Moving mechanism and cleaning robot

Abstract

The utility model discloses a moving mechanism and a cleaning robot, and relates to the technical field of swimming pool cleaning. The moving mechanism comprises a transmission belt and at least two groups of moving wheel units; the moving wheel units have the axial direction, each moving wheel unit comprises a protection part, a connecting shaft and a moving wheel, and the moving wheels are rotationally installed on the connecting shafts. The transmission belt is in transmission connection between the adjacent moving wheels in the at least two groups of moving wheel units; the protection piece is connected to one side of the moving wheel and is stopped on one side of the transmission belt in the axial direction. According to the moving mechanism, the mounting stability between the moving wheels and the transmission belt can be improved, and the power transmission effect is ensured.

Description

Technical Field

[0001] This application relates to the technical field of pool cleaning, and particularly to a moving mechanism and a cleaning robot. Background Art

[0002] When a pool cleaning robot cleans a pool, its main body part can be driven to move by a crawler mechanism.

[0003] However, the stability of the crawler mechanism of the existing pool cleaning robot is poor, which affects the power transmission effect. Summary of the Utility Model

[0004] This application provides a moving mechanism and a cleaning robot to improve the installation stability between the moving wheels and the transmission belt and ensure the power transmission effect.

[0005] This application provides a moving mechanism, including:

[0006] At least two groups of moving wheel units, each moving wheel unit having an axial direction. Each group of the moving wheel units includes a protective member, a connecting shaft, and a moving wheel, and the moving wheel is rotatably installed on the connecting shaft;

[0007] A transmission belt, which is drivingly connected between adjacent moving wheels of at least two groups of the moving wheel units;

[0008] The protective member is connected to one side of the moving wheel and axially stops at one side of the transmission belt in the axial direction.

[0009] Advantageous Effects of This Application: In the moving mechanism provided by this application, the protective member is connected to one side of the moving wheel, and the protective member axially stops at one side of the transmission belt in the axial direction of the moving wheel unit. Thus, the protective member can limit the axial relative movement between the moving wheel and the transmission belt on this side, prevent the transmission belt from disengaging from the moving wheel, ensure the connection stability between the moving wheel and the transmission belt, and ensure the power transmission effect.

[0010] In some possible implementation manners, a toothed structure is disposed on the circumferential side of the moving wheel, the transmission belt includes a crawler belt, and the transmission belt is meshingly connected with the moving wheel;

[0011] The moving wheel includes a root circle diameter D1, and the protective member includes an outer diameter D2, and the outer diameter D2 is greater than the root circle diameter D1.

[0012] In some possible implementation manners, the moving wheel unit further includes a transmission component, the transmission component is sleeved on the connecting shaft, and the moving wheel is rotatably installed on the connecting shaft through the transmission component;

[0013] The protective member is located on the side of the moving wheel away from the transmission assembly, and the protective member is axially limitedly connected to the connecting shaft.

[0014] In some possible implementation manners, the transmission assembly includes a fitting sleeve and a bearing set. The fitting sleeve is sleeved on the connecting shaft, the bearing set is installed between the connecting shaft and the fitting sleeve, and the moving wheel is fixedly connected to one end of the fitting sleeve.

[0015] At least one first positioning portion is disposed on the side of the fitting sleeve facing the moving wheel, at least one second positioning portion is disposed on the side of the moving wheel facing the fitting sleeve, the at least one first positioning portion is distributed around the axis of the connecting shaft, and the at least one first positioning portion and the at least one second positioning portion are inserted into each other in one-to-one correspondence.

[0016] In some possible implementation manners, three first positioning portions are disposed on the side of the fitting sleeve facing the moving wheel, three second positioning portions are disposed on the side of the moving wheel facing the fitting sleeve, and the three first positioning portions and the three second positioning portions are inserted into each other in one-to-one correspondence.

[0017] In some possible implementation manners, the fitting sleeve includes a connecting pipe portion and an extending portion. The connecting pipe portion is rotatably sleeved on the connecting shaft, the extending portion is disposed around the side of the connecting pipe portion away from the connecting shaft, and the connecting pipe portion protrudes toward the moving wheel relative to the extending portion.

[0018] A limiting groove is formed on the side of the moving wheel facing the fitting sleeve, and the portion of the connecting pipe portion protruding toward the moving wheel relative to the extending portion is inserted into the limiting groove.

[0019] In some possible implementation manners, the fitting sleeve further includes a plurality of reinforcing ribs. The plurality of reinforcing ribs are disposed around the side of the connecting pipe portion away from the connecting shaft, and the reinforcing rib includes a first structural segment and a second structural segment.

[0020] The first structural segment is connected to the connecting pipe portion and is located on the side of the extending portion close to the moving wheel.

[0021] The second structural segment is connected to the side of the extending portion facing the moving wheel.

[0022] A plurality of avoiding grooves are formed on the side of the moving wheel facing the fitting sleeve, and the first structural segments of the plurality of reinforcing ribs are inserted into the plurality of avoiding grooves in one-to-one correspondence.

[0023] In some possible embodiments, the bearing set includes a first bearing, a support member, and a second bearing, and the first bearing, the support member, and the second bearing are sequentially arranged along the axial direction of the connecting shaft.

[0024] In some possible embodiments, the moving mechanism further includes a driving member, and the driving member is in transmission connection with the moving wheels in at least one moving wheel unit.

[0025] In addition, the present application further provides a cleaning robot, including the moving mechanism provided in each of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0027] Figure 1 Shows a three-dimensional structural schematic diagram of the moving mechanism in some embodiments;

[0028] Figure 2 Shows another three-dimensional structural schematic diagram of the moving structure in some embodiments;

[0029] Figure 3 Shows a cross-sectional structural schematic diagram of the moving wheel unit in some embodiments;

[0030] Figure 4 Shows a partial structural schematic diagram of the moving wheel unit in some embodiments;

[0031] Figure 5 Shows a three-dimensional structural schematic diagram of the moving wheel in some embodiments;

[0032] Figure 6 Shows another three-dimensional structural schematic diagram of the moving wheel in some embodiments;

[0033] Figure 7 Shows a dimension marking schematic diagram of the moving wheel and the protective member in some embodiments;

[0034] Figure 8 Shows a structural schematic diagram of the cleaning robot in some embodiments.

[0035] MAIN ELEMENT SYMBOL DESCRIPTION:

[0036] 1000 - Moving mechanism;

[0037] 100 - Mobile wheel unit; 110 - Mobile wheel; 111 - Second positioning portion; 112 - Limit groove; 113 - Avoidance groove; 114 - Convex portion; 120 - Connecting shaft; 130 - Protective member; 131 - Avoidance hole; 140 - Transmission assembly; 141 - Fitting set; 1411 - Connecting pipe portion; 1412 - Extension portion; 1413 - Limit flange; 1414 - Reinforcing rib; 14141 - First structural segment; 14142 - Second structural segment; 1415 - First positioning portion; 142 - Bearing group; 1421 - First bearing; 1422 - Support member; 1423 - Second bearing; 151 - Limit cover; 152 - Decorative member; 200 - Transmission belt;

[0038] 300 - Connecting shell;

[0039] 400 - Driving member; 410 - Gear;

[0040] 2000 - Main machine; 2100 - Cleaning roller. Detailed implementation manner

[0041] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0044] In this application, unless otherwise clearly specified or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In this application, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0046] As Figure 1 , Figure 2 and Figure 7 shown, in an embodiment, a moving mechanism 1000 is provided, which can be used in a cleaning robot to realize the movement of the cleaning robot. In some embodiments, the cleaning robot can be a pool cleaning robot.

[0047] In other embodiments, the cleaning robot can also be a floor cleaning robot, a window cleaning robot, etc.

[0048] As Figures 1 to 3 shown, the moving mechanism 1000 includes a transmission belt 200 and at least two groups of moving wheel units 100.

[0049] Among them, the moving wheel unit 100 is configured with an axial direction. The axial direction of the moving wheel unit 100 can refer to the extending direction of the axis L. In addition, each group of moving wheel units 100 includes a moving wheel 110, a connecting shaft 120 and a protective member 130. The connecting shaft 120 can be parallel to the axial direction. The moving wheel 110 is rotatably installed on the connecting shaft 120, and the rotation axis of the moving wheel 110 can coincide with the axis of the connecting shaft 120.

[0050] The transmission belt 200 is in transmission connection between the moving wheels 110 in two adjacent groups of moving wheel units 100.

[0051] The protective member 130 can be connected to one side of the moving wheel 110, and in the axial direction of the moving wheel unit 100, the protective member 130 abuts against one side of the transmission belt 200. Thus, the protective member 130 can limit the axial relative movement between the transmission belt 200 and the moving wheel 110, prevent the transmission belt 200 from disengaging from the moving wheel 110, ensure the installation stability between the moving wheel 110 and the transmission belt 200, and further ensure the power transmission effect between the moving wheel 110 and the transmission belt 200.

[0052] In some embodiments, the moving mechanism 1000 may include two sets of moving wheel units 100.

[0053] In other embodiments, the moving mechanism 1000 may further include three sets, four sets, six sets or other numbers of moving wheel units 100, and multiple sets of moving wheel units 100 may be arranged in sequence along the extending direction of the transmission belt 200. And a transmission belt 200 is disposed between any two adjacent sets of moving wheel units 100 to achieve power transmission.

[0054] As Figures 1 to 3 shown, the moving mechanism 1000 further includes a connecting shell 300. The two ends of the connecting shell 300 are correspondingly connected to one end of the connecting shafts 120 in the two sets of moving wheel units 100. And the connecting shell 300 can be located on the side of the protective member 130 away from the moving wheel 110. The connecting shell 300 can limit the axial movement of the protective member 130 along the axial direction of the connecting shaft 120, and thus the protective member 130 can provide axial limit for the moving wheel 110. At the same time, the connecting shell 300 can provide a protection function for the moving wheel unit 100, reducing the possibility of damage to the moving wheel unit 100 caused by external factors, such as collision, water vapor erosion, etc.

[0055] As Figure 2 and Figure 3 shown, the moving wheel unit 100 further includes a transmission assembly 140, and the moving wheel 110 can be rotatably mounted on the connecting shaft 120 through the transmission assembly 140.

[0056] In some embodiments, the transmission assembly 140 may include a mounting sleeve 141 and a bearing set 142. The mounting sleeve 141 can be rotatably mounted on the connecting shaft 120 through the bearing set 142. Specifically, the mounting sleeve 141 can be sleeved on the circumferential side of the connecting shaft 120 and is coaxially arranged. The bearing set 142 is installed between the connecting shaft 120 and the mounting sleeve 141, and can realize the relative rotation between the mounting sleeve 141 and the connecting shaft 120.

[0057] In an embodiment, the moving wheel 110 can be fixedly connected to one end of the mounting sleeve 141 by means of screw connection or snap connection. Thus, the synchronous rotation of the mounting sleeve 141 and the moving wheel 110 can be realized, that is, the relative rotational mounting of the moving wheel 110 and the connecting shaft 120 can be realized.

[0058] The bearing assembly 142 may include a first bearing 1421, a second bearing 1423, and a support member 1422. Among them, both the first bearing 1421 and the second bearing 1423 are sleeved on the connecting shaft 120. The inner rings of the first bearing 1421 and the second bearing 1423 are fixedly connected to the connecting shaft 120. In addition, the outer rings of the first bearing 1421 and the second bearing 1423 are fixedly connected to the fitting sleeve 141. The support member 1422 is also sleeved on the connecting shaft 120 and is located between the first bearing 1421 and the second bearing 1423.

[0059] In some embodiments, one end of the first bearing 1421 away from the support member 1422 may be axially limited by the host 2000 to prevent the first bearing 1421 from detaching from the connecting shaft 120. A limiting edge 1413 is protrudingly provided at one end of the fitting sleeve 141 away from the first bearing 1421. The limiting edge 1413 may protrude radially along the inner wall of the fitting sleeve 141 and is located on the side of the second bearing 1423 away from the support member 1422. In the embodiment, the limiting edge 1413 may provide axial limitation for the second bearing 1423 to prevent the second bearing 1423 from detaching from the connecting shaft 120.

[0060] In addition, the protective member 130 may provide axial limitation for the moving wheel 110, and further provide axial limitation for the fitting sleeve 141, to prevent the fitting sleeve 141 and the moving wheel 110 from axially shifting along the connecting shaft 120 after long-term use. Thus, the normal operation of the moving wheel 110 can be ensured, and further the moving mechanism 1000 can smoothly drive the host 2000 of the cleaning robot to move.

[0061] In some embodiments, one end of the fitting sleeve 141 away from the moving wheel 110 may be used for drivingly connecting the cleaning roller 2100 in the host 2000 and transmitting power to the cleaning roller 2100. In the embodiment, the first bearing 1421, the support member 1422, and the second bearing 1423 are sequentially arranged along the axial direction of the connecting shaft 120, which can make the fitting sleeve 141 more stably installed on the connecting shaft 120, ensure the stability of power transmission, and improve the power transmission efficiency at the same time.

[0062] Such as Figures 3 to 6As shown, at least one first positioning portion 1415 is disposed on one side of the fitting set 141 facing the moving wheel 110, and at least one first positioning portion 1415 can be distributed around the axis of the connecting shaft 120. At least one second positioning portion 111 is disposed on one side of the moving wheel 110 facing the fitting set 141, and the second positioning portion 111 can be adapted to the first positioning portion 1415. When the moving wheel 110 is connected to the fitting set 141, at least one first positioning portion 1415 can be inserted into at least one second positioning portion 111 in a one-to-one correspondence. Thus, the positioning between the fitting set 141 and the moving wheel 110 can be realized, the relative rotation between the moving wheel 110 and the fitting set 141 can be prevented, and the stability and reliability of the power transmission between the moving wheel 110 and the fitting set 141 can be ensured.

[0063] In some embodiments, three first positioning portions 1415 are disposed on one side of the fitting set 141 facing the moving wheel 110. Three second positioning portions 111 are disposed on one side of the moving wheel 110 facing the fitting set 141. Among them, the first positioning portion 1415 can be a columnar structure protruding from one side of the fitting set 141 facing the moving wheel 110. The second positioning portion 111 can be a groove structure formed on one side of the moving wheel 110 facing the fitting set 141 and is adapted to the first positioning portion 1415. When the moving wheel 110 is connected to the fitting set 141, the three first positioning portions 1415 are inserted into the three second positioning portions 111 in a one-to-one correspondence to realize the positioning connection between the moving wheel 110 and the fitting set 141, so as to further lock and fix the moving wheel 110 and the fitting set 141 through structures such as screws later.

[0064] In other embodiments, the number of the first positioning portions 1415 can also be set to one, two, four, six, etc. according to needs, and the number of the second positioning portions 111 can be equal to the number of the first positioning portions 1415.

[0065] In other embodiments, the second positioning portion 111 can be a columnar structure protruding from one side of the moving wheel 110 facing the fitting set 141. The first positioning portion 1415 can be a groove structure formed on one side of the fitting set 141 facing the moving wheel 110 and is adapted to the second positioning portion 111.

[0066] Such as Figures 3 to 6As shown, in some embodiments, the fitting sleeve 141 may include an integral connecting pipe portion 1411 and an extension portion 1412. The connecting pipe portion 1411 is sleeved on the connecting shaft 120 and connected to the bearing set 142. The extension portion 1412 may be disposed around one side of the connecting pipe portion 1411 away from the bearing set 142 and extend radially away from the connecting shaft 120 along the fitting sleeve 141. In the embodiment, the extension portion 1412 may have an annular plate-like structure. Additionally, along the axial direction of the fitting sleeve 141, the extension portion 1412 may be disposed approximately near the middle of the connecting pipe portion 1411. The first positioning portion 1415 may protrude from one side of the extension portion 1412 facing the moving wheel 110, and the limiting edge 1413 may be disposed at one end of the connecting pipe portion 1411 close to the moving wheel 110.

[0067] Accordingly, one end of the connecting pipe portion 1411 close to the moving wheel 110 may protrude relative to one side of the extension portion 1412 facing the moving wheel 110. In some embodiments, a limiting groove 112 is further formed on one side of the moving wheel 110 facing the fitting sleeve 141. The protruding portion of the connecting pipe portion 1411 relative to one side of the extension portion 1412 facing the moving wheel 110 may be inserted into the limiting groove 112. Meanwhile, the side wall on the circumferential side of the connecting pipe portion 1411 is in contact with the inner wall of the limiting groove 112, which can achieve the radial limitation of the connecting pipe portion 1411 and the moving wheel 110, prevent the radial relative movement between the moving wheel 110 and the fitting sleeve 141, and ensure the stability of the installation.

[0068] In some embodiments, a plurality of reinforcing ribs 1414 further protrude from the outer wall of the connecting pipe portion 1411 on the side away from the connecting shaft 120, and the plurality of reinforcing ribs 1414 may be located on one side of the extension portion 1412 facing the moving wheel 110. The plurality of reinforcing ribs 1414 may be evenly spaced around the circumferential side of the connecting pipe portion 1411.

[0069] In other embodiments, the plurality of reinforcing ribs 1414 may also be unevenly distributed.

[0070] In some embodiments, the reinforcing rib 1414 may be L-shaped. Accordingly, the reinforcing rib 1414 includes a first structural segment 14141 and a second structural segment 14142 that are perpendicular to each other. The first structural segment 14141 may be connected to the connecting pipe portion 1411, and the second structural segment 14142 may be connected to one side of the extension portion 1412 facing the moving wheel 110. In the embodiment, a plurality of avoidance grooves 113 communicating with the limiting groove 112 may be formed on one side of the moving wheel 110 facing the fitting sleeve 141, and the first structural segments 14141 of the plurality of reinforcing ribs 1414 are inserted into the plurality of avoidance grooves 113 in a one-to-one correspondence.

[0071] In the embodiment, reinforcing ribs 1414 are arranged on the outer side of the fitting sleeve 141. On the one hand, the structural strength of the fitting sleeve 141 itself can be improved. On the other hand, through the cooperation between the reinforcing ribs 1414 and the moving wheel 110, the limiting effect between the moving wheel 110 and the fitting sleeve 141 can be further enhanced, preventing relative rotation between the moving wheel 110 and the fitting sleeve 141.

[0072] As Figure 3 shown, the connecting shaft 120 can pass through the moving wheel 110 and extend to the side of the moving wheel 110 away from the fitting sleeve 141. In the embodiment, the moving mechanism 1000 further includes a limiting cover 151. The limiting cover 151 can be fixedly connected to the end of the connecting shaft 120 near the moving wheel 110 by means such as screw connection, and the limiting cover 151 can be located on the side of the moving wheel 110 away from the fitting sleeve 141. In the embodiment, the outer diameter of the limiting cover 151 can be larger than the inner diameter of the moving wheel 110, so that the limiting cover 151 can be limited on the side of the moving wheel 110 away from the fitting sleeve 141. Furthermore, the axial movement of the moving wheel 110 along the connecting shaft 120 can be further restricted, and the axial limit of the fitting sleeve 141 can also be achieved, preventing the fitting sleeve 141 from disengaging from the bearing group 142.

[0073] In the embodiment, the connecting shell 300 can also be fixedly connected to the connecting shaft 120 together with the limiting cover 151 by screws.

[0074] As Figure 3 、 Figure 5 and Figure 6 shown, in some embodiments, the limiting groove 112 can be formed by the moving wheel 110 recessing towards the side close to the protective member 130. Correspondingly, a convex portion 114 can be formed on the side of the moving wheel 110 facing the protective member 130. An avoidance hole 131 for the convex portion 114 to pass through can be formed in the protective member 130.

[0075] In some embodiments, the moving wheel unit 100 further includes a decorative member 152. The decorative member 152 can cover the side of the connecting shell 300 away from the protective member 130. The decorative member 152 can shield structures such as screws for connecting the connecting shell 300 and the connecting shaft 120, improving the appearance effect of the moving mechanism 1000, and further improving the appearance effect of the cleaning robot. It can also reduce the possibility of structures such as screws being corroded and extend their service life.

[0076] As Figure 2 、 Figure 3 and Figure 7 shown, in some embodiments, a toothed structure can be configured on the circumferential side of the moving wheel 110. The transmission belt 200 can be selected as a crawler belt. Correspondingly, the transmission belt 200 can be meshed with the moving wheel 110.

[0077] In some embodiments, the outer diameter D2 of the protective member 130 may be greater than the root circle diameter D1 of the moving wheel 110. Accordingly, the protective member 130 may form a limit on the side of the transmission belt 200 close to the connection housing 300, preventing the transmission belt 200 from being axially misaligned with the moving wheel 110, avoiding the transmission belt 200 from disengaging from the moving wheel 110, ensuring the power transmission between the moving wheel 110 and the transmission belt 200, and thus ensuring the smooth movement of the moving mechanism 1000.

[0078] In some other embodiments, the moving wheel 110 may also be a pulley, and the transmission belt 200 may be a belt. The outer diameter D2 of the protective member 130 is greater than the outer diameter of the moving wheel 110. Thus, the protective member 130 can stop at one side of the transmission belt 200 and form an axial limit to prevent the transmission belt 200 from being axially misaligned with the moving wheel 110.

[0079] As Figure 2 and Figure 3 shown, the moving mechanism 1000 further includes a driving member 400, and the driving member 400 can be in transmission connection with the moving wheel 110 in at least one moving wheel unit 100. Thus, the driving member 400 can drive the connected moving wheel 110 to rotate, and then drive the transmission belt 200 to move.

[0080] In some embodiments, the driving member 400 may be a motor. The output shaft of the driving member 400 can be in transmission connection with the moving wheel 110 through a gear 410.

[0081] In some other embodiments, the driving member 400 can also be in transmission connection with the moving wheels 110 in two moving mechanisms 1000 through a gear set.

[0082] In some other embodiments, the transmission connection between the driving member 400 and the moving wheel 110 can also be achieved through structures such as a pulley with a belt, or a timing pulley with a timing belt.

[0083] In some embodiments, the structures of the two moving wheel units 100 can be set to be similar. The diameter of the moving wheel 110 in one moving wheel unit 100 can be greater than the diameter of the moving wheel 110 in the other moving wheel unit 100.

[0084] In some other embodiments, the structures of the two moving wheel units 100 can also be set to be the same, and the diameters of the moving wheels 110 in the two moving wheel units 100 can be set to be equal.

[0085] As Figure 8As shown, the embodiment also provides a cleaning robot, including a main body 2000 and two sets of moving mechanisms 1000 provided in the embodiment. The two sets of moving mechanisms 1000 can be separately arranged on both sides of the main body 2000. Among them, the driving member 400 can be fixedly installed in the main body 2000. In the moving wheel unit 100 connected to the driving member 400, its fitting sleeve 141 can be in transmission connection with the cleaning roller 2100 in the main body 2000, and thus can drive the cleaning roller 2100 to rotate to provide a cleaning function.

[0086] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0087] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A moving mechanism, characterized in that, Comprising: At least two sets of mobile wheel units, the mobile wheel units having an axis, each set of the mobile wheel units including a protective member, a connecting shaft, and a mobile wheel, the mobile wheel being rotatably mounted on the connecting shaft; A transmission belt, drivingly connected between adjacent mobile wheels of at least two sets of the mobile wheel units; The protective member is connected to one side of the mobile wheel and abuts against one side of the transmission belt in the axial direction.

2. The mobile mechanism according to claim 1, characterized in that, A toothed structure is arranged on the circumferential side of the mobile wheel, the transmission belt includes a crawler belt, and the transmission belt is meshed and connected with the mobile wheel; The mobile wheel includes a root circle diameter D1, the protective member includes an outer diameter D2, and the outer diameter D2 is greater than the root circle diameter D1.

3. The mobile mechanism according to claim 1, characterized in that, The mobile wheel unit further includes a transmission assembly, the transmission assembly is sleeved on the connecting shaft, and the mobile wheel is rotatably mounted on the connecting shaft through the transmission assembly; The protective member is located on the side of the mobile wheel away from the transmission assembly, and the protective member is axially limited and connected to the connecting shaft.

4. The mobile mechanism according to claim 3, characterized in that, The transmission assembly includes a fitting sleeve and a bearing set, the fitting sleeve is sleeved on the connecting shaft, the bearing set is installed between the connecting shaft and the fitting sleeve, and the mobile wheel is fixedly connected to one end of the fitting sleeve; At least one first positioning portion is arranged on the side of the fitting sleeve facing the mobile wheel, at least one second positioning portion is arranged on the side of the mobile wheel facing the fitting sleeve, the at least one first positioning portion is distributed around the axis of the connecting shaft, and the at least one first positioning portion and the at least one second positioning portion are inserted into each other in a one-to-one correspondence.

5. The mobile mechanism according to claim 4, characterized in that, Three of the first positioning portions are arranged on the side of the fitting sleeve facing the mobile wheel, three of the second positioning portions are arranged on the side of the mobile wheel facing the fitting sleeve, and the three first positioning portions and the three second positioning portions are inserted into each other in a one-to-one correspondence.

6. The mobile mechanism according to claim 4 or 5, characterized in that, The fitting sleeve includes a connecting pipe portion and an extension portion, the connecting pipe portion is rotatably sleeved on the connecting shaft, the extension portion is arranged around the side of the connecting pipe portion away from the connecting shaft, and the connecting pipe portion protrudes towards the mobile wheel relative to the extension portion; A limiting groove is formed on the side of the mobile wheel facing the fitting sleeve, and a part of the connecting pipe portion protruding towards the mobile wheel relative to the extension portion is inserted into the limiting groove.

7. The moving mechanism according to claim 6, characterized in that The fitting sleeve further includes a plurality of reinforcing ribs, the plurality of reinforcing ribs are arranged around the side of the connecting pipe portion away from the connecting shaft, and the reinforcing ribs include a first structural segment and a second structural segment; The first structural segment is connected to the connecting pipe portion and is located on the side of the extension portion close to the mobile wheel; The second structural segment is connected to the side of the extension portion facing the mobile wheel; A plurality of avoiding grooves are formed on the side of the mobile wheel facing the fitting sleeve, and the first structural segments of the plurality of reinforcing ribs are inserted into the plurality of avoiding grooves in a one-to-one correspondence.

8. The mobile mechanism according to claim 4, characterized in that The bearing set includes a first bearing, a support member, and a second bearing, and the first bearing, the support member, and the second bearing are arranged in sequence along the axial direction of the connecting shaft.

9. The mobile mechanism according to claim 1, wherein The moving mechanism further includes a driving member, and the driving member is in transmission connection with the moving wheels in at least one moving wheel unit.

10. A cleaning robot, characterized in that, Comprising the moving mechanism according to any one of claims 1 to 9.

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