Cleaning device

Abstract

The utility model provides a cleaning device. The cleaning apparatus includes: a machine body; the at least two driving wheels and the walking driving device are located at the bottom of the machine body, the walking driving device is connected with the machine body and the driving wheels, and the walking driving device drives the driving wheels to rotate so as to drive the machine body to move; the auxiliary wheel is located at the bottom of the machine body, the auxiliary wheel is located on the rear side of the machine body relative to a connecting line between the at least two driving wheels, the auxiliary wheel is movably connected with the machine body and can be switched between a first position and a second position, and when the auxiliary wheel is located at the second position, the auxiliary wheel is lower than the first position; the auxiliary wheel and the driving wheel in the second position jointly support the machine body. Therefore, the posture of the auxiliary wheel relative to the machine body can be reasonably set according to whether the gravity center of the cleaning equipment moves backwards or not, so that the cleaning equipment can have high stability in different postures.

Description

Technical Field

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

[0002] With the iterative update and development of technology, cleaning equipment, especially self-propelled cleaning equipment, has entered the daily life of ordinary families and has gradually achieved popularity both at home and abroad. Among them, during the operation of cleaning equipment, the center of gravity may shift backward, making the entire cleaning equipment unstable. Utility Model Content

[0003] The Summary of the Utility Model introduces a series of simplified concepts that will be further described in the Detailed Description of the Utility Model. This section of the utility model is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] An embodiment of the first aspect of the present utility model provides a cleaning device, comprising: a machine body; at least two driving wheels and a travel drive device located at the bottom of the machine body, the travel drive device being connected to the machine body and the driving wheels, and the travel drive device driving the driving wheels to rotate to drive the machine body to move; an auxiliary wheel located at the bottom of the machine body, the auxiliary wheel being located at the rear side of the machine body relative to the line connecting the at least two driving wheels, the auxiliary wheel being movably connected to the machine body and being switchable between a first position and a second position, wherein the auxiliary wheel is lower than the auxiliary wheel in the first position when in the second position, and the auxiliary wheel and the driving wheel in the second position jointly support the machine body.

[0005] Furthermore, when the center of gravity of the machine body is located on the rear side of the machine body relative to the line between at least two driving wheels, the auxiliary wheel switches from the first position to the second position, wherein the auxiliary wheel and the driving wheel in the second position are in contact with the surface to be cleaned.

[0006] Furthermore, when the auxiliary wheel is in the second position, the bottom end thereof does not protrude beyond the bottom end of the driving wheel.

[0007] Furthermore, the cleaning equipment also includes: a robotic arm, which is connected to the machine body, and the robotic arm can be folded or unfolded relative to the machine body. The position where the robotic arm is connected to the machine body is located on the front side of the machine body relative to the line between at least two driving wheels.

[0008] Furthermore, when the projection of the robotic arm on the machine body overlaps with the line between at least two driving wheels and the area at the rear of the machine body, the auxiliary wheel switches to the second position; when the projection of the robotic arm on the machine body does not overlap with the line between at least two driving wheels and the area at the rear of the machine body, the auxiliary wheel switches to the first position.

[0009] Furthermore, an arm compartment is provided on the top of the machine body, and the robotic arm can be folded and stored in the arm compartment.

[0010] Furthermore, the cleaning device further comprises: a driven wheel located at the bottom of the machine body, and the driven wheel is located at the front side of the machine body relative to a line connecting the at least two driving wheels.

[0011] Furthermore, the arm compartment is located between the driven wheel and the connecting line between the at least two driving wheels.

[0012] Furthermore, the number of the driven wheels is at least one, and / or the number of the auxiliary wheels is at least one, and / or the driven wheels and the auxiliary wheels are arranged correspondingly.

[0013] Furthermore, an intersection point of a line connecting the correspondingly arranged driven wheels and auxiliary wheels and a line connecting the at least two driving wheels is located at a geometric center of the machine body.

[0014] Furthermore, the cleaning device also includes: a connecting arm, a first end of the connecting arm is rotatably connected to the machine body, an auxiliary wheel is rotatably connected to the second end of the connecting arm, and the first end of the connecting arm rotates relative to the machine body to switch the auxiliary wheel between the first position and the second position.

[0015] Furthermore, the cleaning device also includes: an elastic member, which is connected between the connecting arm and the machine body; a drive assembly, which is arranged on the machine body, and the drive assembly is used to cooperate with the elastic member to rotate the connecting arm relative to the machine body to drive the auxiliary wheel to switch between the first position and the second position.

[0016] Furthermore, during the switching of the auxiliary wheel between the first position and the second position, the driving assembly abuts against the connecting arm, so that the first end of the connecting arm rotates relative to the machine body.

[0017] Furthermore, the driving assembly is used to drive the connecting arm to rotate relative to the machine body along a first direction, so that the auxiliary wheel switches from the first position to the second position.

[0018] Furthermore, the elastic member is used to drive the connecting arm to rotate relative to the machine body along the second direction, so that the auxiliary wheel switches from the second position to the first position.

[0019] Furthermore, the drive assembly includes: a screw, a sleeve and a driving part, the sleeve is sleeved on the outside of the screw and is connected to the screw through a thread, the driving part is arranged on the machine body and connected to the screw, and the driving part drives the screw to rotate so that the sleeve moves relative to the screw to abut the connecting arm.

[0020] Furthermore, the driving assembly further includes a roller, which is connected to a side of the sleeve away from the driving portion and faces the connecting arm.

[0021] Furthermore, a limiting groove is provided on a side of the connecting arm facing the roller, and at least a portion of the connecting arm is accommodated in the limiting groove and can roll in the limiting groove.

[0022] Furthermore, the screw rod and the sleeve are configured as a threaded self-locking structure.

[0023] Furthermore, the elastic member is a torsion spring, the first torsion arm of the torsion spring is connected to the first end of the connecting arm, and the second torsion arm of the torsion spring is connected to the machine body; or the elastic member is a tension spring, the first end of the tension spring is connected to the connecting arm, and the second end of the tension spring is connected to the machine body.

[0024] Furthermore, the cleaning device further comprises: a position detection device, which is provided on the machine body and is used to detect the position of the auxiliary wheel, and the driving part rotates or stops rotating according to the detection result of the position detection device.

[0025] Furthermore, the driving unit is provided with an overcurrent protection device.

[0026] Furthermore, the cleaning device further comprises: a buffer, which is arranged on the connecting arm and / or the machine body, and is located between the side wall of the connecting arm close to the machine body and the machine body when the auxiliary wheel is in the first position.

[0027] Furthermore, a receiving groove is provided at the bottom of the machine body, and the auxiliary wheel in the first position is accommodated in the receiving groove.

[0028] The cleaning device provided by the present invention includes a machine body, a drive wheel, a travel drive device, and auxiliary wheels. The drive wheel is used to support the machine body, and the travel drive device drives the drive wheel to rotate to drive the machine body to move, so that the cleaning device can travel. By adding auxiliary wheels to the bottom of the machine body that are movable relative to the machine body, and the auxiliary wheels are located on the rear side of the machine body relative to the line connecting at least two drive wheels, when the center of gravity of the cleaning device shifts backward, the auxiliary wheels are moved relative to the machine body to extend out of the machine body, and the auxiliary wheels and the drive wheels are used to support the machine body to improve the stability of the cleaning device. When the center of gravity of the cleaning device is within a reasonable range, such as when the center of gravity of the cleaning device has not shifted backward, the auxiliary wheels can be moved relative to the machine body to a first position, at which point the bottom end of the auxiliary wheels is higher than the bottom end of the drive wheels, so that the auxiliary wheels do not contact the surface to be cleaned. In this way, the stability of the cleaning device can be ensured by supporting the machine body with the drive wheels. Thus, the posture of the auxiliary wheels relative to the machine body can be reasonably set according to whether the center of gravity of the cleaning device shifts backward, so that the cleaning device can have high stability in different postures, improving the safety and satisfaction of the cleaning device.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following drawings of the present invention are used as part of the embodiments of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention.

[0031] In the attached figure:

[0032] Figure 1 A schematic structural diagram showing a perspective of the cleaning device of the present invention with the auxiliary wheels in a first position;

[0033] Figure 2 A schematic structural diagram showing a perspective of the cleaning device of the present invention with the auxiliary wheels in the second position;

[0034] Figure 3 A schematic structural diagram showing another perspective of the cleaning device of the present invention;

[0035] Figure 4 A structural schematic diagram showing another perspective of the cleaning device of the present invention;

[0036] Figure 5 A partial structural schematic diagram of the cleaning device of the present invention is shown with the auxiliary wheels in the second position;

[0037] Figure 6 Shown Figure 5 A schematic structural diagram of another perspective of the embodiment shown;

[0038] Figure 7 Shown Figure 6 A cross-sectional view taken along the AA direction of the illustrated embodiment;

[0039] Figure 8 A partial structural schematic diagram of the cleaning device of the present invention is shown with the auxiliary wheels in the first position;

[0040] Figure 9 Shown Figure 8 A schematic structural diagram of another perspective of the embodiment shown;

[0041] Figure 10 Shown Figure 9 A cross-sectional view taken along direction BB of the embodiment shown;

[0042] Figure 11 A schematic diagram showing a cleaning device of the present invention with a robotic arm in one posture from one perspective;

[0043] Figure 12 A schematic diagram showing a cleaning device of the present invention with the robot arm in another posture from one perspective;

[0044] Figure 13 A schematic diagram showing a cleaning device of the present invention with the robot arm in another posture from one perspective.

[0045] Description of Reference Numerals

[0046] 100 cleaning equipment, 110 machine body, 111 arm bin, 112 storage slot, 113 driven wheel mounting slot, 120 driving wheel, 130 auxiliary wheel, 140 connecting arm, 141 limiting slot, 142 fixing seat, 150 elastic part, 160 driving assembly, 161 screw rod, 162 sleeve, 163 driving part, 164 roller, 165 mounting seat, 170 robotic arm. DETAILED DESCRIPTION

[0047] In the following description, a number of specific details are provided to provide a more thorough understanding of the technical solutions provided by the present invention. However, it is obvious to those skilled in the art that the technical solutions provided by the present invention can be implemented without one or more of these details.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0049] Now, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0050] like Figures 1 to 13 As shown, an embodiment of the present invention provides a cleaning device 100, wherein the cleaning device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping all-in-one machine, or other cleaning robots that meet the requirements.

[0051] like Figure 1 、 Figure 2 and Figure 3 As shown, the cleaning device 100 provided by the embodiment of the present invention includes: a machine body 110; at least two driving wheels 120 and a travel driving device located at the bottom of the machine body 110, the travel driving device is connected to the machine body 110 and the driving wheels 120, and the travel driving device drives the driving wheels 120 to rotate to drive the machine body 110 to move; an auxiliary wheel 130 located at the bottom of the machine body 110, the auxiliary wheel 130 is located on the rear side of the machine body 110 relative to the line between the at least two driving wheels 120, the auxiliary wheel 130 is movably connected to the machine body 110 and can be switched between a first position and a second position, wherein the auxiliary wheel 130 is lower than when it is in the first position when it is in the second position, and the auxiliary wheel 130 and the driving wheel 120 in the second position jointly support the machine body 110.

[0052] The cleaning device 100 provided in an embodiment of the present invention includes a machine body 110, a driving wheel 120, a travel drive device, and an auxiliary wheel 130, wherein the driving wheel 120 and the auxiliary wheel 130 are located at the bottom of the machine body 110, the number of the driving wheels 120 is at least two, the driving wheel 120 is used to support the machine body 110, and the travel drive device drives the driving wheel 120 to rotate to drive the machine body 110 to move, so that the cleaning device 100 can travel. The auxiliary wheel 130 is movably connected to the machine body 110, and the relative position of the auxiliary wheel 130 and the machine body 110 includes a first position and a second position, and the auxiliary wheel 130 is lower than when it is in the first position when it is in the second position. That is to say, the bottom end of the auxiliary wheel 130 when in the second position is located below the bottom end of the auxiliary wheel 130 when in the first position. For example, when the auxiliary wheel 130 is in the second position, its bottom end may be located outside the bottom of the machine body 110. In this way, the auxiliary wheel 130 in the second position can contact the surface to be cleaned when the machine body 110 is slightly tilted or not tilted, so that the auxiliary wheel 130 in the second position and at least two driving wheels 120 can contact the surface to be cleaned at the same time to support the machine body 110. Since the auxiliary wheel 130 is located on the rear side of the machine body 110 relative to the line between the at least two driving wheels 120, when the center of gravity of the cleaning device 100 moves backward, due to the auxiliary support of the auxiliary wheel 130 in the second position, the auxiliary wheel 130 and the at least two driving wheels 120 cooperate to support the machine body 110 at the same time, so that the cleaning device 100 can reliably and stably maintain the current posture, reducing or avoiding the situation where the entire cleaning device 100 becomes unstable due to the backward movement of the center of gravity of the cleaning device 100, which is beneficial to improving the reliability and stability of the cleaning device 100. At the same time, it reduces the problem of the cleaning device 100 being overturned and damaged due to unstable center of gravity, thereby improving the safety of the use of the cleaning device 100 and increasing the service life of the cleaning device 100.

[0053] The auxiliary wheel 130 is higher when in the first position than when in the second position. That is, the bottom end of the auxiliary wheel 130 in the first position is higher than the bottom end of the drive wheel 120. Typically, the bottom end of the drive wheel 120 contacts the surface to be cleaned. This creates a greater distance between the bottom end of the auxiliary wheel 130 and the surface to be cleaned when in the first position, and the auxiliary wheel 130 does not contact the surface to be cleaned when in the first position. Using at least two drive wheels 120, the machine body 110 can be supported, enabling reliable support for the cleaning device 100 within a reasonable center of gravity, allowing the cleaning device 100 to reliably and stably maintain its current posture. This arrangement also reduces the likelihood of the auxiliary wheel 130 in the first position interfering with or colliding with obstacles at the bottom of the machine body 110, thereby improving the smoothness of the operation of the cleaning device 100. It should be understood that in this embodiment, the auxiliary wheel 130 in the first position and the auxiliary wheel 130 in the second position can be understood as different positions of the same auxiliary wheel 130 relative to the machine body 110.

[0054] That is to say, the cleaning device 100 provided by the embodiment of the present invention adds an auxiliary wheel 130 movably arranged relative to the machine main body 110 at the bottom of the machine main body 110, and the auxiliary wheel 130 is located on the rear side of the machine main body 110 relative to the line connecting at least two driving wheels 120. Therefore, when the center of gravity of the cleaning device 100 moves backward, the auxiliary wheel 130 is moved to the second position relative to the machine main body 110, and the auxiliary wheel 130 and the driving wheel 120 are used to jointly support the machine main body 110 to improve the stability of the cleaning device 100. When the center of gravity of the cleaning device 100 is within a reasonable range, such as when the center of gravity of the cleaning device 100 has not shifted backward, the auxiliary wheels 130 can be moved relative to the machine body 110 to a first position. At this time, the bottom end of the auxiliary wheels 130 in the first position is higher than the bottom end of the auxiliary wheels 130 in the second position, so that the auxiliary wheels 130 do not contact the surface to be cleaned when in the first position, and can avoid obstacles such as thresholds at the bottom of the machine body 110. In this way, the driving wheels 120 can be used to support the machine body 110 to ensure the stability of the cleaning device 100 and ensure the smooth operation of the cleaning device 100. Therefore, the posture of the auxiliary wheels 130 relative to the machine body 110 can be reasonably set according to whether the center of gravity of the cleaning device 100 has shifted backward, so that the cleaning device 100 can have high stability in different postures, thereby improving the safety and satisfaction of the use of the cleaning device 100.

[0055] The number of the driving wheels 120 may be at least two, such as two, three, four, or other numbers. At least two driving wheels 120 may be arranged along a transverse axis defined by the machine body 110, wherein the transverse axis of the machine body 110 may be perpendicular to the front-to-back direction of the machine body 110, such as the transverse axis may be arranged along the left-right direction of the machine body 110. Specifically, the transverse axis may be Figure 1 As shown by the arrow X in FIG, the front and rear directions of the machine body 110 are as follows Figure 3 As shown by the arrow Y in FIG, the left and right directions of the machine body 110 are as follows Figure 3 As shown by the arrow X in FIG. 1 , the transverse axis of the machine body 110 can be as shown in FIG. Figure 3 As shown by the straight line P in Figure 1 In the formula, Y+ represents the front of the machine body 110, and Y- represents the rear of the machine body 110. Specifically, Figure 1 There are two driving wheels 120 shown, and the two driving wheels 120 can be understood as a left wheel and a right wheel. The straight line P can be understood as a line connecting at least two driving wheels 120.

[0056] Furthermore, the drive wheels 120 may be connected to a travel drive device, which is used to drive the drive wheels 120 to rotate, or to drive the drive wheels 120 to rotate and turn. Specifically, at least two drive wheels 120 may be connected to the same travel drive device, i.e., the same travel drive device can simultaneously drive at least two drive wheels 120. Alternatively, at least two drive wheels 120 may be connected to different travel drive devices, i.e., the travel drive device may be connected to one drive wheel 120 or to some of the drive wheels 120 to achieve driving of a single drive wheel 120 or some of the drive wheels 120. This can meet the requirements of different travel drive device structures.

[0057] In some possible embodiments provided by the present invention, when the center of gravity of the machine body 110 is located on the rear side of the machine body 110 relative to the line connecting at least two driving wheels 120, the auxiliary wheel 130 is switched from the first position to the second position, wherein the auxiliary wheel 130 and the driving wheel 120 in the second position are in contact with the surface to be cleaned.

[0058] In this embodiment, when the center of gravity of the machine main body 110 is located on the rear side of the machine main body 110 relative to the line between the at least two driving wheels 120, it means that the center of gravity of the cleaning device 100 has moved backward. At this time, the auxiliary wheel 130 is switched from the first position to the second position, and the auxiliary wheel 130 in the second position and the at least two driving wheels 120 are in contact with the surface to be cleaned, so that the auxiliary wheel 130 in the second position and the at least two driving wheels 120 jointly support the machine main body 110 to improve the stability of the cleaning device 100, reduce or avoid the situation where the entire cleaning device 100 is unstable due to the backward shift of the center of gravity of the cleaning device 100, which is beneficial to improving the reliability and stability of the cleaning device 100. At the same time, it reduces the problem of the cleaning device 100 being overturned and damaged due to unstable center of gravity, thereby improving the safety of the use of the cleaning device 100 and increasing the service life of the cleaning device 100.

[0059] like Figure 2 As shown, in some possible embodiments provided by the present invention, the bottom end of the auxiliary wheel 130 does not protrude beyond the bottom end of the driving wheel 120 when in the second position. This means that the bottom end of the auxiliary wheel 130 does not protrude below the bottom end of the driving wheel 120 when in the second position. In other words, the bottom end of the auxiliary wheel 130 in the second position is not lower than the bottom end of the driving wheel 120. That is, the bottom end of the auxiliary wheel 130 in the second position can be between the bottom end of the auxiliary wheel 130 in the first position and the bottom end of the driving wheel 120. Alternatively, the bottom end of the auxiliary wheel 130 in the second position can be on the same horizontal plane as the bottom end of the driving wheel 120. This allows the bottom end of the auxiliary wheel 130 in the second position and the bottom end of the driving wheel 120 to simultaneously contact the surface to be cleaned, thereby jointly supporting the machine body 110 and allowing the machine body 110 to continue operating in a slightly tilted or horizontal position. This improves the operational stability of the cleaning device 100 and prevents the cleaning device 100 from shifting its center of gravity backward and tipping over.

[0060] Among them, under normal circumstances, the bottom end of the driving wheel 120 is used to contact the surface to be cleaned, and the bottom end of the auxiliary wheel 130 when in the second position can be located in the same horizontal plane as the bottom end of the driving wheel 120. Therefore, the auxiliary wheel 130 and the driving wheel 120 in the second position are used to jointly support the machine body 110, so that the machine body 110 can continue to work in a horizontal posture, which is conducive to ensuring good detection accuracy of at least part of the sensing device on the cleaning equipment 100, thereby improving the reliability and accuracy of the cleaning equipment 100.

[0061] like Figure 3 、 Figure 11 、 Figure 12 and Figure 13As shown, in some possible embodiments provided by the present invention, the cleaning device 100 also includes: a robotic arm 170, the robotic arm 170 is connected to the machine body 110, the robotic arm 170 can be folded or unfolded relative to the machine body 110, and the connection position between the robotic arm 170 and the machine body 110 is located on the front side of the machine body 110 relative to the line between at least two driving wheels 120.

[0062] In this embodiment, the robotic arm 170 is connected to the machine body 110 so that the robotic arm 170 can move along with the movement of the machine body 110 to reach the target position. Since the robotic arm 170 is connected to the top of the machine body 110, the robotic arm 170 can be folded or unfolded relative to the machine body 110. Thus, the grasping or movement of obstacles, objects, and garbage near the cleaning device 100 can be achieved through the unfolding movement of the robotic arm 170 relative to the machine body 110, so as to better achieve the autonomous cleaning function. It is understandable that the above-mentioned objects can also be objects required by the user, such as remote controls, apples, etc., which are not listed here one by one. By folding the robotic arm 170 relative to the machine body 110, the robotic arm 170 can be stored on the machine body 110 to reduce the overall volume of the cleaning device 100 and facilitate movement and storage. It is understandable that the robotic arm 170 may include multiple arms that are movably connected in sequence to achieve switching between folding and unfolding movements of the robotic arm 170. Furthermore, the robotic arm 170 may also include a robotic arm at the end to achieve grasping or releasing operations of the target object.

[0063] The location where the robotic arm 170 is connected to the machine body 110 is located on the front side of the machine body 110 relative to the line connecting the at least two drive wheels 120. In other words, the robotic arm 170 is installed on the front side of the machine body 110. This arrangement allows the robotic arm 170 to effectively utilize the front space of the machine body 110. In other words, this arrangement does not require changing the layout of other components originally arranged at the rear of the machine body 110. Only the front space of the machine body 110 needs to be modified. This design change is relatively minor and can increase the functionality of the cleaning device.

[0064] like Figure 12 and Figure 13As shown, in some possible embodiments provided by the present invention, when the projection of the robotic arm 170 on the machine body 110 overlaps with the line connecting the at least two drive wheels 120 and the rear area of ​​the machine body 110, it indicates that the center of gravity of the cleaning device 100 has shifted backward. The overlap refers to the partial overlap of the projection of the robotic arm 170 on the machine body 110 and the rear area of ​​the machine body 110. For example, the robotic arm 170 itself has a certain weight. Since the robotic arm 170 is installed on the front side of the machine body 110, when the robotic arm 170 is deployed and moves until the projection of the robotic arm 70 on the machine body 110 exceeds the line P between at least two driving wheels 120 and extends to the area behind the machine body 110, or when the robotic arm 170 holding the target object moves until the projection of the robotic arm 70 on the machine body 110 exceeds the line P between at least two driving wheels 120 and extends to the area behind the machine body 110, it means that the projection of the robotic arm 170 on the machine body 110 partially overlaps with the line between at least two driving wheels 120 and the area behind the machine body 110, which means that the center of gravity of the cleaning equipment 100 has shifted backward. At this time, the auxiliary wheel 130 switches to the second position. When the auxiliary wheel 130 is in the second position, the bottom end of the auxiliary wheel 130 and the bottom end of the driving wheel 120 are in contact with the surface to be cleaned, so that the auxiliary wheel 130 and the driving wheel 120 can jointly support the machine body 110, reducing or avoiding the situation where the center of gravity of the cleaning device 100 moves backward and makes the cleaning device 100 unstable, so that the cleaning device 100 can reliably and stably maintain the current posture. Figures 11 to 13 The straight line P in FIG. 1 can be understood as a line connecting at least two driving wheels 120 , the arrow Y+ can represent the front of the machine body 110 , and the arrow Y− can represent the rear of the machine body 110 .

[0065] like Figure 11As shown, in some possible embodiments provided by the present invention, when the projection of the robotic arm 170 on the machine body 110 does not overlap with the line between at least two driving wheels 120 and the area at the rear of the machine body 110, it indicates that the center of gravity of the cleaning device 100 is within a reasonable range. Specifically, for example, the robotic arm 170 itself has a certain weight. Since the robotic arm 170 is installed on the front side of the machine body 110, when the projection of the robotic arm 170 on the machine body 110 does not exceed the line between the at least two driving wheels 120 and extends toward the rear of the machine body 110, that is, the projection of the robotic arm 170 on the machine body 110 overlaps with the line between the at least two driving wheels 120 and the area in front of the machine body 110, or when the projection of the robotic arm 170 on the machine body 110 overlaps with the line between the at least two driving wheels 120 and the area in front of the machine body 110, and the line P between the at least two driving wheels 120, it indicates that the center of gravity of the cleaning device 100 is within a reasonable range, that is, the cleaning device 100 will not flip due to the backward shift of the center of gravity. It can be understood that at this time, the robotic arm 10 can clamp the target object or not. In this case, the auxiliary wheel 130 switches to the first position, and the auxiliary wheel 130 is higher in the first position than in the second position, that is, the bottom end of the auxiliary wheel 130 in the first position is higher than the bottom end of the driving wheel 120. The auxiliary wheel 130 does not contact the surface to be cleaned when it is in the first position, and the driving wheel 120 can be used to support the machine body 110, so that the cleaning device 100 can reliably and stably maintain the current posture.

[0066] like Figure 3 、 Figure 11 、 Figure 12 and Figure 13 As shown, in some possible embodiments provided by the present invention, an arm bin 111 is provided on the top of the machine body 110, and the robotic arm 170 can be folded and stored in the arm bin 111. The provision of the arm bin 111 provides storage space for the robotic arm 170, so that the robotic arm 170 can be stored in the arm bin 111 after being folded, reducing the space occupied by the robotic arm 170, making the overall volume of the cleaning device 100 smaller, convenient for storage and movement, and conducive to improving the aesthetics of the appearance of the cleaning device 100. At the same time, since the arm bin 111 is provided on the machine body 110, the structure of the machine body 110 is fully utilized to realize the storage of the robotic arm 170. The structure is simple and can meet the design requirements of the cleaning device 100 of compact structure and small volume.

[0067] like Figure 1 、 Figure 2 and Figure 3As shown, in some possible embodiments provided by the present invention, the cleaning device 100 further includes: a driven wheel located at the bottom of the machine body 110, and the driven wheel is located at the front side of the machine body 110 relative to the line connecting the at least two driving wheels 120. In other words, the driven wheel is distributed at the front of the machine body 110, and the auxiliary wheel 130 is distributed at the rear of the machine body 110. The arrangement of the driven wheel allows the driven wheel and the driving wheel 120 to cooperate to provide stable support for the machine body 110, allowing the cleaning device 100 to move and operate smoothly.

[0068] Specifically, the bottom end of the driven wheel can contact the surface to be cleaned, so that the driven wheel and at least two driving wheels 120 support the machine body 110 at the same time, which can greatly improve the stability of the cleaning device 100 during movement, motion, and operation. The driven wheel includes but is not limited to a universal wheel. Specifically, Figure 1 、 Figure 2 and Figure 3 As shown, a driven wheel mounting groove 113 is provided at the bottom of the machine body 110, and the driven wheel is mounted in the driven wheel mounting groove 113. Specifically, the driven wheel mounting groove 113 is located at the front of the machine body 110.

[0069] In some possible embodiments provided by the present invention, the arm pod 111 is located between the lines connecting the driven wheel and at least two driving wheels 120 .

[0070] Among them, a mounting structure for mounting the robotic arm 170 may be provided in the arm bin 111 . Through the mounting structure, the robotic arm 170 can be fixed in the arm bin 111 and then fixed on the machine body 110 .

[0071] The arm bin 111 is located between the line connecting the driven wheel and at least two driving wheels 120, indicating that the installation position of the robot arm 170 on the machine body 110 is between the line connecting the driven wheel and at least two driving wheels 120. Taking the driving wheels 120 as two examples, it is explained that the installation position of the robot arm 170 on the machine body 110 is located in the triangular area enclosed by the driven wheel and the two driving wheels 120. Such a setting enables the cleaning device 100 to achieve a better center of gravity, that is, the center of gravity of the cleaning device 100 can coincide with or be at a small distance from the support center formed by two driving wheels and one driven wheel, so as to ensure the stability and reliability of the cleaning device 100.

[0072] That is to say, in the embodiment of the present invention, the arm bin 111 is set between the driven wheel and the line between at least two driving wheels 120, and the driven wheel is located on the side of the line between the two driving wheels 120 close to the front of the machine body 110, so that the installation position of the robot arm 170 and the machine body 110 is located on the side of the line between the two driving wheels 120 close to the front of the machine body 110. The cleaning device 100 is supported by the driven wheel and the at least two driving wheels 120, so that the cleaning device 100 can achieve a better center of gravity. It is understandable that when the projection of the robot arm 170 on the machine body 110 does not overlap with the line between the at least two driving wheels 120 and the area at the rear of the machine body 110, as shown in FIG. Figure 11 As shown, when the projection of the robot arm 170 on the machine body 110 is located on the side of the line connecting the at least two driving wheels 120 close to the front of the machine body 110, the auxiliary wheel 130 switches to the first position. At this time, the cleaning device 100 is supported by the driven wheel and the at least two driving wheels 120, so that the cleaning device 100 can achieve a relatively good center of gravity. When the projection of the robot arm 170 on the machine body 110 overlaps with the line connecting the at least two driving wheels 120 and the area at the rear of the machine body 110, as shown in FIG. Figure 12 and Figure 13 As shown, when the projection of the robotic arm 170 on the machine body 110 is located on the side of the line connecting the at least two drive wheels 120 close to the rear of the machine body 110, the auxiliary wheels 130 are switched to the second position. The auxiliary wheels 130, the at least two drive wheels 120, and the driven wheels jointly support the machine body 110, allowing the cleaning device 100 to achieve a relatively good center of gravity. As a result, the cleaning device 100 maintains a good center of gravity in various postures of the robotic arm 170, avoiding the problem of the cleaning device 100's center of gravity shifting and causing it to flip, greatly improving the stability of the cleaning device 100.

[0073] In the above embodiment, the number of the driven wheels is at least one, for example, the number of the driven wheels may be one, two, three, or other numbers. Figures 1 to 3 As shown, the number of driven wheels is one, which can provide good support and steering for the cleaning device 100 and help save the production cost of the cleaning device 100. Multiple driven wheels can be arranged at the bottom of the machine body 110 at intervals along the shape of the front edge of the machine body 110.

[0074] In the above embodiment, the number of the auxiliary wheel 130 is at least one, for example, the number of the auxiliary wheel 130 may be one, two, three, or other numbers. Figures 1 to 3As shown, there is only one auxiliary wheel 130, which can provide good support for the cleaning device 100 and help save the production cost of the cleaning device 100. Multiple auxiliary wheels 130 can be arranged at the bottom of the machine body 110 along the shape of the rear edge of the machine body 110.

[0075] In the above embodiment, the driven wheels and the auxiliary wheels 130 are arranged in correspondence, that is, the number of the driven wheels and the auxiliary wheels 130 is equal, which is conducive to improving the appearance of the cleaning device 100. It is understandable that in other examples, the number of the driven wheels and the auxiliary wheels 130 may not be equal.

[0076] Furthermore, the intersection of the line connecting the corresponding driven wheels and auxiliary wheels 130 and the line connecting the at least two driving wheels 120 is located at the geometric center of the machine body 110. As a result, the cleaning device 100, when the auxiliary wheels 130 are in the second position, can achieve a relatively good center of gravity, thereby improving the stability of the cleaning device 100 when the auxiliary wheels 130 are in the second position.

[0077] Specifically, the connection line between the corresponding driven wheels and the auxiliary wheels 130 may be arranged perpendicularly or obliquely to the connection line between the at least two driving wheels 120 .

[0078] Specifically, if Figure 1 As shown, when the line connecting the corresponding driven wheels and auxiliary wheels 130 is perpendicular to the line connecting the at least two driving wheels 120, the driven wheels are located at the bottom directly in front of the machine body 110, and the auxiliary wheels 130 are located at the bottom directly behind the machine body 110. This arrangement can greatly improve the support stability of the driven wheels and auxiliary wheels 130, and is conducive to improving the aesthetics of the product appearance, making it suitable for popularization and application. It is understood that when there is only one driven wheel and one auxiliary wheel 130, the intersection of the line connecting the two and the line connecting the at least two driving wheels 120 does not need to be located at the geometric center of the machine body 110.

[0079] like Figure 1 、 Figure 2 As shown, in some possible embodiments provided by the present invention, the cleaning device 100 further includes: a connecting arm 140, a first end of the connecting arm 140 being rotatably connected to the machine body 110, and an auxiliary wheel 130 being rotatably connected to the second end of the connecting arm 140. The first end of the connecting arm 140 rotates relative to the machine body 110, thereby driving the second end of the connecting arm 140 to move toward or away from the machine body 110, thereby enabling the auxiliary wheel 130 to switch between the first position and the second position. This arrangement is simple in structure and easy to implement.

[0080] In other words, the connecting arm 140 can be understood as a rocker that rotates relative to the machine body 110 with the first end as the rotation center, thereby driving the auxiliary wheel 130 connected to the second end of the connecting arm 140 to move closer to or away from the machine body 110, so as to achieve the switching of the auxiliary wheel 130 between the first position and the second position. The auxiliary wheel 130 is rotatably connected to the second end of the connecting arm 140, so that the auxiliary wheel 130 in the second position can move smoothly along the surface to be cleaned under the drive of the driving wheel 120. Figure 5 and Figure 8 As shown, in some possible embodiments provided by the present invention, the cleaning device 100 also includes: an elastic member 150 and a drive assembly 160, the elastic member 150 is connected between the connecting arm 140 and the machine body 110, and the drive assembly 160 is arranged on the machine body 110, and the drive assembly 160 is used to cooperate with the elastic member 150 to rotate the first end of the connecting arm 140 relative to the machine body 110 to drive the auxiliary wheel 130 to switch between the first position and the second position.

[0081] Therefore, by setting an elastic member 150, a driving assembly 160 and a connecting arm 140, and rotatably connecting the first end of the connecting arm 140 to the machine body 110, the auxiliary wheel 130 can be rotatably connected to the second end of the connecting arm 140. Depending on whether the center of gravity of the cleaning device 100 moves backward, the elastic member 150 and the driving assembly 160 can cooperate to drive the first end of the connecting arm 140 to rotate relative to the machine body 110, so as to drive the auxiliary wheel 130 to switch between the first position and the second position, so as to meet the requirements of the center of gravity of the cleaning device 100 in different areas and ensure that the center of gravity of the cleaning device 100 is relatively stable, so that the cleaning device 100 can have higher stability when the robotic arm 170 is in different postures, thereby improving the safety and satisfaction of the use of the cleaning device 100.

[0082] The elastic member 150 is connected between the connecting arm 140 and the machine body 110 , and the first end of the elastic member 150 may be directly or indirectly connected to the connecting arm 140 , and the second end of the elastic member 150 may be directly or indirectly connected to the machine body 110 .

[0083] In some possible embodiments provided by the present invention, when the auxiliary wheel 130 switches between the first position and the second position, the drive assembly 160 abuts against the connecting arm 140 so that the first end of the connecting arm 140 rotates along the first direction relative to the machine body 110. This ensures that the drive assembly 160 can stably drive the first end of the connecting arm 140 to rotate relative to the machine body 110, thereby ensuring that the auxiliary wheel 130 can stably switch between the first operating position and the second operating position.

[0084] The driving assembly 160 may directly contact the connecting arm 140 , and the connecting arm 140 may be directly driven to rotate by the movement of the driving assembly 160 .

[0085] like Figure 5 、 Figure 6 、 Figure 7 As shown, in some possible embodiments provided by the present invention, the driving assembly 160 is used to drive the connecting arm 140 to rotate relative to the machine body 110 along a first direction to switch the auxiliary wheel 130 from the first position to the second position.

[0086] In this embodiment, when the driving component 160 drives the connecting arm 140 to rotate in the first direction relative to the machine body 110, the second end of the connecting arm 140 can be moved in a direction away from the machine body 110, thereby enabling the auxiliary wheel 130 to move in a direction away from the machine body 110, so that the auxiliary wheel 130 switches from the first position to the second position.

[0087] like Figure 8 、 Figure 9 and Figure 10 As shown, in some possible embodiments provided by the present invention, the elastic member 150 is used to drive the connecting arm 140 to rotate relative to the machine body 110 along the second direction, so that the auxiliary wheel 130 switches from the second position to the first position.

[0088] In this embodiment, when the elastic member 150 drives the connecting arm 140 to rotate relative to the machine body 110 in the second direction, the second end of the connecting arm 140 may move toward the machine body 110, thereby enabling the auxiliary wheel 130 to move toward the machine body 110, thereby switching the auxiliary wheel 130 from the second position to the first position. Specifically, the first direction and the second direction are opposite directions.

[0089] Furthermore, when the drive assembly 160 drives the connecting arm 140 to rotate relative to the machine body 110 in the first direction, the elastic member 150 may accumulate elastic potential energy. The elastic member 150 releases the elastic potential energy, driving the connecting arm 140 to rotate relative to the machine body 110 in the second direction, thereby switching the auxiliary wheel 130 from the second position to the first position.

[0090] Specifically, when the driving component 160 drives the connecting arm 140 to rotate relative to the machine body 110 and drives the auxiliary wheel 130 to move to the second position, the force applied by the driving component 160 to the connecting arm 140 is opposite to the direction of the force applied by the elastic member 150 to the connecting arm 140, and the auxiliary wheel 130 contacts the surface to be cleaned. The self-locking function of the driving component 160 can reliably support the auxiliary wheel 130 on the surface to be cleaned.

[0091] When the elastic member 150 drives the connecting arm 140 to rotate and the auxiliary wheel 130 to move to the first position, the elastic member 150 drives the connecting arm 140 to move to the extreme position and uses its own elastic force to fix the connecting arm 140. In particular, when the auxiliary wheel 130 is in the first position or the second position, the elastic member 150 can be in a deformed state, maintaining the force applied to the connecting arm 140.

[0092] like Figure 7 and Figure 10 As shown, in some possible embodiments provided by the present invention, the drive assembly 160 includes: a screw 161, a sleeve 162 and a drive portion 163. The sleeve 162 is sleeved on the outside of the screw 161 and is connected to the screw 161 through a thread. The drive portion 163 is provided on the machine body 110 and is connected to the screw 161. Thus, the drive portion 163 drives the screw 161 to rotate. Since the screw 161 and the sleeve 162 are connected through an external thread, the sleeve 162 can move up and down along the screw 161 relative to the screw 161. Figure 7 and Figure 10 The direction indicated by the arrow Z in the figure can be understood as the vertical direction, wherein Z+ can be understood as vertically upward, and Z- can be understood as vertically downward. Figure 7 As shown, when the sleeve 162 moves downward relative to the screw rod 161, that is, when the sleeve 162 moves relative to the screw rod 161 in the Z-direction, the sleeve 162 can abut the connecting arm 140 to rotate the first end of the connecting arm 140 in the first direction relative to the machine body 110, so that the auxiliary wheel 130 switches from the first position to the second position, that is, the bottom end of the auxiliary wheel 130 can move vertically downward, that is, in the Z-direction. Figure 10 As shown, when sleeve 162 moves upward relative to screw rod 161, that is, when sleeve 162 moves in the Z+ direction relative to screw rod 161, under the action of elastic member 150, the first end of connecting arm 140 rotates in the second direction relative to machine body 110, thereby switching auxiliary wheel 130 from the second position to the first position. That is, the bottom end of auxiliary wheel 130 moves vertically upward, that is, in the Z+ direction. It will be understood that during the switching process of auxiliary wheel 130 from the second position to the first position, the upward movement of sleeve 162 relative to screw rod 161 provides space for the second end of connecting arm 140 to move closer to machine body 110. During this process, connecting arm 140 is in contact with sleeve 162 under the action of elastic member 150.

[0093] like Figure 5 、 Figure 7 、 Figure 8 and Figure 10As shown, in some possible embodiments provided by the present invention, the driving assembly 160 further includes a roller 164 , which is connected to a side of the sleeve 162 away from the driving portion 163 and faces the connecting arm 140 .

[0094] In other words, sleeve 162 abuts connecting arm 140 via roller 164. Roller 164 converts the sliding motion between sleeve 162 and connecting arm 140 into rolling motion, reducing friction between them, improving the smoothness of movement of connecting arm 140 relative to sleeve 162, and reducing the risk of interference and jamming between the two. Specifically, roller 164 can be rotatably connected to the side of sleeve 162 away from drive unit 163 via a rotating shaft.

[0095] like Figure 7 、 Figure 10 As shown, in some possible embodiments provided by the present invention, a limiting groove 141 is defined on a side of the connecting arm 140 facing the roller 164, and at least a portion of the roller 164 is accommodated in the limiting groove 141 and can roll within the limiting groove 141. The provision of the limiting groove 141 limits the range of motion of the roller 164 relative to the connecting arm 140, ensuring that the roller 164 can reliably abut against the connecting arm 140 during rolling, thereby driving the first end of the connecting arm 140 to rotate relative to the machine body 110.

[0096] like Figure 8 As shown, in some possible embodiments provided by the present invention, the driving unit 163 and the machine body 110 may be directly connected or indirectly connected, such as the driving unit 163 being directly mounted on the machine body 110. Alternatively, the driving assembly 160 may further include a mounting base 165, the driving unit 163 being fixedly connected to the mounting base 165, and the mounting base 165 being fixedly connected to the machine body 110, thereby achieving an indirect connection between the driving unit 163 and the machine body 110.

[0097] Further, if Figure 8 As shown, the connecting arm 140 and the machine body 110 can be directly or indirectly connected, for example, the rotating shaft of the connecting arm 140 is directly rotatably connected to the machine body 110. Alternatively, the rotating shaft of the connecting arm 140 is rotatably connected to a fixing base 142, and the fixing base 142 is fixedly connected to the machine body 110, thereby achieving an indirect rotatable connection between the connecting arm 140 and the machine body 110.

[0098] In some examples, the mounting base 165 for mounting the driving portion 163 and the fixing base 142 for mounting the connecting arm 140 can be separate structures and fixedly connected by a connector to further improve the accuracy and stability of the driving assembly 160 and the elastic member 150 in driving the connecting arm 140 to move. It is understood that in some examples, the mounting base 165 for mounting the driving portion 163 and the fixing base 142 for mounting the connecting arm 140 can also be an integrated structure.

[0099] like Figure 7 and Figure 10 As shown, in some possible embodiments provided by the present invention, the screw rod 161 and the sleeve 162 are configured as a threaded self-locking structure. In this way, when the motor is stopped, the connecting arm 140 can be prevented from moving in a direction close to the machine body 110 under the action of an external force. For example, when the auxiliary wheel 130 is in the second position, the motor can stop moving. At this time, since the screw rod 161 and the sleeve 162 are configured as a threaded self-locking structure, the auxiliary wheel 130 can be reliably and stably maintained in the second position, avoiding the problem that the second end of the connecting shaft moves in a direction close to the machine body 110, causing the bottom end of the auxiliary wheel 130 to be higher than the bottom end of the driving wheel 120 and losing support for the machine body 110, resulting in instability of the cleaning device 100. Therefore, the auxiliary wheel 130 in the second position cooperates with the driving wheel 120 to provide reliable and stable support for the cleaning device 100.

[0100] Furthermore, the screw rod 161 and the sleeve 162 are configured as a threaded self-locking structure, which is convenient to process, easy to implement, and has low cost.

[0101] like Figure 5 、 Figure 7 、 Figure 8 and Figure 10 As shown, in some possible embodiments provided by the present invention, the elastic member 150 is a torsion spring, the first torsion arm of the torsion spring is connected to the first end of the connecting arm 140, and the second torsion arm of the torsion spring is connected to the machine body 110, thereby enabling the torsion spring to stably provide elastic force, so that the auxiliary wheel 130 can switch from the second position to the first position.

[0102] Specifically, the torsion spring can be disposed at the rotating shaft of the connecting arm 140, that is, the torsion spring and the first end of the connecting arm 140 can be coaxially disposed with the rotating shaft of the machine body 110. For example, the torsion spring can be sleeved on the outer peripheral side of the first end of the connecting shaft relative to the rotating shaft of the machine body 110, and the first torsion arm of the torsion spring can be connected to the first end of the connecting arm 140, and the second torsion arm of the torsion spring can be connected to the machine body 110. It is understood that the torsion spring can be disposed at other locations that meet requirements.

[0103] In some possible embodiments provided by the present invention, the elastic member 150 is a tension spring, the first end of the tension spring is connected to the connecting arm 140, and the second end of the tension spring is connected to the machine body 110. Thus, the tension spring can stably provide elastic force, so that the auxiliary wheel 130 can switch from the second position to the first position.

[0104] It is understandable that the elastic member 150 may also be other elastic structures that meet the requirements.

[0105] In some possible embodiments provided by the present invention, the cleaning device 100 further includes: a position detection device, which is arranged on the machine body 110 and is used to detect the position of the auxiliary wheel 130, and the driving part 163 rotates or stops rotating according to the detection result of the position detection device.

[0106] In this embodiment, the position detection device is provided to timely and accurately understand the position of the auxiliary wheel 130, thereby facilitating the driving unit 163 to rotate or stop rotating according to the detection structure of the position detection device, so that the auxiliary wheel 130 can accurately and timely maintain the first position and / or the second position.

[0107] Specifically, the position detection device can detect whether the auxiliary wheel 130 is in the first position and / or the second position. When the auxiliary wheel 130 is in the first position and / or the second position, it indicates that the auxiliary wheel 130 has reached the target position. At this time, the position detection device can send an in-position signal. The control device of the cleaning device 100 can control the driving unit 163 to stop working based on the in-position signal, so that the auxiliary wheel 130 remains in the first position and / or the second position. When the auxiliary wheel 130 is not in the first position and / or the second position, it indicates that the auxiliary wheel 130 has not reached the target position. At this time, the position detection device may not send an in-position signal. The control device of the cleaning device 100 can control the driving unit 163 to continue working so that the auxiliary wheel 130 can successfully reach the target position.

[0108] Specifically, a position detection device may be provided to detect whether the auxiliary wheel 130 has reached the first position or the second position, or a position detection device may be provided to simultaneously detect whether the auxiliary wheel 130 has reached the first position and the second position. Alternatively, two position detection devices may be provided to separately detect whether the auxiliary wheel 130 has reached the first position and the second position.

[0109] Specifically, the position detection device can be a photoelectric switch, a mechanical switch, a piezoelectric switch, etc.

[0110] In some possible embodiments provided by the present invention, the driving unit 163 is provided with an overcurrent protection device. For example, if the driving unit 163 is a motor, the motor is provided with an overcurrent protection device.

[0111] Among them, the overcurrent protection device refers to a protection method that causes the drive unit 163 to operate when the current of the drive unit 163 exceeds a predetermined maximum value. Specifically, when the current flowing through the drive unit 163 exceeds a predetermined value, the protection device is activated, causing the drive unit 163 to stop working. In this way, when the auxiliary wheel 130 or the connecting arm 140 is subjected to a large reverse support force, the overcurrent protection device of the drive unit 163 will be activated, causing the drive unit 163 to stop working, reducing damage to the drive unit 163, which is conducive to extending the service life of the drive unit 163 and improving the reliability of the drive unit 163. At the same time, the overcurrent protection device can cause the drive unit 163 to stop working when the auxiliary wheel 130 reaches the first position and / or the second position, so as to avoid the problem that the position detection device fails and cannot accurately detect the position of the auxiliary wheel 130 and cannot accurately control the drive unit 163 to stop working.

[0112] That is to say, by cooperating with the overcurrent protection device and the position detection device of the driving unit 163, it is possible to perform dual detection on whether the auxiliary wheel 130 has reached the first position and / or the second position, thereby solving the problem that the driving unit 163 cannot work accurately due to a failure of one of the overcurrent protection device and the position detection device, and greatly improving the accuracy of the operation of the driving unit 163.

[0113] Specifically, when the auxiliary wheel 130 is in the second position, the auxiliary wheel 130 is in contact with the surface to be cleaned, and the surface to be cleaned provides the auxiliary wheel 130 with a suitable reverse supporting force. If the driving unit 163 continues to work, the force acting on the surface to be cleaned by the auxiliary wheel 130 increases, and the driving unit 163 is likely to be damaged. At the same time, the reverse supporting force provided by the surface to be cleaned to the auxiliary wheel 130 increases. At this time, the overcurrent protection device of the driving unit 163 is activated to stop the driving unit 163 from working, so that the auxiliary wheel 130 can be reliably and stably maintained in the second position.

[0114] When the auxiliary wheel 130 is in the first position, the connecting arm 140 is in contact with the machine body 110, and the machine body 110 provides the connecting arm 140 with a suitable reverse supporting force. If the driving unit 163 continues to work, the force acting on the machine body 110 by the connecting arm 140 increases, and the driving unit 163 may be damaged. At the same time, when the reverse supporting force provided to the connecting arm 140 by the machine body 110 increases, the overcurrent protection device of the driving unit 163 is activated to stop the driving unit 163 from working, so that the auxiliary wheel 130 can be reliably and stably maintained in the first position.

[0115] Specifically, a position detection device may be provided to detect whether the auxiliary wheel 130 is in the second position, and whether the auxiliary wheel 130 is in the first position and the second position may also be detected by an overcurrent protection device of the driving unit 163 .

[0116] In some possible embodiments provided by the present invention, the cleaning device 100 further includes: a buffer member, which is arranged on the connecting arm 140 and / or the machine body 110, and the buffer member is located between the side wall of the connecting arm 140 close to the machine body 110 and the machine body 110 when the auxiliary wheel 130 is in the first position.

[0117] In this embodiment, since the connecting arm 140 gradually approaches the machine body 110 during the process of the auxiliary wheel 130 switching from the second position to the first position, there is a possibility that the connecting arm 140 close to the side wall of the machine body 110 will collide with the machine body 110. Therefore, by arranging the buffer part between the side wall of the connecting arm 140 close to the machine body 110 and the machine body 110 when the auxiliary wheel 130 is in the first position, a certain buffering effect is played on the collision between the connecting arm 140 and the machine body 110, which can avoid the possibility of direct collision between the connecting arm 140 and the machine body 110 and causing damage to the connecting arm 140 and / or the machine body 110, which is beneficial to extending the service life of the connecting arm 140 and the machine body 110 and improving the overall reliability of the cleaning equipment 100.

[0118] Furthermore, the buffer can be set on the connecting arm 140, such as the buffer is set on the side wall of the connecting arm 140 close to the machine body 110 when the auxiliary wheel 130 is in the first position; or, the buffer can be set on the machine body 110, or, the buffer can be set on the connecting arm 140 and the machine body 110 at the same time to meet the needs of different structures and different arrangements of the buffer.

[0119] Specifically, the buffer member can be an elastic plastic pad, a spring, a sponge, or other structures. Specifically, the buffer member can be connected to the connecting arm 140 and / or the machine body 110 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and an adhesive.

[0120] In some possible embodiments of the present invention, a storage slot 112 is defined at the bottom of the machine body 110, and the auxiliary wheels 130 in the first position are accommodated within the storage slot 112. This allows the auxiliary wheels 130 in the first position to not protrude from the bottom of the machine body 110, or to protrude slightly therefrom. This allows for a greater distance between the bottom ends of the auxiliary wheels 130 in the first position and the bottom ends of the drive wheels 120. This reduces the likelihood of the auxiliary wheels 130 in the first position interfering with obstacles at the bottom of the cleaning device 100, such as door sills, and significantly improves the smoothness of movement of the cleaning device 100. Furthermore, when the auxiliary wheels 130 in the first position do not protrude from the bottom of the machine body 110, the appearance of the cleaning device 100 can be improved, both in terms of cleanliness and aesthetics.

[0121] It can be understood that when the auxiliary wheel 130 is in the first position, the connecting arm 140 connected to the auxiliary wheel 130 can also be accommodated in the storage groove 112, so as to further reduce the possibility of interference between the connecting arm 140 and obstacles such as door sills, thereby greatly improving the smoothness of movement of the cleaning device 100 and improving the neatness and aesthetics of the appearance of the cleaning device 100.

[0122] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise expressly defined, the terms "upper" and "lower" indicate orientations or positional relationships based on the orientations or positional relationships described in the accompanying drawings. They are intended only to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connect," "install," and "fix" should be understood in a broad sense. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0123] It will be apparent to those skilled in the art that the present invention may be modified and varied in various ways. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A cleaning device (100), characterized in that: include: Machine body (110); At least two driving wheels (120) and a travel driving device are located at the bottom of the machine body (110), the travel driving device is connected to the machine body (110) and the driving wheels (120), and the travel driving device drives the driving wheels (120) to rotate to drive the machine body (110) to move; An auxiliary wheel (130) is located at the bottom of the machine body (110), and the auxiliary wheel (130) is located on the rear side of the machine body (110) relative to the line connecting at least two of the driving wheels (120). The auxiliary wheel (130) is movably connected to the machine body (110) and can be switched between a first position and a second position, wherein the auxiliary wheel (130) is lower than when it is in the first position when it is in the second position, and the auxiliary wheel (130) and the driving wheel (120) in the second position jointly support the machine body (110).

2. The cleaning device (100) according to claim 1, characterized in that When the center of gravity of the machine body (110) is located at the rear side of the machine body (110) relative to a line connecting at least two of the driving wheels (120), the auxiliary wheel (130) switches from the first position to the second position, wherein the auxiliary wheel (130) and the driving wheel (120) in the second position are in contact with the surface to be cleaned.

3. The cleaning device (100) according to claim 1, characterized in that When the auxiliary wheel (130) is in the second position, the bottom end does not protrude from the bottom end of the driving wheel (120).

4. The cleaning device (100) according to claim 1, characterized in that Also includes: A robotic arm (170) is connected to the machine body (110), the robotic arm (170) is foldable or unfoldable relative to the machine body (110), and the connection position between the robotic arm (170) and the machine body (110) is located on the front side of the machine body (110) relative to the line connecting at least two of the driving wheels (120).

5. The cleaning device (100) according to claim 4, characterized in that When the projection of the mechanical arm (170) on the machine body (110) overlaps with a line connecting at least two of the driving wheels (120) and an area at the rear of the machine body (110), the auxiliary wheel (130) switches to the second position; When the projection of the robotic arm (170) on the machine body (110) does not overlap with a line connecting at least two driving wheels (120) and an area at the rear of the machine body (110), the auxiliary wheel (130) switches to the first position.

6. The cleaning device (100) according to claim 5, characterized in that An arm bin (111) is provided on the top of the machine body (110), and the mechanical arm (170) can be folded and stored in the arm bin (111).

7. The cleaning device (100) according to claim 6, characterized in that Also includes: A driven wheel is located at the bottom of the machine body (110), and the driven wheel is located at the front side of the machine body (110) relative to a line connecting at least two of the driving wheels (120).

8. The cleaning device (100) according to claim 7, characterized in that The arm bin (111) is located between the lines connecting the driven wheel and at least two of the driving wheels (120).

9. The cleaning device (100) according to claim 7, characterized in that The number of the driven wheel is at least one, and / or The number of the auxiliary wheel (130) is at least one, and / or The driven wheel and the auxiliary wheel (130) are arranged correspondingly.

10. The cleaning device (100) according to claim 9, characterized in that The intersection of a line connecting the correspondingly arranged driven wheels and the auxiliary wheels (130) and a line connecting at least two of the driving wheels (120) is located at the geometric center of the machine body (110).

11. The cleaning device (100) according to claim 1, characterized in that Also includes: A connecting arm (140) is provided, wherein a first end of the connecting arm (140) is rotatably connected to the machine body (110), and the auxiliary wheel (130) is rotatably connected to the second end of the connecting arm (140). The first end of the connecting arm (140) rotates relative to the machine body (110) to switch the auxiliary wheel (130) between the first position and the second position.

12. The cleaning device (100) according to claim 11, characterized in that Also includes: an elastic member (150), the elastic member (150) being connected between the connecting arm (140) and the machine body (110); A drive assembly (160) is provided on the machine body (110), and the drive assembly (160) is used to cooperate with the elastic member (150) to rotate the connecting arm (140) relative to the machine body (110), thereby driving the auxiliary wheel (130) to switch between the first position and the second position.

13. The cleaning device (100) according to claim 12, characterized in that During the switching process of the auxiliary wheel (130) between the first position and the second position, the driving assembly (160) abuts against the connecting arm (140) to enable the first end of the connecting arm (140) to rotate relative to the machine body (110).

14. The cleaning device (100) according to claim 12, characterized in that The driving assembly (160) is used to drive the connecting arm (140) to rotate in a first direction relative to the machine body (110), so as to switch the auxiliary wheel (130) from the first position to the second position.

15. The cleaning device (100) according to claim 12, characterized in that The elastic member (150) is used to drive the connecting arm (140) to rotate in a second direction relative to the machine body (110), so as to switch the auxiliary wheel (130) from the second position to the first position.

16. The cleaning device (100) according to claim 12, characterized in that The drive assembly (160) comprises: A screw rod (161), a sleeve (162) and a driving portion (163), wherein the sleeve (162) is sleeved on the outside of the screw rod (161) and is connected to the screw rod (161) by a thread, and the driving portion (163) is provided on the machine body (110) and is connected to the screw rod (161), and the driving portion (163) drives the screw rod (161) to rotate so that the sleeve (162) moves relative to the screw rod (161) to abut against the connecting arm (140).

17. The cleaning device (100) according to claim 16, characterized in that The driving assembly (160) further includes a roller (164), which is connected to a side of the sleeve (162) away from the driving portion (163) and faces the connecting arm (140).

18. The cleaning device (100) according to claim 17, characterized in that A limiting groove (141) is provided on one side of the connecting arm (140) facing the roller (164), and at least a portion of the roller (164) is accommodated in the limiting groove (141) and can roll in the limiting groove (141).

19. The cleaning device (100) according to claim 16, characterized in that The screw rod (161) and the sleeve (162) are configured as a threaded self-locking structure.

20. The cleaning device (100) according to claim 12, characterized in that The elastic member (150) is a torsion spring, a first torsion arm of the torsion spring is connected to the first end of the connecting arm (140), and a second torsion arm of the torsion spring is connected to the machine body (110); or The elastic member (150) is a tension spring, a first end of the tension spring is connected to the connecting arm (140), and a second end of the tension spring is connected to the machine body (110).

21. The cleaning device (100) according to claim 16, characterized in that Also includes: A position detection device is provided on the machine body (110) and is used to detect the position of the auxiliary wheel (130). The driving unit (163) rotates or stops rotating according to the detection result of the position detection device.

22. The cleaning device (100) according to claim 16, characterized in that The driving part (163) is provided with an overcurrent protection device.

23. The cleaning device (100) according to claim 16, characterized in that Also includes: A buffer member is provided on the connecting arm (140) and / or the machine body (110), and the buffer member is located between the side wall of the connecting arm (140) close to the machine body (110) and the machine body (110) when the auxiliary wheel (130) is in the first position.

24. The cleaning device (100) according to claim 1, characterized in that A receiving groove (112) is provided at the bottom of the machine body (110), and the auxiliary wheel (130) in the first position is accommodated in the receiving groove (112).

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