Cleaning robot and cleaning system

Abstract

The invention discloses a cleaning robot and a cleaning system. The cleaning robot comprises a machine body, a rotating part and a driving device, and the machine body comprises a cleaning assembly and a driving assembly used for driving the machine body to advance; the rotating part comprises a connecting part and a supporting part which are arranged in a spaced mode, the connecting part is rotatably installed on the machine body so that the rotating part can have a first rotating stroke, and in the first rotating stroke, the rotating part rotates with the supporting part as a support so as to drive the machine body to ascend or descend; the driving device drives the rotating member to perform a first rotation stroke. According to the cleaning robot, when the driving device drives the rotating piece to rotate and conduct the first rotating stroke, the supporting part is supported on the first step face and serves as a support, the rotating piece rotates around the supporting part, and the step ascending action and the step descending action of the cleaning robot are achieved; the ladder climbing device is favorable for cleaning each step surface when the cleaning robot goes up or down steps, and has the characteristics of simple structure, simplicity and convenience in operation and good ladder climbing effect.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning appliances, and in particular relates to a cleaning robot and a cleaning system. Background Art

[0002] With the development of cleaning robot technology such as sweepers, more and more cleaning robots have become popular. Currently, common cleaning robots are generally used to clean floors, glass, etc. However, when cleaning environments with multiple steps of different heights, such as stairs, existing cleaning robots have difficulty climbing and descending the steps, which makes it difficult to clean the steps well. Manual operation is still required, resulting in low efficiency and poor cleaning effect. Summary of the invention

[0003] Therefore, the present invention aims to solve the problem that existing cleaning robots cannot properly clean environments such as stairs.

[0004] In order to solve the above technical problems, the present invention provides a cleaning robot, comprising:

[0005] A machine body, comprising a cleaning assembly and a driving assembly for driving the machine body to move;

[0006] A rotating member, comprising a connecting portion and a supporting portion arranged at intervals, wherein the connecting portion is rotatably mounted on the body so that the rotating member has a first rotation stroke, and in the first rotation stroke, the rotating member rotates with the supporting portion as support to drive the body to be lifted or lowered; and

[0007] A driving device is connected to the rotating member to drive the rotating member to perform the first rotation stroke.

[0008] According to an embodiment of the present application, under the drive of the driving device, the rotating member further has a second rotation stroke, and in the second rotation stroke, the rotating member rotates with the body as support to drive the supporting part to rotate to reset.

[0009] According to an embodiment of the present application, the moving direction of the cleaning robot is from back to front, and the cleaning robot also has a left and right direction arranged crosswise with the front and back directions: the rotating member includes:

[0010] A support arm extending in the front-rear direction, the support arm constituting the support portion; and

[0011] A swing arm, the rear end of which is rotatably mounted on the machine body around an axis extending in the left-right direction to form the connecting portion, and the front end of which is rotatably connected to the support arm;

[0012] The driving device is drivingly connected to the swing arm.

[0013] According to an embodiment of the present application, the driving device is also drivably connected to the support arm so that in the first rotation stroke, the rotation angle of the swing arm relative to the body and the rotation angle of the swing arm relative to the support arm remain the same.

[0014] According to an embodiment of the present application, the driving device includes:

[0015] A driving assembly, comprising a rotatably arranged driving shaft, wherein the driving shaft extends in a left-right direction;

[0016] A first transmission assembly, which is transmission-connected between the drive shaft and the swing arm; and

[0017] The second transmission assembly is used for transmission connection between the driving shaft and the support arm.

[0018] According to an embodiment of the present application, at least two rotating members are provided, and the two rotating members are respectively provided at the left and right ends of the driving shaft; the driving assembly further includes:

[0019] a motor, arranged on one side of the drive shaft in the radial direction, the motor having a rotating output shaft extending side by side with the drive shaft;

[0020] two first pulleys, one of which is coaxially mounted with the rotation output shaft, and the other of which is coaxially mounted with the drive shaft; and,

[0021] The first conveyor belt is movably wound around the two first pulleys.

[0022] According to an embodiment of the present application, the first transmission assembly includes a first driving gear and a first driven gear meshing with each other, the first driving gear is mounted on the driving shaft, and the first driven gear is mounted on the swing arm; and / or,

[0023] The second transmission assembly includes a second driving gear and a second driven gear meshing with each other, the second driving gear is mounted on the driving shaft, and the second driven gear is mounted on the support arm.

[0024] According to an embodiment of the present application, a mounting cavity is formed inside the swing arm;

[0025] The driving device also includes a linkage assembly, which is arranged in the installation cavity and connects the driving shaft and the second transmission assembly.

[0026] According to one embodiment of the present application, the linkage assembly includes two second pulleys spaced apart between the drive shaft and the first transmission assembly, and a second conveyor belt movably wound around the two second pulleys, wherein one of the second pulleys is coaxially mounted on the drive shaft, and the other second pulley is connected to the second transmission assembly.

[0027] According to an embodiment of the present application, at least two rotating members are provided, and the two rotating members are respectively provided at the left and right ends of the machine body;

[0028] The rotating member further comprises a connecting arm, which extends in the left-right direction and straddles the same end of the supporting arms in each of the rotating members, and the connecting arm is protrudingly arranged on the outer side of the machine body.

[0029] According to an embodiment of the present application, before the rotating member performs the first rotation stroke, the body has a center of gravity area, and the connecting portion is located at or close to the center of gravity area.

[0030] According to an embodiment of the present application, before the rotating member performs the first rotation stroke, the machine body has a center of gravity area, and the connecting portion is offset and arranged beside the center of gravity area;

[0031] The cleaning robot further comprises a counterweight block, which is located on a side of the connecting portion close to the center of gravity area and can be movably arranged in a direction close to and away from the center of gravity area.

[0032] According to an embodiment of the present application, the driving device includes a rotatable driving shaft and a motor for driving the driving shaft to rotate; the cleaning robot also includes:

[0033] a fixed wheel, mounted coaxially with the drive shaft; and,

[0034] A rocker has one end rotatably connected to the periphery of the fixed wheel, and the other end rotatably connected to the counterweight block.

[0035] According to one embodiment of the present application, the cleaning robot further includes:

[0036] a sensor for acquiring a target distance and / or an actual distance that the machine body is lifted or lowered during the first rotation stroke; and

[0037] The control device is electrically connected to the sensor and the driving device respectively, so as to control the driving device to work according to the target distance and / or the actual distance.

[0038] According to an embodiment of the present application, the driving assembly includes:

[0039] A first roller, rotatably mounted on the bottom of the machine body;

[0040] a first driving component, disposed on the machine body and drivingly connected to the first roller; and

[0041] The control device is electrically connected to the driving device and the first driving component, so as to control the first driving component to start and control the driving device to drive the rotating component to perform the second rotation stroke when the rotating component completes the first rotation stroke and uses the machine body as support.

[0042] According to an embodiment of the present application, the cleaning robot further includes a second roller, and the second roller is rotatably mounted on the support portion; or,

[0043] The cleaning robot also includes a second roller and a second driving component, the second roller is rotatably mounted on the support portion, the second driving component is drivingly connected to the second roller, and the control device is electrically connected to the second driving component to control the operation of the second driving component.

[0044] In addition, to achieve the above-mentioned purpose, the present invention further provides a cleaning system, the cleaning system comprising a cleaning robot and a base station, the cleaning robot comprising:

[0045] A machine body, comprising a cleaning assembly and a driving assembly for driving the machine body to move;

[0046] A rotating member, comprising a connecting portion and a supporting portion arranged at intervals, wherein the connecting portion is rotatably mounted on the body so that the rotating member has a first rotation stroke, and in the first rotation stroke, the rotating member rotates with the supporting portion as support to drive the body to be lifted or lowered; and

[0047] A driving device is connected to the rotating member to drive the rotating member to perform the first rotation stroke.

[0048] The technical solution provided by the present invention has the following advantages:

[0049] The cleaning robot provided by the present invention can be applied in conventional environments such as the ground, and can also be applied in environments such as stairs. The stair environment generally includes a plurality of step surfaces connected step by step, wherein each two adjacent step surfaces are respectively a first step surface and a second step surface located above or below the first step surface. The body is first in a first state placed on the first step surface. When the driving device drives the rotating member to rotate and perform the first rotation stroke, the support portion is supported on the first step surface and serves as a support, and the rotating member rotates around the support portion: if the second step surface is located above the first step surface, the first rotation stroke drives the body to perform an upward lifting movement, realizes the step-up action of the cleaning robot, and helps to clean each step surface during the process of the cleaning robot ascending the steps; conversely, if the second step surface is located below the first step surface, the first rotation stroke drives the body to perform a downward descending movement, realizes the step-down action of the cleaning robot, and helps to clean each step surface during the process of the cleaning robot descending the steps. The cleaning robot provided by the present application has the characteristics of simple structure, easy operation, good ladder climbing effect, and ultimately helps to improve the cleaning effect of the cleaning robot, especially in the stair environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 A three-dimensional schematic diagram of an embodiment of the cleaning robot provided by the present invention applied in a stair environment;

[0052] Figure 2 for Figure 1 A three-dimensional schematic diagram of the cleaning robot in the first perspective;

[0053] Figure 3 for Figure 1 A three-dimensional schematic diagram of the cleaning robot in the second viewing angle;

[0054] Figure 4 for Figure 1 A top view of the cleaning robot after removing the housing and one swing arm;

[0055] Figure 5 for Figure 1 Schematic diagram of the structure of the middle drive assembly;

[0056] Figure 6 for Figure 1 An exploded schematic diagram of the first transmission assembly and the second transmission assembly at a first viewing angle;

[0057] Figure 7 for Figure 1 An exploded schematic diagram of the first transmission assembly and the second transmission assembly at a second viewing angle;

[0058] Figure 8 for Figure 1 Schematic diagram of the structure of the middle linkage component;

[0059] Fig. 9 for Figure 1 Schematic diagram of the assembly of the middle counterweight;

[0060] Fig.10 for Figure 1 A schematic diagram of the structure of the cleaning robot in a first state;

[0061] Fig.11 for Figure 1 A schematic diagram of the structure of the cleaning robot in the second state;

[0062] Fig.12 for Figure 1 A schematic diagram of the structure of the cleaning robot moving forward in front of the second step;

[0063] Fig.13 for Figure 1 Schematic diagram of the structure of the cleaning robot after it moves to its position in front of the second step.

[0064] Description of reference numerals:

[0065] 100 body; 110 housing; 120 cleaning part; 130 dust box; 140 fan; 150 battery pack; 200 rotating part; 201 connecting part; 202 supporting part; 210 swing arm; 220 supporting arm; 230 connecting arm; 300 driving device; 310 driving assembly; 311 driving shaft; 312 motor; 312a power output shaft; 313 first pulley; 314 first conveyor belt; 321 first driving gear; 322 first driven gear; 331 second driving gear; 332 second driven gear; 340 linkage assembly; 341 second pulley; 342 second conveyor belt; 410 counterweight; 420 fixed wheel; 430 rocker; 500 sensor; 600 first roller; 700 second roller; 81 first step surface; 82 second step surface. DETAILED DESCRIPTION

[0066] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0068] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0069] The present invention provides a cleaning robot, see Figures 1 to 13 , the accompanying drawings show a specific embodiment of the cleaning robot provided by the present invention.

[0070] It should be noted that the present design does not restrict the application environment of the cleaning robot. In actual application, the cleaning robot can be used to clean the ground, glass and other basically flat surfaces to be cleaned without obvious height difference, and can also be used to clean the stair environment, which includes fixed indoor stairs, movable or retractable steps, etc. The stair environment generally includes a plurality of step surfaces connected step by step, each step surface constitutes the surface to be cleaned, and each two adjacent step surfaces form a significant height difference, which are respectively named as the first step surface 81 and the second step surface 82 located above or below the first step surface 81. Among them, when the second step surface 82 is located above the first step surface 81, the process of the cleaning robot from the first step surface 81 to the second step surface 82 is an upward lifting process; conversely, when the second step surface 82 is located below the first step surface 81, the process of the cleaning robot from the first step surface 81 to the second step surface 82 is a downward descending process.

[0071] For ease of understanding, in the following embodiments, the second step surface 82 is located above the first step surface 81 as an example for description, and wherein, when the cleaning robot is placed on the first step surface 81, it is in the first state, that is, the initial state, and the cleaning robot is in the second state after moving from the first step surface 81 to the second step surface 82 through the lifting process. In addition, in order to facilitate the description of the layout orientation between the relevant components of the cleaning robot and the relative movement relationship of the cleaning robot relative to the first step surface 81 and the second step surface 82, in the following embodiments, the cleaning robot is described as having a front-to-back direction and a left-to-right direction. Among them, in each rotation stroke, the direction from the first step surface 81 to the second step surface 82 is from front to back, and the left-to-right direction is cross-arranged with the front-to-back direction, and can be at any inferior angle to each other. For example, in the following embodiments, the front-to-back direction can be perpendicular or nearly perpendicular to the left-to-right direction.

[0072] Based on the above, please refer to Figures 1 to 4 The cleaning robot provided by the present invention includes a body 100, a rotating member 200 and a driving device 300. The body 100 includes a cleaning component and a driving component for driving the body 100 to move; the rotating member 200 includes a connecting portion 201 and a supporting portion 202 arranged at intervals, and the connecting portion 201 is rotatably mounted on the body 100 so that the rotating member 200 has a first rotation stroke. In the first rotation stroke, the rotating member 200 rotates with the supporting portion 202 as a support to drive the body 100 to rise or fall; the driving device 300 is connected to the rotating member 200 to drive the rotating member 200 to perform the first rotation stroke.

[0073] In the cleaning robot provided by the present invention, the body 100 is first in the first state of being placed on the first step surface 81. When the driving device 300 drives the rotating member 200 to rotate and perform the first rotation stroke, the support portion 202 is supported on the first step surface 81 and serves as a support, and the rotating member 200 rotates around the support portion 202: if the second step surface 82 is located above the first step surface 81, the first rotation stroke drives the body 100 to perform an upward lifting movement, realizing the step-up action of the cleaning robot, which helps to clean each step surface during the process of the cleaning robot ascending the steps; conversely, if the second step surface 82 is located below the first step surface 81, the first rotation stroke drives the body 100 to perform a downward descending movement, realizing the step-down action of the cleaning robot, which helps to clean each step surface during the process of the cleaning robot descending the steps. The cleaning robot provided by the present application has the characteristics of simple structure, easy operation, good ladder climbing effect, and ultimately helps to improve the cleaning effect of the cleaning robot, especially in a stair environment.

[0074] It can be understood that the cleaning robot described in the present invention is a cleaning robot that can automatically perform multiple tasks. The automatic execution process of the cleaning robot can be achieved by receiving user trigger instructions in real time or at any time; it can also be achieved by running a preset program in its built-in control device.

[0075] Based on this, the body 100 is generally also integrated with a control device and required sensor equipment, functional components, etc. electrically connected to the control device and related to the work of the cleaning robot.

[0076] Among them, the sensing equipment can be set to one or more types according to actual needs; various types of sensing equipment can be used to sense various parameters of the surrounding environment, such as measuring ambient temperature and humidity, measuring ambient air pressure, measuring distance, measuring obstacles, etc.

[0077] In addition, in one embodiment, the functional component may include but is not limited to a drive assembly, and the body 100 can move automatically or according to a user instruction, and the drive assembly is used to drive the body 100 to move. The drive assembly may include a moving part such as a drive wheel (for example, the first roller 600 in the following embodiment) or a crawler track, and a first drive component corresponding to the activity mode of the moving part. By rolling the first drive component drive wheel or driving the crawler track to move around, the straight travel and turning of the cleaning robot as a whole can be realized.

[0078] and / or, see Figure 4 In one embodiment, the functional component may include but is not limited to a cleaning assembly, which includes a movable cleaning member 120 and a second driving member for driving the cleaning member 120 to move. The cleaning member 120 may include a flat rag, a turntable rag, a round rag, a track rag, a side brush, etc. In this way, when the machine body 100 stays or moves, the cleaning assembly can clean the surface to be cleaned.

[0079] When the machine body 100 is provided with the above-mentioned cleaning components, correspondingly, in one embodiment, the functional components may also include, for example, a clean water tank, a dirty water tank, a cleaning liquid tank, various pump bodies and connecting pipes, so as to realize the replenishment of clean water and cleaning liquid, and the collection of dirty water during the function process of the cleaning components. And / or, please refer to Figure 4 In one embodiment, the functional components may include but are not limited to a dust box 130 and a fan 140. The dust box 130 is connected to the dust suction inlet of the cleaning component to collect the dirt generated by the cleaning component during its operation, and the fan 140 provides a driving force for the collection process of the above-mentioned dirt.

[0080] and / or, see Figure 4 In one embodiment, the functional component may further include a battery pack 150. The battery pack 150 may be configured as any product capable of charging, discharging, and storing electrical energy according to actual needs, such as a nickel-hydrogen battery, a polymer lithium electronic battery, a lithium iron phosphate power battery, etc.

[0081] Specifically, see Figures 2 to 4 In one embodiment, the body 100 may include a housing 110, and a receiving cavity is formed inside the housing 110, and the receiving cavity may at least partially receive the above-mentioned control device, various functional components, various sensor devices, driving device 300, etc. The number of settings and layout of each are not limited.

[0082] The connecting part 201 and the supporting part 202 on the rotating member 200 are in driving connection and keep a distance. Fig.10 , when the machine body 100 is in the first state, that is, located on the first step surface 81:

[0083] In one embodiment, the support portion 202 of the rotating member 200 can be set to be not lower than the bottom of the body 100, so that in the first state, the support portion 202 maintains a gap with the first step surface 81, avoiding the support portion 202 and the first step surface 81 from contacting each other and causing active interference when the rotating member 200 does not rotate. Or in another embodiment, the support portion 202 of the rotating member 200 can be set to be lower than the bottom of the body 100, so that in the second state, the support portion 202 maintains abutment with the first step surface 81, which helps to increase the contact area between the corresponding parts of the cleaning robot and the first step surface 81, and achieve good and stable support between the two. In a further scheme, the abutment between the support portion 202 and the first step surface 81 can be an active abutment, such as providing a smooth surface to form a sliding abutment with the first step surface 81, or providing a roller to form a rolling abutment with the first step surface 81, etc.

[0084] Next, please combine Fig.11 , when the driving device 300 drives the rotating member 200 to perform the first rotation stroke:

[0085] If the support portion 202 does not keep contact with the first step surface 81 in the first state as described above, the rotation of the rotating member 200 can first drive the support portion 202 to move toward the first step surface 81 until it contacts the first step surface 81, and as the contact force between the two gradually increases, the support portion 202 is supported on the first step surface 81, so that the support portion 202 constitutes the rotation fulcrum of the rotating member 200; or, if the support portion 202 has kept contact with the first step surface 81 in the first state as described above, the rotation of the rotating member 200 can drive the support portion 202 and the first step surface 81 to a certain extent to generate a greater interaction force, and also make the support portion 202 constitute the rotation fulcrum of the rotating member 200. In this way, during the continuous rotation of the rotating member 200, with the relatively fixed characteristic of the first step surface 81, the rotating member 200 can rotate with the support portion 202 as the fulcrum, driving the machine body 100 to move upward and lift to the required height.

[0086] Generally, take the connection between the support portion 202 and the first step surface 81 as an example: in order to achieve the purpose of lifting the body 100 upward, under the drive of the driving device 300, the connection between the support portion 202 and the first step surface 81 can be set to form a backward tangential force, and drive the rotating member 200 to first perform a backward rotational movement, which is suitable for the application scenario that the cleaning robot is in the first state and is located in the front area of ​​the first step surface. At this time, the rotating member 200 first moves backward and upward to avoid interference between the rotating member 200 and the first step surface 81 and the second step surface 82; or, the connection between the support portion 202 and the first step surface 81 can be set to form a forward tangential force, and drive the rotating member 200 to first perform a forward rotational movement, which is suitable for the application scenario that the cleaning robot is in the second state and is located in the rear area of ​​the first step surface. At this time, the rotating member 200 first moves forward and upward. Since there is enough avoidance space reserved between the first step surface 81 and the second step surface 82, interference between the rotating member 200 and the first step surface 81 and the second step surface 82 can also be avoided.

[0087] In the attached Fig.10 To Attachment Fig.11 In the illustrated embodiments, the connection between the support portion 202 and the first step surface 81 is configured to form a backward tangential force, which is used for explanation by way of example. This is suitable for the cleaning robot to perform the above-mentioned lifting process after cleaning the first step surface 81 from back to front, and is helpful for cleaning each step surface step by step during the unidirectional movement and lifting process of the cleaning robot.

[0088] As for the setting of the lifting height of the machine body 100, it can be understood that the first rotation stroke is not the full rotation stroke of the rotating member 200, and the lifting height of the machine body 100 is related to the specific value setting of the above-mentioned first rotation stroke. In practical applications, when the height difference between the first step surface 81 and the second step surface 82 is known, the specific value of the first rotation stroke can be determined by combining the height difference, the first spacing between the connecting portion 201 and the supporting portion 202 on the rotating member 200, and other parameters. It can be understood that when the rotating member 200 rotates 90° from the horizontal state extending in the front-to-back direction to the vertical state, the machine body 100 is driven and lifted to the maximum height value.

[0089] Specifically, if the height difference is less than the maximum height: when the rotating member 200 is set to rotate to a first angle value less than 90°, the connecting portion 201 drives the body 100 to be lifted to the height of the second step surface 82, and at the same time, the front area of ​​the body 100 is at least partially located directly above the second step surface 82, this process is the first rotation stroke, and the first rotation stroke is less than one quarter of the full rotation stroke; when the rotating member 200 is set to rotate to 90°, the front area of ​​the body 100 is always located behind the second step surface 82, and the rotating member 200 is continued to be driven to rotate to a second angle value greater than 90°, the connecting portion 201 drives the body 100 to its maximum height value and gradually descends to the height exactly located at the second step surface 82, and at the same time makes its front area at least partially located directly above the second step surface 82, this process is the first rotation stroke, the first rotation stroke is greater than one quarter of the full rotation stroke and less than one half of the full rotation stroke.

[0090] Specifically, if the first spacing is equal to the above-mentioned height difference, the rotating member 200 rotates to 90°, and the connecting portion 201 drives the body 100 to move to its maximum height value, which is exactly at the height of the second step surface 82, and at the same time, the front area of ​​the body 100 is at least partially located directly above the second step surface 82. This process is the first rotation stroke, which is equal to one quarter of the full rotation stroke.

[0091] In view of the above, in one embodiment, at least a part of the rotating member 200 can be further configured to be telescopically adjustable, so that the distance between the connecting portion 201 and the supporting portion 202 can be adjusted to be larger or smaller, so as to be able to cope with various height differences formed between the first step surface 81 and the second step surface 82, and have universality. Among them, the telescopic adjustment scheme is, for example, but not limited to, realized by at least two stages of telescopic joints that are movably sleeved in sequence inside and outside, or by two rods that are rotatably connected at one end and can be movably folded in the direction of approaching and moving away from each other at the other end, without limitation.

[0092] Of course, further, under the drive of the driving device 300, the rotating member 200 also has a second rotation stroke, and in the second rotation stroke, the rotating member 200 rotates with the machine body 100 as a support to drive the supporting portion 202 to rotate to reset. Figure 12 to Figure 13 After the body 100 has moved to its second state, that is, is located at the second step surface 82, the rotating member 200 can use the body 100 as a support to perform a second rotation stroke, driving the support portion 202 to continue rotating until it is generally reset at the first step surface 81.

[0093] Next, when the cleaning robot needs to continue to go up the stairs, the second step surface 82 in the previous lifting process is used as the second step surface 83 in the next lifting process, and the above actions are repeated, which will not be elaborated.

[0094] Based on any of the above embodiments, the rotating member 200 can be specifically manifested as a rod-shaped, plate-shaped or block-shaped entity, a part of which constitutes the connecting portion 201, and the end portion spaced apart from the connecting portion 201 constitutes the supporting portion 202. In order to achieve the purpose of the supporting portion 202 serving as a support for the rotating member 200, a rotational connection is formed between the supporting portion 202 and the first step surface 81. In a further scheme, the surface of the end portion of the rotating member 200 constituting the supporting portion 202 can be set in an arc shape, and preferably in a spherical shape, so as not to hinder the rotation of the supporting portion 202 relative to the first step surface 81. In addition, in one embodiment, the surface of the end portion of the rotating member 200 constituting the supporting portion 202 can be roughened, or the amount of interference between the supporting portion 202 and the first step surface 81 in the front-to-back and upward directions can be increased by surface treatment, adding an interference material layer, etc., so as to avoid relative displacement between the supporting portion 202 and the first step surface 81 when the rotating member 200 performs the first rotation stroke.

[0095] Or please refer to 2 to Figure 4 In one embodiment, if the cleaning robot has a front-to-back direction and a left-to-right direction as described above, the rotating member 200 includes a support arm 220 and a swing arm 210. The support arm 220 is arranged on the first step surface 81 along the front-to-back direction, and the support arm 220 constitutes the support portion 202; the rear end of the swing arm 210 is rotatably mounted on the body 100 around an axis extending along the left-to-right direction to constitute the connecting portion 201, and the front end of the swing arm 210 is rotatably connected to the support arm 220; the driving device 300 is drivingly connected to the swing arm 210.

[0096] Specifically, the swing arm 210 is generally configured as a strip, plate or block structure with a certain width but a length greater than its width. The rotation connection between the swing arm 210 and the body 100 can be located at one end thereof or at any position between its two end walls; the connection between the swing arm 210 and the support arm 220 is located at the other end thereof. By specifically configuring the rear end of the swing arm 210 as the connection portion 201 and the front end of the swing arm 210 being rotationally connected to the support arm 220, it is possible to achieve that, as described above, when performing the first rotation stroke, a backward tangential force is formed between the support arm 220 and the first step surface 81, driving the rotating member 200 to perform a backward rotation movement at the corresponding position, which helps to ensure that the rotation of the body 100 is always located behind the second step surface 82 or above the first step surface 81 and the second step surface 82, and will not interfere with the first step surface 81 and the second step surface 82.

[0097] The support arm 220 extends in the front-to-back direction, and the front end of the support arm 220 is rotatably connected to the front end of the swing arm 210, so that a sufficient plate surface is formed at the bottom of the support arm 220, which helps to form a sufficient contact surface, so that the support arm 220 and the swing arm 210 connected to the support arm 220, the body 100, etc. can be stably placed on the first step surface 81 or the second step surface 82.

[0098] The support arm 220 has a support structure for maintaining contact with the first step surface 81 or the second step surface 82 (maintaining mutual support when the rotating member 200 performs the first rotation stroke). The support structure can be specifically set as the bottom surface of the support arm 220, or as a roller (such as the second roller 700 in the following embodiment) that is rollingly installed at the bottom of the support arm 220 and protrudes downward from the bottom surface of the support arm 220. In a further solution, the support structure can be set to be telescopically adjustable relative to the support arm 220, such as setting the support structure set as the bottom surface of the support arm 220 as an elastic structure, or setting the support structure set as a roller to be elastically connected to the support arm 220. In this way, no matter whether the first step surface 81 and / or the second step surface 82 are non-straight surfaces as a whole or in part, such as having a concave-convex surface, the support arm 220 can still compensate for the concave-convex surface through the telescopic deformation of the support structure, ensuring that the support arm 220 is well supported on the corresponding first step surface 81 or second step surface 82.

[0099] By configuring the rotating member 200 to include a swing arm 210 and a support arm 220, on the one hand, when the rotating member 200 is in its first state, the swing arm 210 and the support arm 220 can be close to each other and folded, thereby reducing the overall space occupied by the rotating member 200 and helping to reduce the size and mass of the body 100; on the other hand, the rotational connection between the rotating member 200 around the support portion 202 and the first step surface 81 is converted into a rotational connection between the swing arm 210 and the support arm 220. It only needs to ensure that there is no forward and backward relative displacement between the support arm 220 and the first step surface 81 during the first rotation stroke, which is more conducive to the rotation stability of the rotating member 200 during the first rotation stroke.

[0100] In specific applications, since the driving device 300 is connected to the swing arm 210, the rotation angle between the swing arm 210 and the body 100 is controlled by the driving device 300. In one embodiment, the swing arm 210 and the support arm 220 can be directly set to be freely rotatably connected, for example, directly through the shaft body and the shaft hole to achieve a rotation connection without external force driving. At this time, when in a state such as Figure 10 to Figure 11 In the state shown, the rotation angle between the support arm 220 and the swing arm 210 changes adaptively with the force applied to them; Fig.12In the state shown, the rotation angle between the support arm 220 and the swing arm 210 changes with the gravity acting on them, so that the support arm 220 hangs down.

[0101] In another embodiment, if Figures 10 to 13 As shown, the driving device 300 is also connected to the support arm 220 so that in the first rotation stroke, the rotation angle of the swing arm 210 relative to the machine body 100 and the rotation angle of the swing arm 210 relative to the support arm 220 remain the same. It should be noted that the same is not limited to the rotation angle of the swing arm 210 relative to the machine body 100 and the rotation angle of the swing arm 210 relative to the support arm 220 being completely consistent in value, and the two can form a certain difference range that meets the requirements. In this embodiment, regardless of any state, the rotation angle between the swing arm 210 and the support arm 220 is also driven by the driving device 300 to achieve controllability, which can ensure that the rotation angle between the swing arm 210 and the support arm 220 is always within an appropriate range, avoiding the support arm 220 from increasing the overall space occupation of the machine body 100 and preventing the support arm 220 from interfering with the surrounding side components.

[0102] Based on any of the above embodiments, the number of rotating members 200 is not limited and can be set to one or at least two according to actual needs. When there are at least two rotating members 200, the two rotating members 200 can be located on the left and right sides of the machine body 100 to facilitate the smooth lifting and lowering process. The driving device 300 can be connected to the two rotating members 200 at the same time, or a driving device 300 can be configured for each of the two rotating members 200; and the rotational motions of the rotating members 200 can be ensured to correspond to each other and be performed synchronously as much as possible.

[0103] When there are at least two rotating members 200, and the two rotating members 200 are respectively arranged at the left and right ends of the driving shaft 311, in one embodiment, the rotating member 200 further includes a connecting arm 230, which extends in the left and right directions and straddles the same end of the supporting arm 220 in each rotating member 200, and the connecting arm 230 is convexly arranged on the outside of the machine body 100. The setting of the connecting arm 230 can synchronously connect the two supporting arms 220, further improving the movement synchronization of the two supporting arms 220; and the supporting arm 220 can further increase the contact area between the first step surface 81, which helps the machine body 100 to be placed steadily on the first step surface 81. In addition, the connecting arm 230 protrudes from the outside of the machine body 100, especially when the connecting arm 230 is set to be made of elastic material, the connecting arm 230 can buffer the impact of the whole machine on this side, which helps to protect the machine body 100.

[0104] Furthermore, to achieve the above purpose, please refer to Figures 4 to 7In one embodiment, the driving device 300 includes a driving assembly 310, a first transmission assembly and a second transmission assembly, wherein the driving assembly 310 includes a rotatable driving shaft 311, and the driving shaft 311 extends in the left and right directions; the first transmission assembly is drivingly connected to the driving shaft 311 and the swing arm 210; the second transmission assembly is drivingly connected to the driving shaft 311 and the support arm 220. The driving assembly 310 can be configured according to actual needs, so that the speed, rotation direction, rotation angle, etc. of the driving shaft 311 can be flexibly adjusted; the configuration of the first transmission assembly and the second transmission assembly can adaptively adjust the active adjustment amount of the driving shaft 311, so that the driving force transmitted to the swing arm 210 and the support arm 220 is at the required level.

[0105] In a specific application, the driving assembly 310 includes a driver, which may be, for example, a motor 312 or a rotary cylinder, having a rotary output shaft. In this case, the rotary output shaft may directly constitute the driving shaft 311; or, the motor 312 and the driving shaft 311 may be matched with each other through a transmission assembly to adjust parameters such as the rotation speed and the rotation angle. For example, in one embodiment, refer to Figure 5 The driving assembly 310 further includes a motor 312, two first pulleys 313 and a first conveyor belt 314. The motor 312 is arranged on one side of the driving shaft 311 in the radial direction. The motor 312 has a rotating output shaft extending side by side with the driving shaft 311. One of the first pulleys 313 is coaxially installed with the rotating output shaft, and the other first pulley 313 is coaxially installed with the driving shaft 311. The first conveyor belt 314 is movably wound around the two first pulleys 313. The arrangement of the first pulley 313 and the first conveyor belt 314 can mitigate impact and vibration because the first conveyor belt 314 is elastic, thus helping the driving shaft 311 to run smoothly and with low noise during operation.

[0106] Especially when there are at least two rotating members 200 and the two rotating members 200 are respectively arranged at the left and right ends of the driving shaft 311, through the above arrangement, the same driving shaft 311 can simultaneously drive the two rotating members 200 to move synchronously.

[0107] Alternatively, in a specific application, the driving assembly 310 may further include a driver, such as a linear cylinder, etc., having a translation output shaft. In this case, the driving assembly 310 may further include a reversing assembly, which connects the translation output shaft and the driving shaft 311 and converts the translational motion of the translation output shaft into the rotational motion around the axis of the driving shaft 311. The reversing assembly is, for example, a screw nut mechanism, a rocker mechanism, a gear rack mechanism, etc.

[0108] See also Figure 6 to Figure 7In one embodiment, the first transmission assembly includes a first driving gear 321 and a first driven gear 322 that are meshed with each other, the first driving gear 321 is mounted on the driving shaft 311, and the first driven gear 322 is mounted on the swing arm 210; and / or, the second transmission assembly includes a second driving gear 331 and a second driven gear 332 that are meshed with each other, the second driving gear 331 is mounted on the driving shaft 311, and the second driven gear 332 is mounted on the support arm 220. By setting the first transmission assembly and / or the second transmission assembly as a gear transmission, a higher transmission accuracy is achieved, which helps to achieve the above-mentioned rotation angle of the swing arm 210 relative to the machine body 100 and the rotation angle of the swing arm 210 relative to the support arm 220 to be kept as the same as possible; and has a higher transmission efficiency; helps to shorten the distance between the swing arm 210 and the machine body 100, and between the swing arm 210 and the support arm 220, so as to achieve a compact structure of the whole machine.

[0109] Furthermore, since a certain distance is required between the connecting portion 201 and the supporting portion 202, if the second driving gear 331 is directly coaxially mounted on the driving shaft 311, the size of the second driving gear 331 and / or the second transmission gear will be larger. Figure 4 class Figure 8 The swing arm 210 has an installation cavity formed inside; the driving device 300 further includes a linkage assembly 340, which is disposed in the installation cavity and connects the driving shaft 311 and the second transmission assembly. The arrangement of the linkage assembly 340 not only helps to transmit the driving force of the driving shaft 311 to the second transmission assembly, but also replaces the arrangement of the second driving gear 331 and / or the second transmission gear of a larger size through the arrangement of the linkage assembly 340, which helps to make the structure of the whole machine compact.

[0110] The scheme of the linkage assembly 340 is not limited, for example, it can be a gear rack mechanism, etc. Figure 8 In one embodiment, the linkage assembly 340 includes two second pulleys 341 spaced apart between the drive shaft 311 and the first transmission assembly, and a second conveyor belt 342 movably wound around the two second pulleys 341, wherein one second pulley 341 is coaxially mounted on the drive shaft 311, and the other second pulley 341 is connected to the second transmission assembly. Similarly to the above, the second pulley 341 and the second conveyor belt 342 are arranged to mitigate shock and vibration due to the elasticity of the second conveyor belt 342, thereby facilitating the smooth operation of the drive shaft 311 and the second driving gear 331, and the noise is low during operation. In addition, the arrangement of the second pulley 341 and the second conveyor belt 342 is more suitable for power transmission with a larger center distance.

[0111] Furthermore, in one embodiment, the linkage assembly 340 may include multiple sets of belt transmission mechanisms, that is, multiple sets of second pulleys 341 and second conveyor belts 342. The multiple sets of belt transmission mechanisms are sequentially connected between the connecting portion 201 and the supporting portion 202, thereby preventing the second conveyor belt 342 in each belt transmission mechanism from being too large and causing transmission instability.

[0112] Based on any of the above embodiments, the connection position of the connection part 201 on the machine body 100 is not limited. In one embodiment, before the rotating member 200 performs the first rotation stroke, that is, when the machine body 100 is in the first state, the machine body 100 has a center of gravity area (for ease of understanding, the center of gravity area is defined as the first center of gravity area), the connection part 201 is located at or close to the first center of gravity area, so that when performing the first rotation stroke, the center of gravity of the machine body 100 is always supported on the swing arm 210, ensuring that the machine body 100 moves smoothly from the first state to the second state.

[0113] Or in one embodiment, when the machine body 100 has the above-mentioned first center of gravity area, the connection part 201 is set to the side of the first center of gravity area. In this case, if there are multiple connection parts 201, and the multiple connection parts 201 are arranged circumferentially around the first center of gravity area, multiple connection parts 201 can be set to be centrally symmetrical about the first center of gravity area, so that the position of the first center of gravity area can remain basically unchanged during the first rotation stroke. For example, when there are two rotating parts 200, the connection parts 201 of the two rotating parts 200 are respectively arranged on the left and right sides of the center of gravity area, and the rotation axes of the connection parts 201 of the two rotating parts 200 are collinear and pass through the center of gravity area.

[0114] If there is one connection portion 201, or if there are multiple connection portions 201 and they are located on the same side of the first center of gravity area, please refer to Figure 4 and Fig. 9 In one embodiment, the cleaning robot further includes a counterweight 410, which is located on the side of the connection portion 201 close to the first center of gravity area and can be movably arranged in the direction close to and away from the first center of gravity area. At this time, when the machine body 100 changes from the first state to the second state, the center of gravity area changes to form a second center of gravity area, which is located on the side of the first center of gravity area away from the connection portion 201. The counterweight 410 adaptively moves to the side close to the connection portion 201, which helps to balance the whole machine.

[0115] When the driving device 300 includes a driving assembly 310 as described above, and the driving assembly 310 includes a driving shaft 311 that is rotatably arranged and a motor 312 for driving the driving shaft 311 to rotate; the cleaning robot also includes a fixed wheel 420 and a rocker 430, wherein the fixed wheel 420 is coaxially mounted with the driving shaft 311; one end of the rocker 430 is rotatably connected to the periphery of the fixed wheel 420, and the other end is rotatably connected to the counterweight 410. The fixed wheel 420 can be integrally formed with the driving shaft 311, or the fixed wheel 420 can be separately arranged with the driving shaft 311. Among them, when the fixed wheel 420 and the driving shaft 311 are separately arranged, the two can be connected by key, screw, snap, adhesive, etc. The outer diameter of the fixed wheel 420 is generally larger than the outer diameter of the driving shaft 311. One end of the rocker 430 is rotatably connected to the outer periphery of the fixed wheel 420, and the other end is rotatably connected to the counterweight 410. When the driving shaft 311 drives the fixed wheel 420 to rotate, the end of the rocker 430 connected thereto rotates around the driving shaft 311 , driving the counterweight 410 to have a reciprocating displacement in the radial direction of the driving shaft 311 .

[0116] Furthermore, in one embodiment, one of the housing 110 and the counterweight 410 may be provided with a slide groove, and the other may be provided with a slide rail, and the slide rail and the slide groove extend radially along the drive shaft 311. The sliding connection between the slide rail and the slide groove helps the counterweight 410 to move linearly in a set path, thereby achieving the purpose of counterweighting and ensuring balance.

[0117] In addition, based on any of the above embodiments, please refer to Figure 3 , the cleaning robot further includes a sensor 500 and a control device. The sensor 500 is used to obtain the target distance and / or actual distance of the body 100 being lifted or lowered from the first step surface 81; the control device is electrically connected to the sensor 500 and the drive device 300 respectively, so as to control the drive device 300 to work according to the target distance and / or the actual distance. The control device is also the control device mentioned above, and the sensor 500 may belong to the sensing device mentioned above.

[0118] The sensor 500 may be a distance sensor 500, such as a photoelectric distance sensor 500, a displacement sensor 500, an imaging sensor 500, etc. It is understood that when the cleaning robot receives a task to perform stair cleaning, the distance sensor 500 may emit a detection light, such as Figure 1At the first step surface 81 in the figure, a detection light is emitted to the second step surface 82 to obtain the actual height difference between the first step surface 81 and the second step surface 82, that is, the target distance mentioned above. According to the target distance, the control device can set the target parameters of the drive device 300, such as setting the rotation parameters of the rotation output shaft of the motor 312. In addition, when the drive device 300 drives the rotating member 200 to perform the first rotation stroke, the sensor 500 can also sense the actual distance during the lifting or lowering of the body 100 in real time. By obtaining the actual distance, the working parameters of the drive device 300 can be calibrated in real time to avoid abnormalities of the drive device 300 during operation.

[0119] In addition, in one embodiment, the rotating member 200 also has a second rotation stroke of rotating to reset; the cleaning robot also includes a roller, a first driving component and the control device as described above. The first roller 600 is rotatably mounted on the bottom of the body 100; the first driving component is disposed on the body 100 and is drivingly connected to the first roller 600; the control device is electrically connected to the driving device 300 and the first driving component respectively, so as to control the first driving component to start and control the driving device 300 to drive the rotating member 200 to perform the second rotation stroke when the body 100 moves from the first state to the second state, that is, when the rotating member 200 completes the first rotation stroke and uses the body 100 as a support.

[0120] The driving wheel may directly constitute the first roller 600; or, the machine body 100 may be independently provided with the driving force and the first roller 600, and the driving wheel serves as the main wheel structure for the machine body 100 to move straight and turn; the first roller 600 may be located in the front area of ​​the machine body 100, so that when the rotating member 200 drives the machine body 100 to move from the first state to the second state, so that at least the front area of ​​the machine body 100 is placed on the second step surface 82, the first roller 600 may rotate under the drive of the first driving member, and drive the machine body 100 to move forward to the set area of ​​the second step surface 82. In this process, the driving device 300 may simultaneously drive the rotating member 200 to perform the second rotation stroke to achieve the reset of the rotating member 200.

[0121] In addition, in one embodiment, the cleaning robot further includes a second roller 700, which is rotatably mounted on the support portion 202. The second roller 700 can be rotatably mounted on the support arm 220 and / or the connecting arm 230. When the second roller 700 is a freely rotating roller, the second roller 700 assists the support arm 220 in rolling forward under the rolling drive of the first roller 600 or the driving wheel.

[0122] Alternatively, in one embodiment, the cleaning robot further comprises a second roller 700 and a second driving component, the second roller 700 is rotatably mounted on the support portion 202, the second driving component is drivingly connected to the second roller 700, and the control device is electrically connected to the second driving component to control the operation of the second driving component. When the cleaning robot is only provided with the second roller 700 and the second driving component, but not provided with the first roller 600 and the first driving component, the second roller 700 and the second driving component can drive the body 100 forward when the body 100 moves from the first state to the second state.

[0123] When the cleaning robot is provided with the first roller 600, the first driving component, the second roller 700 and the second driving component at the same time, Fig.11 As shown, the body 100 moves from the first state to the second state, and the front area of ​​the body 100 is located on the second step surface 82. When the first roller 600 has not reached the second step surface 82, the second driving component can drive the second roller 700 to roll, driving the body 100 forward until the first roller 600 reaches the second step surface 82. The first driving component and / or the second driving component can be operated until the body 100 moves to the set area of ​​the second step surface 82.

[0124] In addition, the present invention further provides a cleaning system, which includes a cleaning robot and a base station. It should be noted that the detailed structure of the cleaning robot in the cleaning system can refer to the above-mentioned embodiment of the cleaning robot, which will not be repeated here; since the above-mentioned cleaning robot is used in the cleaning system of the present application, the embodiment of the cleaning system of the present application includes all technical solutions of all the above-mentioned embodiments of the cleaning robot, and the technical effects achieved are also exactly the same, which will not be repeated here.

[0125] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A cleaning robot, characterized in that: include: A machine body, comprising a cleaning assembly and a driving assembly for driving the machine body to move; A rotating member, comprising a connecting portion and a supporting portion arranged at intervals, wherein the connecting portion is rotatably mounted on the body so that the rotating member has a first rotation stroke, and in the first rotation stroke, the rotating member rotates with the supporting portion as support to drive the body to be lifted or lowered; and A driving device is connected to the rotating member to drive the rotating member to perform the first rotation stroke.

2. The cleaning robot according to claim 1, characterized in that: Under the drive of the driving device, the rotating member also has a second rotation stroke, and in the second rotation stroke, the rotating member rotates with the machine body as support to drive the supporting part to rotate to reset.

3. The cleaning robot according to claim 1, characterized in that: The moving direction of the cleaning robot is from back to front, and the cleaning robot also has a left and right direction arranged crosswise with the front and back directions: the rotating member includes: A support arm extending in the front-rear direction, the support arm constituting the support portion; and A swing arm, the rear end of which is rotatably mounted on the machine body around an axis extending in the left-right direction to form the connecting portion, and the front end of which is rotatably connected to the support arm; The driving device is drivingly connected to the swing arm.

4. The cleaning robot according to claim 3, characterized in that: The driving device is also drivingly connected to the support arm so that in the first rotation stroke, the rotation angle of the swing arm relative to the machine body and the rotation angle of the swing arm relative to the support arm remain the same.

5. The cleaning robot according to claim 4, characterized in that: The driving device comprises: A driving assembly, comprising a rotatably arranged driving shaft, wherein the driving shaft extends in a left-right direction; A first transmission assembly, which is transmission-connected between the drive shaft and the swing arm; and The second transmission assembly is used for transmission connection between the driving shaft and the support arm.

6. The cleaning robot according to claim 5, characterized in that: There are at least two rotating members, and the two rotating members are respectively arranged at the left and right ends of the driving shaft; the driving assembly also includes: a motor, arranged on one side of the drive shaft in the radial direction, the motor having a rotating output shaft extending side by side with the drive shaft; two first pulleys, one of which is coaxially mounted with the rotation output shaft, and the other of which is coaxially mounted with the drive shaft; and, The first conveyor belt is movably wound around the two first pulleys.

7. The cleaning robot according to claim 5, characterized in that: The first transmission assembly comprises a first driving gear and a first driven gear meshing with each other, the first driving gear is mounted on the driving shaft, and the first driven gear is mounted on the swing arm; and / or, The second transmission assembly includes a second driving gear and a second driven gear meshing with each other, the second driving gear is mounted on the driving shaft, and the second driven gear is mounted on the support arm.

8. The cleaning robot according to claim 5, characterized in that: A mounting cavity is formed inside the swing arm; The driving device also includes a linkage assembly, which is arranged in the installation cavity and connects the driving shaft and the second transmission assembly.

9. The cleaning robot according to claim 8, characterized in that: The linkage assembly includes two second pulleys spaced apart between the drive shaft and the first transmission assembly, and a second conveyor belt movably wound around the two second pulleys, wherein one of the second pulleys is coaxially mounted on the drive shaft, and the other second pulley is connected to the second transmission assembly.

10. The cleaning robot according to claim 3, characterized in that: There are at least two rotating members, and the two rotating members are respectively arranged at the left and right ends of the machine body; The rotating member further comprises a connecting arm, which extends in the left-right direction and straddles the same end of the supporting arms in each of the rotating members, and the connecting arm is protrudingly arranged on the outer side of the machine body.

11. The cleaning robot according to claim 1, characterized in that: Before the rotating member performs the first rotation stroke, the machine body has a center of gravity area, and the connecting portion is located at or close to the center of gravity area.

12. The cleaning robot according to claim 1, characterized in that: Before the rotating member performs the first rotation stroke, the machine body has a center of gravity area, and the connecting portion is offset and arranged beside the center of gravity area; The cleaning robot further comprises a counterweight block, which is located on a side of the connecting portion close to the center of gravity area and can be movably arranged in a direction close to and away from the center of gravity area.

13. The cleaning robot according to claim 12, characterized in that: The driving device comprises a rotatable driving shaft and a motor for driving the driving shaft to rotate; The cleaning robot also includes: a fixed wheel, mounted coaxially with the drive shaft; and, A rocker has one end rotatably connected to the periphery of the fixed wheel, and the other end rotatably connected to the counterweight block.

14. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes: a sensor for acquiring a target distance and / or an actual distance that the machine body is lifted or lowered during the first rotation stroke; and The control device is electrically connected to the sensor and the driving device respectively, so as to control the driving device to work according to the target distance and / or the actual distance.

15. The cleaning robot according to claim 2, characterized in that: The drive assembly comprises: A first roller, rotatably mounted on the bottom of the machine body; a first driving component, disposed on the machine body and drivingly connected to the first roller; and The control device is electrically connected to the driving device and the first driving component, so as to control the first driving component to start and control the driving device to drive the rotating component to perform the second rotation stroke when the rotating component completes the first rotation stroke and uses the machine body as support.

16. The cleaning robot according to claim 15, characterized in that: The cleaning robot further comprises a second roller, which is rotatably mounted on the support portion; or, The cleaning robot also includes a second roller and a second driving component, the second roller is rotatably mounted on the support portion, the second driving component is drivingly connected to the second roller, and the control device is electrically connected to the second driving component to control the operation of the second driving component.

17. A cleaning system, characterized in that: It comprises a cleaning robot and a base station as described in any one of claims 1 to 16.

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