Climbing device, cleaning robot and climbing method

Abstract

The invention provides a climbing device, a cleaning robot and a climbing method.A lifting mechanism comprises a first driver, a lifting assembly and a lifting connecting piece, the first driver is connected with the lifting connecting piece through the lifting assembly, the lifting connecting piece is connected with a cleaning main machine, and a translation mechanism is arranged on a device base; and the translation mechanism drives the lifting mechanism to reciprocate along the translation track. When the cleaning robot encounters high obstacles such as steps, the first driver can drive the lifting assembly to achieve self extension, and then the lifting connecting piece is indirectly driven to ascend along the lifting track. When the lifting connecting piece is controlled to ascend, the cleaning main machine can be synchronously controlled to ascend, so that the cleaning main machine reaches the height equal to or higher than the step, and the cleaning main machine has the capability of crossing the step. And at the moment, the translation mechanism drives the lifting mechanism to translate in the horizontal direction along the translation track, so that the cleaning main machine crosses the steps, then the lifting mechanism is withdrawn, and climbing of one step is completed.

Description

Technical Field

[0001] The present application relates to the technical field of household appliances, and in particular to a climbing device, a cleaning robot and a climbing method. Background Art

[0002] With the increasing popularity of cleaning robots, their mapping and intelligence have greatly improved home cleaning. However, cleaning robots operate in different layouts and home environments, with various steps and thresholds. The current height that cleaning robots can reach is no longer sufficient to meet user requirements for higher steps, such as even stairs, to clean duplex structures. Summary of the Invention

[0003] Based on this, it is necessary to provide a climbing device, a cleaning robot and a climbing method to address the above-mentioned technical problem of climbing higher steps.

[0004] The present application provides a climbing device, comprising:

[0005] Device base;

[0006] A lifting mechanism, the lifting mechanism being arranged on the device base, the lifting mechanism comprising a first driver, a lifting assembly and a lifting connector, the lifting assembly being capable of rising and falling along a lifting trajectory, the first driver being connected to the lifting connector via the lifting assembly, and being used to drive the lifting connector to rise or fall along the lifting trajectory, the lifting connector being configured to be connected to a cleaning host;

[0007] A translation mechanism is provided on the device base, and is configured to at least drive the lifting mechanism to reciprocate along a translation trajectory.

[0008] In one embodiment, the lifting assembly is configured as a connecting rod structure; and / or,

[0009] The lifting assembly includes an active connecting rod and at least one driven connecting rod, the first driver is arranged on the device base, the output end of the first driver is connected to the active connecting rod, the active connecting rod is movably connected to the driven connecting rod, and the active connecting rod and at least one driven connecting rod are movably connected to the device base and the lifting connecting member respectively.

[0010] In one embodiment, the lifting assembly includes two driven links; the active link is movably connected to the lifting connection piece, the two driven links are movably connected to the active link, and the two driven links are movably connected to the device base and the lifting connection piece respectively.

[0011] In one embodiment, the active connecting rod is provided with a driven tooth portion, a rotating shaft portion and an active sliding portion, and the rotating shaft portion is located between the driven tooth portion and the active sliding portion;

[0012] A driving gear is provided at the output end of the first driver, and the driving gear of the first driver is driven to engage with the driven tooth portion of the active connecting rod. The lifting connecting member is provided with an active sliding track, and the active sliding portion of the active connecting rod is slidably assembled with the active sliding track of the lifting connecting member. The two driven connecting rods are rotatably connected to the rotating shaft portion of the active connecting rod.

[0013] In one embodiment, the two driven connecting rods are respectively provided with a driven sliding portion and a driven rotating portion, the device base is provided with a driven sliding track, the driven sliding portion is slidably assembled with the driven sliding track of the device base, and the driven rotating portion is rotationally connected to the device base.

[0014] In one embodiment, the driven tooth portion and the active sliding portion are respectively located at two ends of the active connecting rod; and / or,

[0015] The active sliding track and the driven sliding track are parallel to each other, and when the active sliding part slides to one end of the active sliding track, the driven sliding part slides to one end of the driven sliding track, and when the active sliding part slides to the other end of the active sliding track, the driven sliding part slides to the other end of the driven sliding track; and / or,

[0016] The driven sliding portion and the driven rotating portion are both located at one end of the two driven connecting rods, and the rotating shaft portion of the active connecting rod is movably connected to the other ends of the two driven connecting rods.

[0017] In one embodiment, the translation mechanism comprises:

[0018] A second driver, a translation assembly and a translation connector, wherein the second driver is arranged on the base of the device, the translation assembly has the ability to reciprocate along a translation trajectory, the second driver is connected to the translation connector through the translation assembly, and is used to drive the translation connector to move along the translation trajectory, the translation connector is connected to the base of the device, and the translation assembly is configured to support the ground.

[0019] In one embodiment, the translation assembly is configured as a rack and pinion mechanism; and / or,

[0020] The translation assembly includes a translation gear and a translation rack, the translation gear is arranged at the output end of the second driver, the translation connecting member is movably assembled relative to the translation rack along the translation trajectory, the translation gear is driven to engage with the translation rack, and the translation rack is configured to support the ground.

[0021] In one embodiment, the translation assembly is configured as a belt mechanism; and / or,

[0022] The translation assembly includes a support base, a pulley group and a transmission belt, the pulley group includes at least two driving pulleys, the pulley group is movably assembled on the support base, the transmission belt is rotatably assembled on the support base through the pulley group, the output end of the second drive is connected to the pulley group, and the translation connector is connected to the transmission belt.

[0023] The present application provides a cleaning robot, comprising:

[0024] A cleaning host, wherein a storage chamber is provided at the bottom of the cleaning host;

[0025] The climbing device is assembled at the bottom of the cleaning host, the lifting connector of the climbing device is connected to the cleaning host, the climbing device has an expanded state and a stored state, and the climbing device is configured to be stored in the storage chamber in the stored state.

[0026] In one embodiment, the cleaning host includes:

[0027] a mainframe chassis, wherein the chamber opening of the storage chamber is opened on the mainframe chassis;

[0028] A bottom wheel assembly, the bottom wheel assembly is assembled on the main chassis, and the bottom wheel assembly includes a driving bottom wheel and a driven bottom wheel;

[0029] A distance sensor configured to obtain front distance data between the front side of the cleaning host and the object to be climbed;

[0030] A controller is control-connected to the climbing device, and is configured to control the operation of the climbing device according to the front distance data.

[0031] In one embodiment, the limit distance of the reciprocating motion of the translation mechanism along the translation trajectory is a first distance, the straight-line distance from the driving bottom wheel to the front edge of the main chassis is a second distance, and the first distance is greater than the second distance.

[0032] In one embodiment, when the front distance data is less than or equal to a preset climbing distance, the controller is configured to control the operation of the climbing device according to the front distance data; and / or,

[0033] The first distance is greater than or equal to the sum of the second distance and the preset climbing distance.

[0034] The present application provides a climbing method, which is implemented based on the cleaning robot described above, and includes:

[0035] Determine the object to be climbed;

[0036] Determining a climbing posture of the cleaning robot according to the object to be climbed, and moving the cleaning robot to the climbing posture;

[0037] Driving the lifting mechanism to unfold, so as to lift the cleaning robot to a preset height, wherein the preset height is greater than or equal to the height of the object to be climbed;

[0038] driving the translation mechanism to move the lifting mechanism along the translation trajectory for a preset distance until the cleaning robot can be placed on the object to be climbed;

[0039] The lifting mechanism and the translation mechanism are controlled to be retracted so as to be stored in the storage chamber.

[0040] In the aforementioned climbing device, cleaning robot, and climbing method, when the cleaning robot encounters a high obstacle such as a step, the first actuator can drive the lifting assembly to extend, thereby indirectly driving the lifting connector to rise along a lifting trajectory. When the lifting connector is controlled to rise, the cleaning main unit can also be controlled to rise synchronously, allowing the cleaning main unit to reach a height equal to or higher than the step, thereby enabling the cleaning main unit to cross the step. At this point, the translation mechanism then drives the lifting mechanism horizontally along the translation trajectory, allowing the cleaning main unit to cross the step, and then retracts the lifting mechanism to complete the climbing of the step.

[0041] When it is necessary to cross another step or multiple steps, the above-mentioned action can be repeated to complete the climbing of one step at a time, and the cleaning range can be expanded after crossing the steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic structural diagram of a cleaning robot provided in one embodiment of the present application.

[0043] Figure 2 A schematic diagram of the state of a cleaning robot provided in one embodiment of the present application when crossing between steps.

[0044] Figure 3A schematic diagram of the state of a cleaning robot in the process of crossing stairs provided in one embodiment of the present application.

[0045] Figure 4 A schematic diagram of the cleaning robot's advancing state during the process of crossing stairs provided in one embodiment of the present application.

[0046] Figure 5 This is a schematic diagram of the state of a cleaning robot provided by one embodiment of the present application after crossing a step.

[0047] Figure 6 A schematic structural diagram of a climbing device provided in one embodiment of the present application.

[0048] Figure 7 For example Figure 6 A schematic structural diagram of the climbing device from another perspective is shown.

[0049] Figure 8 For example Figure 6 Schematic diagram of the exploded structure of the climbing device shown.

[0050] Figure 9 For example Figure 6 A schematic diagram of the partial explosion structure of the lifting assembly of the climbing device shown.

[0051] Figure 10 A schematic structural diagram of a climbing device provided in another embodiment of the present application.

[0052] Figure 11 For example Figure 10 A partially exploded schematic diagram of the climbing device shown in another perspective.

[0053] Figure 12 For example Figure 11 A schematic plan view of a partially exploded view of the climbing device shown.

[0054] Figure 13 For example Figure 11 A schematic plan view of a partially exploded view of the climbing device from another perspective is shown.

[0055] Figure 14 For example Figure 13 AA cross-sectional view of the climbing device shown.

[0056] Figure 15 A schematic plan view of the cleaning robot in the ascending state provided in one embodiment of the present application.

[0057] Figure 16 A schematic plan view of a cleaning robot in a descending state provided in one embodiment of the present application.

[0058] Figure 17A plan view of a cleaning robot in the process of crossing stairs provided in one embodiment of the present application.

[0059] Figure 18 A plan view schematically shows a cleaning robot advancing across stairs provided in one embodiment of the present application.

[0060] Figure Number:

[0061] 10. Ground; 20. Steps;

[0062] 100. Cleaning host; 200. Climbing device;

[0063] 110, main chassis; 120, driving bottom wheel; 130, driven bottom wheel; 140, distance sensor; 150, front impact plate;

[0064] 111, storage chamber;

[0065] 1000, device base; 2000, lifting mechanism; 3000, translation mechanism;

[0066] 1001, active sliding track;

[0067] 2100, first driver; 2200, lifting assembly; 2300, lifting connector;

[0068] 2110, driving gear;

[0069] 2210, active connecting rod; 2220, driven connecting rod;

[0070] 2211, driven tooth portion; 2212, rotating shaft portion; 2213, active sliding portion; 2221, driven sliding portion; 2222, driven rotating portion;

[0071] 2310, driven sliding track;

[0072] 3100, second driver; 3200, translation assembly; 3300, translation connector; 3400, translation base plate; 3500, translation cover plate;

[0073] 3210, translation gear; 3220, translation rack; 3230, support base; 3240, pulley assembly; 3250, transmission belt. DETAILED DESCRIPTION

[0074] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0075] In the description of this application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0076] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0077] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0078] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0079] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0080] See Figures 1 to 5 As shown, the present application provides a cleaning robot, which includes a cleaning main body 100 and a climbing device 200. The climbing device 200 can be assembled at the bottom of the cleaning main body 100, and the cleaning main body 100 can be used to clean the floor 10, such as sweeping or mopping the floor. When the cleaning main body 100 faces a high obstacle such as a step 20 and cannot cross it, the climbing device 200 can, in this state, lift and translate the cleaning main body 100, so that when the cleaning main body 100 faces a high obstacle such as a step 20, it can cross the high obstacle by lifting and translating the climbing device 200.

[0081] The cleaning robot has an unfolded state and a stowed state. The unfolded state and the stowed state are mainly the unfolded state and the stowed state of the climbing device 200. When the climbing device 200 is in the unfolded state, the cleaning robot is in the unfolded state. When the climbing device 200 is in the stowed state, the cleaning robot is in the stowed state. The stowed state is the normal state of the existing cleaning robot, and the unfolded state is Figure 1 The climbing device 200 shown is in the unfolded state, which is the configuration of the cleaning robot.

[0082] See Figure 2 As shown, when the cleaning host 100 needs to cross a high obstacle, the climbing device 200 needs to Figure 3 and Figure 4As shown, the climbing device 200 needs to be converted to an expanded state in order to perform its lifting and translation operations on the cleaning host 100. The climbing device 200 in the expanded state will occupy a large space. A storage chamber 111 can be opened at the bottom of the cleaning host 100. When the climbing device 200 does not need to perform its lifting and translation operations on the cleaning host 100, the climbing device 200 can be converted to a stored state. The climbing device 200 in the stored state does not occupy a large space. Therefore, the climbing device 200 can be stored in the storage chamber 111 in the stored state without affecting the normal cleaning and movement of the cleaning host 100 on the ground 10.

[0083] Regarding the aforementioned climbing device 200, the climbing device 200 may include a device base 1000, a lifting mechanism 2000, and a translation mechanism 3000. The device base 1000 serves as the assembly foundation for the lifting mechanism 2000 and the translation mechanism 3000. The device base 1000 may adopt various structures, such as a plate or a block, and is not limited here. The lifting mechanism 2000 is disposed on the device base 1000 and includes a first actuator 2100, a lifting assembly 2200, and a lifting connector 2300. The lifting assembly 2200 has a lifting capability of ascending and descending along a lifting trajectory. This lifting capability can be achieved by changing the shape of the lifting assembly 2200 itself. For example, the lifting assembly 2200 may adopt any structure capable of being extended or shortened, such as a connecting rod structure, a lead screw structure, or a telescopic rod structure, thereby achieving its lifting capability of ascending and descending along the lifting trajectory based on the extension and shortening of the lifting assembly 2200.

[0084] At this time, based on the lifting capacity of the lifting assembly 2200, the first actuator 2100 can be connected to the lifting connector 2300 through the lifting assembly 2200. The first actuator 2100 drives the lifting assembly 2200 to extend and contract, thereby driving the lifting connector 2300 to rise or fall along the lifting trajectory through the deformation of the lifting assembly 2200 itself. The lifting connector 2300 is configured to connect to the cleaning host 100. When the lifting connector 2300 is controlled to rise or fall, the cleaning host 100 can be controlled to rise or fall synchronously, thereby enabling the cleaning host 100 to cross the step 20.

[0085] The translation mechanism 3000 is provided on the device base 1000, and the translation mechanism 3000 is configured to at least drive the lifting mechanism 2000 to reciprocate along the translation trajectory. Figure 2 When encountering a high obstacle such as a step 20, the first driver 2100 can drive the lifting assembly 2200 to extend itself, thereby indirectly driving the lifting connection 2300 to rise along the lifting trajectory. When the lifting connection 2300 is controlled to rise, the cleaning host 100 can be Figure 3The shown synchronously is controlled to rise so that the cleaning host 100 reaches a height equal to or higher than the step 20 , thereby enabling the cleaning host 100 to cross the step 20 .

[0086] At this time, the translation mechanism 3000 is as follows Figure 4 and Figure 5 As shown, the lifting mechanism 2000 is driven to translate horizontally along the translation trajectory, so that the cleaning host 100 crosses the step 20, and then the lifting mechanism 2000 is retracted to complete the climbing of one step 20. When it is necessary to cross another step 20 or multiple steps 20, the above-mentioned action can be repeated to complete the climbing of one step 20 at a time, thereby expanding the cleaning range. It should be noted that the above-mentioned translation mechanism 3000 can only drive the lifting mechanism 2000 to reciprocate along the translation trajectory, thereby indirectly driving the cleaning host 100 to reciprocate along the translation trajectory, or it can also be directly connected to the cleaning host 100 at the same time, thereby directly and synchronously driving the cleaning host 100 and the lifting mechanism 2000 to reciprocate along the translation trajectory. Those skilled in the art can design according to actual needs, and this is not limited here.

[0087] When the lifting assembly 2200 is configured as a connecting rod structure, in one embodiment, the lifting assembly 2200 may include an active connecting rod 2210 and a driven connecting rod 2220, and the number of the active connecting rod 2210 and the driven connecting rod 2220 may be one or more. Those skilled in the art may consider the design of the connecting rod structure according to the actual needs of lifting, such as lifting height, stability and other angles, and no limitation is made here.

[0088] See Figures 6 to 8 As shown, the first driver 2100 can be mounted on the device base 1000. The output end of the first driver 2100 is connected to the active connecting rod 2210, thereby driving the active connecting rod 2210. For example, when the first driver 2100 is a motor, the first driver 2100 drives the active connecting rod 2210 by controlling the active connecting rod 2210 to rotate along a fixed axis around a base point. The device base 1000 can be provided with a motor sleeve, and the motor can be fastened within the motor sleeve via screws. At this time, the active link 2210 is movably connected to the driven link 2220, and the active link 2210 and at least one driven link 2220 are movably connected to the device base 1000 and the lifting connection 2300 respectively. When the active link 2210 and the driven link 2220 rotate relative to each other under the drive of the first driver 2100, the active link 2210 and the driven link 2220 can be relatively expanded to achieve their own extension, thereby completing the lifting action of the lifting connection 2300.

[0089] See Figures 6 to 8As shown, in one embodiment, the lifting assembly 2200 may include two driven links 2220. In this case, the two driven links 2220 are both movably connected to the active link 2210. The active link 2210 can be actively rotated under the drive of the first driver 2100, so that the active link 2210 drives the two driven links 2220 to rotate synchronously. The active link 2210 can be movably connected to the lifting connection 2300, so that the rotation of the active link 2210 is mainly used to control the lifting connection 2300 and the cleaning host 100 to rise and fall.

[0090] At the same time, the two driven links 2220 are movably connected to the device base 1000 and the lifting connection 2300, respectively. Therefore, the main function of the two driven links 2220 is to support the active link 2210 and the lifting connection 2300 when the active link 2210 controls the lifting connection 2300 to rise or fall, thereby improving the lifting stability of the cleaning host 100. Among them, the driven link 2220 connected to the device base 1000 mainly uses the device base 1000 as a basis to provide stability support for the active link 2210. The driven link 2220 connected to the lifting connection 2300 mainly uses the active link 2210 as a basis to provide stability support for the lifting connection 2300, so that the lifting connection 2300 can obtain support at two points: the active link 2210 and the driven link 2220.

[0091] Regarding the interconnection between the active link 2210 and the two driven links 2220, in one embodiment, refer to Figure 9As shown, the active connecting rod 2210 includes a driven tooth portion 2211, a rotating shaft portion 2212, and an active sliding portion 2213. The rotating shaft portion 2212 is located between the driven tooth portion 2211 and the active sliding portion 2213. For example, the driven tooth portion 2211 and the active sliding portion 2213 may be located at opposite ends of the active connecting rod 2210, respectively, while the rotating shaft portion 2212 may be located approximately in the center of the active connecting rod 2210. In this case, a driving gear 2110 is provided at the output end of the first driver 2100. The driving gear 2110 of the first driver 2100 engages with the driven tooth portion 2211 of the active connecting rod 2210, thereby driving the active connecting rod 2210 to rotate around a fixed axis via a gear drive. The output end (e.g., output shaft) of the first driver 2100 may be provided with a motor shaft core having a cross surface, triangular surface, or other anisotropic surface. The motor shaft core may be assembled with the driving gear 2110 via its cross surface, triangular surface, or other anisotropic surface. The driven tooth portion 2211 of the active connecting rod 2210 can be provided with a center axis or a center hole, and the device base 1000 can be provided with a center hole or a center axis accordingly, so that the center axis or the center hole of the driven tooth portion 2211 can be rotatably installed on the center hole or the center axis of the device base 1000, ensuring that the driven tooth portion 2211 of the active connecting rod 2210 can be driven by the first driver 2100 and rotated about a fixed axis relative to the fixed position of the device base 1000, thereby ensuring the stability of the rotation and the accuracy of the meshing transmission.

[0092] The lifting connection member 2300 is provided with an active sliding track 1001, and the active sliding portion 2213 of the active connecting rod 2210 is slidably assembled with the active sliding track 1001 of the lifting connection member 2300. Figure 10 and Figure 11 As shown, when the active connecting rod 2210 rotates along a fixed axis, the active sliding portion 2213 slides along the active sliding track 1001, and the lifting connection member 2300 can be driven to rise or fall through the sliding cooperation between the two.

[0093] The two driven links 2220 are rotatably connected to the rotating shaft portion 2212 of the active link 2210. Therefore, the two driven links 2220 can be rotatably connected to the center position of the active link 2210. As the active link 2210 rotates, the two driven links 2220 are driven to rotate synchronously. In one embodiment, the two driven links 2220 can be respectively provided with a driven sliding portion 2221 and a driven rotating portion 2222. The device base 1000 is provided with a driven sliding track 2310. The driven sliding portion 2221 is slidably assembled with the driven sliding track 2310 of the device base 1000. Therefore, as shown in FIG. Figure 10 and Figure 11As shown, when the driven link 2220 provided with the driven sliding portion 2221 rotates, the driven sliding portion 2221 slides along the driven sliding track 2310. The driven rotating portion 2222 is rotatably connected to the device base 1000, so that Figure 10 and Figure 11 As shown, when the driven connecting rod 2220 provided with the driven rotating part 2222 rotates, the driven rotating part 2222 rotates along a base point of the device base 1000.

[0094] In one embodiment, the active sliding track 1001 and the driven sliding track 2310 can be set to be parallel to each other, and the rotation angle of the active link 2210 and the driven link 2220 can match the distance that the active sliding part 2213 and the driven sliding part 2221 slide on the active sliding track 1001 and the driven sliding track 2310. For example, the track lengths of the active sliding track 1001 and the driven sliding track 2310 can be limited so that when the active sliding part 2213 slides to one end of the active sliding track 1001, the driven sliding part 2221 can also slide to one end of the driven sliding track 2310. When the active sliding part 2213 slides to the other end of the active sliding track 1001, the driven sliding part 2221 can also slide to the other end of the driven sliding track 2310.

[0095] In one embodiment, the driven sliding portion 2221 and the driven rotating portion 2222 may both be located at one end of the two driven links 2220, and the rotating shaft portion 2212 of the active link 2210 may be movably connected to the other ends of the two driven links 2220. In addition, the active sliding track 1001 and the driven sliding track 2310 may also be set to other relative positions that are not parallel to each other, and the active sliding track 1001 and the driven sliding track 2310 may also be set to any other non-linear track shape, such as a curved shape, a broken line shape, etc. Those skilled in the art may design the relative position relationship and respective shapes of the active sliding track 1001 and the driven sliding track 2310 according to actual needs, and no limitation is made here.

[0096] In the above technical solution, the rotating shaft portion 2212 can adopt a combination design of an axial hole and a rotating shaft to realize the rotational assembly of the driven connecting rod 2220, and the active sliding track 1001 and the driven sliding track 2310 can adopt a variety of track designs such as linear sliding holes and linear sliding grooves. Correspondingly, the active sliding portion 2213 and the driven sliding portion 2221 can adopt a raised structural design, such as a columnar member, a block member, etc., and can be simultaneously matched with a limit head, a limit cap, a limit screw and other structures to limit and lock the active sliding portion 2213 or the driven sliding portion 2221 in the active sliding track 1001 or the driven sliding track 2310 to prevent the active sliding portion 2213 or the driven sliding portion 2221 from escaping from the active sliding track 1001 or the driven sliding track 2310.

[0097] Regarding the aforementioned translation mechanism 3000, in one embodiment, the translation mechanism 3000 may include components such as a second actuator 3100, a translation assembly 3200, a translation connector 3300, a translation base 3400, and a translation cover 3500. The second actuator 3100 is disposed on the device base 1000. For example, the second actuator 3100 may be disposed on the translation base 3400, which is in turn connected to the device base 1000, thereby allowing the second actuator 3100 to be indirectly mounted to the device base 1000 via the translation base 3400. Furthermore, the translation cover 3500 may be disposed on the translation base 3400, so that after the second actuator 3100 is mounted on the translation base 3400, the translation cover 3500 can cover the second actuator 3100 on the translation base 3400, providing a certain degree of protection for the second actuator 3100.

[0098] See Figures 6 to 8 As shown, the translation assembly 3200 has the ability to translate back and forth along the translation trajectory. This translation ability can be achieved based on the morphological changes of the translation assembly 3200 itself, or based on the relative movement between the components included in the translation assembly 3200. For example, the translation assembly 3200 can adopt a gear rack structure, a transmission belt mechanism, a connecting rod structure, a screw structure, a telescopic rod structure and other structures, thereby achieving its translation ability to translate back and forth along the translation trajectory.

[0099] At this time, based on the translation capability of the translation assembly 3200, the second driver 3100 can be connected to the translation connector 3300 via the translation assembly 3200. The second driver 3100 drives the translation assembly 3200 to move, driving the translation connector 3300 to reciprocate along the translation trajectory. The translation connector 3300 is connected to the device base 1000. The translation assembly 3200 is configured to support the ground 10. With the ground 10 as support, the second driver 3100 drives the translation assembly 3200 to move, and the translation assembly 3200 drives the device base 1000 to reciprocate along the translation trajectory. Both the lifting mechanism 2000 and the cleaning host 100 can reciprocate along the translation trajectory with the device base 1000.

[0100] When the translation assembly 3200 is configured as a gear rack mechanism, in one embodiment, the translation assembly 3200 may include a translation gear 3210 and a translation rack 3220. The translation gear 3210 is disposed at the output end of the second driver 3100. Driven by the second driver 3100, the translation gear 3210 can be controlled to rotate about a fixed axis, and the translation gear 3210 is driven to engage with the translation rack 3220. There may be one or more translation gears 3210, and correspondingly, the same number of translation racks 3220 may be provided, such that each translation gear 3210 can be independently driven and engaged with a translation rack 3220.

[0101] In the above embodiment, the translation connector 3300 can be movably assembled relative to the translation rack 3220 along the translation trajectory. For example, one or more linear sliding limit structures can be provided between the translation connector 3300 and the translation rack 3220. The sliding limit structures can ensure that the translation connector 3300 can be movably assembled relative to the translation rack 3220 along the translation trajectory while maintaining the two in a continuous state during the sliding process. Furthermore, it can ensure that only the translation rack 3220 contacts and is supported by the ground, while the translation connector 3300 does not contact the ground.

[0102] For example, the sliding limit structure may employ sliding grooves and sliding protrusions disposed on the translation connector 3300 and the translation rack 3220, respectively. The sliding grooves and sliding protrusions may be used to slide relative to each other between the translation connector 3300 and the translation rack 3220. Alternatively, sliding components such as balls and slide posts may be provided between the translation connector 3300 and the translation rack 3220. These components may reduce friction between the translation connector 3300 and the translation rack 3220 during relative motion, thereby improving the smoothness of the sliding motion. Those skilled in the art may also employ other structures to achieve movable assembly between the two, which is not limited here.

[0103] In the above embodiment, the operation mode of the translation mechanism is: the second driver 3100 rotates to drive the translation gear 3210 to move on the translation rack 3220. The volume of the second driver 3100 may be larger than the radius of the two translation gears 3210. When the two translation gears 3210 move on the translation rack 3220 under the drive of the second driver 3100, the second driver 3100 can be driven to push the device base 1000 forward to achieve translation.

[0104] In addition, a pushing device can also be set on the second driver 3100 or other positions. The pushing device can be in contact with the device base 1000. When the second driver 3100 drives the translation gear 3210 to rotate, the pushing device can push the device base 1000 forward.

[0105] When the translation assembly 3200 is configured as a transmission belt 3250 mechanism, in another embodiment, the translation assembly 3200 may include a support base 3230, a pulley group 3240 and a transmission belt 3250, the pulley group 3240 includes at least two driving pulleys, the pulley group 3240 is movably assembled on the support base 3230, and the transmission belt 3250 is rotatably assembled on the support base 3230 through the pulley group 3240. For example, several driving pulleys in the pulley group 3240 are arranged on the support base 3230 along the transmission direction of the transmission belt 3250, and the transmission belt 3250 is wound around several driving pulleys. When the driving pulleys rotate, the transmission belt 3250 can be driven to rotate.

[0106] The transmission between the driving pulley and the transmission belt 3250 can be achieved by friction or by meshing transmission of the driving teeth, which is not limited here. In addition, the output end of the second driver is connected to the pulley group 3240 for driving, and the second driver can provide driving force. Under the drive of the second driver 3100, at least one driving pulley in the pulley group 3240 can be controlled to rotate on a fixed axis, thereby enabling the transmission belt 3250 to start rotating. The translation connection 3300 is connected to the transmission belt 3250. During the rotation of the transmission belt 3250, the translation connection 3300 can achieve translational motion. One or more pulley groups 3240 can be provided, and accordingly, the support base 3230 can also be provided with the same number.

[0107] In the above embodiment, one or more linear sliding stoppers may be provided between the translation connector 3300 and the support base 3230. These stoppers ensure that the translation connector 3300 can be movably assembled relative to the support base 3230 along the translation trajectory while maintaining the two in a continuous position during the sliding process. Furthermore, they ensure that only the support base 3230 contacts and is supported by the ground, while the translation connector 3300 does not contact the ground.

[0108] For example, the sliding limit structure can adopt a sliding groove and a sliding protrusion respectively provided on the translation connection member 3300 and the support base 3230. The sliding groove and the sliding protrusion can be assembled with each other to achieve relative sliding between the translation connection member 3300 and the support base 3230. Alternatively, a sliding component such as a ball bearing or a sliding column can be provided between the translation connection member 3300 and the support base 3230. When the translation connection member 3300 and the support base 3230 move relative to each other, the friction between the translation connection member 3300 and the support base 3230 can be reduced by the sliding component such as the ball bearing or the sliding column, thereby improving the smoothness of sliding. Those skilled in the art can also adopt other structures to achieve movable assembly between the two, which is not limited here.

[0109] At this time, the translation rack 3220 can be configured to support the ground 10, and one or more translation racks 3220 can be used to form a support for the entire cleaning robot on the ground 10. The second driver 3100 drives the translation gear 3210 to rotate, and can control the translation gear 3210 and the translation rack 3220 to engage with each other for transmission. At this time, the translation rack 3220 is supported on the ground 10 and maintains its position. The translation gear 3210 can then reversely drive the second driver 3100, the device base 1000, the lifting mechanism 2000 provided on the device base 1000, and the cleaning host 100 to reciprocate along the translation trajectory defined by the translation rack 3220, thereby achieving horizontal lateral translation movement of the cleaning robot.

[0110] In one embodiment, the cleaning machine 100 includes a machine body, a machine chassis 110, a bottom wheel assembly, a distance sensor 140, a controller, and a front impact plate 150. A storage chamber 111 is located within the machine body. The machine chassis 110 is located at the bottom of the machine body. The chamber opening of the storage chamber 111 is located on the machine chassis 110, allowing the climbing device 200 to enter and exit the storage chamber 111 of the machine body through the chamber opening of the machine chassis 110. The front impact plate 150 is located on the front side of the machine body to protect against frontal impact. The bottom wheel assembly is assembled on the main chassis 110, and the bottom wheel assembly includes a driving bottom wheel 120 and a driven bottom wheel 130. The distance sensor 140 is arranged on the front side of the main chassis 110. The distance sensor 140 is configured to obtain the front distance data between the front side of the main chassis 110 and the object to be climbed. The controller is connected to the control of the climbing device 200, and the controller is configured to control the operation of the climbing device 200 according to the front distance data.

[0111] In one embodiment, when the front distance data is less than or equal to a preset climbing distance, the controller is configured to control the operation of the climbing device based on the front distance data. The preset climbing distance here is the distance between the cleaning robot and the object to be climbed, specifically the straight-line distance between the front end of the cleaning robot and the object to be climbed when the cleaning robot is facing the object to be climbed. If the limit distance for the reciprocating motion of the translation mechanism 3000 along the translation trajectory is defined as a first distance, and the straight-line distance from the drive bottom wheel 120 to the front edge of the main chassis 110 is defined as a second distance, then the first distance can be defined as greater than the second distance. In other examples, the first distance is greater than or equal to the sum of the second distance and the preset climbing distance. For example, in some examples, the first distance is 10 mm to 20 mm greater than the second distance. In this case, the preset climbing distance can be defined as less than or equal to 10 mm. That is, when the front distance data is less than or equal to 10 mm, the controller is configured to control the operation of the climbing device 200 based on the front distance data.

[0112] For more information about the above design, please refer to Figures 15 to 18 As shown, you can also refer to Figures 2 to 5 Aid in understanding. When the cleaning host 100 of the cleaning robot moves along the translation trajectory, the distance sensor 140 can sense the surrounding environment in real time and obtain the front distance data between the front side of the host chassis 110 and the object to be climbed. For example, when the cleaning host 100 moves to the edge of the super-high step 20, the front distance data between the front side of the host chassis 110 and the edge of the super-high step 20 can be obtained through the distance sensor 140. The front distance data is limited to determine that the distance between the front side of the host chassis 110 and the edge of the super-high step 20 is as close as possible, and when the distance is less than the preset climbing distance, if the preset climbing distance is 10mm, then when the front distance data is less than or equal to 10mm, it can be judged that the climbing conditions are met. At this time, the controller can control the climbing device 200 to operate and start climbing.

[0113] like Figure 15 As shown, the lifting mechanism 2000 of the climbing device 200 can start working first, controlling the cleaning host 100 to rise slowly and steadily. Figure 15 After reaching the lifting state shown, the angle between the central axis of the active connecting rod 2210 and the ground 10 is Ang1, the active sliding portion 2213 of the active connecting rod 2210 reaches the left limit position of the active sliding track 1001, and the driven sliding portion 2221 of the driven connecting rod 2220 reaches the left limit position of the driven sliding track 2310. At this time, it indicates that the lifting mechanism 2000 has reached the highest point and the lifting action of the cleaning host 100 is completed.

[0114] At this time, the distance between the lowest point of the driving bottom wheel 120 of the cleaning host 100 and the ground 10 is D, the distance between the bottom surface of the main chassis 110 of the cleaning host 100 and the ground 10 is D1, the center distance of the active connecting rod 2210 is D2, the distance between the center of the active sliding part 2213 and the center of the driven sliding part 2221 is D3, the angle between the central axis of the active connecting rod 2210 and the center line of the driven connecting rod 2220 is Ang2, and the center distance between the two translation racks 3220 is marked as D4.

[0115] See Figure 16 As shown, when the cleaning robot is in a non-lifted state, the distance between the bottom surface of the main chassis 110 of the cleaning main body 100 and the ground 10 is D1', the distance between the center of the active sliding part 2213 and the center of the driven sliding part 2221 is D3', the angle between the central axis of the active connecting rod 2210 and the ground 10 is Ang1', and the angle between the central axis of the active connecting rod 2210 and the center line of the driven connecting rod 2220 is Ang2'.

[0116] In summary, the height to which the cleaning host 100 can be lifted is D.

[0117] In this embodiment, the lift height D is determined by D2, which is limited by the robot's diameter φ. Furthermore, D3 determines the stability of the lift cleaning machine 100. Together, D2 and D3 determine the maximum lift height D. In a preferred embodiment, D2 < φ and D3 ≥ 1 / 4 * φ are specified.

[0118] like Figure 17 As shown, the height of the step 20 is generally D0. In this embodiment, D>D0, and the cleaning host 100 needs to be lifted to a height where the driving bottom wheel 120 is higher than the step 20. After being lifted to the highest position, the translation mechanism 3000 will start to drive the cleaning host 100 to move forward in parallel.

[0119] like Figure 18 As shown, the length of the translation rack 3220 can be set to D6, where D6 = D5 + (10mm-20mm). This ensures that the drive wheels 120 have sufficient grip to propel the cleaning robot 100 forward. After the cleaning robot 100 has translated over the distance D6, it can now move autonomously based on the drive wheels 120. At this point, the lifting mechanism 2000 can be retracted, completing the climbing process. If the robot reaches the next step 20, the above process can be repeated to climb that step, expanding the cleaning range of the cleaning robot.

[0120] It should be noted that Figures 15 to 18The various data and corresponding data descriptions shown in the figure represent the dimensional design of the climbing device 200 in one embodiment, primarily the dimensional design and coordination of the various components of the lifting mechanism 2000 and the translation mechanism 3000. Based on the above dimensional design, those skilled in the art may appropriately adjust the dimensional design and coordination of the various components of the lifting mechanism 2000 and the translation mechanism 3000 based on the same or similar design concepts, thereby adjusting the lifting and translation capabilities of the climbing device 200 according to actual climbing conditions, without limitation herein.

[0121] As can be seen from the above, the climbing device 200 of the present application is modular and compact. It can lift and translate the cleaning robot, enabling it to climb stairs or cross over high thresholds. Its climbing height can be dynamically adjusted based on the actual obstacle height, thereby improving the cleaning robot's applicability in overcoming obstacles. When the climbing function is not in use, the climbing device 200 can be hidden within the cleaning robot, and its lifting method is achieved by folding arms, so the lifting height it can provide is not limited by the height of the cleaning robot.

[0122] In addition, the present invention also provides a climbing method, which is implemented based on the cleaning robot described above, and the climbing method includes:

[0123] S101, determining an object to be climbed;

[0124] The object to be climbed can be a general obstacle, which the cleaning robot can overcome using the climbing device. The object to be climbed can also be a platform to be climbed, such as steps 20, which the cleaning robot can climb to using the climbing device. The platforms to be climbed can be multiple, such as stairs, in which case the cleaning robot can climb each platform one by one using the climbing device.

[0125] Determining the object to be climbed includes at least determining the height and position of the object to be climbed, and in some other examples, also includes determining the width of the object to be climbed to determine whether the cleaning robot can climb onto the object to be climbed.

[0126] S102, determining a climbing posture of the cleaning robot according to the object to be climbed, and moving the cleaning robot to the climbing posture;

[0127] The climbing posture includes position and attitude (the direction of the cleaning robot's forward travel). The cleaning robot's climbing position can be determined based on the location of the object to be climbed. When the cleaning robot moves to the climbing position, its attitude (the direction of the cleaning robot's forward travel) needs to be adjusted before climbing to facilitate the climbing process. The preset posture is the cleaning robot's optimal posture before climbing the object to be climbed. For example, for a climbing platform, the preset posture may be the cleaning robot facing the platform, perpendicular to the tangent line of the translation mechanism 3000 and the platform to be climbed.

[0128] S103, driving the lifting mechanism 2000 to unfold, so as to lift the cleaning robot to a preset height, the preset height being greater than or equal to the height of the object to be climbed;

[0129] S104, driving the translation mechanism 3000 to move the lifting mechanism 2000 along the translation trajectory by a preset distance until the cleaning robot can be placed on the object to be climbed;

[0130] S105 , controlling the lifting mechanism 2000 and the translation mechanism 3000 to retract, so that the lifting mechanism 2000 and the translation mechanism 3000 are stored in the storage chamber.

[0131] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A climbing device, characterized in that: The climbing device comprises: Device base; A lifting mechanism, the lifting mechanism being arranged on the device base, the lifting mechanism comprising a first driver, a lifting assembly and a lifting connector, the lifting assembly being capable of rising and falling along a lifting trajectory, the first driver being connected to the lifting connector via the lifting assembly, and being used to drive the lifting connector to rise or fall along the lifting trajectory, the lifting connector being configured to be connected to a cleaning host; A translation mechanism is provided on the device base, and is configured to at least drive the lifting mechanism to reciprocate along a translation trajectory.

2. The climbing device according to claim 1, characterized in that The lifting assembly is configured as a connecting rod structure; and / or, The lifting assembly includes an active connecting rod and at least one driven connecting rod, the first driver is arranged on the device base, the output end of the first driver is connected to the active connecting rod, the active connecting rod is movably connected to the driven connecting rod, and the active connecting rod and at least one driven connecting rod are movably connected to the device base and the lifting connecting member respectively.

3. The climbing device according to claim 2, characterized in that: The lifting assembly includes two driven links; the active link is movably connected to the lifting connection piece, the two driven links are both movably connected to the active link, and the two driven links are respectively movably connected to the device base and the lifting connection piece.

4. The climbing device according to claim 3, characterized in that: The active connecting rod is provided with a driven tooth portion, a rotating shaft portion and an active sliding portion, wherein the rotating shaft portion is located between the driven tooth portion and the active sliding portion; A driving gear is provided at the output end of the first driver, and the driving gear of the first driver is driven to engage with the driven tooth portion of the active connecting rod. The lifting connecting member is provided with an active sliding track, and the active sliding portion of the active connecting rod is slidably assembled with the active sliding track of the lifting connecting member. The two driven connecting rods are rotatably connected to the rotating shaft portion of the active connecting rod.

5. The climbing device according to claim 4, characterized in that: The two driven connecting rods are respectively provided with a driven sliding part and a driven rotating part. The device base is provided with a driven sliding track. The driven sliding part is slidably assembled with the driven sliding track of the device base. The driven rotating part is rotationally connected to the device base.

6. The climbing device according to claim 5, characterized in that: The driven tooth portion and the active sliding portion are respectively located at two ends of the active connecting rod; and / or, The active sliding track and the driven sliding track are parallel to each other, and when the active sliding part slides to one end of the active sliding track, the driven sliding part slides to one end of the driven sliding track, and when the active sliding part slides to the other end of the active sliding track, the driven sliding part slides to the other end of the driven sliding track; and / or, The driven sliding portion and the driven rotating portion are both located at one end of the two driven connecting rods, and the rotating shaft portion of the active connecting rod is movably connected to the other ends of the two driven connecting rods.

7. The climbing device according to claim 1, characterized in that: The translation mechanism comprises: A second driver, a translation assembly and a translation connector, wherein the second driver is arranged on the base of the device, the translation assembly has the ability to reciprocate along a translation trajectory, the second driver is connected to the translation connector through the translation assembly, and is used to drive the translation connector to move along the translation trajectory, the translation connector is connected to the base of the device, and the translation assembly is configured to support the ground.

8. The climbing device according to claim 7, characterized in that: The translation assembly is configured as a rack and pinion mechanism; and / or, The translation assembly includes a translation gear and a translation rack, the translation gear is arranged at the output end of the second driver, the translation connecting member is movably assembled relative to the translation rack along the translation trajectory, the translation gear is driven to engage with the translation rack, and the translation rack is configured to support the ground.

9. The climbing device according to claim 7, characterized in that: The translation assembly is configured as a belt mechanism; and / or, The translation assembly includes a support base, a pulley group and a transmission belt, the pulley group includes at least two driving pulleys, the pulley group is movably assembled on the support base, the transmission belt is rotatably assembled on the support base through the pulley group, the output end of the second drive is connected to the pulley group, and the translation connector is connected to the transmission belt.

10. A cleaning robot, characterized in that: The cleaning robot comprises: A cleaning host, wherein a storage chamber is provided at the bottom of the cleaning host; The climbing device according to any one of claims 1 to 9, wherein the climbing device is assembled at the bottom of the cleaning host, the lifting connector of the climbing device is connected to the cleaning host, the climbing device has an expanded state and a stored state, and the climbing device is configured to be stored in the storage chamber in the stored state.

11. The cleaning robot according to claim 10, characterized in that: The cleaning host comprises: a mainframe chassis, wherein the chamber opening of the storage chamber is opened on the mainframe chassis; A bottom wheel assembly, the bottom wheel assembly is assembled on the main chassis, and the bottom wheel assembly includes a driving bottom wheel and a driven bottom wheel; A distance sensor configured to obtain front distance data between the front side of the cleaning host and the object to be climbed; A controller is control-connected to the climbing device, and is configured to control the operation of the climbing device according to the front distance data.

12. The cleaning robot according to claim 11, characterized in that: The limit distance of the reciprocating motion of the translation mechanism along the translation trajectory is a first distance, the straight-line distance from the driving bottom wheel to the front edge of the main chassis is a second distance, and the first distance is greater than the second distance.

13. The cleaning robot according to claim 12, characterized in that: When the front distance data is less than or equal to a preset climbing distance, the controller is configured to control the operation of the climbing device according to the front distance data; and / or, The first distance is greater than or equal to the sum of the second distance and the preset climbing distance.

14. A climbing method based on the cleaning robot according to any one of claims 10 to 13, characterized in that: The climbing method comprises: Determine the object to be climbed; Determining a climbing posture of the cleaning robot according to the object to be climbed, and moving the cleaning robot to the climbing posture; Driving the lifting mechanism to unfold, so as to lift the cleaning robot to a preset height, wherein the preset height is greater than or equal to the height of the object to be climbed; driving the translation mechanism to move the lifting mechanism along the translation trajectory for a preset distance until the cleaning robot can be placed on the object to be climbed; The lifting mechanism and the translation mechanism are controlled to be retracted so as to be stored in the storage chamber of the cleaning robot.

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