Walking mechanism, modular cleaning frame and cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, and discloses a walking mechanism, a modular cleaning frame and a cleaning robot. The walking mechanism comprises a driving assembly and a pre-tightening assembly, the driving assembly comprises a driving wheel, a rack and a driving part, and the pre-tightening assembly comprises a first pre-tightening wheel set; the modular cleaning frame is provided with a walking mechanism and comprises a frame body and a turning plate. The cleaning robot comprises a walking mechanism and / or is installed on the modular cleaning frame in a matched mode. By means of the scheme, the technical problem that a belt and a belt pulley of a cleaning robot in the related technology are seriously abraded can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a walking mechanism, a modular cleaning frame and a cleaning robot. Background Art

[0002] Some cleaning robots use belts and pulleys to drive the cleaning robots to move back and forth to achieve fixed-point cleaning of the target area. During the working process of the cleaning robot, in order to ensure the cleaning effect, it is necessary to apply pre-tightening force to the cleaning robot to ensure that the cleaning part of the cleaning robot is close to the ground. In the prior art, some cleaning robots use the method of adding counterweight blocks to increase the pre-tightening force. However, during the movement of the cleaning robot, the pressure increased by the counterweight block is directly applied to the belt, causing serious wear of the belt and pulley.

[0003] Therefore, it is a technical problem that needs to be solved urgently by technicians in this field to provide a walking mechanism, a modular cleaning frame and a cleaning robot in which the driving assembly and the pre-tightening assembly are independent of each other. Summary of the invention

[0004] The invention discloses a walking mechanism, a modular cleaning frame and a cleaning robot, so as to solve the serious technical problem of belt and pulley grinding wheels existing in the cleaning robot in the related art.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions: In a first aspect, a walking mechanism is provided, comprising: A driving assembly, comprising a driving wheel, a rack and a driving part; the rack is arranged on the modular cleaning frame, the driving wheel is rotatably arranged on the cleaning robot and cooperates with the rack with a matching gap; the driving part is used to drive the driving wheel to rotate, so that the cleaning robot can move in the second direction along the modular cleaning frame; The pre-tightening assembly includes a first pre-tightening wheel group; the first pre-tightening wheel group moves in the second direction following the cleaning robot, and can move in the first direction; when the first pre-tightening wheel group moves along the first direction, the end can contact one side of the rack to achieve pre-tightening of the cleaning robot in the first direction.

[0006] In a further technical solution, the pre-tightening assembly further includes a second pre-tightening wheel set, and the second pre-tightening wheel set moves in a second direction following the cleaning robot; The second pre-tensioning wheel set includes a plurality of second pre-tensioning wheels; A plurality of the second pre-tightening wheels are rotatably disposed on the cleaning robot to withstand the pressure applied to the rack by the first pre-tightening wheel group.

[0007] In a further technical solution, the first preload wheel assembly includes a mounting portion and a plurality of first preload wheels / slide blocks; The mounting portion moves along with the cleaning robot in the second direction and can move in the first direction; A plurality of the first pre-tightening wheels / slide blocks are rotatably disposed on the mounting portion; when the mounting portion moves along the first direction, a plurality of the first pre-tightening wheels / slide blocks contact one side of the rack to achieve pre-tightening of the cleaning robot in the first direction.

[0008] In a further technical solution, the driving assembly includes a driving wheel, an abutment, a rope and a driving part; the abutment is arranged on the modular cleaning frame, the driving wheel is rotatably arranged on the cleaning robot, and the two ends of the rope are fixed to the opposite sides of the abutment along the second direction and are wound around the driving wheel; the driving part is used to drive the driving wheel to rotate, so that the cleaning robot can move along the modular cleaning frame in the second direction; Wherein, the pre-tightening mechanism is matched with the abutment member.

[0009] In a further technical solution, the first pre-tightening wheel set is slidably engaged with the cleaning robot along a first direction; Alternatively, the first pre-tightening wheel set moves in the first direction following the scraping bar of the cleaning robot; And / or, it also includes a walking locking control mechanism; the walking locking control mechanism is used to limit the movement of the cleaning robot in a first direction.

[0010] In a second aspect, a modular cleaning frame is provided for installing the walking mechanism mentioned in the first aspect, comprising: A frame body is arranged around the cleaning surface; a track groove is formed between the inner wall of the frame body and the outer wall of the cleaning surface; the rack or the abutment member is installed in the track groove; A flap is arranged at the track groove in an openable and closable manner; the flap opens or closes the track groove as the cleaning robot moves in the second direction.

[0011] In a further technical solution, one of the flap and the cleaning robot is provided with a triggering part; When the cleaning robot moves along the second direction, the trigger part contacts another part, so that the track groove opens.

[0012] In a further technical solution, a garbage collection unit is also included; the garbage collection unit is arranged at the proximal end of the cleaning surface and is used to collect garbage brought back by the cleaning robot.

[0013] In a further technical solution, a flushing channel is provided at the bottom of the cleaning surface, and the flushing channel is connected to the distal end of the track groove, so that flushing water can enter the track groove through the flushing channel.

[0014] In a third aspect, a cleaning robot is provided, comprising the walking mechanism in the first aspect; And / or, mounting and fitting to the modular cleaning frame of the second aspect.

[0015] The technical solution adopted by the present invention can achieve the following beneficial effects: The driving unit works to rotate the driving wheel, driving the cleaning robot to move in the second direction and perform fixed-point cleaning on the cleaning surface; when the cleaning robot is in working state, the first pre-tightening wheel group moves along the first direction, contacts one side of the rack, and continuously applies pressure to the rack to apply continuous pre-tightening force to the cleaning robot, thereby ensuring the cleaning effect of the cleaning robot. In the process of applying pre-tightening force to the cleaning robot, the rack will deform to the other side, but due to the matching clearance between the rack and the gear, the deformation of the rack will not cause pressure on the driving wheel. At the same time, the pressure of the first pre-tightening wheel group on the rack will not be directly transmitted to the driving wheel, so that the driving component and the pre-tightening component are independent of each other, while ensuring that the cleaning robot can move in the second direction, it can also ensure that the cleaning robot has sufficient pre-tightening force in the first direction, and also avoids excessive wear and tear of the rack and gear, thereby increasing the service life of the equipment and reducing the frequency of equipment maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a partial structural diagram of the present invention. Figure 1 ; Figure 2 It is a partial structural diagram of the present invention. Figure 2 ; Figure 3 for Figure 2 The enlarged view of point A in the middle; Figure 4 for Figure 2 The enlarged view of point B in the middle; Figure 5 It is a rear view of the present invention; Figure 6 for Figure 5 Enlarged view of point C in the middle; Figure 7 It is a structural schematic diagram of the walking mechanism of the present invention; Figure 8 This is a schematic diagram of the unlocked state of the travel lock control mechanism of the present invention; Fig. 9 for Figure 8 The enlarged view of point D in the middle; Fig.10 It is a schematic diagram of the locking state of the travel lock control mechanism of the present invention; Fig.11 This is a schematic diagram of the structure of the first pre-tightening wheel assembly of the present invention using a slider; Fig.12 This is a schematic diagram of the structure of the driving assembly of the present invention using a rope; Fig.13 It is a schematic diagram of the cooperation between the rope and the driving wheel of the present invention.

[0018] In the figure: 100, cleaning robot; 101, inner plate installation; 102, outer plate installation; 103, triggering part; 1031, fourth guide surface; 110, scraper; 200, walking mechanism; 210, first preloaded wheel set; 211, mounting part; 2111, slideway; 212, first preloaded wheel; 213, mounting block; 214, slider; 220, second preloaded wheel set; 221, second preloaded wheel; 222, buffer; 230, driving assembly ; 231, driving wheel; 232, rack; 2321, tooth area; 2322, abutment; 2323, upper abutment surface; 2324, lower abutment surface; 233, rope; 300, modular cleaning frame; 310, frame body; 320, flap; 330, track groove; 340, garbage collection part; 341, through hole; 400, travel locking mechanism; 411, limit part; 500, cleaning surface; 510, flushing channel; D, fitting clearance. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0020] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0021] In each embodiment of the present application, "proximal end" and "distal end" refer to the position of each component relative to the user in the use environment, wherein the end closer to the user is designated as the "proximal end" and the end farther from the user is designated as the "distal end".

[0022] The inventor discovered during use that, in order to ensure the cleaning effect of the existing cleaning robot 100 using a belt and a pulley as the walking mechanism 200, it is necessary to add a counterweight to the cleaning robot 100; the counterweight is used to increase the weight of the cleaning robot 100 so that the cleaning robot 100 can fit the cleaning surface 500, thereby increasing the cleaning effect of the cleaning robot 100. Although the cleaning effect of the cleaning robot 100 is guaranteed, the weight added by the counterweight is directly transferred to the walking mechanism 200, causing the walking mechanism 200 to bear a greater load, thereby causing serious wear of the belt and the pulley.

[0023] The following is combined with Figure 1-Figure 13 , the walking mechanism 200, modular cleaning frame 300 and cleaning robot 100 provided in the present application are described in detail through specific embodiments and their application scenarios.

[0024] Please refer to Figure 7 , a walking mechanism 200, including a driving assembly 230 and a pre-tightening assembly.

[0025] The driving assembly 230 includes a driving wheel 231, a rack 232 and a driving part. The rack 232 is disposed on the modular cleaning frame 300. The driving wheel 231 is rotatably disposed on the cleaning robot 100 and cooperates with the rack 232 and has a matching gap D, such as Fig. 9 As shown, correspondingly, the driving wheel 231 is a gear; the driving part is used to drive the driving wheel 231 to rotate, so that the cleaning robot 100 can move in the second direction along the modular cleaning frame 300; The pretensioning assembly includes a first pretensioning wheel group 210; the first pretensioning wheel group 210 moves in the second direction following the cleaning robot 100, and can move in the first direction; when the first pretensioning wheel group 210 moves along the first direction, the end can contact one side of the rack 232 to achieve pretensioning of the cleaning robot 100 in the first direction.

[0026] In this embodiment, if Figure 1 As shown, a three-dimensional coordinate system is established with the length direction of the modular cleaning frame 300 as the X-axis, the height direction of the modular cleaning frame 300 as the Y-axis, and the width direction of the modular cleaning frame 300 as the Z-axis; wherein the first direction refers to the Y-axis and the second direction refers to the X-axis.

[0027] As a preferred embodiment of the present invention, the driving part is a motor and a reducer; the output shaft of the motor is connected to the input end of the reducer, and the output shaft of the reducer is connected to the driving wheel 231; the torque of the motor output shaft is decelerated by the reducer and then transmitted to the driving wheel 231, so that the driving wheel 231 rotates to realize the function of the cleaning robot 100 moving in the second direction along the modular cleaning frame 300. Correspondingly, the reducer can be composed of a plurality of gears with different diameters, and the purpose of deceleration is achieved by changing the transmission ratio. The reducer can be a two-stage reducer, a three-stage reducer, a planetary reducer or other types, and can be flexibly set according to practical needs, which is not limited in the present embodiment.

[0028] It is reasonable that the driving part may also only use a motor, and the output shaft of the motor is directly connected to the driving wheel 231, so that the driving wheel 231 rotates to realize the function of the cleaning robot 100 moving in the second direction along the modular cleaning frame 300.

[0029] As a preferred embodiment of the present invention, there are two driving wheels 231 and two racks 232, the two driving wheels 231 are rotatably arranged on opposite sides of the cleaning robot 100, and the two racks 232 are arranged on opposite sides of the modular cleaning frame 300; there may be two driving parts, which respectively drive the two driving wheels 231 to rotate; there may also be one driving part, which has two output shafts, which are respectively connected to the two driving wheels 231 to drive the two driving wheels 231 to rotate. Accordingly, there are also two pre-tightening components, which simultaneously apply pre-tightening force to both sides of the cleaning robot 100 to ensure that the cleaning robot 100 is evenly stressed.

[0030] The first pre-tensioning wheel group 210 can move in a first direction. When a pre-tensioning force needs to be applied, the first pre-tensioning wheel group 210 moves along the first direction toward the rack 232. The end of the first pre-tensioning wheel group 210 contacts one side of the rack 232 to realize the pre-tensioning of the cleaning robot 100 in the first direction. In addition, the magnitude of the pre-tensioning force can also be adjusted with the movement of the first pre-tensioning wheel group 210. The first pre-tensioning wheel group 210 also moves with the cleaning robot 100 in the second direction to ensure that the first pre-tensioning wheel group 210 always applies a pre-tensioning force to the cleaning robot 100 during the cleaning process.

[0031] During the process of the first pre-tightening wheel group 210 applying pre-tightening force to the cleaning robot 100, the first pre-tightening wheel group 210 directly applies pressure on the rack 232, and the rack 232 will deform to the other side. However, due to the existence of the matching clearance D between the rack 232 and the gear, the deformation of the rack 232 will not cause pressure on the driving wheel 231. At the same time, the pressure exerted by the first pre-tightening wheel group 210 on the rack 232 will not be directly transmitted to the driving wheel 231, so that the driving component 230 and the pre-tightening component are independent of each other. While ensuring that the cleaning robot 100 can move in the second direction, it can also ensure that the cleaning robot 100 has sufficient pre-tightening force in the first direction, and it also avoids excessive wear and tear of the rack 232 and the gear, thereby increasing the service life of the equipment and reducing the frequency of equipment maintenance.

[0032] The pre-tightening assembly also includes a second pre-tightening wheel set 220, which contacts the other side of the rack 232 to withstand the pressure applied to the rack 232 by the first pre-tightening wheel set 210; when applying the pre-tightening force, the first pre-tightening wheel set 210 continuously applies pressure to the rack 232, so that the rack 232 is subjected to unidirectional force, resulting in stress concentration on the rack 232, which is prone to fatigue damage to the rack 232 after long-term use; therefore, the second pre-tightening wheel set 220 is provided to bear the pressure applied to the rack 232 by the first pre-tightening wheel set 210, while supporting the rack 232, so that both sides of the rack 232 are subjected to force, thereby avoiding stress concentration caused by the unidirectional force on the rack 232 and further increasing the service life of the rack 232. The second pre-tensioning wheel group 220 can also move in the second direction following the cleaning robot 100 to achieve synchronous movement of the first pre-tensioning wheel group 210 and the second pre-tensioning wheel group 220, so that the second pre-tensioning wheel group 220 can always bear the pressure applied to the rack 232 by the first pre-tensioning wheel group 210.

[0033] In this embodiment, the rack 232 has a tooth area 2321 and abutment members 2322. Figure 6As shown; the top of the abutment 2322 has an upper abutment surface 2323 for contacting the first preload wheel set 210, one side of the bottom of the abutment 2322 is used to set the tooth area 2321, and the other side is a lower abutment surface 2324 for contacting the second preload wheel set 220.

[0034] As preferred in this embodiment, Figure 7 As shown, the first pre-tightening wheel set 210 is located above the rack 232, and the second pre-tightening wheel set 220 is located below the rack 232. The first pre-tightening wheel set 210 moves downward along the second direction to contact the upper abutting surface 2323 of the abutting member 2322, and the second pre-tightening wheel set 220 contacts the lower abutting surface 2324 to bear the pressure caused by the first pre-tightening wheel set 210 on the rack 232. At the same time, the first pre-tightening wheel set 210 is arranged above the rack 232, and the pressure on the rack 232 can be further increased by the deadweight of the first pre-tightening wheel set 210, thereby increasing the pre-tightening force. The toothed area 2321 meshes with the rotating wheel. Through the design of the toothed area 2321 and the abutting member 2322, the rack 232 can not only mesh with the driving wheel 231, but also abut the first pre-tightening wheel set 210 and the second pre-tightening wheel set 220.

[0035] In this embodiment, if Figure 1 and Figure 7 As shown, the cleaning robot 100 has an inner mounting plate 101 and an outer mounting plate 102, and an mounting space is formed between the outer mounting plate 102 and the inner mounting plate 101. The driving component 230 and the pre-tightening component are both located in the mounting space. The outer mounting plate 102 protects the driving component 230 and the pre-tightening component and prevents the driving component 230 and the pre-tightening component from being exposed to the outside.

[0036] As a preferred method of this embodiment, Figure 7 As shown, the first pre-tensioning wheel group 210 includes a mounting portion 211 and a plurality of first pre-tensioning wheels 212; the mounting portion 211 moves in the second direction following the cleaning robot 100 and can move in the first direction; the plurality of first pre-tensioning wheels 212 are rotatably arranged on the mounting portion 211; when the mounting portion 211 moves along the first direction, the plurality of first pre-tensioning wheels 212 contact one side of the rack 232 to realize the pre-tensioning of the cleaning robot 100 in the first direction.

[0037] In this embodiment, the number of the first preload wheels 212 may be 1, 2, 3 or more, and may be flexibly arranged according to usage requirements, which is not limited here.

[0038] The mounting portion 211 is a shell with a mounting groove at the bottom, and a plurality of first pre-tightening wheels 212 are rotatably mounted in the mounting groove of the shell in a row; the plurality of first pre-tightening wheels 212 can rotate along their own rotation axis direction, and the rotation axes of the plurality of first pre-tightening wheels 212 are located in the same straight line parallel to the rack 232; with such an arrangement, when the mounting portion 211 moves along the first direction toward the rack 232, the ends of the plurality of first pre-tightening wheels 212 simultaneously abut against the upper abutting surface 2323 of the abutting piece 2322 of the rack 232, thereby ensuring that the pressure applied to the rack 232 by the first pre-tightening wheel group 210 is sufficient and that the pressure applied to the rack 232 by the pre-tightening force is uniform. The rotation paths of the first pre-tensioning wheels 212 are on the same plane as the length direction of the rack 232. With this arrangement, the first pre-tensioning wheels 212 can also rotate, so that there is rolling friction between the first pre-tensioning wheel group 210 and the rack 232, thereby reducing the friction between the first pre-tensioning wheel group 210 and the rack 232 when the cleaning robot 100 moves along the second direction.

[0039] Correspondingly, the plurality of first pre-tightening wheels 212 may be arranged in one row, two rows, three rows or more, and may be flexibly arranged according to usage requirements, which is not limited in this embodiment.

[0040] As another preferred method of this embodiment, Fig.11 As shown, the first pre-tightening wheel group 210 includes a mounting portion 211 and a plurality of sliders 214; the plurality of sliders 214 are arranged on the mounting portion 211; when the mounting portion 211 moves along the first direction, the plurality of sliders 214 contact one side of the rack 232 to realize the pre-tightening of the cleaning robot 100 in the first direction; wherein, the structure of the mounting portion 211 and the matching method with the cleaning robot 100 are the same as the structure in the above method, and will not be repeated here.

[0041] In this embodiment, the slider 214 and the mounting portion 211 can be connected by adhesive bonding, welding, bolting, etc., and can be flexibly configured according to usage requirements, which is not limited here.

[0042] The number of the sliders 214 in this embodiment may be 1, 2, 3 or more, and may be flexibly arranged according to usage requirements, which is not limited here.

[0043] Correspondingly, the plurality of sliders 214 may also be arranged in one row, two rows, three rows or more, and may be flexibly arranged according to usage requirements, which is not limited in this embodiment.

[0044] Furthermore, the first preload wheel group 210 also includes two mounting blocks 213; the mounting groove at the bottom of the mounting portion 211 passes through both sides, and the mounting blocks 213 are arranged at both ends of the mounting groove; the mounting blocks 213 have two functions, one is to prevent external dust from entering the mounting groove and play a sealing role; the second is to increase the weight. By adopting a material with a higher density, such as lead, the overall weight of the first preload wheel group 210 can be increased, and the pressure applied to the rack 232 by the first preload wheel group 210 can be further increased.

[0045] It should be noted that when a plurality of first pre-tensioning wheels 212 or a plurality of sliders 214 contact the upper abutting surface 2323 of the abutting member 2322 of the rack 232, a certain gap is provided between the bottom of the mounting block 213 and the upper abutting surface 2323 to reduce the friction between the first pre-tensioning wheel group 210 and the rack 232, which is beneficial to the movement of the cleaning robot 100 along the rack 232.

[0046] As a preferred method of this embodiment, Figure 7 As shown, the first pre-tightening wheel set 210 is slidably matched with the cleaning robot 100 along the first direction; specifically, the mounting portion 211 is provided with a plurality of slide grooves 2111 along the first direction, and the cleaning robot 100 is provided with a plurality of mounting holes corresponding to the plurality of slide grooves 2111; a plurality of bolts are sequentially passed through the slide grooves 2111 and the mounting holes to achieve the sliding match between the first pre-tightening wheel set 210 and the cleaning robot 100 in the first direction. When the plurality of bolts are loosened, the mounting portion 211 can move along the first direction, increasing or reducing the pressure on the rack 232; when the plurality of bolts are tightened, the first pre-tightening wheel set 210 is fixed in position through the friction between the bolt heads and the outer wall of the mounting portion 211.

[0047] In this embodiment, the number of slide grooves 2111 and mounting holes is preferably more than two; the reason why one slide groove 2111 and one mounting hole are not adopted is that by adopting one slide groove 2111 and one mounting hole, the mounting portion 211 is easy to rotate around the mounting hole, and the contact surface of the first preload wheel group 210 intersects with the upper abutment surface 2323 of the abutment member 2322 of the rack 232, resulting in only a part of the first preload wheel group 210 being able to contact the rack 232, thereby affecting the pressure applied by the first preload wheel group 210 on the rack 232.

[0048] As another preferred method of this embodiment, the first pre-tensioning wheel group 210 follows the scraper bar 110 of the cleaning robot 100 to move in the first direction; specifically, the scraper bar 110 has freedom in the first direction, that is, the scraper bar 110 can move freely in the first direction; when the scraper bar 110 moves toward the cleaning surface 500 in the first direction, the scraper bar 110 drives the first pre-tensioning wheel group 210 to move synchronously, so that the first pre-tensioning wheel group 210 contacts the rack 232 and applies pressure to the rack 232.

[0049] Furthermore, it also includes a travel locking control mechanism 400; when the scraper strip 110 drives the first pre-tightening wheel group 210 to contact the rack 232 and applies pressure to the rack 232, the travel locking control mechanism 400 limits the movement of the scraper strip 110 in the first direction, ensuring that the first pre-tightening wheel group 210 continuously and uninterruptedly applies pressure to the rack 232.

[0050] like Figure 8 and Fig.10 As shown, the walking locking mechanism 400 has an unlocked state and a locked state. When the locking mechanism is in the unlocked state, the scraper 110 can move freely in the first direction. When the walking locking mechanism 400 is in the locked state, the movement of the scraper 110 in the first direction is restricted. As a preferred embodiment of the present invention, the walking locking mechanism 400 includes two symmetrically arranged limiting parts 411. The two limiting parts 411 are rotatably arranged on the mounting inner plate 101 of the cleaning robot 100, and can rotate toward or away from each other around their own rotation axes. When the two limiting parts 411 rotate toward each other, the walking locking mechanism 400 is in the locked state, and the scraper 110 cannot move in the first direction. When the two limiting parts 411 rotate away from each other, the walking locking mechanism 400 is in the unlocked state, and the scraper 110 can move in the first direction under the drive of an external force.

[0051] like Figure 7 As shown, the second pre-tensioning wheel group 220 includes a plurality of second pre-tensioning wheels 221; the plurality of second pre-tensioning wheels 221 are rotatably arranged on the cleaning robot 100 to withstand the pressure applied to the rack 232 by the first pre-tensioning wheel group 210; and buffer portions 222 are respectively filled between the plurality of second pre-tensioning wheels 221 and their own rotating shafts.

[0052] In this embodiment, the number of the second preload wheels 221 may be 1, 2, 3 or more, and may be flexibly arranged according to usage requirements, which is not limited here.

[0053] A plurality of second pre-tightening wheels 221 are rotatably installed in a row on the cleaning robot 100. The plurality of second pre-tightening wheels 221 can rotate along the direction of their own rotation axis, and the rotation axis of the plurality of second pre-tightening wheels 221 is located on the same straight line parallel to the rack 232; such arrangement enables the ends of the plurality of second pre-tightening wheels 221 to abut against the lower abutting surface 2324 of the abutting member 2322 of the rack 232, so as to better bear the pressure applied to the gear by the first pre-tightening wheel group 210, and better support the rack 232. The rotation path of the plurality of second pre-tightening wheels 221 is on the same plane as the length direction of the rack 232. Such arrangement enables the second pre-tightening wheels 221 to be rotatable, so that there is rolling friction between the second pre-tightening wheel group 220 and the rack 232, thereby reducing the friction between the second pre-tightening wheel group 220 and the rack 232 when the cleaning robot 100 moves along the second direction.

[0054] Correspondingly, the plurality of second pre-tightening wheels 221 may be arranged in one row, two rows, three rows or more, and may be flexibly arranged according to usage requirements, which is not limited in this embodiment.

[0055] Since the second pre-tensioning wheels 221 are used to bear the pressure of the first pre-tensioning wheel group 210 on the rack 232, after the second pre-tensioning wheel 221 is subjected to pressure, the pressure will eventually be transmitted to its own rotating shaft, causing the rotating shaft to have a large load, affecting the service life of the rotating shaft; therefore, a buffer portion 222 is filled between the second pre-tensioning wheel 221 and its own rotating shaft, and the buffer portion 222 absorbs and disperses the pressure from the first pre-tensioning wheel group 210 through elastic deformation, thereby reducing the load on the rotating shaft of the second pre-tensioning wheel 221 and increasing the service life of the second pre-tensioning wheel 221.

[0056] As preferred in this embodiment, the buffer portion 222 is preferably a rubber elastic ring; it is understood that the buffer portion 222 may also be made of other elastic materials, which is not limited in this embodiment.

[0057] This embodiment is a replacement of the driving component 230 in the implementation; please refer to Fig.12 and Fig.13 The driving assembly 230 includes a driving wheel 231, an abutment 2322, a rope 233 and a driving unit; the abutment 2322 is arranged on the modular cleaning frame 300, the driving wheel 231 is rotatably arranged on the cleaning robot 100, and the two ends of the rope 233 are fixed to the opposite sides of the abutment 2322 along the second direction and are wound around the driving wheel 231; the driving unit is used to drive the driving wheel 231 to rotate, so that the cleaning robot 100 can move in the second direction along the modular cleaning frame 300.

[0058] In this embodiment, the driving wheel 231 is a pulley, and the rope 233 is wrapped around the driving wheel 231 at least once. When the driving part drives the driving wheel 231 to rotate, the friction between the rope 233 and the driving wheel 231 is used to enable the cleaning robot 100 to move in the second direction along the modular cleaning frame 300.

[0059] At the same time, the first pre-tensioning wheel group 210 is matched with the upper abutment surface 2323 of the abutment 2322, and the second pre-tensioning wheel group 220 is matched with the lower abutment surface 2324 of the abutment 2322; since the rope 233 is a flexible structure, in the process of the pre-tensioning mechanism applying a pre-tensioning force to the cleaning robot 100 in the first direction, the pressure applied to the abutment 2322 cannot be directly transmitted to the rope 233 and the driving wheel 231, so that the driving component 230 and the pre-tensioning component are independent of each other, which not only ensures that the cleaning robot 100 has sufficient pre-tensioning force in the first direction, but also avoids excessive wear and tear of the rope 233 and the driving wheel 231, thereby increasing the service life of the equipment and reducing the frequency of equipment maintenance.

[0060] It should be noted that when the two ends of the rope 233 are fixed to the opposite sides of the abutment 2322 along the second direction, the rope 233 naturally droops to form a catenary shape, so that the rope 233 is not tensioned, thereby preventing the rope 233 from being pulled and broken during the movement of the cleaning robot 100 along the modular cleaning frame 300 in the second direction.

[0061] In this embodiment, the rope 233 is preferably a stainless steel wire rope, which has good wear resistance, excellent softness and toughness, excellent corrosion resistance, high strength and stability, and can better meet the use requirements.

[0062] The other parts of this embodiment are the same as those of the above-mentioned embodiment 1, and thus will not be described in detail.

[0063] Please refer to Figure 2 A modular cleaning frame 300 is used to install the walking mechanism 200 in Example 1, including a frame body 310 and a flap 320; the frame body 310 is arranged around the cleaning surface 500; a track groove 330 is formed between the inner wall of the frame body 310 and the outer wall of the cleaning surface 500; the rack 232 in Example 1 or the abutment 2322 and the rope 233 in Example 2 are installed in the track groove 330; the flap 320 is arranged at the track groove 330 so as to be opened and closed; the flap 320 opens or closes the track groove 330 as the cleaning robot 100 moves in the second direction.

[0064] The flap 320 is located at the track groove 330 and can be opened and closed. When the flap 320 is opened, the track groove 330 is exposed and communicated with the outside. When the flap 320 is closed, the track groove 330 is shielded, and the top of the cleaning surface 500, the top of the flap 320 and the top of the cleaning surface 500 are coplanar, making the ground flat. The flap 320 can be rotatably set on the side wall of the cleaning surface 500, or can be rotatably set on the side wall of the frame body 310.

[0065] The rack 232 or the abutment member 2322 and the rope 233 are installed in the track groove 330, which improves the safety and concealment of the walking mechanism 200 and avoids interference with the cleaning work.

[0066] When the cleaning robot 100 is in a non-working state and is located at the proximal end of the frame body 310, the flap 320 covers the track groove 330 to keep the ground clean and flat; when the cleaning robot 100 is ready to clean, it first moves from the proximal end to the distal end of the frame body 310, and as the cleaning robot 100 moves in the second direction, the flap 320 rotates to expose the track groove 330; when the cleaning robot 100 moves to the distal end of the frame body 310, it is in a working state and moves from the distal end to the proximal end. During the movement, the scraper bar 110 of the cleaning robot 100 brings back the garbage. In the process of bringing back the garbage, the garbage will also move in a third direction. Part of the garbage is brought back by the scraper bar 110, and the other part of the garbage falls into the track groove 330 during the process of bringing back. The setting of the track groove 330 can prevent the garbage from being uncleanly cleaned, increase the amount of garbage processed in a single cleaning process, and realize centralized collection and processing of garbage, reduce the cleaning workload, and improve the cleaning effect and cleaning efficiency of the cleaning surface 500.

[0067] It should be noted that the third direction here refers to Figure 1 The Z axis in .

[0068] It should also be noted that there are two track grooves 330 formed between the inner wall of the frame body 310 and the outer wall of the cleaning surface 500, so that the garbage spread on both sides along the third direction will fall into the track grooves 330, ensuring the cleaning effect of the cleaning robot 100.

[0069] like Figure 3 As shown, one of the flap 320 and the cleaning robot 100 is provided with a trigger portion 103; when the cleaning robot 100 moves along the second direction, the trigger portion 103 contacts the other, so that the track groove 330 opens.

[0070] As a preferred method of this embodiment, the trigger part 103 is arranged at the bottom of the cleaning robot 100 and is located in the track groove 330; the side of the trigger part 103 facing the flap 320 is an inclined fourth guide surface 1031; as the cleaning robot 100 moves from the proximal end to the distal end, the fourth guide surface 1031 contacts the flap 320 and drives the flap 320 to flip downward, thereby opening the track groove 330.

[0071] As another preferred method of this embodiment, the trigger part 103 is arranged on the flap 320, and the side of the trigger part 103 facing the cleaning robot 100 is an inclined fourth guide surface 1031; as the cleaning robot 100 moves from the proximal end to the distal end, the cleaning robot 100 contacts the fourth guide surface 1031 and drives the flap 320 to flip downward, thereby opening the track groove 330.

[0072] It should be noted that, in this embodiment, the trigger part 103 is preferably arranged at the bottom of the cleaning robot 100. Although the trigger part 103 is arranged on the flap 320, the flap 320 can also be opened and closed, but the processing difficulty of the trigger part 103 is higher, and the coordination relationship with the cleaning robot 100 needs to be more precise, which increases the manufacturing cost. On the contrary, the trigger part 103 is arranged at the bottom of the cleaning robot 100, which makes it easier to achieve coordination between the two and reduces the cost.

[0073] Correspondingly, an elastic member is provided at the rotating connection of the flap 320. When the trigger part 103 contacts the flap 320, the flap 320 flips over and the elastic member stores elastic potential energy. When the trigger part 103 separates from the flap 320, the flap 320 loses the limit of the trigger part 103, and the elastic potential energy of the elastic member is released, driving the flap 320 to flip upward to close the track groove 330.

[0074] like Figure 2 and Figure 5 As shown, a garbage collecting part 340 is provided at the proximal end of the cleaning surface 500, and the garbage brought back by the cleaning robot 100 falls into the garbage collecting part 340, completing the collection of the garbage.

[0075] like Figure 4 As shown, a flushing channel 510 is provided at the bottom of the cleaning surface 500, and the flushing channel 510 is connected to the distal end of the track groove 330, and flushing water can enter the track groove 330 through the flushing channel 510; the flow direction of the flushing water is as shown in FIG. Figure 4 As indicated by the arrow in .

[0076] The flushing channel 510 is connected to an external water source, and the flushing water first enters the flushing channel 510, and then enters the track groove 330 through the flushing channel 510, flushing the garbage dropped into the track groove 330, and flushing the garbage into the garbage collection part 340, to prevent the track groove 330 from accumulating garbage and ensure the cleanliness of the track groove 330; by flushing the track groove 330, the cleaning workload is further reduced.

[0077] In this embodiment, when an independent floor is used as the cleaning surface 500, the flushing channel 510 and the track groove 330 can be used as a floor installation frame to achieve a modular setting and provide convenience for disassembly, maintenance, and replacement of the device.

[0078] Furthermore, the garbage collection part 340 is preferably a stainless steel shell provided with a plurality of through holes 341; Figure 5 As shown; the liquid can be discharged through the through hole 341, and the garbage remains in the stainless steel shell, completing the solid-liquid separation of the garbage.

[0079] Please refer to Figure 1 , Figure 2 , Figure 5 , Figure 7 , Figure 8 and Fig.10 , a cleaning robot 100, comprising the walking mechanism 200 in embodiment 1 or embodiment 2; And / or, installed and matched with the modular cleaning frame 300 in Example 2.

[0080] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0081] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0082] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A walking mechanism (200), characterized in that: include: A driving assembly (230), comprising a driving wheel (231), a rack (232) and a driving unit; the rack (232) is arranged on a modular cleaning frame (300); the driving wheel (231) is rotatably arranged on the cleaning robot (100) and cooperates with the rack (232) to have a matching clearance; the driving unit is used to drive the driving wheel (231) to rotate, so that the cleaning robot (100) can move in a second direction along the modular cleaning frame (300); A pre-tightening assembly comprises a first pre-tightening wheel group (210); the first pre-tightening wheel group (210) moves in a second direction following the cleaning robot (100) and can move in a first direction; when the first pre-tightening wheel group (210) moves along the first direction, an end portion can contact one side of the rack (232) to achieve pre-tightening of the cleaning robot (100) in the first direction.

2. A walking mechanism (200) according to claim 1, characterized in that: The pre-tightening assembly further comprises a second pre-tightening wheel set (220), wherein the second pre-tightening wheel set (220) moves in a second direction following the cleaning robot (100); The second pre-tensioning wheel set (220) comprises a plurality of second pre-tensioning wheels (221); A plurality of the second pre-tightening wheels (221) are rotatably disposed on the cleaning robot (100) to withstand the pressure applied to the rack (232) by the first pre-tightening wheel set (210).

3. The walking mechanism (200) according to claim 1, characterized in that: The first pre-tightening wheel set (210) comprises a mounting portion (211) and a plurality of first pre-tightening wheels (212) / slide blocks (214); The mounting portion (211) moves in the second direction following the cleaning robot (100), and can move in the first direction; A plurality of the first pre-tightening wheels (212) / slide blocks (214) are rotatably disposed on the mounting portion (211); when the mounting portion (211) moves along a first direction, the plurality of the first pre-tightening wheels (212) / slide blocks (214) contact one side of the rack (232) to achieve pre-tightening of the cleaning robot (100) in the first direction.

4. The walking mechanism (200) according to claim 1, characterized in that: The driving assembly (230) comprises a driving wheel (231), an abutment member (2322), a rope (233) and a driving unit; the abutment member (2322) is arranged on the modular cleaning frame (300); the driving wheel (231) is rotatably arranged on the cleaning robot (100); two ends of the rope (233) are fixed to opposite sides of the abutment member (2322) along a second direction and are wound around the driving wheel (231); the driving unit is used to drive the driving wheel (231) to rotate, so that the cleaning robot (100) can move along the modular cleaning frame (300) in the second direction; Wherein, the pre-tightening mechanism cooperates with the abutment member (2322).

5. A walking mechanism (200) according to any one of claims 1 to 4, characterized in that: The first pre-tightening wheel set (210) is slidably engaged with the cleaning robot (100) along a first direction; Alternatively, the first pre-tightening wheel set (210) moves in a first direction following the scraper bar (110) of the cleaning robot (100); And / or, it also includes a walking locking control mechanism (400); the walking locking control mechanism (400) is used to limit the movement of the cleaning robot (100) in a first direction.

6. A modular cleaning frame (300), characterized in that: A walking mechanism (200) for installing any one of claims 1 to 5, comprising: The frame body (310) is arranged around the cleaning surface (500); a track groove (330) is formed between the inner wall of the frame body (310) and the outer wall of the cleaning surface (500); the rack (232) or the abutment member (2322) is installed in the track groove (330); The flap (320) is arranged at the track groove (330) in an openable and closable manner; the flap (320) opens or closes the track groove (330) as the cleaning robot (100) moves in the second direction.

7. A modular cleaning frame (300) according to claim 6, characterized in that: One of the flap (320) and the cleaning robot (100) is provided with a trigger part (103); When the cleaning robot (100) moves along the second direction, the trigger portion (103) contacts another portion, causing the track groove (330) to open.

8. The modular cleaning frame (300) according to claim 6, characterized in that: It also includes a garbage collection unit (340); the garbage collection unit (340) is arranged at the proximal end of the cleaning surface (500) and is used to collect garbage brought back by the cleaning robot (100).

9. The modular cleaning frame (300) according to claim 6, characterized in that: A flushing channel is provided at the bottom of the cleaning surface (500), and the flushing channel is in communication with the distal end of the track groove (330), so that flushing water can enter the track groove (330) through the flushing channel.

10. A cleaning robot (100), characterized in that: A walking mechanism (200) comprising any one of claims 1 to 5; And / or, mounted and matched with the modular cleaning frame (300) according to any one of claims 6 to 9.

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