Suspension mechanism, cleaning equipment and cleaning system

Abstract

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

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning equipment, and in particular relates to a suspension mechanism, cleaning equipment and a cleaning system. Background Art

[0002] The suspension strength of a suspension mechanism is the maximum load or stress a suspension system can withstand without breaking. The greater the suspension strength, the better the obstacle-crossing capability and the higher the passability. However, for cleaning equipment, increasing the suspension strength reduces the suction force of the cleaning equipment, affecting its cleaning performance.

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

[0004] The present invention aims to at least partially address the technical problem of a suspension mechanism having difficulty adjusting its suspension strength. To this end, the present invention provides a suspension mechanism in which a driving member drives a suspension end to move relative to a device body, thereby varying the length of an elastic member and thereby adjusting the suspension strength of the suspension mechanism.

[0005] The utility model also discloses a cleaning device.

[0006] The utility model also discloses a cleaning system.

[0007] The suspension mechanism provided by the first embodiment of the present invention is installed on a cleaning device and includes:

[0008] an elastic member connected to the wheel body of the cleaning device;

[0009] A driving member is connected to the elastic member, and the driving member can adjust the force of the elastic member acting on the wheel body of the cleaning device to make the cleaning device adapt to the condition of the surface to be cleaned.

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

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

[0012] In some embodiments, the stretching direction of the elastic member is the same as the forward direction of the cleaning device.

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

[0014] In some embodiments, the driving member is an electromagnet, the suspension end is provided with a sliding portion, the sliding portion is at least partially made of magnetic material, and the electromagnet is mounted on the device body of the cleaning device.

[0015] In some embodiments, when the electromagnet is energized, the sliding portion moves toward the electromagnet; when the electromagnet is de-energized, the elastic member returns to its original position.

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

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

[0018] In some embodiments, the suspension mechanism includes a driving member and at least two elastic members, each of the elastic members is connected to a corresponding wheel body of the cleaning device, and a suspension end of each elastic member is transmission-connected to the same driving member.

[0019] In some embodiments, the suspension mechanism includes a switching member, the elastic member and the driving member are located on the same side of the switching member; the switching member connects the driving member and the suspension end, and the switching member is suitable for changing the driving direction of the driving member.

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

[0021] In some embodiments, the driving member is an electromagnet, the second end is provided with a moving portion, the moving portion is at least partially made of magnetic material, and when the electromagnet is energized, the moving portion moves toward the electromagnet.

[0022] In some embodiments, the suspension mechanism further includes a screw, which includes a screw and a slider, the slider being sleeved on the screw and cooperating with the screw thread; the driving member is a motor, the motor having a drive shaft, the drive shaft being fixedly connected to the screw, and the slider being transmission-connected to the elastic member; the driving member drives the screw to rotate through the drive shaft, so that the elastic member is extended or shortened.

[0023] In some embodiments, the suspension mechanism further includes a limiting member adapted to limit the displacement of the second end.

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

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

[0026] A second embodiment of the present invention provides a cleaning device, comprising a device body, a wheel body, and the suspension mechanism described in any one of the embodiments of the first aspect.

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

[0028] A third aspect of the present invention provides a cleaning system, comprising a base station and the suspension mechanism described in any embodiment of the first aspect or the cleaning device described in any embodiment of the second aspect.

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

[0030] Since the elastic part connects the wheel body and the equipment body, the elasticity of the elastic part is used to absorb the vibration during the movement of the cleaning equipment; the force exerted by the elastic part on the wheel body is adjusted by the driving part, thereby adjusting the suspension strength of the suspension mechanism, so that the cleaning equipment can adapt to the conditions of the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 One of the schematic diagrams of the internal structure of the cleaning device according to the embodiment of the utility model is shown;

[0033] Figure 2The second schematic diagram of the internal structure of the cleaning device according to the embodiment of the present utility model is shown;

[0034] Figure 3 The third schematic diagram of the internal structure of the cleaning device according to the embodiment of the present utility model is shown;

[0035] Figure 4 The fourth schematic diagram of the internal structure of the cleaning device according to the embodiment of the present utility model is shown.

[0036] Reference numerals:

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

[0038] 200, driving parts;

[0039] 300, wheel body;

[0040] 400, equipment body;

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

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

[0043] 700, limiter;

[0044] 800, track;

[0045] 900. Wire collection box. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] In addition, the present invention may repeat reference numbers and / or reference letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0048] The suspension strength of a suspension mechanism is the maximum load or stress a suspension system can withstand without breaking. Greater suspension strength improves obstacle clearance and increased mobility. However, for cleaning equipment, increasing suspension strength, while improving obstacle clearance, can also affect the suspension mechanism, reducing the suction force of the cleaning equipment and affecting its cleaning performance.

[0049] The suspension strength of the suspension mechanism in the related art cannot be adjusted, making it difficult for cleaning equipment to balance obstacle clearance and cleaning power. A high suspension strength ensures passability but reduces the robot's suction force; a low suspension strength ensures suction but reduces obstacle clearance. Furthermore, suspension springs from different manufacturers and batches can vary slightly, resulting in varying passability for the same suspension mechanism, making standardization difficult. Furthermore, the springs within the suspension mechanism are prone to elastic creep due to frequent and prolonged use.

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

[0051] The first embodiment of the present invention provides a suspension mechanism installed on a cleaning device. Figures 1 to 3 The suspension mechanism includes an elastic member 100 and a driving member 200. The elastic member 100 is connected to the wheel body 300 of the cleaning device. The driving member 200 is connected to the elastic member 100. The driving member 200 can adjust the force of the elastic member 100 acting on the wheel body 300 of the cleaning device to make the cleaning device adapt to the condition of the surface to be cleaned.

[0052] Since the elastic member 100 is connected to the wheel body 300, the elasticity of the elastic member 100 is used to absorb the vibration during the driving process of the cleaning equipment; the force exerted by the elastic member 100 on the wheel body 300 is adjusted by the driving member 200, thereby adjusting the suspension strength of the suspension mechanism, so that the cleaning equipment can adapt to the conditions of the surface to be cleaned.

[0053] For example, when the cleaning device is traveling stably on an uneven surface to be cleaned, the force exerted by the elastic member 100 on the wheel body 300 of the cleaning device increases, and the suspension strength increases to ensure the stability of the cleaning device; when traveling on a relatively flat surface to be cleaned, the force exerted by the elastic member 100 on the wheel body 300 of the cleaning device decreases, and the suspension strength decreases to increase the adsorption force of the cleaning device, thereby increasing the cleaning power.

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

[0055] The driving member 200 drives the suspension end 120 to move relative to the device body 400, so that the length of the elastic member 100 changes, and the force of the elastic member 100 on the wheel body 300 of the cleaning device increases or decreases, thereby adjusting the suspension strength of the suspension mechanism.

[0056] The present invention utilizes the elastic force of the elastic member 100 to apply downward pressure to the wheel body 300, allowing the wheel body 300 to cling closely to the surface to be cleaned when the cleaning device traverses obstacles while maintaining the stability of the device body 400. The elasticity of the elastic member 100 is adjusted to adjust the suspension strength of the cleaning device. For example, when navigating an uneven surface to be cleaned, the suspension strength is increased to improve maneuverability, allowing the wheel body 300 to cling closely to the surface to be cleaned and to travel stably. When navigating a relatively flat surface to be cleaned, the suspension strength is reduced to increase the suction force of the cleaning device, allowing the device body 400 to cling closely to the surface to be cleaned, facilitating cleaning of the surface by cleaning components mounted on the device body 400. The cleaning components may be brushes, rags, or vacuum systems. The surface to be cleaned may be the ground, a building facade, a glass surface, or the like.

[0057] When driving on a relatively flat surface to be cleaned, the suspension strength is reduced, causing the elastic member 100 of the suspension mechanism to relax, reducing the load on the elastic member 100 and thus increasing the life of the suspension mechanism. When the suspension mechanism is in operation, the elastic member 100 is often in a stretched state, and the tension of the elastic member 100 is used to apply downward pressure to the wheel body 300. In other embodiments, the elastic member 100 can also be in a compressed state when the suspension mechanism is in operation.

[0058] In some embodiments, the elastic member 100 is a spring, an elastic rope, or a rubber band, which are not listed here one by one in the present invention.

[0059] The embodiment of the present invention can adjust the elasticity of the elastic member 100 to adjust the suspension strength of the cleaning device, which is beneficial to ensure that the suspension mechanism using springs produced by different manufacturers or different batches maintains consistent suspension strength, and facilitates suspension design.

[0060] See also Figure 2 In some embodiments, the hanging end 120 is arranged along the expansion and contraction direction of the elastic member 100 (eg Figure 2 The a direction in the figure) moves relative to the wheel body 300 to drive the elastic member 100 to stretch or contract, while keeping the suspension end 120 within the smallest possible movement stroke, the elasticity of the elastic member 100 can be changed to the maximum extent.

[0061] See also Figure 2In some embodiments, the stretching direction of the elastic member 100 is the same as the forward direction of the cleaning device. Taking the forward direction of the cleaning device as the length direction, since the stretching of the elastic member 100 requires a certain amount of space, the stretching direction of the elastic member 100 is the same as the forward direction of the cleaning device. This can minimize the width or height of the cleaning device and reduce the inconvenience of driving the cleaning device due to being too high or too wide. It should be noted that the stretching direction of the elastic member 100 is the same as the forward direction of the cleaning device. The stretching direction of the elastic member 100 can be completely consistent with the forward direction of the cleaning device, or the stretching direction of the elastic member 100 can form an acute angle with the forward direction of the cleaning device.

[0062] See also Figure 2 In some embodiments, the driving member 200 is mounted on the device body 400 of the cleaning device, and the driving member 200 drives the suspension end 120 to move relative to the device body 400 to adjust the suspension strength of the suspension mechanism.

[0063] See also Figure 2 In some embodiments, the driving member 200 is an electromagnet, the suspension end 120 is provided with a sliding portion 121, the sliding portion 121 is at least partially made of magnetic material, and the electromagnet is installed on the equipment body 400 of the cleaning equipment; when the electromagnet is energized, the sliding portion 121 moves toward the electromagnet; when the electromagnet is de-energized, the elastic member 100 is restored.

[0064] It can be understood that after power is turned on, the electromagnet generates a magnetic field to attract the sliding part 121, so that the sliding part 121 moves toward the electromagnet. As the sliding part 121 moves, the elastic part 100 is stretched, the elastic force increases, and the suspension strength increases; after power is turned off, the elastic force of the elastic part 100 causes the elastic part 100 to recover, the elastic force decreases, the suspension strength decreases, the adsorption of the cleaning equipment is improved, and the cleaning effect is improved.

[0065] The sliding portion 121 can be connected to the hanging end 120 by welding or gluing, or can be integrally formed with the hanging end 120. Alternatively, the sliding portion 121 can be a part of the hanging end 120. The sliding portion 121 can be in a block-like or columnar shape, and the specific shape of the sliding portion 121 is not particularly limited in the embodiments of the present invention. The sliding portion 121 can be entirely or partially made of a magnetic material, as long as the sliding portion 121 can be attracted by an energized electromagnet. The magnetic material can be metal.

[0066] In some embodiments, the suspension mechanism further comprises a screw, which comprises a screw and a slider, which is sleeved on the screw and engages with the screw thread. The drive member 200 is a motor having a drive shaft fixedly connected to the screw. The slider is in transmission connection with the elastic member 100, so that the drive member 200 drives the screw to rotate via the drive shaft, thereby extending or shortening the elastic member 100. Furthermore, the slider is in transmission connection with the sliding portion 121. The drive member 200 drives the screw to rotate via the drive shaft, thereby moving the sliding portion 121. Through the cooperation of the motor and the screw, the sliding portion 121 is driven by the drive member 200 to move along the extension direction of the elastic member 100, thereby changing the force exerted by the elastic member 100 on the wheel 300, thereby adjusting the suspension strength of the cleaning device to adapt to different conditions of the surface to be cleaned. The screw can be arranged along the extension direction of the elastic member, so that the slider moves along the extension direction of the elastic member 100, so that the sliding portion 121 can change the elastic member 100 with the smallest possible stroke.

[0067] It should be noted that the recovery of the elastic member 100 can be that the elastic member 100 returns to a relaxed state and the suspension mechanism does not apply pressure to the wheel body 300; it can also be formed by setting a limiting structure to limit the movement of the sliding part 121, so that the elastic member 100 returns to the initial state after power failure. At this time, the elasticity is reduced but the elastic member 100 still remains in a stretched state, so that the suspension mechanism continues to work with a smaller suspension strength without affecting the adsorption of the cleaning equipment.

[0068] See also Figure 2 In some embodiments, the suspension mechanism further includes a force transmission member 500, which connects the elastic member 100 and the wheel body 300 of the cleaning device; the force transmission member 500 converts the elastic force of the elastic member 100 into downward pressure on the wheel body 300 of the cleaning device. The force transmission member 500 transmits the elastic force of the elastic member 100 and converts the elastic force into downward pressure on the wheel body 300 to ensure the smooth travel of the cleaning device. The elastic member 100 does not directly act on the wheel body 300. When installing the elastic member 100, the elastic member 100 can be installed according to the internal conditions of the cleaning device. There is no need to install the elastic member 100 according to the position of the wheel body 300, which is beneficial to the internal layout of the cleaning device, making the overall structure of the cleaning device more compact and conducive to the miniaturization of the cleaning device.

[0069] See also Figure 2In some embodiments, the force transmission member 500 includes a first arm 510 and a second arm 520, which intersect at a fulcrum 530. The force transmission member 500 is hinged to the cleaning device body 400 via the fulcrum 530, allowing the force transmission member 500 to rotate relative to the device body 400 about the fulcrum 530. The first arm 510 is connected to the connecting end 110, and the second arm 520 is connected to the wheel body 300 of the cleaning device. When navigating an obstacle, the force transmission member 500 rotates relative to the device body 400 due to the tension of the elastic member 100. The torque generated by this rotation is converted into downward force on the wheel body 300, maintaining stability during travel. The direction of the elastic force can be changed by simply moving the force transmission member 500. The fulcrum 530 can be positioned below the elastic member 100 to facilitate the elastic member 100 pulling the force transmission member 500 to rotate.

[0070] See also Figure 2 In some embodiments, the elastic member 100 is arranged horizontally, which is beneficial to reducing the size of the cleaning device in the vertical direction, lowering the center of gravity of the cleaning device during travel, and improving the stability of the cleaning device during travel.

[0071] See also Figure 3 In some embodiments, the suspension mechanism includes a drive member and at least two elastic members 100. Each elastic member 100 is connected to a corresponding wheel 300 of the cleaning device. The multiple elastic members 100 can adjust each wheel 300 individually, effectively sharing and absorbing impact from the surface to be cleaned, reducing the shaking of the device body 400, improving driving stability, and improving contact between the wheel 300 and the road surface, enhancing grip and maneuverability. The suspension end 120 of each elastic member 100 is transmission-connected to the same drive member 200, and each wheel 300 is controlled by a single drive member 200. Using one suspension mechanism to act on multiple wheels 300 reduces costs while facilitating unified control and management of each wheel 300.

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

[0073] See also Figure 3In some embodiments, the reversing member 600 is a rod body, which is hinged on the equipment body 400 of the cleaning equipment to form a hinge point 610. The hinge point 610 is located between the first end 620 and the second end 630 of the rod body. The first end 620 is connected to the suspension end 120, and the second end 630 is correspondingly connected to the driving member 200. When the driving member 200 pulls the second end 630 toward the driving member 200, it is acted upon by a force, and the first end 620 moves in the opposite direction to drive the suspension end 120 to move, so that the elastic member 100 stretches, the elastic force increases, and the suspension strength increases. Generally, the rod body can be round or square, and the embodiments of the present invention are not particularly limited to this. The first end 620 and the suspension end 120 can be formed as one piece, or can be connected by steel wire, or by welding, etc., and the embodiments of the present invention are not particularly limited to this.

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

[0075] It can be understood that after power is turned on, the electromagnet generates a magnetic field to attract the moving part 631, so that the moving part 631 moves toward the electromagnet. As the moving part 631 moves, the second end 630 moves toward the electromagnet, and the first end 620 moves in the opposite direction, so that the elastic part 100 is stretched, the elastic force increases, and the suspension strength increases; after power is turned off, the elastic force of the elastic part 100 causes the elastic part 100 to recover, the elastic force decreases, the suspension strength decreases, the adsorption of the cleaning equipment is improved, and the cleaning effect is improved.

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

[0077] See also Figure 3 In some embodiments, the distance between the second end 630 and the hinge point 610 is smaller than the distance between the first end 620 and the hinge point 610, so that a smaller displacement of the movable portion 631 can drive the elastic member 100 to stretch to the maximum length, thereby reducing the energy loss of the movable portion 631 during the sliding process, thereby improving the energy transfer efficiency, and there is no need to reserve more space for movement for the movable portion 631, which is conducive to the overall miniaturization of the cleaning equipment.

[0078] See also Figure 3 In some embodiments, the suspension mechanism further includes a limiter 700, which is adapted to limit the displacement of the second end 630. This prevents the second end 630 from continuing to move beyond its predetermined travel range due to the elastic force of the elastic member 100 or inertia after the electromagnet is de-energized. The limiter 700 limits the movement of the second end 630, ensuring that the second end 630 remains within the range of the electromagnet. When the electromagnet is powered on again, the second end 630 can be further moved toward the electromagnet due to the magnetic field.

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

[0080] See also Figure 4 In some embodiments, a wire take-up box 900 may be provided between the limiter and the electromagnet; the wire take-up box 900 is adapted to receive the rope so that the rope is kept at an appropriate length; the wire take-up box 900 may be a spool.

[0081] In some embodiments, the suspension mechanism further comprises a screw, which comprises a threaded rod and a slider. The threaded rod is arranged along the stretching direction of the elastic member, and the slider is sleeved on the threaded rod and engages with the threaded rod. The driving member 200 is a motor having a drive shaft fixedly connected to the threaded rod. The slider is in transmission connection with the elastic member 100, so that the driving member 200 drives the threaded rod to rotate via the drive shaft, thereby extending or shortening the elastic member 100. Furthermore, the slider is in transmission connection with the second end 630. The driving member 200 drives the threaded rod to rotate via the drive shaft, thereby moving the second end 630. Through the cooperation of the motor and the threaded rod, the second end 630 moves under the drive of the driving member 200, thereby changing the force exerted by the elastic member 100 on the wheel 300, thereby adjusting the suspension strength of the cleaning device to adapt to different conditions of the surface to be cleaned.

[0082] In other embodiments, the driving member 200 may also be a cylinder, a motor, or the like. For example, if the driving member 200 is a cylinder, the driving portion of the cylinder may be hinged to the second end 630 to move the second end 630 away from or toward the driving member 200, thereby causing the elastic member 100 to stretch or contract. Alternatively, if the driving member 200 is a motor, a winding spool may be provided on the output shaft of the motor, and a steel wire may be provided connecting the winding spool and the suspension end 120. When the motor rotates, the steel wire is wound around the winding spool, causing the elastic member 100 to stretch. When the motor rotates in the opposite direction, the elastic member 100 contracts.

[0083] See also Figure 3In one embodiment, two elastic members 100 are provided, corresponding to the two wheel bodies 300 of the cleaning device respectively. Correspondingly, two reversing members 600 are provided, the first end 620 of the reversing member 600 is connected to the elastic member 100, and the second end 630 is connected to the electromagnet through a steel wire.

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

[0085] The second embodiment of the utility model provides a cleaning device, see Figures 1 to 3 , including an equipment body 400, a wheel body 300 and a suspension mechanism of any embodiment of the first aspect mentioned above.

[0086] It can be understood that if the suspension mechanism has the beneficial effects of the above embodiments, then the cleaning device will correspondingly have the beneficial effects of the above embodiments. Its specific implementation can refer to the above embodiments, and this application will not elaborate on it.

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

[0088] Cleaning equipment includes but is not limited to sweeping robots, floor scrubbers, etc.

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

[0090] It can be understood that if the suspension mechanism and the cleaning equipment have the beneficial effects of the above embodiments, then the cleaning system will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and will not be described in detail in this application.

[0091] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

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

[0093] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0094] Furthermore, in this utility model, terms such as "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the aforementioned features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0095] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A suspension mechanism installed on a cleaning device, characterized in that: include: an elastic member connected to the wheel body of the cleaning device; A driving member is connected to the elastic member, and the driving member can adjust the force of the elastic member acting on the wheel body of the cleaning device to make the cleaning device adapt to the condition of the surface to be cleaned.

2. The suspension mechanism according to claim 1, wherein: The elastic member has a connecting end and a hanging end, the connecting end is used to connect to the wheel body of the cleaning device, and the hanging end is used to connect to the driving member; the driving member is suitable for driving the hanging end to move relative to the device body of the cleaning device.

3. The suspension mechanism according to claim 2, wherein: The suspension end moves relative to the wheel body along the extension and contraction direction of the elastic member.

4. The suspension mechanism according to claim 2, wherein: The stretching direction of the elastic member is the same as the forward direction of the cleaning device.

5. The suspension mechanism according to claim 2, wherein: The driving component is installed on the equipment body of the cleaning equipment.

6. The suspension mechanism according to claim 2, characterized in that: The driving member is an electromagnet, the suspension end is provided with a sliding portion, at least a portion of the sliding portion is made of magnetic material, and the electromagnet is installed on the device body of the cleaning device.

7. The suspension mechanism according to claim 6, characterized in that: When the electromagnet is energized, the sliding portion moves toward the electromagnet; when the electromagnet is de-energized, the elastic member returns to its original position.

8. The suspension mechanism according to any one of claims 2 to 7, characterized in that: The suspension mechanism further includes a force transmission member, which connects the elastic member and the wheel body of the cleaning device; the force transmission member converts the elastic force of the elastic member into a downward force on the wheel body of the cleaning device.

9. The suspension mechanism according to claim 8, characterized in that: The force transmission member has a first arm and a second arm, the first arm and the second arm intersect at a fulcrum, and the force transmission member is hinged to the equipment body of the cleaning device through the fulcrum; the first arm is connected to the connecting end, and the second arm is connected to the wheel body of the cleaning device.

10. The suspension mechanism according to any one of claims 1 to 7, characterized in that: The suspension mechanism includes a driving member and at least two elastic members. Each of the elastic members is connected to the wheel body of the corresponding cleaning device, and the suspension end of each elastic member is transmission-connected to the same driving member.

11. The suspension mechanism according to any one of claims 1 to 7, characterized in that: The suspension mechanism includes a reversing member, the elastic member and the driving member are located on the same side of the reversing member; the reversing member connects the driving member and the suspension ends of each elastic member, and the reversing member is suitable for changing the driving direction of the driving member.

12. The suspension mechanism according to claim 11, characterized in that: The reversing member is a rod body, which is hinged on the equipment body of the cleaning equipment to form a hinge point. The hinge point is located between the first end and the second end of the rod body. The first end is connected to the suspension end, and the second end is correspondingly connected to the driving member.

13. The suspension mechanism according to claim 12, wherein: The driving member is an electromagnet, and the second end is provided with a moving part. The moving part is at least partially made of magnetic material. When the electromagnet is energized, the moving part moves toward the electromagnet.

14. The suspension mechanism according to claim 13, wherein: The suspension mechanism also includes a screw rod, which includes a screw rod and a slider, and the slider is sleeved on the screw rod and cooperates with the screw rod thread; the driving member is a motor, and the motor has a driving shaft, and the driving shaft is fixedly connected to the screw rod, and the slider is transmission-connected to the elastic member; the driving member drives the screw rod to rotate through the driving shaft, so that the elastic member is extended or shortened.

15. The suspension mechanism according to claim 14, characterized in that: The suspension mechanism further includes a limiting member, which is suitable for limiting the displacement of the second end.

16. The suspension mechanism according to claim 15, characterized in that: The limiting member is a rope body, and the rope body connects the second end and the electromagnet.

17. The suspension mechanism according to any one of claims 1 to 7, characterized in that: The elastic member is a spring or an elastic rope.

18. A cleaning device, characterized in that: It comprises an equipment body, a wheel body and a suspension mechanism as described in any one of claims 1 to 17.

19. The cleaning device according to claim 18, characterized in that The hanging end is provided with a sliding part, and the equipment body is provided with a track, and the sliding part moves on the track.

20. A cleaning system, characterized in that: It comprises a base station and the suspension mechanism according to any one of claims 1 to 17 or the cleaning device according to any one of claims 18 to 19.

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