effect of the cantilever spring 213, the driving wheel 211 can float up and down to adapt to the ups and downs of the ground. Exemplarily, two cantilever vertical rods 212 are provided.

[0051] Along the moving direction of the cleaning robot, the first universal wheel set 22 and the second universal wheel set 23 are respectively arranged on both sides of the driving wheel set 21, and both include universal wheels symmetrically arranged perpendicular to the moving direction of the cleaning robot, and the universal wheels are fixed to the lower end of the bottom plate 1 through the wheel body mounting plate. Through the cooperation of the first universal wheel set 22, the second universal wheel set 23 and the driving wheel set 21, 6 wheels (two driving wheels 211 and four universal wheels) are evenly arranged on the bottom plate 1 to ensure the walking stability of the cleaning robot chassis, and the 6 wheels are distributed at the edge of the bottom plate as much as possible, so that enough space can be reserved at the bottom of the bottom plate to install the dust collection assembly and the mopping mechanism.

[0052] It should be noted that, see Appendix Figure 1 As shown, the dust collection mechanism 3 also includes a dust storage box 33 and a fan 34. Usually, the dust storage box 33 and the fan 34 are built inside the cleaning robot (i.e., located above the bottom plate 1). The fan 34 is connected to the dust collection component through a dust collection pipe 35 passing through the bottom plate 1 to provide the dust collection component with power to absorb dust. The dust storage box 33 is used to store the dust sucked by the dust collection component. Since the present application aims to improve the chassis structure of the cleaning robot, the following description only describes the specific structure of the dust collection component located below the bottom plate 1 with respect to the dust collection mechanism.

[0053] In some embodiments, see Appendix Figure 5 , Figure 6 , Figure 7As shown, the dust collector head 32 includes a dust collector head body 321 with a dust suction port facing downward, a dust collector head swing arm 322 pivotally connected to the bottom plate 1 is provided at one end of the dust collector head body 321, and a dust collector head connecting plate 323 floatingly connected to the first driving member 31 is provided at the other end. The dust collector head body 321, the dust collector head swing arm 322, and the dust collector head connecting plate 323 are integrally formed. The first driving member 31 is arranged obliquely, with its high end pivotally connected to the bottom plate 1, and its low end floatingly connected to the dust collector head connecting plate 323. Through the pivotal connection between the dust collector head swing arm 322 and the bottom plate, the dust collector head 32 can swing and rise and fall along the bottom plate 1 under the action of the first driving member 31 to form an oblique lifting path. This arrangement not only ensures the lifting demand of the dust collector head 32, but also makes full use of the horizontal space below the bottom plate 1, so as to minimize the vertical space required to be occupied by the dust collector head 32 and the first driving member 31 during the layout process.

[0054] See attached Figure 6 As shown, a first waist-shaped hole 3231 is provided on the vacuum cleaner head connecting plate 323, and a first pin shaft 311 is provided on the first driving member 31 and is horizontally penetrated in the first waist-shaped hole 3231. The first pin shaft 311 can move along the first waist-shaped hole 3231 to realize the floating of the vacuum cleaner head connecting plate 323 relative to the first driving member 31.

[0055] When the vacuum head 32 drops to the lowest position, the length direction of the first waist-shaped hole 3231 is vertical, and there is a gap between the first pin shaft 311 and both ends of the first waist-shaped hole 3231 along the length direction to ensure that the vacuum head 32 can float up and down when it touches the ground.

[0056] Furthermore, the first pin shaft 311 includes a shaft body that passes through the first waist-shaped hole 3231, and shaft ends that can abut against the vacuum cleaner head connecting plate 323 are coaxially arranged at both ends of the shaft body, and the radial dimension of the shaft end is greater than the width of the first waist-shaped hole 3231, and the radial dimension of the shaft body is smaller than the width of the first waist-shaped hole 3231. The arrangement of the shaft end prevents the first pin shaft 311 from slipping out of the first waist-shaped hole 3231, and by limiting the size of the shaft body and the width of the first waist-shaped hole 3231, the shaft body can reserve a certain displacement space in the width direction of the first waist-shaped hole 3231 to meet the swing requirement of the vacuum cleaner head connecting plate 323.

[0057] Since the end of the vacuum cleaner body 321 facing the ground is usually provided with a brush or a rubber strip, and the rigidity of the brush or the rubber strip is poor, when the ground suddenly becomes higher, the ground pressing the brush or the rubber strip cannot directly drive the vacuum cleaner head 32 to float upward relative to the first driving member 31, but will cause the brush or the rubber strip to deform and bend. In order to solve this problem, in some embodiments, see the attached Figure 6 , Figure 7As shown, a guide wheel group 36 for contacting the ground is fixedly connected to the dust collector body 321, and the guide wheel group 36 is arranged on the front side of the dust collector body 321 along the walking direction of the cleaning robot. When the guide wheel group 36 contacts the ground, the brush or the rubber strip can contact the ground, and the brush or the rubber strip is not subjected to the squeezing force of the ground. Furthermore, the guide wheel group 36 includes two guide wheels arranged on both sides of the first driving member 31, and the guide wheels are fixedly connected to the dust collector body 321 through a connecting rod, and when the dust collector 32 drops to the lowest position, the guide wheels can abut against the ground. At this time, the brush and the rubber strip at the lower end of the dust collector 32 can contact the ground, but are not subjected to the force of the ground.

[0058] When the ground suddenly becomes higher, the guide wheel group 36 can contact the higher ground before the dust collector head 32. At this time, the guide wheel group 36 can be affected by the lifting force of the ground and exert an upward lifting force on the dust collector head 32 connected thereto. The dust collector head body 321 can float upward through the floating connection between the dust collector head connecting plate 323 and the first driving member 31, thereby ensuring that the brush or rubber strip is protected from being squeezed and deformed by the ground, thereby increasing the service life of the brush or rubber strip.

[0059] When the ground becomes lower, the guide wheel set 36 can drive the dust collector head 32 to float downward under its own weight, so that the brush or rubber strip can contact the lowered ground. However, in actual application, the brush or rubber strip may not contact the ground in time because the guide wheel set 36 does not float downward in time.

[0060] Based on this, in some embodiments, see the attached Figure 5 , Figure 6 As shown, the dust collection assembly further includes a first elastic member 37 arranged obliquely, the first elastic member 37 is located on the side of the dust collection head 32 away from the first driving member 31, and the lower end of the first elastic member 37 is connected to the bottom plate 1 through the connecting frame 11, and the upper end is connected to the dust collection head body 321, and the first elastic member 37 is always in a stretched state. The connecting frame 11 is fixedly connected to the middle part of the lower end of the bottom plate 1.

[0061] During the walking process of the cleaning robot, the first elastic member 37 can always apply an oblique downward pulling force to the dust collector head 32, so that the guide wheel group 36 always abuts against the ground and keeps the brush or rubber strip in contact with the ground. When the ground becomes higher, the lifting force of the ground on the guide wheel group 36 can make the guide wheel group 36 and the dust collector head body 321 overcome the pulling force of the first elastic member 37 and float upward, and when the ground becomes lower, the guide wheel group 36 can float downward under its own weight and the pulling force of the first elastic member 37 until the guide wheel group 36 abuts against the ground again. In this process, the brush or rubber strip can maintain a state of contact with the ground but not being affected by the ground force.

[0062] Furthermore, the first elastic member 37 includes two first springs arranged in parallel, the lower ends of the two first springs are connected to the connecting frame 11, and the high ends are connected to the cleaner head body 321.

[0063] In some embodiments, the first driving member 31 and the second driving member 41 can both be electric push rods that can move linearly. The working principle of the electric push rod is prior art and will not be described in detail in this embodiment.

[0064] In some embodiments, see Appendix Figure 8 , Fig. 9 As shown, a second waist-shaped hole 421 is provided at one end of the mopping swing arm 42 close to the second driving member 41. The second driving member 41 is arranged obliquely, and its high end is pivotally connected to the bottom plate 1, and its low end is connected to a second pin shaft 411 which can be horizontally penetrated in the second waist-shaped hole 421; the second pin shaft 411 can move along the second waist-shaped hole 421. The oblique arrangement of the second driving member 41 enables the mopping swing arm 42 and the mopping part 43 to form an oblique lifting path when the second driving member 41 drives the mopping swing arm 42 to swing. Such an arrangement can not only ensure the lifting demand of the mopping part 43, but also make full use of the horizontal space under the bottom plate 1, so as to minimize the vertical space occupied by the second driving member 41, the mopping swing arm 42 and the mopping part 43, and thus ensure the lifting and moving of the mopping part 43 in a limited space. The cooperation between the second pin shaft 411 and the second waist-shaped hole 421 can transmit the driving force of the second driving member 41 to the mopping swing arm 42 , and can also allow the mopping swing arm 42 to float relative to the second driving member 41 when being squeezed by the mopping portion 43 .

[0065] Furthermore, when the mopping portion 43 contacts the ground, the length direction of the second waist-shaped hole 421 is in the vertical direction, and a gap is left between the second pin shaft 411 and both ends of the second waist-shaped hole 421 in the length direction. It should be noted that the cooperation between the second waist-shaped hole 421 and the second pin shaft 411 can refer to the cooperation between the first waist-shaped hole 3231 and the first pin shaft 311, and will not be repeated here.

[0066] In some embodiments, see Appendix Fig.10 As shown, the mopping swing arm 42 includes a swing arm plate body 422, and the two ends of the swing arm plate body 422 are respectively bent to form a bending plate 423. One end of a pair of bending plates 423 close to the swing arm plate body 422 is jointly pivoted to the bottom plate 1 through a first hinge, and the other end is respectively provided with a second waist-shaped hole 421. The second pin shaft 411 is penetrated and arranged on the second driving member 41 (electric push rod), and the two ends thereof respectively pass through the second waist-shaped hole 421 on the bending plate 423.

[0067] When the second driving member 41 is extended, the second driving member 41 can push the second pin shaft 411 so that the second pin shaft 411 applies force to the second waist-shaped hole 421, and the mopping swing arm 42 immediately swings downward to make the mopping part 43 drop to touch the ground; when the second driving member 41 is retracted, the second driving member 41 can pull the second pin shaft 411, and the second pin shaft 411 immediately pulls the second waist-shaped hole 421, and the mopping swing arm 42 immediately swings upward to make the mopping part 43 rise to leave the ground.

[0068] In some embodiments, see Appendix Figure 8 As shown, the mopping mechanism 4 further includes a second elastic member 44, which is arranged in an oblique direction, with its upper end connected to the mopping swing arm 42, and its lower end connected to the bottom plate 1 through the connecting frame 11. The second elastic member 44 is always in a stretched state to apply a pulling force in a downward oblique direction to the mopping swing arm 42.

[0069] When the cleaning robot is walking, the mopping part 43 is subject to frictional resistance from the ground due to the contact between the mopping part 43 and the ground. At this time, the oblique pulling force of the second elastic member 44 on the mopping swing arm 42 can form a pulling force in the walking direction on the mopping swing arm 42 and the mopping part 43, thereby offsetting the frictional resistance of the ground on the mopping part 43, so that the mopping swing arm 42 and the mopping part 43 can walk synchronously with the cleaning robot; at the same time, because the second elastic member 44 is arranged obliquely, the second elastic member 44 can also form a downward force on the mopping swing arm 42 and the mopping part 43, so that the mopping part 43 can form a downward force on the ground, so as to simulate the state of human hand pressing on the mopping part 43, thereby enhancing the cleaning effect of mopping.

[0070] In addition, the second elastic member 44 is connected to the mopping swing arm 42 instead of being directly connected to the mopping part 43 because the pulling force of the second elastic member 44 can be transmitted to the mopping part 43 through the mopping swing arm 42, and the mopping part 43 can be prevented from being affected by the second elastic member 44 when it swings with the change of the ground slope, thereby ensuring the free swing of the mopping part 43.

[0071] Furthermore, the second elastic member 44 includes a pair of second springs arranged in parallel, the high ends of the pair of second springs are respectively connected to the two sides of the mopping swing arm 42, and the low ends of the pair of second springs are both connected to the connecting frame 11. The arrangement of the pair of second springs makes the tension of the second elastic member 44 on the mopping swing arm 42 more evenly distributed.

[0072] In order to avoid the interference of the mopping part 43 with the walking of the cleaning robot due to the swing in the suspended state. Figure 8 , Fig.11As shown, the mopping mechanism 4 further includes a leveling portion 45, which is fixedly connected to the lower end of the bottom plate 1 and is located above the mopping portion 43, and a leveling plane 451 is provided at the lower end of the leveling portion 45 for the mopping portion 43 to abut against. Specifically, the leveling portion 45 includes a leveling frame 452 fixedly connected to the bottom plate 1, and a leveling plane 451 arranged in the horizontal direction is provided at the lower end of the leveling frame 452.

[0073] When the mopping part 43 abuts against the leveling plane 451, the mopping part 43 is located at the highest moving position. At this time, the leveling plane 451 can not only limit the mopping part 43, but also suppress the left and right swinging of the mopping part 43, thereby avoiding the interference with the walking of the cleaning robot caused by the swinging of the mopping part 43 when it is in the highest position. At the same time, the leveling plane 451 abuts against and levels the mopping part 43, so that the mopping part 43 can remain on the level plane after leveling during the descent process, which is beneficial for the mopping part 43 to be in a horizontal direction when it contacts the ground.

[0074] In addition, since the extreme position (highest position or lowest position) of the mopping arm 42 driven by the second driving member 41 is fixed, and the alignment plane 451 can limit the highest position of the mopping portion 43, when the mopping arm 42 swings to its highest position, the matching position of the second waist-shaped hole 421 and the second pin shaft 411 is also fixed, which is beneficial to limit the matching position of the second waist-shaped hole 421 and the second pin shaft 411, so as to meet the requirement for the gap between the second pin shaft 411 and the second waist-shaped hole 421 when the mopping portion 43 and the mopping arm 42 float up and down in the subsequent process.

[0075] In some embodiments, see Appendix Fig. 9 As shown, the mopping part 43 includes a mopping fixing plate 431 , the upper end of the mopping fixing plate 431 is pivotally connected to the mopping swing arm 42 via a second hinge 46 , and the lower end is detachably connected to a mopping cloth 432 .

[0076] The second hinged member 46 includes a second shaft and two second hinged seats, the two second hinged seats are fixed to the middle of the upper end of the mopping fixed plate 431, and are respectively located on both sides of the mopping swing arm 42. The second shaft passes through the mopping swing arm 42 in the horizontal direction, and its two ends are respectively connected to the two second hinged seats. The second hinged member 46 is provided to realize the swing of the mopping fixed plate 431 relative to the mopping swing arm 42, thereby realizing the adaptive swing of the mopping part 43 as the ground slope changes.

[0077] The present invention also provides a cleaning robot, comprising any of the above chassis structures. The improvement of the chassis structure can adapt to the cleaning action of complex roads, thereby improving the cleaning effect of complex roads.

[0078] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A chassis structure of a cleaning robot, characterized in that: include: Base plate; A walking mechanism is installed at the lower end of the base plate, and includes a driving wheel set and a first universal wheel set and a second universal wheel set located on both sides of the driving wheel set; A dust collection mechanism, comprising a dust collection assembly located between the first universal wheel assembly and the driving wheel assembly, the dust collection assembly comprising a dust collection head that moves up and down under the action of a first driving member, the dust collection head being floatingly connected to the first driving member; The mopping mechanism is located between the second universal wheel group and the driving wheel group, and includes a second driving member, a mopping swing arm, and a mopping part. One end of the mopping swing arm is pivotally connected to the bottom plate, and the other end is floatingly connected to the second driving member. The middle part of the upper end of the mopping part is pivotally connected to the mopping swing arm, and the lower end is used to contact the ground. The second driving member is used to drive the mopping swing arm to swing, so that the mopping part moves up and down. The mopping mechanism also includes a second elastic member, which is arranged obliquely, with its high end connected to the mopping swing arm and its low end connected to the base plate through a connecting frame; the second elastic member is always in a stretched state to apply a pulling force in a downward oblique direction to the mopping swing arm.

2. The chassis structure according to claim 1, characterized in that: A second waist-shaped hole is formed at one end of the mopping swing arm close to the second driving member. The second driving member is arranged obliquely, with its high end pivotally connected to the bottom plate, and its low end connected to a second pin shaft which can pass through the second waist-shaped hole in a horizontal direction; the second pin shaft can move along the second waist-shaped hole.

3. The chassis structure according to claim 2, characterized in that: When the mopping part contacts the ground, the length direction of the second waist-shaped hole is a vertical direction, and gaps are left between the second pin shaft and both ends of the second waist-shaped hole in the length direction.

4. The chassis structure according to claim 1, characterized in that: The mopping mechanism further comprises a leveling portion, which is fixed to the lower end of the bottom plate and located above the mopping portion. The lower end of the leveling portion is provided with a leveling plane for the mopping portion to abut against.

5. The chassis structure according to claim 1, characterized in that: The dust collector head is connected with a guide wheel group for contacting the ground, and the guide wheel group is located at the front side of the dust collector head along the walking direction of the walking mechanism.

6. The chassis structure according to claim 5, characterized in that: The vacuum head comprises a vacuum head body with a vacuum port facing downward, a vacuum head swing arm pivotally connected to the base plate is provided at one end of the vacuum head body, and a vacuum head connecting plate floatingly connected to the first driving member is provided at the other end; the first driving member is obliquely arranged, with its high end pivotally connected to the base plate and its low end floatingly connected to the vacuum head connecting plate.

7. The chassis structure according to claim 5, characterized in that: The dust collection assembly also includes a first elastic member arranged obliquely, the first elastic member is located on a side of the dust collection head away from the first driving member, and the lower end of the first elastic member is connected to the base plate through a connecting frame, and the high end is connected to the dust collection head body; the first elastic member is always in a stretched state.

8. The chassis structure according to claim 1, characterized in that: The driving wheel assembly comprises two driving wheel parts which are symmetrically arranged, each of the driving wheel parts comprises a driving wheel with a built-in wheel hub motor, and the driving wheels are mounted on the bottom plate via elastic cantilevers.

9. A cleaning robot, characterized in that: It comprises the chassis structure described in any one of claims 1-8.

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