Moving mechanism and cleaning robot

Abstract

The invention discloses a moving mechanism and a cleaning robot, and relates to the technical field of swimming pool cleaning. The moving mechanism comprises a transmission belt and at least two groups of moving wheel units; the moving wheel units have the axial direction, each moving wheel unit comprises a protection part, a connecting shaft and a moving wheel, and the moving wheels are rotationally installed on the connecting shafts. The transmission belt is in transmission connection between the adjacent moving wheels in the at least two groups of moving wheel units; the protection piece is connected to one side of the moving wheel and is stopped on one side of the transmission belt in the axial direction. According to the moving mechanism, the mounting stability between the moving wheels and the transmission belt can be improved, and the power transmission effect is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of swimming pool cleaning, and in particular to a mobile mechanism and a cleaning robot. Background Art

[0002] When the swimming pool cleaning robot is cleaning the swimming pool, the main body part can be driven to move by the crawler mechanism.

[0003] However, the track mechanism of the existing swimming pool cleaning robot has poor stability, which affects the power transmission effect. Summary of the invention

[0004] The present application provides a moving mechanism and a cleaning robot to improve the installation stability of moving wheels and transmission belts and ensure the power transmission effect.

[0005] The present application provides a moving mechanism, comprising:

[0006] At least two groups of moving wheel units, each of which has an axial direction, and each group of the moving wheel units includes a protective member, a connecting shaft and a moving wheel, and the moving wheel is rotatably mounted on the connecting shaft;

[0007] A transmission belt, which is transmission-connected between adjacent moving wheels in at least two groups of the moving wheel units;

[0008] The protective member is connected to one side of the moving wheel and is stopped at one side of the transmission belt in the axial direction.

[0009] Beneficial effects of the present application: In the moving mechanism provided by the present application, the protective member is connected to one side of the moving wheel, and the protective member stops on one side of the transmission belt in the axial direction of the moving wheel unit, so that the protective member can limit the axial relative movement of the moving wheel and the transmission belt on this side, thereby preventing the transmission belt from detaching from the moving wheel, ensuring the connection stability between the moving wheel and the transmission belt, and ensuring the power transmission effect.

[0010] In some possible implementations, a toothed structure is disposed on the circumference of the moving wheel, the transmission belt comprises a crawler belt, and the transmission belt is meshedly connected with the moving wheel;

[0011] The moving wheel includes a tooth root circle diameter D1, and the guard includes an outer diameter D2, and the outer diameter D2 is larger than the tooth root circle diameter D1.

[0012] In some possible implementations, the moving wheel unit further includes a transmission assembly, the transmission assembly is sleeved on the connecting shaft, and the moving wheel is rotatably mounted on the connecting shaft through the transmission assembly;

[0013] The protective member is located at a side of the moving wheel away from the transmission assembly, and the protective member is axially limitedly connected to the connecting shaft.

[0014] In some possible implementations, the transmission assembly includes an assembly sleeve and a bearing group, the assembly sleeve is sleeved on the connecting shaft, the bearing group is installed between the connecting shaft and the assembly sleeve, and the moving wheel is fixedly connected to one end of the assembly sleeve;

[0015] The assembly sleeve is provided with at least one first positioning portion on the side facing the moving wheel, and the moving wheel is provided with at least one second positioning portion on the side facing the assembly sleeve. The at least one first positioning portion is distributed around the axis of the connecting shaft, and the at least one first positioning portion is plugged into the at least one second positioning portion in a one-to-one correspondence.

[0016] In some possible implementations, three first positioning portions are configured on a side of the assembly sleeve facing the moving wheel, and three second positioning portions are configured on a side of the moving wheel facing the assembly sleeve, and the three first positioning portions are plugged into the three second positioning portions in a one-to-one correspondence.

[0017] In some possible implementations, the assembly kit includes a connecting tube portion and an extension portion, the connecting tube portion is rotatably sleeved on the connecting shaft, the extension portion is disposed around a side of the connecting tube portion away from the connecting shaft, and the connecting tube portion protrudes relative to a side of the extension portion toward the moving wheel;

[0018] A limiting groove is provided on a side of the moving wheel facing the assembly sleeve, and a portion of the connecting pipe portion protruding toward a side of the moving wheel relative to the extending portion is inserted into the limiting groove.

[0019] In some possible implementations, the assembly kit further includes a plurality of reinforcing ribs, the plurality of reinforcing ribs are disposed around a side of the connecting pipe portion away from the connecting axis, and the reinforcing ribs include a first structural segment and a second structural segment;

[0020] The first structural section is connected to the connecting pipe portion and is located on a side of the extending portion close to the moving wheel;

[0021] The second structural section is connected to a side of the extension portion facing the moving wheel;

[0022] A plurality of avoidance grooves are formed on one side of the moving wheel facing the assembly sleeve, and the first structural segments in the plurality of reinforcing ribs are inserted into the plurality of avoidance grooves in a one-to-one correspondence.

[0023] In some possible implementations, the bearing group includes a first bearing, a support member, and a second bearing, and the first bearing, the support member, and the second bearing are sequentially arranged along the axial direction of the connecting shaft.

[0024] In some possible implementations, the moving mechanism further includes a driving member, and the driving member is drivingly connected to the moving wheel in at least one moving wheel unit.

[0025] In addition, the present application also provides a cleaning robot, comprising the moving mechanism provided in the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a three-dimensional structure of a moving mechanism in some embodiments is shown;

[0028] Figure 2 Another schematic diagram of the three-dimensional structure of the mobile structure in some embodiments is shown;

[0029] Figure 3 shows a schematic cross-sectional structure diagram of a moving wheel unit in some implementations;

[0030] Figure 4 A partial structural schematic diagram of a moving wheel unit in some embodiments is shown;

[0031] Figure 5 A schematic diagram of a three-dimensional structure of a moving wheel in some embodiments is shown;

[0032] Figure 6 Another schematic diagram of the three-dimensional structure of the moving wheel in some embodiments is shown;

[0033] Figure 7 Schematic diagrams of dimension marking of moving wheels and protective elements in some embodiments are shown;

[0034] Figure 8 A schematic diagram of the structure of a cleaning robot in some embodiments is shown.

[0035] Description of main component symbols:

[0036] 1000-mobile mechanism;

[0037] 100-moving wheel unit; 110-moving wheel; 111-second positioning part; 112-limiting groove; 113-avoiding groove; 114-convex part; 120-connecting shaft; 130-protective member; 131-avoiding hole; 140-transmission assembly; 141-assembly set; 1411-connecting pipe; 1412-extension part; 1413-limiting edge; 1414-reinforcement rib; 14141-first structural section; 14142-second structural section; 1415-first positioning part; 142-bearing group; 1421-first bearing; 1422-support member; 1423-second bearing; 151-limiting cover; 152-decoration member; 200-transmission belt;

[0038] 300-connection shell;

[0039] 400-driving member; 410-gear;

[0040] 2000-main unit; 2100-cleaning roller. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] like Figure 1 , Figure 2 and Figure 7 As shown, in the embodiment, a moving mechanism 1000 is provided, which can be used in a cleaning robot to realize the movement of the cleaning robot. In some embodiments, the cleaning robot can be a swimming pool cleaning robot.

[0047] In other embodiments, the cleaning robot may also be a floor cleaning robot, a window cleaning robot, etc.

[0048] like Figures 1 to 3 As shown, the moving mechanism 1000 includes a transmission belt 200 and at least two sets of moving wheel units 100 .

[0049] The moving wheel unit 100 is provided with an axial direction. The axial direction of the moving wheel unit 100 may refer to the extension direction of the axis L. In addition, each set of the moving wheel unit 100 includes a moving wheel 110, a connecting shaft 120 and a protective member 130. The connecting shaft 120 may be parallel to the axial direction. The moving wheel 110 is rotatably mounted on the connecting shaft 120, and the rotation axis of the moving wheel 110 may coincide with the axis of the connecting shaft 120.

[0050] The transmission belt 200 is transmission-connected between the moving wheels 110 in two adjacent groups of moving wheel units 100 .

[0051] The guard 130 can be connected to one side of the moving wheel 110, and in the axial direction of the moving wheel unit 100, the guard 130 stops at one side of the transmission belt 200. Therefore, the guard 130 can limit the axial relative movement of the transmission belt 200 and the moving wheel 110, prevent the transmission belt 200 from being separated from the moving wheel 110, ensure the installation stability between the moving wheel 110 and the transmission belt 200, and further ensure the power transmission effect between the moving wheel 110 and the transmission belt 200.

[0052] In some embodiments, the moving mechanism 1000 may include two sets of moving wheel units 100 .

[0053] In other embodiments, the moving mechanism 1000 may also include three, four or six groups of moving wheel units 100, and the multiple groups of moving wheel units 100 may be arranged in sequence along the extension direction of the transmission belt 200. A transmission belt 200 is disposed between any two adjacent groups of moving wheel units 100 to achieve power transmission.

[0054] like Figures 1 to 3 As shown, the mobile mechanism 1000 also includes a connecting shell 300. The two ends of the connecting shell 300 are connected to one end of the connecting shaft 120 in the two groups of mobile wheel units 100 in a one-to-one correspondence. And the connecting shell 300 can be located on the side of the protective member 130 away from the mobile wheel 110. The connecting shell 300 can limit the axial movement of the protective member 130 along the connecting shaft 120, and then the protective member 130 can provide axial limitation for the mobile wheel 110. At the same time, the connecting shell 300 can provide a protective function for the mobile wheel unit 100, reducing the possibility of the mobile wheel unit 100 being damaged by external factors, such as collision, water vapor erosion, etc.

[0055] like Figure 2 and Figure 3 As shown, the moving wheel unit 100 further includes a transmission assembly 140 , and the moving wheel 110 can be rotatably mounted on the connecting shaft 120 via the transmission assembly 140 .

[0056] In some embodiments, the transmission assembly 140 may include a mounting sleeve 141 and a bearing assembly 142. The mounting sleeve 141 may be rotatably mounted on the connecting shaft 120 via the bearing assembly 142. Specifically, the mounting sleeve 141 may be sleeved on the circumference of the connecting shaft 120 and be coaxially arranged. The bearing assembly 142 is installed between the connecting shaft 120 and the mounting sleeve 141, and relative rotation between the mounting sleeve 141 and the connecting shaft 120 may be achieved.

[0057] In the embodiment, the moving wheel 110 can be fixedly connected to one end of the mounting sleeve 141 by screw connection or clamping, etc. Thus, the mounting sleeve 141 and the moving wheel 110 can rotate synchronously, that is, the moving wheel 110 and the connecting shaft 120 can be relatively rotated.

[0058] The bearing assembly 142 may include a first bearing 1421, a second bearing 1423 and a support member 1422. The first bearing 1421 and the second bearing 1423 are both sleeved on the connecting shaft 120. The inner ring of the first bearing 1421 and the inner ring of the second bearing 1423 are both fixedly connected to the connecting shaft 120. In addition, the outer ring of the first bearing 1421 and the outer ring of the second bearing 1423 are both fixedly connected to the assembly sleeve 141. The support member 1422 is also sleeved on the connecting shaft 120 and is located between the first bearing 1421 and the second bearing 1423.

[0059] In some embodiments, the end of the first bearing 1421 away from the support member 1422 can be provided with axial limit by the host 2000 to prevent the first bearing 1421 from being separated from the connecting shaft 120. A limit edge 1413 is provided protrudingly at one end of the assembly sleeve 141 away from the first bearing 1421. The limit edge 1413 can be provided on the inner wall of the assembly sleeve 141 along the radial direction of the assembly sleeve 141, and is located on the side of the second bearing 1423 away from the support member 1422. In the embodiment, the limit edge 1413 can provide axial limit for the second bearing 1423 to prevent the second bearing 1423 from being separated from the connecting shaft 120.

[0060] In addition, the protective member 130 can provide axial limitation for the moving wheel 110, and further provide axial limitation for the assembly sleeve 141, so as to prevent the assembly sleeve 141 and the moving wheel 110 from being offset axially along the connecting shaft 120 after long-term use, thereby ensuring the normal operation of the moving wheel 110 and further ensuring that the moving mechanism 1000 can smoothly drive the main body 2000 of the cleaning robot to move.

[0061] In some embodiments, the end of the assembly sleeve 141 away from the moving wheel 110 can be used for transmission connection to the cleaning roller 2100 in the main unit 2000, and can transmit power to the cleaning roller 2100. In the embodiment, the first bearing 1421, the support member 1422 and the second bearing 1423 are sequentially arranged along the axial direction of the connecting shaft 120, so that the assembly sleeve 141 can be more stably installed on the connecting shaft 120, ensuring the stability of power transmission and improving the power transmission efficiency.

[0062] like Figures 3 to 6As shown, at least one first positioning portion 1415 is disposed on the side of the mounting sleeve 141 facing the moving wheel 110, and the at least one first positioning portion 1415 can be distributed around the axis of the connecting shaft 120. At least one second positioning portion 111 is disposed on the side of the moving wheel 110 facing the mounting sleeve 141, and the second positioning portion 111 can be adapted to the first positioning portion 1415. When the moving wheel 110 is connected to the mounting sleeve 141, the at least one first positioning portion 1415 can be plugged with the at least one second positioning portion 111 in a one-to-one correspondence. Thereby, the positioning between the mounting sleeve 141 and the moving wheel 110 can be achieved, relative rotation between the moving wheel 110 and the mounting sleeve 141 can be prevented, and the stability and reliability of the power transmission between the moving wheel 110 and the mounting sleeve 141 can be ensured.

[0063] In some embodiments, three first positioning portions 1415 are configured on the side of the mounting sleeve 141 facing the moving wheel 110. Three second positioning portions 111 are configured on the side of the moving wheel 110 facing the mounting sleeve 141. Among them, the first positioning portion 1415 can be a columnar structure protruding from the side of the mounting sleeve 141 facing the moving wheel 110. The second positioning portion 111 can be a groove-shaped structure provided on the side of the moving wheel 110 facing the mounting sleeve 141, and adapted to the first positioning portion 1415. When the moving wheel 110 is connected to the mounting sleeve 141, the three first positioning portions 1415 are plugged into the three second positioning portions 111 one by one to achieve the positioning connection between the moving wheel 110 and the mounting sleeve 141, so that the moving wheel 110 and the mounting sleeve 141 can be further locked and fixed by screws and other structures later.

[0064] In other embodiments, the number of the first positioning portions 1415 may be set to one, two, four, six, etc. as needed, and the number of the second positioning portions 111 may be equal to the number of the first positioning portions 1415 .

[0065] In other embodiments, the second positioning portion 111 may be a columnar structure protruding from the side of the moving wheel 110 facing the mounting sleeve 141. The first positioning portion 1415 may be a groove structure provided on the side of the mounting sleeve 141 facing the moving wheel 110 and adapted to the second positioning portion 111.

[0066] like Figures 3 to 6As shown, in some embodiments, the mounting sleeve 141 may include an integrated connecting pipe portion 1411 and an extension portion 1412. The connecting pipe portion 1411 is sleeved on the connecting shaft 120 and connected to the bearing group 142. The extension portion 1412 may be arranged around the side of the connecting pipe portion 1411 away from the bearing group 142, and may extend in a radial direction of the mounting sleeve 141 in a direction away from the connecting shaft 120. In an embodiment, the extension portion 1412 may be an annular plate-like structure. In addition, along the axial direction of the mounting sleeve 141, the extension portion 1412 may be arranged roughly close to the middle of the connecting pipe portion 1411. The first positioning portion 1415 may be protrudingly arranged on the side of the extension portion 1412 facing the moving wheel 110, and the limiting edge 1413 may be arranged at one end of the connecting pipe portion 1411 close to the moving wheel 110.

[0067] Correspondingly, one end of the connecting tube portion 1411 close to the moving wheel 110 may protrude relative to the extension portion 1412 toward the side of the moving wheel 110. In some embodiments, a limiting groove 112 is further provided on the side of the moving wheel 110 toward the mounting sleeve 141. The portion of the connecting tube portion 1411 protruding relative to the extension portion 1412 toward the side of the moving wheel 110 may be inserted into the limiting groove 112. At the same time, the side wall of the connecting tube portion 1411 is fitted with the inner wall of the limiting groove 112, so that the radial limiting of the connecting tube portion 1411 and the moving wheel 110 can be achieved, so as to prevent the moving wheel 110 and the mounting sleeve 141 from radially moving relative to each other, thereby ensuring the stability of the installation.

[0068] In some embodiments, the outer wall of the connecting tube portion 1411 away from the connecting shaft 120 is further provided with a plurality of reinforcing ribs 1414, and the plurality of reinforcing ribs 1414 may be located on the side of the extension portion 1412 facing the moving wheel 110. The plurality of reinforcing ribs 1414 may be evenly spaced around the circumference of the connecting tube portion 1411.

[0069] In other embodiments, the plurality of reinforcing ribs 1414 may also be distributed non-uniformly.

[0070] In some embodiments, the reinforcing rib 1414 may be L-shaped. Accordingly, the reinforcing rib 1414 includes a first structural segment 14141 and a second structural segment 14142 which are perpendicular to each other. The first structural segment 14141 may be connected to the connecting pipe portion 1411, and the second structural segment 14142 may be connected to the side of the extension portion 1412 facing the moving wheel 110. In the embodiment, a plurality of avoidance grooves 113 connected to the limiting grooves 112 may be provided on the side of the moving wheel 110 facing the assembly sleeve 141, and the first structural segments 14141 in the plurality of reinforcing ribs 1414 are inserted into the plurality of avoidance grooves 113 one by one.

[0071] In the embodiment, a reinforcing rib 1414 is provided on the outer side of the assembly sleeve 141, which can improve the structural strength of the assembly sleeve 141. On the other hand, the reinforcing rib 1414 can cooperate with the moving wheel 110 to further improve the limiting effect between the moving wheel 110 and the assembly sleeve 141, thereby preventing the moving wheel 110 and the assembly sleeve 141 from rotating relative to each other.

[0072] like Figure 3 As shown, the connecting shaft 120 can be passed through the moving wheel 110 and extend to the side of the moving wheel 110 away from the mounting sleeve 141. In the embodiment, the moving mechanism 1000 also includes a limiting cover 151. The limiting cover 151 can be fixedly connected to the end of the connecting shaft 120 close to one end of the moving wheel 110 by screw connection or the like, and the limiting cover 151 can be located on the side of the moving wheel 110 away from the mounting sleeve 141. In the embodiment, the outer diameter of the limiting cover 151 can be larger than the inner diameter of the moving wheel 110, so that the limiting cover 151 can be limited to the side of the moving wheel 110 away from the mounting sleeve 141. Furthermore, the axial movement of the moving wheel 110 along the connecting shaft 120 can be further limited, and the axial limitation of the mounting sleeve 141 can also be achieved to prevent the mounting sleeve 141 from being separated from the bearing group 142.

[0073] In the embodiment, the connection shell 300 together with the limiting cover 151 can also be fixedly connected to the connection shaft 120 by screws.

[0074] like Figure 3 , Figure 5 and Figure 6 As shown, in some embodiments, the limiting groove 112 can be formed by the moving wheel 110 being recessed toward the side close to the protective member 130, and accordingly, a convex portion 114 can be formed on the side of the moving wheel 110 facing the protective member 130. The protective member 130 can be provided with an avoidance hole 131 for the convex portion 114 to pass through.

[0075] In some embodiments, the moving wheel unit 100 also includes a decorative piece 152, which can be covered on the side of the connecting shell 300 away from the protective piece 130. The decorative piece 152 can cover structures such as screws used to connect the connecting shell 300 and the connecting shaft 120, thereby improving the appearance of the moving mechanism 1000 and thereby improving the appearance of the cleaning robot. It can also reduce the possibility of corrosion of structures such as screws and extend their service life.

[0076] like Figure 2 , Figure 3 and Figure 7 As shown, in some embodiments, the peripheral side of the moving wheel 110 may be configured with a toothed structure. The transmission belt 200 may be a crawler belt. Accordingly, the transmission belt 200 may be meshed and connected with the moving wheel 110.

[0077] In some embodiments, the outer diameter D2 of the protective member 130 may be greater than the tooth root diameter D1 of the moving wheel 110. Accordingly, the protective member 130 may form a limit on the side of the transmission belt 200 close to the connecting shell 300 to prevent the transmission belt 200 from being axially misaligned with the moving wheel 110, and to prevent the transmission belt 200 from being separated from the moving wheel 110, thereby ensuring the power transmission between the moving wheel 110 and the transmission belt 200, and further ensuring the smooth movement of the moving mechanism 1000.

[0078] In other embodiments, the moving wheel 110 may be a pulley, and the transmission belt 200 may be a belt. The outer diameter D2 of the protective member 130 is larger than the outer diameter of the moving wheel 110, so that the protective member 130 can be stopped at one side of the transmission belt 200 and form an axial limit to prevent the transmission belt 200 and the moving wheel 110 from being axially misaligned.

[0079] like Figure 2 and Figure 3 As shown, the moving mechanism 1000 further includes a driving member 400, which can be drivingly connected to the moving wheel 110 in at least one moving wheel unit 100. Thus, the driving member 400 can drive the moving wheel 110 connected thereto to rotate, thereby driving the transmission belt 200 to move.

[0080] In some embodiments, the driving member 400 may be a motor. The output shaft of the driving member 400 may be connected to the moving wheel 110 through a gear 410 .

[0081] In other embodiments, the driving member 400 may also be connected to the moving wheels 110 in the two moving mechanisms 1000 through a gear set.

[0082] In other embodiments, the transmission connection between the driving member 400 and the moving wheel 110 may also be achieved through a pulley in combination with a belt, or a synchronous wheel in combination with a synchronous belt.

[0083] In some embodiments, the structures of the two groups of moving wheel units 100 may be similar. The diameter of the moving wheel 110 in one of the moving wheel units 100 may be greater than the diameter of the moving wheel 110 in the other moving wheel unit 100.

[0084] In some other embodiments, the structures of the two groups of moving wheel units 100 may also be set to be the same, and the diameters of the moving wheels 110 in the two groups of moving wheel units 100 may be set to be equal.

[0085] like Figure 8As shown, the embodiment also provides a cleaning robot, including a main body 2000 and two groups of mobile mechanisms 1000 provided in the embodiment. The two groups of mobile mechanisms 1000 can be arranged on both sides of the main body 2000. Among them, the driving member 400 can be fixedly installed in the main body 2000. In the moving wheel unit 100 connected to the driving member 400, its assembly set 141 can be connected to the cleaning roller 2100 in the main body 2000, thereby driving the cleaning roller 2100 to rotate to provide a cleaning function.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0087] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A moving mechanism, characterized in that: include: At least two groups of moving wheel units, each of which has an axial direction, and each group of the moving wheel units includes a protective member, a connecting shaft and a moving wheel, and the moving wheel is rotatably mounted on the connecting shaft; A transmission belt, which is transmission-connected between adjacent moving wheels in at least two groups of the moving wheel units; The protective member is connected to one side of the moving wheel and is stopped at one side of the transmission belt in the axial direction.

2. The moving mechanism according to claim 1, characterized in that: The peripheral side of the moving wheel is provided with a toothed structure, the transmission belt comprises a crawler belt, and the transmission belt is meshedly connected with the moving wheel; The moving wheel includes a tooth root circle diameter D1, and the guard includes an outer diameter D2, and the outer diameter D2 is larger than the tooth root circle diameter D1.

3. The moving mechanism according to claim 1, characterized in that: The moving wheel unit further comprises a transmission assembly, wherein the transmission assembly is sleeved on the connecting shaft, and the moving wheel is rotatably mounted on the connecting shaft through the transmission assembly; The protective member is located at a side of the moving wheel away from the transmission assembly, and the protective member is axially limitedly connected to the connecting shaft.

4. The moving mechanism according to claim 3, characterized in that: The transmission assembly includes an assembly sleeve and a bearing group, the assembly sleeve is sleeved on the connecting shaft, the bearing group is installed between the connecting shaft and the assembly sleeve, and the moving wheel is fixedly connected to one end of the assembly sleeve; The assembly sleeve is provided with at least one first positioning portion on the side facing the moving wheel, and the moving wheel is provided with at least one second positioning portion on the side facing the assembly sleeve. The at least one first positioning portion is distributed around the axis of the connecting shaft, and the at least one first positioning portion is plugged into the at least one second positioning portion in a one-to-one correspondence.

5. The moving mechanism according to claim 4, characterized in that: The side of the assembly sleeve facing the moving wheel is provided with three first positioning parts, and the side of the moving wheel facing the assembly sleeve is provided with three second positioning parts, and the three first positioning parts are plugged into the three second positioning parts in a one-to-one correspondence.

6. The moving mechanism according to claim 4 or 5, characterized in that: The assembly kit includes a connecting pipe portion and an extension portion, wherein the connecting pipe portion is rotatably sleeved on the connecting shaft, the extension portion is disposed around a side of the connecting pipe portion away from the connecting shaft, and the connecting pipe portion protrudes relative to a side of the extension portion toward the moving wheel; A limiting groove is provided on a side of the moving wheel facing the assembly sleeve, and a portion of the connecting pipe portion protruding toward a side of the moving wheel relative to the extending portion is inserted into the limiting groove.

7. The moving mechanism according to claim 6, characterized in that: The assembly kit further includes a plurality of reinforcing ribs, the plurality of reinforcing ribs are disposed around a side of the connecting pipe portion away from the connecting shaft, and the reinforcing ribs include a first structural section and a second structural section; The first structural section is connected to the connecting pipe portion and is located on a side of the extending portion close to the moving wheel; The second structural section is connected to a side of the extension portion facing the moving wheel; A plurality of avoidance grooves are formed on one side of the moving wheel facing the assembly sleeve, and the first structural segments in the plurality of reinforcing ribs are inserted into the plurality of avoidance grooves in a one-to-one correspondence.

8. The moving mechanism according to claim 4, characterized in that: The bearing group includes a first bearing, a support member and a second bearing, and the first bearing, the support member and the second bearing are sequentially arranged along the axial direction of the connecting shaft.

9. The moving mechanism according to claim 1, characterized in that: The moving mechanism further comprises a driving member, and the driving member is drivingly connected to the moving wheel in at least one moving wheel unit.

10. A cleaning robot, characterized in that: Comprising the moving mechanism as claimed in any one of claims 1 to 9.

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