Cleaning equipment

Abstract

The invention relates to the technical field of household cleaning, and discloses cleaning equipment which comprises a machine body. The driving device is arranged in the machine body; the first walking mechanism is arranged on the machine body; the second walking mechanism comprises a first connecting piece, a first walking wheel and a second walking wheel, the first connecting piece is rotatably connected with the first walking mechanism, the first walking wheel and the second walking wheel are both arranged on the first connecting piece, and the first walking wheel and the second walking wheel are sequentially arranged in the first direction; the driving device drives the first walking wheel and the second walking wheel to rotate, and at least one part of the first walking wheel and at least one part of the second walking wheel protrude out of the surface of the machine body. Through the structure, the obstacle crossing height and the diameters of the walking wheels can be decoupled, the obstacle crossing height cannot be limited by the diameters of the walking wheels, the obstacle crossing height range is widened, the uneven ground can be absorbed, the first walking wheel and the second walking wheel are made to be attached to the ground, and walking of the cleaning equipment is more stable.

Description

Technical Field

[0001] This invention relates to the field of home cleaning technology, and in particular to a cleaning device. Background Technology

[0002] When cleaning equipment avoids obstacles, the limitations of its walking system—specifically, the obstacle-crossing height is restricted by the wheel diameter—mean that larger wheels allow the equipment to maintain a greater distance from the ground and generate more torque when encountering obstacles, thus enabling it to overcome them. However, the equipment cannot successfully cross higher obstacles. This not only limits its cleaning coverage but also reduces the user experience. Summary of the Invention

[0003] The purpose of this invention is to provide a cleaning device that can increase the obstacle-crossing height of the cleaning device and improve the user experience.

[0004] To achieve the above objectives, the present invention provides a cleaning device, comprising:

[0005] Organism;

[0006] The drive unit is disposed within the housing;

[0007] The first walking mechanism is mounted on the machine body;

[0008] The second traveling mechanism includes a first connecting member, a first traveling wheel, and a second traveling wheel. The first connecting member is rotatably connected to the first traveling mechanism, allowing the first connecting member to swing in a first direction. The first traveling wheel and the second traveling wheel are both mounted on the first connecting member and are arranged sequentially along the first direction. The driving device drives the first traveling wheel and the second traveling wheel to rotate.

[0009] In some embodiments of the present invention:

[0010] The first walking mechanism includes a second connecting member and a first transmission gear rotatably mounted on the second connecting member. The driving device drives the first transmission gear to rotate, and the first connecting member and the second connecting member are rotatably connected.

[0011] In some embodiments of the present invention:

[0012] The second traveling mechanism includes a first traveling gear and a second traveling gear. The first traveling gear is mounted on the first traveling wheel, and the second traveling gear is mounted on the second traveling wheel. Both the first traveling gear and the second traveling gear are connected to the first transmission gear.

[0013] In some embodiments of the present invention:

[0014] The first transmission gear includes a first gear and a second gear, which are coaxially fixed. The driving device is connected to the first gear, and both the first travel gear and the second travel gear are connected to the second gear in a transmission connection.

[0015] In some embodiments of the present invention:

[0016] The first walking mechanism further includes a gear set, which includes at least one gear, and the drive device is meshed with the first transmission gear through the gear set.

[0017] In some embodiments of the present invention:

[0018] The second traveling mechanism further includes a second transmission gear disposed on the first connecting member, and both the first traveling gear and the second traveling gear are connected to the first transmission gear through the second transmission gear.

[0019] In some embodiments of the present invention:

[0020] The rotation axis of the first connector about the second connector is coaxial with the rotation axis of the first transmission gear.

[0021] In some embodiments of the present invention:

[0022] The first walking mechanism includes a limiting part disposed on the second connecting member, the limiting part protruding from the surface of the second connecting member, the limiting part being used to limit the rotation angle between the first connecting member and the second connecting member.

[0023] In some embodiments of the present invention:

[0024] The first walking mechanism includes a rotating shaft, and the second connecting member is rotatably connected to the body through the rotating shaft. The rotating shaft and the first transmission gear are respectively disposed at both ends of the second connecting member along the first direction.

[0025] In some embodiments of the present invention:

[0026] The line connecting the rotation axis of the first transmission gear and the central axis of the shaft is denoted as the first reference line, and the line connecting the rotation axis of the first transmission gear and the rotation axis of the second traveling wheel is denoted as the second reference line. The included angle between the first reference line and the second reference line is α, which satisfies: 20°≤α≤90°.

[0027] In some embodiments of the present invention:

[0028] The first walking mechanism further includes an elastic element, one end of which is connected to the second connecting member, and the other end of which is connected to the machine body. The elastic element causes the second connecting member to have a tendency to swing outward from the machine body.

[0029] This invention provides a cleaning device, which has the following advantages compared with the prior art:

[0030] The cleaning device of the present invention includes a body, a drive device, a first walking mechanism, and a second walking mechanism. The second walking mechanism includes a first connecting member, a first walking wheel, and a second walking wheel. The first connecting member rotates relative to the first walking mechanism, causing the first and second walking wheels to rotate relative to the first walking mechanism. When crossing obstacles, the second walking wheel clings to the obstacle while the first walking wheel remains in contact with the ground. This decouples the obstacle-crossing height from the diameter of the walking wheel, preventing the obstacle-crossing height from being limited by the diameter of the walking wheel, thus increasing the obstacle-crossing height range and improving obstacle-crossing capability. Furthermore, for cleaning devices that walk on the ground, even if the ground is uneven and the second and first walking wheels are at different heights, they can still contact the ground, thereby absorbing the unevenness and allowing the first and second walking wheels to adhere to the ground, making the movement of the cleaning device more stable. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the cleaning equipment according to an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the cleaning equipment of the present invention moving on the ground.

[0033] Figure 3 This is a schematic diagram of the first and second walking mechanisms of the cleaning equipment according to an embodiment of the present invention.

[0034] Figure 4 yes Figure 3 A structural diagram of the middle structure from another angle.

[0035] Figure 5 This is a schematic diagram of the cleaning equipment swinging to a certain angle according to an embodiment of the present invention.

[0036] Figure 6 This is a schematic diagram of the cleaning equipment swinging to another angle according to an embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram of the structure of the first and second walking mechanisms in an embodiment of the present invention.

[0038] Figure 8 This is a structural schematic diagram of the first and second walking mechanisms from another angle in an embodiment of the present invention.

[0039] Figure 9This is a schematic diagram of the obstacle-crossing device of the present invention according to an embodiment.

[0040] Figure 10 This is a schematic diagram of the obstacle-crossing device of the present invention according to an embodiment.

[0041] Figure 11 This is a schematic diagram of the obstacle-crossing device of the present invention according to an embodiment.

[0042] Figure 12 This is a schematic diagram of the obstacle-crossing device of the present invention according to an embodiment.

[0043] Figure 13 This is a schematic diagram showing how the limiting part restricts the swing angle of the second traveling mechanism.

[0044] In the diagram, 1. Body; 2. Drive unit; 3. First traveling mechanism; 4. Second traveling mechanism; 31. Second connecting member; 32. First transmission gear; 33. Gear set; 34. Limiting part; 35. Rotating shaft; 36. Elastic element; 321. First gear; 322. Second gear; 41. First connecting member; 42. First traveling wheel; 43. Second traveling wheel; 44. First traveling gear; 45. Second traveling gear; 46. Second transmission gear; 51. First reference line; 52. Second reference line; X, First direction. Detailed Implementation

[0045] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0046] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0049] Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Please refer to Figures 1-4 A cleaning device according to an embodiment of the present invention includes: a body 1, a drive device 2, a first walking mechanism 3, and a second walking mechanism 4.

[0051] An installation slot is provided inside the body 1 for installing the second walking mechanism 4.

[0052] The drive unit 2 is installed inside the body 1. In this embodiment, the drive unit 2 is a motor.

[0053] The first walking mechanism 3 is mounted on the body 1.

[0054] The first walking mechanism 3 can be entirely located inside the body 1, or it can be partially located inside the body 1.

[0055] Please refer to Figure 3 and Figure 4 The second walking mechanism 4 includes a first connecting member 41, a first walking wheel 42, and a second walking wheel 43. The first connecting member 41 is rotatably connected to the first walking mechanism 3, so that the first connecting member 41 can swing in the first direction X. The first walking wheel 42 and the second walking wheel 43 are both disposed on the first connecting member 41. The first walking wheel 42 and the second walking wheel 43 are arranged sequentially along the first direction X of the body 1. The driving device 2 drives the first walking wheel 42 and the second walking wheel 43 to rotate. At least a portion of the first walking wheel 42 and the second walking wheel 43 protrudes from the surface of the body 1.

[0056] The first walking wheel 42 and the second walking wheel 43 are used to contact the ground, provide support for the body 1 and drive the body 1 to move.

[0057] In this embodiment, the first direction X is the direction of travel of the body 1.

[0058] Please refer to Figures 4-6 Since the first connecting member 41 is rotatably connected to the first traveling mechanism 3, it causes the positions of the first traveling wheel 42 and the second traveling wheel 43 to rotate relative to the first traveling mechanism 3, thereby causing the first traveling wheel 42 and the second traveling wheel 43 to swing back and forth. During travel, the second traveling wheel 43 is the front wheel and the first traveling wheel 42 is the rear wheel. When the second traveling wheel 43 first encounters an obstacle, the first connecting member 41 rotates, allowing the second traveling wheel 43 to climb onto the obstacle, while the first traveling wheel 42 is still in contact with the ground.

[0059] When crossing obstacles, the first walking wheel 42 and the second walking wheel 43 can be at different heights and can both contact the ground or obstacles, thereby removing the limitation of wheel diameter on obstacle crossing ability, improving obstacle crossing ability, and making walking on uneven ground more stable.

[0060] Please refer to Figures 9-12 This is a schematic diagram of the obstacle-crossing process of the cleaning equipment in this embodiment.

[0061] When walking on the ground, please refer to Figure 9 Both the first traveling wheel 42 and the second traveling wheel 43 are on the ground. Since the first traveling mechanism 3 and the second traveling mechanism 4 can move relative to each other, even on uneven ground, the first traveling wheel 42 and the second traveling wheel 43 can still keep in contact with the ground, making the movement more stable.

[0062] Please refer to Figure 10 When the cleaning equipment encounters an obstacle, the second traveling wheel 43 contacts and climbs the obstacle first. At this time, the second traveling wheel 43 experiences an upward frictional force, while the first traveling wheel 42, located on the ground, experiences a forward frictional force. Thus, the net force on the cleaning equipment is obliquely upward, enabling the cleaning equipment to climb the obstacle smoothly. During this process, the first traveling mechanism 3 and the second traveling mechanism 4 can move relative to each other, allowing the second traveling wheel 43 to stably contact the obstacle and the first traveling wheel 42 to stably contact the ground.

[0063] In existing technologies, there is usually only one wheel. When climbing obstacles, the wheel is simultaneously subjected to upward friction from the obstacle and forward friction from the ground. The upward friction reduces the pressure of the wheel on the ground, which in turn reduces the forward friction, making it difficult to climb obstacles smoothly.

[0064] Please refer to Figure 11 After the second traveling wheel 43 has climbed the obstacle, the first traveling wheel 42 continues to climb it. At this point, the second traveling wheel 43 experiences a forward frictional force, and the first traveling wheel 42 experiences an upward frictional force. The net force on the cleaning device is obliquely upward, enabling it to continue climbing the obstacle. During this process, the first traveling mechanism 3 and the second traveling mechanism 4 can move relative to each other, allowing the second traveling wheel 43 to stably contact the ground and the first traveling wheel 42 to stably contact the obstacle.

[0065] Please refer to Figure 12 After the first walking wheel 42 and the second walking wheel 43 have climbed over the obstacle, they continue walking.

[0066] This structure decouples the obstacle-crossing height from the diameter of the wheels, so that the obstacle-crossing height is not limited by the diameter of the wheels, thereby increasing the obstacle-crossing height range and improving obstacle-crossing ability. In addition, for cleaning equipment that walks on the ground, this structure can also absorb uneven ground, allowing the first wheel 42 and the second wheel 43 to keep in contact with the ground, making the walking of the cleaning equipment more stable.

[0067] The swing of the first connector 41 can be controlled by setting a drive structure.

[0068] In this embodiment, the first connector 41 is a shell structure with an internal cavity, and the first wheel 42 and the second wheel 43 are disposed outside the first connector 41.

[0069] In some embodiments, please refer to Figure 7 and Figure 8 The first walking mechanism 3 includes a second connecting member 31 and a first transmission gear 32 rotatably mounted on the second connecting member 31. The driving device 2 drives the first transmission gear 32 to rotate. The first connecting member 41 and the second connecting member 31 are rotatably connected.

[0070] The second connector 31 is also a shell structure with an internal cavity, and a part of the first transmission gear 32 is disposed inside the second connector 31.

[0071] The second traveling mechanism 4 includes a first traveling gear 44 and a second traveling gear 45. The first traveling gear 44 is mounted on the first traveling wheel 42, and the second traveling gear 45 is mounted on the second traveling wheel 43. Both the first traveling gear 44 and the second traveling gear 45 are connected to the first transmission gear 32.

[0072] The first transmission gear 32 simultaneously drives the first travel gear 44 and the second travel gear 45, which in turn simultaneously drives the first travel wheel 42 and the second travel wheel 43 to rotate. The first travel wheel 42 and the second travel wheel 43 rotate in the same direction, achieving smooth operation.

[0073] The first traveling gear 44 and the second traveling gear 45 are disposed inside the first connecting member 41.

[0074] In some embodiments, the first transmission gear 32 includes a first gear 321 and a second gear 322, the first gear 321 and the second gear 322 are coaxially fixedly arranged, the drive device 2 is connected to the first gear 321, and the first travel gear 44 and the second travel gear 45 are both meshed with the second gear 322.

[0075] The first gear 321 and the second gear 322 can rotate simultaneously. When the drive device 2 drives the first gear 321, the second gear 322 rotates accordingly. The rotation of the second gear 322 can simultaneously drive the first traveling gear 44 and the second traveling gear 45 to rotate, so as to drive the first traveling wheel 42 and the second traveling wheel 43 to rotate in the same direction.

[0076] The first gear 321 is disposed inside the second connector 31, and the second gear 322 is disposed inside the first connector 41.

[0077] In some embodiments, the first walking mechanism 3 further includes a gear set 33, which includes at least one gear, and the drive device 2 is connected to the first transmission gear 32 through the gear set 33.

[0078] The gear set 33 can consist of multiple gears or a single gear. This multi-stage transmission configuration meets the deceleration requirements of the drive unit 2, controls the torque output of the drive unit 2, and ensures that the power output to the first traveling wheel 42 and the second traveling wheel 43 is smooth and conforms to actual working conditions. In this embodiment, the multiple gears of the gear set 33 are configured with gears on both sides of the first gear 321 and the second gear 322, forming a multi-stage transmission assembly structure. This reduces the thickness of the gear set 33, minimizing its space occupation. It also allows for larger sizes of the first traveling wheel 42 and the second traveling wheel 43 while maintaining gears of the same thickness.

[0079] In this embodiment, the gear set 33 is disposed inside the second connector 31, and the output shaft of the drive device 2 extends into the interior of the second connector 31 to achieve connection with the gear set 33.

[0080] In some embodiments, the second traveling mechanism 4 further includes a second transmission gear 46 disposed on the first connecting member 41, and the first traveling gear 44 and the second traveling gear 45 are both connected to the first transmission gear 32 through the second transmission gear 46.

[0081] The second transmission gear 46 is designed so that the first travel gear 44 and the second travel gear 45 are indirectly connected to the first transmission gear 32, which increases the distance between the first travel gear 44 and the second travel gear 45 and the first transmission gear 32 respectively. Structurally, this facilitates the arrangement of the drive device 2 and also allows the first travel wheel 42 and the second travel wheel 43 to swing more, thereby improving obstacle crossing ability.

[0082] In this embodiment, the second transmission gear 46 is disposed inside the first connecting member 41.

[0083] When the first connecting member 41 rotates relative to the second connecting member 31, the second transmission gear 46, the first traveling gear 44 and the second traveling gear 45 inside the first connecting member 41 all move together with the second connecting member 31, ensuring that the first traveling wheel 42 and the second traveling wheel 43 can maintain their rotation state.

[0084] In some embodiments, the rotation axis of the first connector 41 about the second connector 31 is coaxial with the rotation axis of the first transmission gear 32.

[0085] There is a certain distance between the first gear 321 and the second gear 322, allowing space for the shell wall of the second connecting member 31. A bearing can be installed here for connection. The bearing can be installed on both sides of the first connecting member 41, and the bearing is coaxially set with the first gear 321 and the second gear 322. When the cleaning equipment climbs obstacles or the ground is uneven, the first connecting member 41 can rotate smoothly relative to the first walking mechanism 3.

[0086] In some embodiments, please refer to Figure 4 and Figure 13 The first traveling mechanism 3 includes a limiting part 34 disposed on the second connecting member 31. The limiting part 34 protrudes from the surface of the second connecting member 31 and is used to limit the rotation angle between the first connecting member 41 and the second connecting member 31.

[0087] The limiting part 34 is strip-shaped and protrudes from the surface of the second connector 31. When the first connector 41 and the second connector 31 rotate relative to each other, the limiting part 34 can block the first connector 41 to limit the range of rotation between the first connector 41 and the second connector 31.

[0088] In this embodiment, the surface of the limiting part 34 facing the first connector 41 is a limiting surface. When the first connector 41 rotates to the limiting part 34, the limiting surface blocks the first connector 41, restricting the first connector 41 from continuing to rotate. The limiting part 34 is provided in both the front and rear swing directions of the first connector 41, limiting the rotation range of the first connector 41.

[0089] In some embodiments, the first walking mechanism 3 includes a rotating shaft 35, and the second connecting member 31 is rotatably connected to the body 1 through the rotating shaft 35. The rotating shaft 35 and the first transmission gear 32 are respectively disposed at both ends of the second connecting member 31 along the first direction X.

[0090] Please refer to this structure. Figure 9 and Figure 11 The second connecting member 31 can also swing. Based on the swing of the second connecting member 31, the first connecting member 41 can also rotate relative to the second connecting member 31, thereby expanding the swing range of the first traveling wheel 42 and the second traveling wheel 43 and further improving the obstacle crossing ability.

[0091] The first traveling mechanism 3 swings outward, allowing it to swing freely.

[0092] Please refer to Figure 13 The line connecting the rotating shaft of the first transmission gear 32 and the central axis of the rotating shaft 35 is denoted as the first reference line 51, and the line connecting the rotating shaft of the first transmission gear 32 and the rotating shaft of the second traveling wheel 43 is denoted as the second reference line 52. The included angle between the first reference line 51 and the second reference line 52 is α, which satisfies the condition: 20°≤α≤90°. Optionally, α can take values ​​such as 20°, 40°, 45°, 70°, and 90°.

[0093] When the swing angles of the first walking wheel 42 and the second walking wheel 43 meet the above range, they can adaptively conform to undulating ground, resolve terrain differences, and make the machine body 1 walk more smoothly; they also have excellent obstacle crossing performance, ensuring that the equipment operates stably in complex terrain.

[0094] In some embodiments, the first walking mechanism 3 further includes an elastic element 36, one end of which is connected to the second connecting member 31, and the other end of which is connected to the body 1. The elastic element 36 causes the second connecting member 31 to have a tendency to swing outward from the body 1.

[0095] The elastic force of the elastic element 36 can work in conjunction with the second connecting element 31 to provide cushioning for the second connecting element 31 when swinging, making the movement of the cleaning equipment more stable when avoiding obstacles.

[0096] In this embodiment, the diameter of the first traveling wheel 42 and the second traveling wheel 43 is 30-50mm, and the wheel distance between the first traveling wheel 42 and the second traveling wheel 43 is 35-50mm.

[0097] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A cleaning apparatus, characterized by, Comprising: a machine body; a driving device arranged in the machine body; a first walking mechanism arranged on the machine body; a second walking mechanism comprising a first connecting piece, a first walking wheel and a second walking wheel, the first connecting piece being rotatably connected with the first walking mechanism so that the first connecting piece can swing in a first direction, the first walking wheel and the second walking wheel being arranged on the first connecting piece in sequence along the first direction, and the driving device driving the first walking wheel and the second walking wheel to rotate.

2. The cleaning device according to claim 1, characterized in that: the first walking mechanism comprises a second connecting piece and a first transmission gear rotatably arranged on the second connecting piece, the driving device driving the first transmission gear to rotate, and the first connecting piece and the second connecting piece being rotatably connected.

3. The cleaning device according to claim 2, characterized in that: a rotation axis of the first connecting piece rotating around the second connecting piece is coaxially arranged with a rotation axis of the first transmission gear.

4. The cleaning device according to claim 2, characterized in that: the first walking mechanism comprises a limiting part arranged on the second connecting piece, the limiting part protruding from a surface of the second connecting piece, and the limiting part being used for limiting a rotation angle between the first connecting piece and the second connecting piece.

5. The cleaning device according to claim 2, characterized in that: the first walking mechanism comprises a rotating shaft, the second connecting piece being rotatably connected in the machine body through the rotating shaft, and the rotating shaft and the first transmission gear being arranged at two ends of the second connecting piece along the first direction respectively.

6. The cleaning device according to claim 5, characterized in that: a line between a rotation axis of the first transmission gear and a central axis of the rotating shaft is recorded as a first reference line, a line between the rotation axis of the first transmission gear and a rotation axis of the second walking wheel is recorded as a second reference line, an included angle between the first reference line and the second reference line is α, and 20°≤α≤90° is satisfied.

7. The cleaning device according to claim 2, characterized in that: the second walking mechanism comprises a first walking gear and a second walking gear, the first walking gear being arranged on the first walking wheel, the second walking gear being arranged on the second walking wheel, and the first walking gear and the second walking gear both being in transmission connection with the first transmission gear.

8. The cleaning device according to claim 7, characterized in that: the first transmission gear comprises a first gear and a second gear, the first gear and the second gear being coaxially fixedly arranged, the driving device being connected with the first gear, and the first walking gear and the second walking gear both being in meshing connection with the second gear.

9. The cleaning device according to claim 2, characterized in that: the first walking mechanism further comprises a gear set, the gear set comprising at least one gear, and the driving device being connected with the first transmission gear through the gear set.

10. The cleaning device according to claim 7, characterized in that: The second walking mechanism further comprises a second transmission gear arranged on the first connecting piece, and the first walking gear and the second walking gear are both connected with the first transmission gear through the second transmission gear.

11. The cleaning device according to claim 5, characterized in that: The first walking mechanism further comprises an elastic piece, one end of the elastic piece is connected with the second connecting piece, and the other end of the elastic piece is connected on the machine body, and the elastic piece makes the second connecting piece have a tendency to swing to the outside of the machine body.

Images