Climbing equipment

Abstract

Climbing equipment comprises a machine body and a locking mechanism, and the locking mechanism has an unlocking state and a locking state; when the cleaning robot climbs to the machine main body, the locking mechanism is in a locking state so as to lock the cleaning robot on the machine main body; and when the cleaning robot needs to climb down the climbing equipment, the locking mechanism is in an unlocking state so as to unlock the cleaning robot. The climbing equipment is simple in structure, and the cleaning robot can be automatically locked on the climbing equipment.

Description

Technical Field

[0001] The utility model relates to the field of cleaning, in particular to a climbing device. Background Art

[0002] With the development of technology and the progress of society, people are more and more inclined to use floor-sweeping robots to replace manual labor for floor cleaning work. There are more and more floor-sweeping robots on the market with the functions of sweeping and mopping the floor, that is, the floor-sweeping robot can not only clean the floor garbage, but also mop the floor after the cleaning is completed to achieve the cleaning work of sweeping and mopping the floor.

[0003] As the application range of floor-sweeping robots is getting larger and larger, the existing floor-sweeping robots cannot climb stairs. So developers have researched and developed a climbing machine that can carry a floor-sweeping robot up the stairs. The existing climbing machine is generally fixed by manual tying after the floor-sweeping robot climbs on. However, manual tying requires manual intervention, which is not only complex in operation but also not intelligent enough. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a climbing device with a simple structure and capable of automatically locking a cleaning robot.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A climbing device includes a machine body. The climbing device further includes a locking mechanism, and the locking mechanism has an unlocked state and a locked state. When the cleaning robot climbs onto the machine body, the locking mechanism is in the locked state to lock the cleaning robot on the machine body. When the cleaning robot needs to climb down the climbing device, the locking mechanism is in the unlocked state to release the lock on the cleaning robot.

[0007] Further, in the locked state, the locking mechanism is at least configured to provide a downward force for the cleaning robot when the cleaning robot has an upward movement tendency; the locking mechanism is also at least configured to provide a forward force for the cleaning robot when the cleaning robot has a backward movement tendency.

[0008] Further, the climbing device further includes a driving mechanism, and the driving mechanism is used to drive the locking mechanism to change from the unlocked state to the locked state, or from the locked state to the unlocked state.

[0009] Further, the climbing device further includes a driving arm, the driving arm and the driving mechanism are driven by the same driving device, and the driving arm and the driving mechanism are linked.

[0010] Furthermore, the locking mechanism is provided with a limiting portion, and the cleaning robot is provided with a portion to be limited. The limiting portion cooperates with the portion to be limited to lock or unlock the cleaning robot by the locking mechanism.

[0011] Furthermore, the limiting portion is a locking portion, and the portion to be limited is the locking area of the cleaning robot. In the locked state, the locking portion is buckled on the locking area of the cleaning robot to lock the cleaning robot on the machine main body; in the unlocked state, the locking portion disengages from the locking area to release the locking of the cleaning robot; or the limiting portion is a telescopic rod, and the portion to be limited is a locking groove provided on the cleaning robot corresponding to the telescopic rod. The telescopic rod can extend or retract from the machine main body; when the telescopic rod extends and the end of the extended end is inserted into the locking groove on the cleaning robot, the telescopic rod locks the cleaning robot on the machine main body; when the telescopic rod retracts and disengages from the locking groove on the cleaning robot, the telescopic rod releases the locking of the cleaning robot.

[0012] Furthermore, the locking mechanism is configured to switch between the locked state and the unlocked state in a rotational transmission manner; or the locking mechanism is configured to switch between the locked state and the unlocked state in a reciprocating linear transmission manner.

[0013] Furthermore, a left limiting member and / or a right limiting member are provided on the side surface of the machine main body. The left limiting member is configured to guide the cleaning robot to climb up or down the climbing device in the left direction, and the right limiting member is configured to guide the cleaning robot to climb up or down the climbing device in the right direction. When the cleaning robot climbs onto the machine main body, there is a gap between the cleaning robot and the left limiting member and / or the right limiting member, and the gap is 1 - 3 mm.

[0014] Furthermore, a front limiting member is provided on the front side of the machine main body. When the cleaning robot has a forward movement tendency, the front limiting member provides a backward force for it; wherein when the cleaning robot climbs onto the machine main body, at least a part of the cleaning robot is in contact with the front limiting member.

[0015] Furthermore, a guiding mechanism for guiding the cleaning robot to climb up or down the machine body is provided on the machine body. The guiding mechanism can extend out or retract from the machine body. When the cleaning robot needs to climb up or down the climbing device, the guiding mechanism extends out so that one end of the guiding mechanism fits the ground to guide the cleaning robot; when the cleaning robot climbs onto the machine body, the guiding mechanism retracts; or the guiding mechanism can rotate around the machine body. When the cleaning robot needs to climb up or down the climbing device, the guiding mechanism rotates in the first direction so that one end of the guiding mechanism fits the ground to guide the cleaning robot; when the cleaning robot climbs onto the machine body, the guiding mechanism rotates in the second direction until it abuts against the cleaning robot.

[0016] The climbing device of the present utility model not only has a simple structure, but also can automatically lock the cleaning robot when the climbing device moves or climbs stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a locking mechanism of a climbing device of the present utility model in a locked state.

[0018] Figure 2 is Figure 1 A top view of the locking mechanism of the climbing device shown in the above figure in a locked state.

[0019] Figure 3 It is a schematic diagram of a locking mechanism of the present utility model in an unlocked state when the cleaning robot is about to climb onto the climbing device.

[0020] Figure 4 is Figure 3 A top view of the cleaning robot shown in the above figure about to climb onto the climbing device.

[0021] Figure 5 It is a schematic diagram of the cleaning robot of the present utility model climbing onto the climbing device.

[0022] Figure 6 is Figure 5 A top view of the cleaning robot shown in the above figure climbing onto the climbing device.

[0023] Figure 7 It is a schematic diagram of the cleaning robot of the present utility model climbing onto the climbing device and being locked by the locking mechanism and ready to climb stairs.

[0024] Figure 8 is Figure 7 A top view of the cleaning robot shown in the above figure climbing onto the climbing device and being locked by the locking mechanism and ready to climb stairs.

[0025] Figure 9 It is a perspective view of the cleaning robot of the present utility model climbing onto the climbing device.

[0026] Figure 10 Schematic diagram of another embodiment of the driving mechanism of a climbing device of the present utility model.

[0027] Figure 11 Schematic diagram of another embodiment of the locking link of a climbing device of the present utility model.

[0028] Figure 12 is Figure 11 Schematic diagram of a locking state of a locking mechanism of a climbing device shown in the figure.

[0029] Figure 13 Schematic diagram of yet another embodiment of the driving mechanism of a climbing device of the present utility model.

[0030] Figure 14 is Figure 13 Schematic diagram of a cleaning machine climbing onto a climbing device shown in the figure.

[0031] Figure 15 is Figure 14 Top view of a cleaning machine climbing onto a climbing device shown in the figure.

[0032] Figure 16 Schematic diagram of yet another embodiment of the locking mechanism of a climbing device of the present utility model.

[0033] Figure 17 is Figure 16 Partial enlarged view of the locking mechanism locking a cleaning robot shown in the figure. Detailed implementation manners

[0034] For the convenience of understanding the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present utility model are shown in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present utility model more thorough and comprehensive.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items. In the present utility model, "each" includes a quantity of one and more than two.

[0036] In this embodiment, the direction in which the cleaning robot 200 crawls towards the climbing device 100 is defined as the front, and the direction in which the cleaning robot 200 crawls away from the climbing device 100 is defined as the rear; when the cleaning robot 200 climbs onto the climbing device 100, the direction of the cleaning robot 200 relative to the climbing device 100 is defined as up, and the direction of the climbing device 100 relative to the cleaning robot 200 is defined as down; taking the direction in which the cleaning robot 200 crawls towards the climbing device 100 as the forward path, the left hand direction of the forward path is defined as left, and the right hand direction of the forward path is defined as right. The following will take the above-defined directions as examples for specific description.

[0037] Embodiment 1:

[0038] Please refer to Figures 1 - 9 , the present utility model provides a climbing device 100, including a machine body 10 and a locking mechanism 20. Among them, the locking mechanism 20 has an unlocked state and a locked state.

[0039] When the cleaning robot 200 climbs onto the machine body 10, the locking mechanism 20 is in the locked state to lock the cleaning robot 200 on the machine body 10; for example, when the cleaning robot 200 climbs to a preset position on the machine body 10, the locking mechanism 20 is in the locked state and can lock the cleaning robot 200, thereby helping to reduce the risk of the cleaning robot 200 falling.

[0040] In other words, in the locked state, the locking mechanism 20 can lock the cleaning robot 200 on the machine body 10, so that the cleaning robot 200 maintains a relatively stable state when the climbing device 100 carries the cleaning robot 200 to move, in order to reduce the risk of the cleaning robot 200 falling; especially when the climbing device 100 carries the cleaning robot 200 to perform movements with a vertical component such as climbing stairs, the risk of falling is reduced.

[0041] When the cleaning robot 200 needs to climb onto or climb down the climbing device 100, the locking mechanism 20 is in the unlocked state.

[0042] For example, in the case where the cleaning robot 200 needs to climb down the climbing device 100, the locking mechanism 20 is in the unlocked state to release the lock on the cleaning robot 200, so that the cleaning robot can move autonomously.

[0043] For another example, when the cleaning robot 200 needs to climb onto the climbing device 100, the locking mechanism 20 is also in an unlocked state to facilitate the cleaning robot to smoothly climb onto the climbing device. Further, in the locked state, when the cleaning robot 200 has a tendency to move upward, the climbing device 100 provides a downward force for it; when the cleaning robot 200 has a tendency to move backward, the climbing device 100 provides a forward force for it to lock the cleaning robot 200 onto the machine body 10.

[0044] Please refer to Figure 1 、 Figure 5 and Figure 7 , the climbing device 100 further includes a driving mechanism 30. The driving mechanism 30 is used to drive the locking mechanism 20 to change from an unlocked state to a locked state, or from a locked state to an unlocked state.

[0045] Further, the locking mechanism 20 is provided with a limiting portion, and the cleaning robot 200 is provided with a portion to be limited. The limiting portion cooperates with the portion to be limited to lock or unlock the cleaning robot 200 by the locking mechanism 20.

[0046] Wherein, the limiting portion is a locking portion, and the portion to be limited is the locking area of the cleaning robot 200. In the locked state, the locking portion is buckled in the locking area of the cleaning robot 200 to lock the cleaning robot 200 onto the machine body 10; in the unlocked state, the locking portion disengages from the locking area to release the locking of the cleaning robot 200.

[0047] The locking area can be, for example, a flexible material area at the bottom of the machine body 10. An elastic material can be arranged in the flexible material area. When the locking portion buckles the flexible material area, the locking portion squeezes the elastic material and is gradually locked in the flexible material area to lock the cleaning robot 200 onto the machine body 10, and the elastic material can buffer the vibration generated when the cleaning robot 200 has an upward movement tendency, and can effectively prevent the cleaning robot 200 from detaching from the climbing device 100 during the process of climbing stairs.

[0048] More specifically, please continue to refer to Figure 1 、 Figure 5 and Figure 7, the locking mechanism 20 includes a locking rod 21. One end of the locking rod 21 is provided with a lock catch 211, and the other end of the locking rod 21 is rotatably connected to the machine body 10 through a third locking shaft 22. The locking rod 21 can rotate around the third locking shaft 22, and the lock catch 211 rotates with the locking rod 21. In this embodiment, the locking part is the lock catch 211. In the locked state, the lock catch 211 rotates clockwise and hooks on the flexible material area to lock the cleaning robot 200 on the machine body 10; in the unlocked state, the lock catch 211 rotates counterclockwise and disengages from the flexible material area to release the locking of the cleaning robot 200.

[0049] Please refer to Figure 1 , the locking mechanism 20 further includes a first locking link 231 and a second locking link 232. The middle of the first locking link 231 is rotatably connected to the machine body 10 through a second locking shaft 24. One end of the second locking link 232 is rotatably connected to the middle of the locking rod 21 through a first locking shaft 26. One end of the first locking link 231 is rotatably connected to the other end of the second locking link 232 through a fifth locking shaft 29.

[0050] Please refer to Figure 1 , Figure 3 , Figure 5 and Figure 7 , the locking mechanism 20 further includes a locking push rod 28. One end of the locking push rod 28 is rotatably connected to the other end of the first locking link 231 through a fourth locking shaft 27. When the locking push rod 28 drives the first locking link 231 to rotate around the second locking shaft 24, the first locking link 231 drives the locking rod 21 to rotate around the third locking shaft 22 through the second locking link 232, so that the lock catch 211 of the locking mechanism 20 engages or disengages from the flexible material area to realize the locking or unlocking of the machine body 10 to the cleaning robot 200.

[0051] In this embodiment, the first locking link 231 is L-shaped, and the second locking link 232 is I-shaped.

[0052] Please refer to Figure 1 and Figure 7 , a locking stop block 25 is provided on the machine body 10. When the locking mechanism 20 is in the locked state, the locking stop block 25 abuts against the outer side surface of the first locking link 231 between the second locking shaft 24 and the fifth locking shaft 29 to fix the first locking link 231 and prevent the first locking link 231 from rotating, so that the lock catch 211 leaves the flexible material area and the locked state changes to the unlocked state.

[0053] In this embodiment, the locking mechanism 20 is configured to switch between the locked state and the unlocked state in a rotational transmission manner.

[0054] More specifically, please refer to Figure 1 , Figure 3 , Figure 5 and Figure 7 , the driving mechanism 30 includes a driving cylinder 31. The driving cylinder 31 is provided with an unlocking portion 311. When the driving cylinder 31 rotates, the unlocking portion 311 drives the other end of the locking push rod 28 to drive the locking push rod 28 to move backward, and the locking push rod 28 then drives the locking mechanism 20 to enter the unlocked state from the locked state.

[0055] In this embodiment, the unlocking portion 311 is an unlocking block protruding from the outer peripheral surface of the driving cylinder 31. When the driving cylinder 31 rotates, the unlocking block pushes the other end of the locking push rod 28 to drive the locking push rod 28 to move backward, and the locking push rod 28 then drives the locking mechanism 20 to enter the unlocked state from the locked state.

[0056] In other embodiments, the unlocking portion is an unlocking groove recessed in the outer peripheral surface of the driving cylinder 31. When the driving cylinder 31 rotates, the other end of the locking push rod 28 slides along the inner wall of the unlocking groove and drives the locking push rod 28 to move backward, and the locking push rod 28 then drives the locking mechanism 20 to enter the unlocked state from the locked state.

[0057] Please continue to refer to Figure 1 , Figure 3 , Figure 5 and Figure 7 , the driving mechanism 30 further includes an elastic member 34. In this embodiment, the elastic member 34 is a tension spring, and both ends of the tension spring are respectively connected to the machine body 10 and one end of the locking push rod 28. The tension spring drives the locking push rod 28 to move forward by elastic tension, and the locking push rod 28 then drives the locking mechanism 20 to change from the unlocked state to the locked state.

[0058] In other embodiments, the elastic member 34 can also be a leaf spring. One end of the leaf spring is fixed on the machine body 10, and the other end of the leaf spring is connected to the other end of the first locking link 231. The leaf spring drives the locking push rod 28 to move forward by elastic thrust, and the locking push rod 28 then drives the locking mechanism 20 to change from the unlocked state to the locked state.

[0059] Please refer to Figure 1 , Figure 5 and Figure 7, the climbing device 100 further includes a driving arm 32. In this embodiment, the driving arm 32 and the driving mechanism 30 are driven by the same driving device, and the driving arm 32 and the driving mechanism 30 are linked. It can also be understood that the driving arm 32 is driven by the driving mechanism 30.

[0060] Furthermore, one end of the driving arm 32 is disposed at the end of the driving cylinder 31 of the driving mechanism 30, and the driving arm 32 rotates following the driving cylinder 31. In this embodiment, the climbing device 100 includes two driving arms 32, and the two driving arms 32 are respectively disposed at opposite ends of the driving cylinder 31.

[0061] More specifically, a crawler is disposed on the driving arm 32. When the climbing device 100 climbs a building, the driving arm 32 rotates to an angle consistent with the slope of the stairs, and the climbing device 100 completes the building climbing action driven by the crawler.

[0062] Please refer to Figure 16 and Figure 17 , in other embodiments, the climbing device 100 may also be configured without a driving mechanism, and the locking mechanism 20 is driven by the driving wheels of the cleaning robot 200 to change from an unlocked state to a locked state, or from a locked state to an unlocked state.

[0063] In other embodiments, the limiting portion is an elastic clamping mechanism 213, and the limited portion is a fixed block 201. When the cleaning robot 200 climbs onto the machine main body 10, the forward force of the driving wheels of the cleaning robot 200 clamps the fixed block 201 into the elastic clamping mechanism 213, locking the cleaning robot 200 on the machine main body 10; when the cleaning robot 200 climbs down the machine main body 10, the backward force of the driving wheels of the cleaning robot 200 disengages the fixed block 201 from the elastic clamping mechanism 213, unlocking the cleaning robot 200 from the machine main body 10 so as to climb down the machine main body 10.

[0064] Please refer to Figure 6 and Figure 9 , the machine main body 10 is provided with an accommodation space 101 for accommodating the cleaning robot 200. When the cleaning robot 200 climbs onto the climbing device 100 and enters the accommodation space 101, the locking mechanism 20 changes to a locked state and locks the cleaning robot 200 in the accommodation space 101.

[0065] Please refer to Figure 2 , Figures 5 - 8, an opening 102 is provided on the upper surface of the machine body 10, and the latch 211 is arranged corresponding to the opening 102. In the unlocked state, the latch 211 retracts into the opening 102. In the locked state, the latch 211 extends from the opening 102 towards the cleaning robot 200 and latches at the position of the flexible material area at the bottom of the cleaning robot 200 to lock the cleaning robot 200 on the climbing device 100.

[0066] Please refer to Figure 2 , Figure 4 , Figure 6 , Figure 8 and Figure 9 , in this embodiment, when the climbing device 100 has no control system or shares a control system with the cleaning robot 200, in order to prevent the navigation of the cleaning robot 200 from failing, a front limiting member 15, a left limiting member 13 and / or a right limiting member 14 are provided on the side of the machine body 10. The front limiting member 15 is located on the front side of the machine body 10, and the left limiting member 13 and the right limiting member 14 are respectively located on the left and right sides of the machine body 10. When the cleaning robot 200 has a tendency to move to the left, the left limiting member 13 provides a force to the right for it; and / or when the cleaning robot 200 has a tendency to move to the right, the right limiting member 14 provides a force to the left for it. When the cleaning robot 200 has a tendency to move forward, the front limiting member 15 provides a force to the back for it, wherein when the cleaning robot 200 climbs onto the machine body 10, at least a part of the cleaning robot 200 is in contact with the front limiting member 15 to prevent the cleaning robot 200 from continuing to drive forward and leaving the climbing device 100.

[0067] In this embodiment, the left limiting member 13, the right limiting member 14 and the front limiting member 15 can be stoppers or baffles, which are subject to achieving the guiding, limiting or blocking functions of the present utility model, and are not particularly limited herein.

[0068] The accommodating space 101 is formed between the left stopper 13, the right stopper 14 and the front stopper 15, and is used to accommodate the cleaning robot 200. In this embodiment, the length of the accommodating space 101 of the climbing device 100 for accommodating the cleaning robot 200 in the front-to-back direction is at least sufficient to accommodate the driving wheels of the cleaning robot 200. When the guide mechanism 40 is arranged in an extended or retracted manner, the length of the climbing device 100 for accommodating the cleaning robot 200 in the front-to-back direction may be greater than or equal to the length of the cleaning robot 200, so that the cleaning robot 200 can completely climb onto the climbing device 100; when the guide mechanism 40 is arranged in a rotating manner, the length of the climbing device 100 for accommodating the cleaning robot 200 in the front-to-back direction needs to be configured to be less than or equal to the length of the cleaning robot, so that the guide mechanism 40 can rest against the cleaning robot 200 after rotation.

[0069] More specifically, a left stopper 13 and a right stopper 14 are provided on the side of the machine body 10. The left stopper 13 is configured to guide the cleaning robot 200 to climb up or down the climbing device 100 in the left direction; the right stopper 14 is configured to guide the cleaning robot 200 to climb up or down the climbing device 100 in the right direction.

[0070] When the cleaning robot 200 climbs onto the machine body 10, there is a gap between the cleaning robot 200 and the left limiter; there is a gap between the cleaning robot 200 and the right limiter 14. When the cleaning robot 200 is in place, the gaps between the cleaning robot 200 and the left limiter 13, and between the cleaning robot 200 and the right limiter 14 are 1 to 3 mm. The left limiter 13 and the right limiter 14 are used to guide the cleaning robot to climb up or down the climbing device 100 on the one hand, and to prevent the cleaning robot 200 from having too much relative movement or rotation when climbing up or down the climbing device 100, which may cause navigation failure and ultimately lead to failure of the climbing action.

[0071] See also Figure 1 and Figure 2 The machine body 10 is also provided with a front rib 11 and a rear rib 12. A shallow groove is formed between the front rib 11 and the rear rib 12 to limit the driving wheel of the cleaning robot 200. When the cleaning robot 200 climbs onto the machine body 10, the driving wheel of the cleaning robot is stuck in the shallow groove.

[0072] See also Figures 3 - 7, the machine main body 10 is provided with a guiding mechanism 40 for guiding the cleaning robot 200 to climb up or down the machine main body 10. The guiding mechanism 40 extends towards the ground or away from the ground relative to the machine main body 10. When the cleaning robot 200 needs to climb up or down the climbing device 100, the guiding mechanism 40 extends towards the ground to guide the cleaning robot 200; when the cleaning robot 200 climbs onto the machine main body 10, the guiding mechanism 40 moves in a direction away from the ground.

[0073] In one embodiment, the guiding mechanism 40 can extend or retract from the machine main body 10; when the cleaning robot 200 needs to climb up or down the climbing device 100, the guiding mechanism 40 extends so that one end of the guiding mechanism 40 fits the ground to guide the cleaning robot 200; when the cleaning robot 200 climbs onto the machine main body 10, the guiding mechanism 40 retracts.

[0074] In another embodiment, the guiding mechanism 40 can rotate around the machine main body 10; when the cleaning robot 200 needs to climb up or down the climbing device 100, the guiding mechanism 40 rotates towards the ground so that one end of the guiding mechanism 40 fits the ground to guide the cleaning robot 200; when the cleaning robot 200 climbs onto the machine main body 10, the guiding mechanism 40 rotates in a direction away from the ground until it contacts at least a part of the cleaning robot 200 and provides a forward force for the cleaning robot 200 to prevent the cleaning robot 200 from detaching from the climbing device 100 backwards.

[0075] Please refer to Figures 3 - 6, when the utility model is in use, when the cleaning robot 200 is ready to climb onto the main body, the guiding mechanism 40 extends towards the ground relative to the machine main body 10 for the cleaning robot 200 to climb onto the climbing device 100 along the guiding mechanism 40. The driving mechanism 30 drives the driving arm 32 to rotate counterclockwise to a fixed angle α within 90° to 180°. When the driving arm 32 rotates to β (90° < β < α), the unlocking block on the driving cylinder 31 starts to contact and push the locking push rod 28 to move backward. The locking push rod 28 pushes the first locking link 231 to rotate clockwise around the second locking shaft 24 through the fourth locking shaft 27. The first locking link 231 drives the second locking link 232 to rotate clockwise through the fifth locking shaft 29. The second locking link 232 drives the lock rod 21 to rotate counterclockwise around the third locking shaft 22. When the driving arm rotates to α, the locking push rod 28 is pushed backward to the farthest position, the first locking link 231 rotates clockwise around the second locking shaft 24 to the maximum position, and the lock catch 211 is pulled by the second locking link 232 through the first locking shaft 26 to rotate counterclockwise around the third locking shaft 22 to the maximum position. At this time, the climbing device 100 is unlocked and waits for the cleaning robot 200 to climb onto the climbing device 100.

[0076] After the cleaning robot 200 climbs onto the climbing device 100 and the driving wheels of the cleaning robot 200 are clamped in the shallow grooves of the front retaining rib 11 and the rear retaining rib 12, the climbing device 100 starts to perform the locking action. The driving arm 32 rotates clockwise or counterclockwise to swing out of the β - α interval. The locking push rod 28 moves forward under the action of the tension spring. The locking push rod 28 pulls the first locking link 231 to rotate counterclockwise around the second locking shaft 24. The first locking link 231 drives the second locking link 232 to rotate counterclockwise around the fifth locking shaft 29. The second locking link 232 drives the lock catch 211 to rotate clockwise around the third locking shaft 22. When the outer side of the first locking link 231 between the second locking shaft 24 and the fifth locking shaft 29 abuts against the locking block 25 of the machine main body 10, the lock catch 211 buckles in the flexible material area of the cleaning robot 200. At this time, the included angle between the first locking link 231 and the second locking link 232 < 180°. At this time, the climbing device 100 completes self-locking, the cleaning robot 200 is locked on the climbing device 100, the guiding mechanism 40 is away from the ground relative to the machine main body 10, and the climbing device 100 can move or climb stairs.

[0077] When the cleaning robot needs to climb down the climbing device 100, the driving mechanism 30 drives the driving arm 32 to rotate counterclockwise to a fixed angle α within 90° to 180°. When the driving arm 32 rotates to β (90° < β < α), the unlocking block on the driving cylinder 31 starts to contact and push the locking push rod 28 backward. The locking push rod 28 pushes the first locking link 231 to rotate clockwise around the second locking shaft 24 through the fourth locking shaft 27. The first locking link 231 drives the second locking link 232 to rotate clockwise through the fifth locking shaft 29. The second locking link 232 drives the locking rod 21 to rotate counterclockwise around the third locking shaft 22. When the driving arm rotates to α, the locking push rod 28 is pushed backward to the farthest position, the first locking link 231 rotates clockwise around the second locking shaft 24 to the maximum position, and the lock catch 211 is pulled by the second locking link 232 through the first locking shaft 26 to rotate counterclockwise around the third locking shaft 22 to the maximum position. At this time, the climbing device 100 is unlocked. At the same time, the guiding mechanism 40 extends toward the ground relative to the machine body 10, and the cleaning robot 200 climbs down the climbing device 100.

[0078] In this embodiment, the climbing device 100 includes two sets of the locking mechanisms 20. The two sets of the locking mechanisms 20 are distributed on the left and right sides of the machine body 10, and the two sets of the locking mechanisms 20 are axially symmetrically distributed about the center line of the machine body 10. The two sets of the locking mechanisms 20 work simultaneously, and can lock the cleaning robot 200 on the climbing device 100 more stably.

[0079] Embodiment Two:

[0080] Please refer to Figure 10 , the structure of this embodiment is substantially the same as that of Embodiment One. The difference is that in this embodiment, the locking mechanism 20 is configured to switch between the locked state and the unlocked state in a reciprocating linear transmission manner.

[0081] In this embodiment, the driving mechanism 30 is any one of an oil cylinder, a cylinder, and an electric push rod. The driving mechanism 30 is connected to the locking push rod 28, and drives the locking push rod 28 to move forward or backward. When the driving mechanism 30 drives the push rod 28 to move forward, the locking push rod 28 drives the locking mechanism 20 to change from the unlocked state to the locked state; when the driving mechanism 30 drives the push rod 28 to move backward, the locking push rod 28 drives the locking mechanism 20 to change from the locked state to the unlocked state.

[0082] More specifically, the lock lever 21 is rotatably connected to the machine body 10 through the third locking shaft 22, and the lock catch 211 of the lock lever 21 can rotate on the machine body 10 around the third locking shaft 22. The second locking link 232 is used to connect the lock lever 21 and the first locking link 231. One end of the second locking link 232 is connected to a position intermediate the lock lever 21 through the first locking shaft 26. The other end of the second locking link 232 is connected to one end of the first locking link 231 through the fifth locking shaft 29. The first locking link 231 is rotatably connected to the machine body 10 through the second locking shaft 24. The first locking link 231 can rotate around the second locking shaft 24 along the machine body 10. One end of the first locking link 231 and the second locking link 232 are connected through the fifth locking shaft 29. The other end of the first locking link 231 is rotatably connected to the locking push rod 28 through the fourth locking shaft 27. One end of the locking push rod 28 is connected to one end of the first locking link 231 through the fourth locking shaft 27. The other end of the locking push rod 28 is connected to the driving mechanism 30. The driving mechanism 30 drives the locking push rod 28 to move forward or backward.

[0083] When the driving mechanism 30 drives the locking push rod 28 to move to the rearmost end, the first locking link 231 rotates clockwise around the second locking shaft 24 to the maximum position, and the lock catch 211 is pulled by the second locking link 232 through the first locking shaft 26 to rotate counterclockwise around the third locking shaft 22 to the maximum position. At this time, the climbing device 100 is unlocked and waits for the cleaning robot 200 to climb up or down the climbing device 100.

[0084] When the driving mechanism 30 drives the locking push rod 28 to move to the foremost end, the locking push rod 28 pulls the first locking link 231 to rotate counterclockwise around the second locking shaft 24. The first locking link 231 drives the second locking link 232 to rotate clockwise around the fifth locking shaft 29. The second locking link 232 drives the lock catch 211 to rotate clockwise around the third locking shaft 22. When the outer side of the first locking link 231 between the second locking shaft 24 and the fifth locking shaft 29 abuts against the locking stop 25 of the machine body 10, the lock catch 211 is buckled in the flexible material area of the cleaning robot 200. At this time, the climbing device 100 is self-locked, the cleaning robot 200 is locked on the climbing device 100, and the climbing device 100 can move or climb stairs.

[0085] Embodiment 3:

[0086] Please refer toFigures 11 - 12 , the structure of this embodiment is substantially the same as that of the first and second embodiments, except for the locking mechanism 20. In this embodiment, the locking mechanism 20 includes a locking link 23. The middle of the locking link 23 is rotatably connected to the machine body 10. A chute 212 is provided along the axial direction of the lock rod 21. One end of the locking link 23 is provided with a first locking shaft 26. The first locking shaft 26 is inserted into the chute 212 and can slide along the chute 212.

[0087] The locking mechanism 20 includes a locking push rod 28. One end of the locking push rod 28 is rotatably connected to the other end of the locking link 23. When the locking push rod 28 drives the locking link 23 to rotate, the locking link 23 drives the lock rod 21 to rotate around the third locking shaft 22, and at the same time, the first locking shaft 26 slides along the chute 212.

[0088] In this embodiment, the locking link 23 can be arranged in an L shape, or the locking link 23 can also be arranged in an I shape. The shape of the locking link 23 is set for the purpose of realizing linkage with the locking push rod 28, and no special limitation is made here.

[0089] When the driving mechanism 30 drives the locking push rod 28 to move to the most front end, the locking push rod 28 pulls the locking link 231 to rotate counterclockwise around the second locking shaft 24, the first locking shaft 26 slides along the chute 212 to one end of the chute 212 close to the lock catch 211, and at the same time, the locking link 23 pulls the lock rod 21 to rotate counterclockwise around the third locking shaft 22 to the maximum position. At this time, the climbing device 100 is unlocked and waits for the cleaning robot 200 to climb up or down the climbing device 100.

[0090] When the driving mechanism 30 drives the locking push rod 28 to move to the most rear end, the locking push rod 28 pushes the locking link 231 to rotate clockwise around the second locking shaft 24, the first locking shaft 26 slides along the chute 212 to one end of the chute 212 away from the lock catch 211, and at the same time, the locking link 23 pushes the lock rod 21 to rotate clockwise around the third locking shaft 22 to the maximum position, and the lock catch 211 is buckled in the flexible material area of the cleaning robot 200. At this time, the climbing device 100 is self-locked, the cleaning robot 200 is locked on the climbing device 100, and the climbing device 100 can move or climb stairs.

[0091] Embodiment Four:

[0092] Please refer to Figures 13 - 15, the structure of this embodiment is substantially the same as that of the first, second, and third embodiments, with the difference lying in the locking mechanism 20. In this embodiment, the locking mechanism 20 includes a telescopic rod 33 that can extend or retract from the machine body 10. The driving mechanism 30 is connected to the telescopic rod 33. The driving mechanism 30 is any one of an oil cylinder, a cylinder, and an electric push rod, and the driving mechanism 30 drives the telescopic rod 33 to extend or retract from the machine body 10.

[0093] In this embodiment, the limiting part is the telescopic rod 33, and the limited part is the locking groove 16 provided on the cleaning robot corresponding to the telescopic rod 33. The telescopic rod 33 can extend or retract from the machine body 10. When the telescopic rod 33 extends and the end of its extended end is inserted into the locking groove 16 on the cleaning robot 200, the telescopic rod 33 locks the cleaning robot 200 to the machine body 10. When the telescopic rod 33 retracts and disengages from the locking groove 16 on the cleaning robot 200, the telescopic rod 33 releases the lock on the cleaning robot 200, and the cleaning robot 200 can climb up or down the climbing device 100.

[0094] In this embodiment, the number of the telescopic rods 33 is at least two and appears in pairs, and they are respectively arranged on the opposite left and right sides of the machine body 10.

[0095] In summary, the climbing device 100 of the present utility model has a simple structure. The locking mechanism 20 is used to lock the cleaning robot 200, providing a downward force when the cleaning robot has an upward movement tendency and a forward force when the cleaning robot has a backward movement tendency to ensure that the cleaning robot 200 is locked to the climbing device 100, and the cleaning robot 200 will not disengage from the climbing device 100 when the climbing device 100 carries the cleaning robot 200 to move or climb stairs.

[0096] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A climbing device, comprising a machine body, characterized in that: The climbing device is used to carry the cleaning robot to climb the stairs, and the climbing device also includes a locking mechanism, which has an unlocked state and a locked state; when the cleaning robot climbs onto the machine body, the locking mechanism is in the locked state to lock the cleaning robot onto the machine body; When the cleaning robot needs to climb down the climbing device, the locking mechanism is in an unlocked state to release the lock on the cleaning robot.

2. The climbing device according to claim 1, characterized in that In the locked state, the locking mechanism is at least configured to provide a downward force to the cleaning robot when the cleaning robot has an upward movement tendency; the locking mechanism is also at least configured to provide a forward force to the cleaning robot when the cleaning robot has a backward movement tendency.

3. The climbing device according to claim 1, characterized in that The climbing device further comprises a driving mechanism, and the driving mechanism is used to drive the locking mechanism to change from an unlocking state to a locking state, or from a locking state to an unlocking state.

4. The climbing device according to claim 3, characterized in that The climbing device further comprises a driving arm, wherein the driving arm and the driving mechanism are driven by the same driving device, and the driving arm and the driving mechanism are arranged in linkage.

5. The climbing device according to claim 1, characterized in that The locking mechanism is provided with a limiting portion, and the cleaning robot is provided with a limited portion, and the limiting portion cooperates with the limited portion to enable the locking mechanism to lock or unlock the cleaning robot.

6. The climbing device according to claim 5, characterized in that The limiting part is a locking part, and the limited part is a locking area of ​​the cleaning robot. In the locked state, the locking part is engaged with the locking area of ​​the cleaning robot to lock the cleaning robot to the machine body; in the unlocked state, the locking part is disengaged from the locking area to release the lock on the cleaning robot; or the limiting part is a telescopic rod, and the limited part is a locking groove of the cleaning robot corresponding to the telescopic rod, and the telescopic rod can be extended or retracted from the machine body; when the telescopic rod is extended and the end of one of its extended ends is inserted into the locking groove on the cleaning robot, the telescopic rod locks the cleaning robot to the machine body; when the telescopic rod is retracted and disengaged from the locking groove on the cleaning robot, the telescopic rod releases the lock on the cleaning robot.

7. The climbing device according to claim 1, characterized in that The locking mechanism is configured to achieve switching between the locked state and the unlocked state by means of rotational transmission; or the locking mechanism is configured to achieve switching between the locked state and the unlocked state by means of reciprocating linear transmission.

8. The climbing device according to claim 1, characterized in that A left limiter and / or a right limiter is provided on the side of the machine body, and the left limiter is configured to guide the cleaning robot to climb up or climb down the climbing device in the left direction, and the right limiter is configured to guide the cleaning robot to climb up or climb down the climbing device in the right direction. When the cleaning robot climbs onto the machine body, there is a gap between the cleaning robot and the left limiter and / or the right limiter, and the gap is 1 to 3 mm.

9. The climbing device according to claim 1, characterized in that A front limiter is provided on the front side of the machine body, and when the cleaning robot has a tendency to move forward, the front limiter provides a backward force for it; wherein when the cleaning robot climbs onto the machine body, at least part of the cleaning robot contacts the front limiter.

10. The climbing device according to claim 1, characterized in that The machine body is provided with a guiding mechanism for guiding the cleaning robot to climb up or down the machine body, and the guiding mechanism can be extended or retracted from the machine body. When the cleaning robot needs to climb up or down the climbing device, the guiding mechanism is extended so that one end of the guiding mechanism is in contact with the ground for guiding the cleaning robot; when the cleaning robot climbs onto the machine body, the guiding mechanism is retracted; or the guiding mechanism can rotate around the machine body. When the cleaning robot needs to climb up or down the climbing device, the guiding mechanism rotates in a first direction so that one end of the guiding mechanism is in contact with the ground for guiding the cleaning robot; when the cleaning robot climbs onto the machine body, the guiding mechanism rotates in a second direction until it abuts against the cleaning robot.

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