Suspension mechanism

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a suspension mechanism which comprises an elastic part and a driving part, and the elastic part is connected with a wheel body of the cleaning equipment; the elastic piece is connected with the device body of the cleaning device through the driving piece, and the driving piece can adjust the acting force of the elastic piece acting on the wheel body of the cleaning device so that the cleaning device can adapt to the condition of the to-be-cleaned face. According to the suspension mechanism, due to the fact that the elastic piece is connected with the wheel body and the equipment body, vibration generated in the running process of the cleaning equipment is absorbed through the elasticity of the elastic piece; the acting force of the elastic piece on the wheel body is adjusted through the driving piece, so that the suspension strength of the suspension mechanism is adjusted, and the cleaning equipment can adapt to the condition of a to-be-cleaned face.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning equipment, and particularly relates to a suspension mechanism. BACKGROUND

[0002] Suspension strength of the suspension mechanism is the ability of the suspension system to withstand the maximum load or stress without damage. The greater the suspension strength, the better the obstacle crossing ability and the higher the passability. However, for the cleaning equipment, if the suspension strength increases, the adsorption force of the cleaning equipment decreases, which affects the cleaning strength of the cleaning equipment.

[0003] The suspension strength of the suspension mechanism in the related art cannot be adjusted, which makes it difficult for the cleaning equipment to balance the obstacle crossing ability and the cleaning strength. SUMMARY

[0004] The present application aims to at least be able to solve the technical problem that the suspension strength of the suspension mechanism cannot be adjusted. To this end, the present application provides a suspension mechanism, which drives the suspension end to move relative to the equipment body by the driving member, so that the length of the elastic member changes, and then the suspension strength of the suspension mechanism is adjusted.

[0005] The present application also discloses a cleaning equipment.

[0006] The present application also discloses a cleaning system.

[0007] The suspension mechanism provided by the first aspect of the present application is installed on a cleaning equipment, which comprises:

[0008] An elastic member, which is connected with a wheel body of the cleaning equipment;

[0009] A driving member, which connects the elastic member with an equipment body of the cleaning equipment, and adjusts the acting force of the elastic member on the wheel body of the cleaning equipment, so that the cleaning equipment adapts to the condition of the surface to be cleaned.

[0010] In some embodiments, the elastic member has a connecting end and a suspension end, the connecting end is used to connect with the wheel body of the cleaning equipment, and the suspension end is used to connect with the driving member; the driving member is suitable for driving the suspension end to move relative to the equipment body of the cleaning equipment.

[0011] In some embodiments, the suspension end moves relative to the wheel body along the extension direction of the elastic member.

[0012] In some embodiments, the extension direction of the elastic member is the same as the advancing direction of the cleaning equipment.

[0013] In some embodiments, the driving member is installed on the equipment body of the cleaning equipment.

[0014] In some embodiments, the driving member is an electromagnet, and the hanging end is provided with a sliding part, which is at least partially magnetic substance, and the electromagnet is installed on the device body of the cleaning device.

[0015] In some embodiments, when the electromagnet is powered on, the sliding part moves towards the electromagnet; and when the electromagnet is powered off, the elastic member restores.

[0016] In some embodiments, the hanging mechanism further comprises a force transmission member, which connects the elastic member and the wheel body of the cleaning device; and the force transmission member converts the elastic force of the elastic member into a downward pressure on the wheel body of the cleaning device.

[0017] In some embodiments, the force transmission member has a first arm and a second arm, which intersect at a fulcrum, and the force transmission member is hinged to the device body of the cleaning device through the fulcrum; the first arm is connected to the connecting end, and the second arm is connected to the wheel body of the cleaning device.

[0018] In some embodiments, the hanging mechanism comprises one driving member and at least two elastic members, each of which is connected to a corresponding wheel body of the cleaning device, and the hanging end of each elastic member is in driving connection with the same driving member.

[0019] In some embodiments, the hanging mechanism comprises a reversing member, and the elastic member and the driving member are located on the same side of the reversing member; the reversing member connects the driving member and the hanging end, and the reversing member is adapted to change the driving direction of the driving member.

[0020] In some embodiments, the reversing member is a rod body, which is hinged to the device body of the cleaning device to form a hinge point between a first end and a second end of the rod body, the first end is connected to the hanging end, and the second end is connected to the driving member.

[0021] In some embodiments, the driving member is an electromagnet, and the second end is provided with a moving part, which is at least partially magnetic substance, and when the electromagnet is powered on, the moving part moves towards the electromagnet.

[0022] In some embodiments, the suspension mechanism further comprises a screw rod, the screw rod comprising a screw and a sliding block, the sliding block being sleeved on the screw and threadedly matched with the screw; the driving member is an electric motor, the electric motor having a driving shaft, the driving shaft being fixedly connected with the screw, and the sliding block being drivingly connected with the elastic member; the driving member drives the screw to rotate through the driving shaft, so that the elastic member is elongated or shortened.

[0023] In some embodiments, the suspension mechanism further comprises a limiting member, the limiting member being suitable for limiting the displacement of the second end.

[0024] In some embodiments, the limiting member is a rope, the rope connecting the second end and the electromagnet.

[0025] In some embodiments, the elastic member is one of a spring, an elastic rope and a rubber band.

[0026] The second aspect of the embodiments of the present application provides a cleaning device, comprising a device body, a wheel body and the suspension mechanism according to any one of the first aspect of the embodiments.

[0027] In some embodiments, the suspension end is provided with a sliding part, the device body is provided with a track, and the sliding part moves on the track.

[0028] The third aspect of the embodiments of the present application provides a cleaning system, comprising a base station and the suspension mechanism according to any one of the first aspect of the embodiments or the cleaning device according to any one of the second aspect of the embodiments.

[0029] The embodiments of the present application have at least the following beneficial effects:

[0030] Since the elastic member connects the wheel body and the device body, the elasticity of the elastic member is used to absorb the vibration in the driving process of the cleaning device; the driving member is used to adjust the acting force of the elastic member on the wheel body, so as to adjust the suspension strength of the suspension mechanism, and the cleaning device can adapt to the condition of the surface to be cleaned. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0032] Figure 1 Fig. 1 shows a schematic diagram of the internal structure of the cleaning device according to an embodiment of the present application;

[0033] Figure 2Fig. 2 shows a schematic view of the internal structure of the cleaning device according to an embodiment of the present application;

[0034] Figure 3 Fig. 3 shows a schematic view of the internal structure of the cleaning device according to an embodiment of the present application;

[0035] Figure 4 Fig. 4 shows a schematic view of the internal structure of the cleaning device according to an embodiment of the present application.

[0036] Reference signs:

[0037] 100, elastic member; 110, connecting end; 120, hanging end; 121, sliding part;

[0038] 200, driving member;

[0039] 300, wheel body;

[0040] 400, device body;

[0041] 500, force transmission member; 510, first arm; 520, second arm; 530, fulcrum;

[0042] 600, reversing member; 610, hinged point; 620, first end; 630, second end; 631, moving part;

[0043] 700, limiting member;

[0044] 800, track;

[0045] 900, take-up box. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0047] In addition, the present application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0048] Suspension strength of the suspension mechanism, the maximum load or stress that the suspension system can withstand without failure. The greater the suspension strength, the better the obstacle-avoiding ability and the higher the passability. However, for the cleaning device, if the suspension strength increases, the cleaning device improves the obstacle-avoiding ability, but is affected by the suspension mechanism, resulting in a decrease in the adsorption force of the cleaning device, affecting the cleaning strength.

[0049] The suspension strength of the suspension mechanism in the related art cannot be adjusted, so that the cleaning device is difficult to balance the obstacle-avoiding ability and the cleaning strength. If the suspension strength is large, the passability can be guaranteed, but the adsorption force of the robot is reduced; if the suspension strength is small, the adsorption force of the robot is guaranteed, but the obstacle-avoiding ability is reduced. Furthermore, the suspension springs of different manufacturers and different batches may have slight differences, resulting in different passabilities of the suspension mechanisms of the same design, which is difficult to unify. Moreover, the springs in the suspension mechanism are often used for a long time, which is easy to cause the phenomenon of elastic creep.

[0050] The present application will be described below in conjunction with the accompanying drawings and specific embodiments:

[0051] The first aspect of the present application provides a suspension mechanism installed on a cleaning device, please refer to Figures 1 to 3 The suspension mechanism includes an elastic member 100 and a driving member 200, the elastic member 100 is connected with a wheel body 300 of the cleaning device; the elastic member 100 is connected with a device body 400 of the cleaning device through the driving member 200, the driving member 200 can adjust the force of the elastic member 100 acting on the wheel body 300 of the cleaning device, so that the cleaning device can adapt to the condition of the cleaning surface.

[0052] Since the elastic member 100 is connected with the wheel body 300, the vibration during the driving of the cleaning device is absorbed by the elasticity of the elastic member 100; the force of the elastic member 100 acting on the wheel body 300 is adjusted by the driving member 200, so that the suspension strength of the suspension mechanism is adjusted, and the cleaning device can adapt to the condition of the cleaning surface.

[0053] For example, when the cleaning device stably drives on the uneven cleaning surface, the force of the elastic member 100 acting on the wheel body 300 of the cleaning device is increased, and the suspension strength is increased to ensure the stability of the driving of the cleaning device; when driving on the relatively flat cleaning surface, the force of the elastic member 100 acting on the wheel body 300 of the cleaning device is reduced, and the suspension strength is reduced to improve the adsorption force of the cleaning device, and thus improve the cleaning strength.

[0054] In some embodiments, the elastic member 100 has a connecting end 110 and a suspension end 120, the connecting end 110 is used to connect with the wheel body 300 of the cleaning device, and the suspension end 120 is used to connect with the driving member 200; the driving member 200 is suitable for driving the suspension end 120 to move relative to the device body 400 of the cleaning device.

[0055] The drive component 200 drives the suspension end 120 to move relative to the equipment body 400, causing the length of the elastic component 100 to change, thereby increasing or decreasing the force exerted by the elastic component 100 on the wheel body 300 of the cleaning equipment, and thus adjusting the suspension strength of the suspension mechanism.

[0056] This invention utilizes the elastic force of the elastic element 100 to apply downward pressure to the wheel 300, allowing the cleaning device to travel in close contact with the surface to be cleaned while maintaining the stability of the device body 400 when traversing obstacles, thereby improving the stability of the cleaning device. By adjusting the elasticity of the elastic element 100, the suspension strength of the cleaning device can be adjusted. For example, when traveling on uneven surfaces, increasing the suspension strength improves passability, allowing the wheel 300 to travel stably in close contact with the surface. When traveling on relatively flat surfaces, decreasing the suspension strength increases the suction force of the cleaning device, allowing the device body 400 to stay in close contact with the surface, facilitating the cleaning components mounted on the device body 400 to clean the surface. The cleaning components can be brushes, cloths, or vacuum systems, etc. The surface to be cleaned can be the ground, building facades, glass surfaces, etc.

[0057] When driving on a relatively flat surface to be cleaned, reducing the suspension strength allows the elastic element 100 of the suspension mechanism to relax, reducing the load on the elastic element 100 and thus increasing the lifespan of the suspension mechanism. In the operating state of the suspension mechanism, the elastic element 100 is typically in a stretched state, using its tension to apply downward pressure to the wheel 300. In other embodiments, the elastic element 100 may also be in a compressed state during the operating state of the suspension mechanism.

[0058] In some embodiments, the elastic element 100 is one of a spring, elastic rope, or rubber band, which will not be listed individually in this invention.

[0059] The embodiments of the present invention can adjust the suspension strength of the cleaning equipment by adjusting the elasticity of the elastic element 100, which helps to ensure that the suspension mechanism using springs from different manufacturers or different batches maintains a consistent suspension strength, and facilitates suspension design.

[0060] Please see Figure 2 In some embodiments, the suspension end 120 is along the extension / retraction direction of the elastic element 100 (e.g., Figure 2 The a direction of the suspension end 120 moves relative to the wheel body 300 to stretch or contract the elastic element 100, thereby maximizing the change in elasticity of the elastic element 100 while keeping the suspension end 120 within the smallest possible travel distance.

[0061] Please see Figure 2In some embodiments, the stretching direction of the elastic element 100 is the same as the forward direction of the cleaning device. Taking the forward direction of the cleaning device as the length direction, since the stretching of the elastic element 100 requires a certain amount of space, having the stretching direction of the elastic element 100 the same as the forward direction of the cleaning device can minimize the width or height dimensions of the cleaning device, reducing the inconvenience caused by the cleaning device being too tall or too wide. It should be noted that having the stretching direction of the elastic element 100 and the forward direction of the cleaning device the same can be either completely consistent or form an acute angle with each other.

[0062] Please see Figure 2 In some embodiments, the drive element 200 is mounted on the device body 400 of the cleaning device, and the suspension end 120 is moved relative to the device body 400 by the drive element 200 to adjust the suspension strength of the suspension mechanism.

[0063] Please see Figure 2 In some embodiments, the driving member 200 is an electromagnet, and the suspension end 120 is provided with a sliding part 121. The sliding part 121 is at least partially made of magnetic material. The electromagnet is mounted on the device body 400 of the cleaning equipment. When the electromagnet is energized, the sliding part 121 moves toward the electromagnet. When the electromagnet is de-energized, the elastic member 100 returns to its original state.

[0064] Understandably, when energized, the electromagnet generates a magnetic field to attract the sliding part 121, causing the sliding part 121 to move toward the electromagnet. As the sliding part 121 moves, the elastic element 100 stretches, the elastic force increases, and the suspension strength increases. When the power is off, the elastic element 100 returns to its original state due to the elastic force of the elastic element 100, the elastic force decreases, the suspension strength decreases, the adsorption of the cleaning equipment increases, and the cleaning effect is improved.

[0065] The sliding part 121 can be connected to the suspension end 120 by welding or gluing, or it can be integrally formed with the suspension end 120. Alternatively, the sliding part 121 can be a part of the suspension end 120. The sliding part 121 can be block-shaped, column-shaped, or other shapes. The specific shape of the sliding part 121 is not particularly limited in this embodiment of the invention. The sliding part 121 can be entirely or partially made of magnetic material, as long as it can be attracted by an electromagnet when energized. The magnetic material can be metal.

[0066] In some embodiments, the suspension mechanism further includes a lead screw, which comprises a screw rod and a slider. The slider is sleeved on the screw rod and threadedly engaged with it. The drive member 200 is a motor with a drive shaft fixedly connected to the screw rod. The slider is driven by the elastic member 100, so that the drive member 200 drives the screw rod to rotate via the drive shaft, causing the elastic member 100 to extend or shorten. Furthermore, the slider is driven by the sliding part 121. The drive member 200 drives the screw rod to rotate via the drive shaft, causing the sliding part 121 to move. Through the cooperation of the motor and the lead screw, the sliding part 121 moves along the extension / retraction direction of the elastic member 100 under the drive of the drive member 200, thereby changing the force exerted by the elastic member 100 on the wheel 300, and thus adjusting the suspension strength of the cleaning equipment to adapt to different conditions of the surfaces to be cleaned. The screw rod can be arranged along the extension direction of the elastic member, so that the slider moves along the extension direction of the elastic member 100, allowing the sliding part 121 to change the extension or shortening of the elastic member 100 with the smallest possible stroke.

[0067] It should be noted that the elastic element 100 can be restored to a relaxed state, with the suspension mechanism not applying pressure to the wheel 300; or it can be formed by setting a limiting structure to restrict the movement of the sliding part 121, so that the elastic element 100 is restored to the initial state after power failure. At this time, the elasticity is reduced, but the elastic element 100 is still in a stretched state, so that the suspension mechanism can continue to work with a smaller suspension strength without affecting the adsorption of the cleaning equipment.

[0068] Please see Figure 2 In some embodiments, the suspension mechanism further includes a force transmission member 500, which connects the elastic member 100 and the wheel 300 of the cleaning device. The force transmission member 500 converts the elastic force of the elastic member 100 into downward pressure on the wheel 300 of the cleaning device. The force transmission member 500 transmits the elastic force of the elastic member 100 and converts it into downward pressure on the wheel 300 to ensure the smooth operation of the cleaning device. The elastic member 100 does not directly act on the wheel 300. When installing the elastic member 100, it can be installed according to the internal structure of the cleaning device, without needing to install it based on the position of the wheel 300. This is beneficial for the internal layout of the cleaning device, making the overall structure of the cleaning device more compact and facilitating its miniaturization.

[0069] Please see Figure 2In some embodiments, the force transmission member 500 has a first arm 510 and a second arm 520, which intersect at a fulcrum 530. The force transmission member 500 is hinged to the equipment body 400 of the cleaning equipment via the fulcrum 530, allowing the force transmission member 500 to rotate relative to the equipment body 400 around the fulcrum 530. The first arm 510 is connected to the connecting end 110, and the second arm 520 is connected to the wheel 300 of the cleaning equipment. When crossing obstacles, the force transmission member 500 rotates relative to the equipment body 400 under the pulling force of the elastic member 100. The torque generated by the rotation is converted into a downward force on the wheel 300, keeping the cleaning equipment stable during operation. The direction of the elastic force can be changed by the simple movement of the force transmission member 500. The fulcrum 530 can be set lower than the elastic member 100 to facilitate the elastic member 100 pulling the force transmission member 500 to rotate.

[0070] Please see Figure 2 In some embodiments, the elastic element 100 is arranged laterally, which helps to reduce the vertical dimensions of the cleaning equipment, lower the center of gravity of the cleaning equipment during travel, and improve the stability of the cleaning equipment during travel.

[0071] Please see Figure 3 In some embodiments, the suspension mechanism includes a drive member and at least two elastic members 100. Each elastic member 100 is connected to a corresponding wheel 300 of the cleaning device. Multiple elastic members 100 can adjust each wheel 300 individually, effectively distributing and absorbing the impact from the surface to be cleaned, reducing the swaying of the device body 400, improving driving stability, and simultaneously improving the contact between the wheel 300 and the road surface, enhancing grip and maneuverability. The suspension end 120 of each elastic member 100 is connected to the same drive member 200, allowing control of each wheel 300 through a single drive member 200. A single suspension mechanism can act on multiple wheels 300, reducing costs while facilitating unified control and management of each wheel 300.

[0072] Please see Figure 3 In some embodiments, the suspension mechanism includes a reversing member 600, with the elastic member 100 and the driving member 200 located on the same side of the reversing member 600. This can reduce the size of the suspension mechanism to a certain extent and provide sufficient space for the movement of the elastic member 100. The reversing member 600 connects the driving member 200 and the suspension end 120, and the reversing member 600 is adapted to change the driving direction of the driving member 200. Through the action of the reversing member 600, the driving member 200, located on the same side as the elastic member 100, can drive the elastic member 100 to stretch.

[0073] Please see Figure 3In some embodiments, the reversing member 600 is a rod, which is hinged to the equipment body 400 of the cleaning device to form a hinge point 610. The hinge point 610 is located between the first end 620 and the second end 630 of the rod. The first end 620 is connected to the suspension end 120, and the second end 630 is correspondingly connected to the driving member 200. When the driving member 200 pulls the second end 630 toward the driving member 200, it is subjected to a force, and the first end 620 moves in the opposite direction to drive the suspension end 120 to move, causing the elastic member 100 to extend, the elastic force to increase, and the suspension strength to increase. Generally, the rod can be round or square, and the embodiments of the present invention do not make any particular limitation in this regard. The first end 620 and the suspension end 120 can be integrally formed, or they can be connected by steel wire, or by welding, etc., and the embodiments of the present invention do not make any particular limitation in this regard.

[0074] Please see Figures 2 to 3 In some embodiments, the driving member 200 is an electromagnet, and the second end 630 is provided with a moving part 631. The moving part 631 is at least partially made of magnetic material. When the electromagnet is energized, the moving part 631 moves toward the electromagnet.

[0075] Understandably, when energized, the electromagnet generates a magnetic field to attract the moving part 631, causing it to move towards the electromagnet. As the moving part 631 moves, the second end 630 moves towards the electromagnet, while the first end 620 moves in the opposite direction, causing the elastic element 100 to stretch, increasing the elastic force and improving the suspension strength. When de-energized, the elastic element 100 returns to its original state due to the elastic force, reducing the elastic force and suspension strength. This improves the adsorption of the cleaning equipment and enhances the cleaning effect.

[0076] The movable part 631 can be connected to the second end 630 by welding or gluing, or it can be integrally formed with the second end 630. Alternatively, the movable part 631 can be a part of the second end 630. The movable part 631 can be block-shaped, columnar, or other shapes; the specific shape of the movable part 631 is not particularly limited in this embodiment of the invention. The movable part 631 can be entirely or partially made of magnetic material, as long as it can be attracted by an electromagnet when energized. The magnetic material can be metal.

[0077] Please see Figure 3 In some embodiments, the distance between the second end 630 and the hinge point 610 is smaller than the distance between the first end 620 and the hinge point 610, so that the movement of the moving part 631 can drive the elastic element 100 to stretch to its maximum length with a small displacement, thereby reducing the energy loss of the moving part 631 during the sliding process, improving the energy transfer efficiency, and eliminating the need to reserve a lot of activity space for the moving part 631, which is conducive to the miniaturization of the overall cleaning equipment.

[0078] Please seeFigure 3 In some embodiments, the suspension mechanism further includes a limiting member 700, which is used to limit the displacement of the second end 630, preventing the second end 630 from continuing to move beyond its predetermined stroke due to the elastic force of the elastic member 100 or inertia after the electromagnet is de-energized. The limiting member 700 can restrict the movement of the second end 630, ensuring that the second end 630 is always within the effective range of the electromagnet. When the electromagnet is energized again, the second end 630 can continue to approach the electromagnet under the influence of the magnetic field.

[0079] Please see Figure 3 In some embodiments, the limiting member 700 is a rope connecting the second end 630 and the electromagnet. Because the rope is made of a soft material, when the electromagnet is energized, the rope does not restrict the movement of the second end 630 toward the electromagnet, and when the electromagnet is de-energized, the rope restricts the movement of the second end 630 away from the electromagnet, preventing it from continuously moving away from the electromagnet. The rope can be made of steel wire.

[0080] Please see Figure 4 In some embodiments, a take-up box 900 may be provided between the limiting member and the electromagnet; the take-up box 900 is suitable for storing the rope so that the rope is kept at an appropriate length; the take-up box 900 may be a spool.

[0081] In some embodiments, the suspension mechanism further includes a lead screw, which comprises a threaded rod and a slider. The threaded rod is arranged along the stretching direction of the elastic element, and the slider is sleeved on the threaded rod and threadedly engaged with it. The drive member 200 is a motor with a drive shaft fixedly connected to the threaded rod. The slider is driven by the elastic element 100, so that the drive member 200 drives the threaded rod to rotate via the drive shaft, causing the elastic element 100 to extend or shorten. Furthermore, the slider is driven by the second end 630. The drive member 200 drives the threaded rod to rotate via the drive shaft, causing the second end 630 to move. Through the cooperation of the motor and the lead screw, the second end 630 moves under the drive of the drive member 200, thereby changing the force exerted by the elastic element 100 on the wheel 300, and thus adjusting the suspension strength of the cleaning equipment to adapt to different conditions of the surfaces to be cleaned.

[0082] In other embodiments, the driving element 200 can also be a cylinder, a motor, or the like. For example, the driving element 200 can be a cylinder, and the driving part of the cylinder can be hinged to the second end 630 to drive the second end 630 away from or towards the driving element 200, thereby causing the elastic element 100 to stretch or contract. Alternatively, the driving element 200 can be a motor, and a winding shaft can be provided on the output shaft of the motor. A steel wire is provided to connect the winding shaft and the suspension end 120. When the motor rotates, the steel wire is wound on the winding shaft, causing the elastic element 100 to stretch. When the motor rotates in the opposite direction, the elastic element 100 contracts.

[0083] Please see Figure 3In one embodiment, two elastic elements 100 are provided, corresponding to the two wheels 300 of the cleaning device respectively. Correspondingly, two reversing elements 600 are provided. The first end 620 of the reversing element 600 is connected to the elastic element 100, and the second end 630 is connected to the electromagnet through a steel wire.

[0084] In other embodiments, the reversing member 600 may also include a pull rope and a reversing wheel hinged to the device body 400. The reversing wheel is located on one side of the driving member 200 and the elastic member 100. One end of the pull rope is connected to the driving member 200, and the other end passes around the reversing wheel and is connected to the suspension end 120.

[0085] A second aspect of the present invention provides a cleaning device; please refer to [link / reference]. Figures 1 to 3 It includes the device body 400, the wheel body 300, and the suspension mechanism of any embodiment of the first aspect described above.

[0086] It is understood that since the suspension mechanism has the beneficial effects of the above embodiments, the cleaning equipment will have the corresponding beneficial effects of the above embodiments. The specific implementation method can be referred to the above embodiments, and will not be repeated in this application.

[0087] In some embodiments, the suspension end 120 is provided with a sliding part 121, and the device body 400 is provided with a track 800, on which the sliding part 121 moves. The track 800 can guide the movement direction of the suspension end 120, thereby ensuring the stability of the suspension mechanism operation. A limiting structure can be provided on the track 800 to limit the movement stroke of the suspension end 120, preventing the elastic element 100 from undergoing elastic creep due to excessive load.

[0088] Cleaning equipment includes, but is not limited to, robotic vacuum cleaners and floor scrubbers.

[0089] A third aspect of the present invention provides a cleaning system, including a base station and a suspension mechanism of any of the first aspects or a cleaning device of any of the second aspects.

[0090] It is understood that since the suspension mechanism and cleaning equipment have the beneficial effects of the above embodiments, the cleaning system will have the corresponding beneficial effects of the above embodiments. The specific implementation method can be referred to the above embodiments, and will not be repeated in this application.

[0091] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0092] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0093] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0094] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "multiple" means two or more, unless otherwise explicitly specified.

[0095] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A suspension mechanism installed to a cleaning apparatus, characterized by, The application relates to a suspension mechanism for a cleaning device. The suspension mechanism comprises an elastic member and a driving member. The elastic member is connected with a wheel body of the cleaning device.

2. The suspension mechanism of claim 1, wherein The driving member is connected with a device body of the cleaning device.

3. The suspension mechanism of claim 2, wherein, The driving member can adjust the force of the elastic member acting on the wheel body of the cleaning device so that the cleaning device can adapt to the condition of a surface to be cleaned.

4. The suspension mechanism of claim 2, wherein, The elastic member has a connecting end and a hanging end.

5. The suspension mechanism of claim 1, wherein, The connecting end is used for connecting with the wheel body of the cleaning device.

6. The suspension mechanism of claim 2, wherein, The hanging end is used for connecting with the driving member.

7. The suspension mechanism of claim 6, wherein, The driving member is used for driving the hanging end to move relative to the device body of the cleaning device.

8. A suspension mechanism according to any one of claims 1 to 7, characterised in that, The hanging end moves relative to the wheel body along the stretching direction of the elastic member.

9. The suspension mechanism of claim 8, wherein, The stretching direction of the elastic member is the same as the advancing direction of the cleaning device.

10. A suspension mechanism according to any one of claims 1 to 7, characterised in that, The driving member is installed on the device body of the cleaning device. The driving member is an electromagnet. The hanging end is provided with a sliding part. The sliding part is at least partially made of magnetic material. The electromagnet is installed on the device body of the cleaning device. When the electromagnet is powered on, the sliding part moves towards the electromagnet. When the electromagnet is powered off, the elastic member restores. The suspension mechanism further comprises a force transmission member. The force transmission member connects the elastic member and the wheel body of the cleaning device. The force transmission member converts the elastic force of the elastic member into a downward pressure on the wheel body of the cleaning device. The force transmission member has a first arm and a second arm. The first arm and the second arm intersect at a fulcrum. The force transmission member is hinged to the device body of the cleaning device through the fulcrum. The first arm is connected with the connecting end. The second arm is connected with the wheel body of the cleaning device. The suspension mechanism comprises one driving member and at least two elastic members. Each elastic member is connected with a corresponding wheel body of the cleaning device. The hanging ends of the elastic members are drivingly connected with the same driving member.

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