Self-moving type surface cleaning robot

Abstract

The utility model provides a self-moving type surface cleaning robot. The self-moving type surface cleaning robot comprises a shell assembly, walking wheels and steering wheels. The walking wheels are arranged to rotate by receiving driving force; the steering wheel is arranged on the front side of the walking wheel; the steering wheel comprises a first bracket and a trundle, the first bracket is configured to accommodate the trundle therein, and the first bracket is mounted to the shell assembly; the first support is configured to move downwards relative to the shell assembly under the air pressure effect, and therefore the trundles are guided to move downwards.

Description

Technical Field

[0001] The present disclosure relates to a self-propelled surface cleaning robot. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] As technology advances, more and more families use household vacuum cleaners to clean surfaces to be cleaned. When the household vacuum cleaner is working, it can suck up particles such as dust from the floor of the room, thereby achieving the cleaning work of the room.

[0004] Moreover, these household vacuum cleaning devices generally include components such as driving wheels and steering wheels, and the housing assembly of the household vacuum cleaning device is supported by the driving wheels and steering wheels, thereby enabling the housing assembly to maintain a preset distance from the surface to be cleaned.

[0005] When obstacles are present on the surface to be cleaned, household vacuum cleaners need to be able to overcome them. This requires a design that allows the housing assembly to rise. However, existing structures often require components such as motors as drive elements, supplemented by moving parts such as cams or screws. This results in a complex structure for household vacuum cleaners, hindering the trend toward miniaturization. Utility Model Content

[0006] The present disclosure provides a self-propelled surface cleaning robot.

[0007] According to one aspect of the present disclosure, there is provided a self-propelled surface cleaning robot comprising:

[0008] housing assembly;

[0009] a running wheel configured to rotate by receiving a driving force; and

[0010] A steering wheel is arranged in front of the walking wheel; the steering wheel includes a first bracket and a caster, the first bracket is constructed to accommodate the caster therein, and the first bracket is mounted to the shell assembly; wherein the first bracket is configured to be able to move downward relative to the shell assembly under the action of air pressure, thereby guiding the downward movement of the caster.

[0011] According to at least one embodiment of the present disclosure, the self-moving surface cleaning robot further includes: a first pneumatic actuating element, which is arranged between the first bracket and the shell assembly, and the first pneumatic actuating element is driven by the air pressure of the air flow flowing through the first air inlet and outlet, so that the first pneumatic actuating element moves up and down relative to the shell assembly under the action of air pressure.

[0012] According to the self-propelled surface cleaning robot of at least one embodiment of the present disclosure, the first pneumatic actuation element is configured to absorb impact when the caster moves on the surface to be cleaned.

[0013] According to at least one embodiment of the self-propelled surface cleaning robot of the present disclosure, the first air inlet and outlet are provided on the housing assembly.

[0014] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the steering wheel also includes: a guide rod, which is arranged up and down in the shell assembly, and the guide rod is formed to penetrate the chassis of the shell assembly and is connected to the first bracket, and is configured to guide the up and down movement of the first bracket.

[0015] According to at least one embodiment of the present disclosure, the self-moving surface cleaning robot further includes: a reset member, which is located between the guide rod and the shell assembly, and when the first pneumatic actuator allows the first bracket to move upward, the reset member is used to drive the guide rod to move upward.

[0016] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the first pneumatic actuation element is formed to surround the guide rod.

[0017] According to the self-moving surface cleaning robot of at least one embodiment of the present disclosure, the first pneumatic actuation element includes an air bag, and the air bag is in fluid communication with the first air inlet and outlet.

[0018] The self-propelled surface cleaning robot according to at least one embodiment of the present disclosure further includes a first bracket drive assembly configured to drive the first bracket to pivot relative to the housing assembly about a central axis thereof.

[0019] According to at least one embodiment of the present disclosure, the self-moving surface cleaning robot further includes a rotary seal rotatably arranged on the shell assembly, the first air inlet and outlet are located on the rotary seal, and the rotary seal is configured to rotatably maintain the pneumatic seal between the first air inlet and outlet and the first pneumatic actuator element.

[0020] The self-moving surface cleaning robot according to at least one embodiment of the present disclosure further includes a power assembly driven according to a command signal to provide an air flow having a preset pressure.

[0021] According to at least one embodiment of the self-propelled surface cleaning robot of the present disclosure, the power assembly includes an air pump provided on the housing assembly, and the air pump is connected to the first air inlet and outlet through an air flow channel.

[0022] According to at least one embodiment of the present disclosure, the self-propelled surface cleaning robot further includes a pressure relief device, which is connected to the air pump and / or the first air inlet and outlet through an air flow channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0024] Figure 1 Schematic diagram of the structure of a surface cleaning device according to one embodiment of the present disclosure.

[0025] Figure 2 2 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure from another angle.

[0026] Figure 3 FIG. 1 is a schematic diagram of a partial structure of a surface cleaning device according to an embodiment of the present disclosure.

[0027] Figure 4 Schematic diagram of the structure of a steering wheel of a surface cleaning device according to one embodiment of the present disclosure.

[0028] Figure 5 Schematic diagram of the cross-sectional structure of a steering wheel of a surface cleaning device according to one embodiment of the present disclosure.

[0029] Figure 6 3 is a schematic structural diagram of a portion of the surface cleaning device according to an embodiment of the present disclosure from another angle.

[0030] Figure 7 yes Figure 6 A magnified schematic diagram of part A.

[0031] Figure 8 Schematic diagram of the structure of the travel wheel of the surface cleaning device according to one embodiment of the present disclosure.

[0032] Figure 9It is a schematic structural diagram at an angle showing a partial structure of a surface cleaning device according to one embodiment of the present disclosure.

[0033] Figure 10 Schematic diagram of a lever structure of a surface cleaning device according to one embodiment of the present disclosure.

[0034] Figure 11 Schematic diagram of the structure of a cleaning component of a surface cleaning device according to one embodiment of the present disclosure.

[0035] The specific reference numerals in the figure are:

[0036] 100 housing assembly

[0037] 200 side brush assembly

[0038] 300 Cleaning Components

[0039] 310 Third bracket

[0040] 311 buckle

[0041] 320 brush roller

[0042] 330 Third pneumatic actuator

[0043] 340 Third air inlet and outlet

[0044] 350 Lever Structure

[0045] 400 steering wheel

[0046] 410 First Bracket

[0047] 420 casters

[0048] 430 guide rod

[0049] 440 first pneumatic actuator

[0050] 450 First air inlet and outlet

[0051] 460 reset piece

[0052] 470 Rotary Seals

[0053] 500 Travel Wheels

[0054] 510 Second bracket

[0055] 520 drive wheel

[0056] 530 Second pneumatic actuator

[0057] 540 arm parts

[0058] 550 Second air inlet and outlet

[0059] 600 Cleaning components. DETAILED DESCRIPTION

[0060] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the relevant content and are not intended to limit the present disclosure. It should also be noted that, for ease of description, only the portions relevant to the present disclosure are shown in the accompanying drawings.

[0061] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / examples may be further combined, separated, interchanged, and / or rearranged without departing from the technical concepts of the present disclosure.

[0063] The use of cross hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise indicated, the presence or absence of cross hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the order described. In addition, the same figure numbers represent the same components.

[0064] When a component is referred to as being “on,” “over,” “connected to,” or “coupled to” another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being “directly on,” “directly connected to,” or “directly coupled to” another component, there are no intervening components present. For this purpose, the term “connected” may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0065] For descriptive purposes, the present disclosure may use spatially relative terms such as "below," "beneath," "under," "down," "above," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the drawings is turned over, a component described as "below" or "beneath" another component or feature would then be positioned "above" the other component or feature. Thus, the exemplary term "below" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and as such, the spatially relative descriptors used herein should be interpreted accordingly.

[0066] The terms used herein are for the purpose of describing specific embodiments and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, the features, integral bodies, steps, operations, parts, assemblies and / or their groups stated are explained, but the presence or addition of one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups is not excluded. It should also be noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0067] Figure 1 Schematic diagram of the structure of a surface cleaning device according to one embodiment of the present disclosure. Figure 2 2 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure from another angle.

[0068] like Figure 1 and Figure 2 As shown, the surface cleaning device of the present disclosure may be a self-propelled surface cleaning device; as an example, the self-propelled surface cleaning device may be a sweeping robot, a mopping robot, a self-propelled surface cleaning robot, or a sweeping and mopping robot. The self-propelled surface cleaning device is capable of performing an autonomous cleaning operation, i.e., the surface cleaning device is capable of autonomously moving over the surface to be cleaned to clean the surface by sucking particles located on different parts of the surface to be cleaned.

[0069] by Figure 1 and Figure 2 Taking the sweeping and mopping robot shown in the figure as an example, the forward direction of the surface cleaning device is marked as the front, and the reference Figure 2 The viewing direction of the surface cleaning equipment is the upper side. The direction away from the surface cleaning equipment is the rear. Figure 2 In the viewing direction of the surface cleaning device, the rear side refers to the lower side. Accordingly, the direction perpendicular to the front-rear direction can be defined as the left-right direction.

[0070] The surface cleaning device may include a housing assembly 100, which can be formed into the body of the surface cleaning device; a steering wheel 400 and a running wheel 500 are provided at the bottom of the housing assembly 100. The steering wheel 400 is used to control the direction of travel of the surface cleaning device, and the running wheel 500 is used to drive the surface cleaning device forward. The steering wheel 400 is provided in front of the housing assembly 100, that is, the steering wheel 400 is arranged in front of the running wheel 500. The cleaning assembly 600 is rotatably connected to the bottom of the housing assembly 100 and is located at the rear of the housing assembly 100.

[0071] like Figure 2 As shown, the present disclosure can be provided with two running wheels 500, which are respectively located approximately in the middle of the front-to-back direction of the housing assembly 100 and on both sides of the left-to-right direction of the housing assembly 100; furthermore, the steering wheel 400 is provided as one, which can be a universal wheel, and accordingly, the universal wheel is provided in the middle of the left-to-right direction of the surface cleaning device and close to the front end of the surface cleaning device. Of course, the present disclosure can also be provided with two or more steering wheels 400.

[0072] In actual use, the walking wheel 500 can be driven and rotated, that is, the walking wheel 500 is set to rotate by receiving driving force, and by controlling the walking wheel 500 to rotate at a constant speed, the surface cleaning equipment can move forward. Correspondingly, by controlling the walking wheel 500 to rotate at an uneven speed, the surface cleaning equipment can be controlled to turn.

[0073] In the present disclosure, a side brush assembly 200 is further provided on the housing assembly 100, wherein the side brush assembly 200 can be provided as one or two; Figure 2 In the illustrated embodiment, the side brush assembly 200 is provided as a single unit and is disposed on the right side of the front end of the housing assembly 100. Thus, the rotation of the side brush assembly 200 can disturb dirt on the surface to be cleaned and clean the surface to be cleaned. In this disclosure, the side brush assembly 200 may also be referred to as a side brush assembly.

[0074] In addition, a cleaning assembly 300 is also provided on the shell assembly 100. The cleaning assembly 300 is arranged in the middle position of the shell assembly 100 in the front-to-back direction, and its length direction is the width direction of the shell assembly 100. Figure 2 The specific structure when the cleaning component is a roller brush is shown. The rotation axis of the roller brush is parallel to the surface to be cleaned. When the roller brush rotates, it can clean the surface to be cleaned. No further details are given here.

[0075] Therefore, the rotating roller brush of the cleaning component 300 can disturb the dirt on the surface to be cleaned. The dirt can be sucked into the dust box and other devices through negative pressure adsorption, and the solid particles can be separated in the dust box and other devices, thereby completing the cleaning operation of the surface to be cleaned.

[0076] In a preferred embodiment, the housing assembly 100 is further provided with a cleaning assembly 600. In the present disclosure, the cleaning assembly 600 is rotatably connected to the housing assembly 100 and is configured to clean the surface to be cleaned. Since the cleaning assembly 300 is located in front of the cleaning assembly 600, the surface cleaning device of the present disclosure can clean the surface to be cleaned using the cleaning assembly 600 after the cleaning assembly 300 has cleaned the surface to be cleaned.

[0077] Thus, when the surface cleaning device of the present disclosure is in operation, the cleaning assembly 600 of the surface cleaning device can be self-cleaned according to its operating time; more preferably, the operating time can be set to be different according to the degree of dirtiness of the ground. For example, when the degree of dirtiness of the ground is relatively high, the operating time can be set to be relatively short; correspondingly, when the degree of dirtiness of the ground is relatively low, the operating time can be set to be relatively long.

[0078] At the same time, after the surface cleaning device completes the cleaning operation for a predetermined time, it can automatically return to and dock at the base station, and the base station can perform self-cleaning on the cleaning component 600 of the surface cleaning device.

[0079] Figure 3 FIG. 1 is a schematic diagram of a partial structure of a surface cleaning device according to an embodiment of the present disclosure. Figure 4 Schematic diagram of the structure of a steering wheel of a surface cleaning device according to one embodiment of the present disclosure. Figure 5 Schematic diagram of the cross-sectional structure of a steering wheel of a surface cleaning device according to one embodiment of the present disclosure.

[0080] like Figures 3 to 5As shown, the steering wheel 400 of the self-propelled surface cleaning robot of the present disclosure may include a first bracket 410 and a caster 420. The first bracket 410 is configured to accommodate the caster 420 therein, that is, the first bracket 410 is formed with a receiving space, the caster 420 can be rotatably arranged on the first bracket 410, and at least a portion of the caster 420 is located within the receiving space. In a specific implementation form of the present disclosure, the rotation axis of the caster 420 can be arranged substantially horizontally.

[0081] The first bracket 410 of the present disclosure is mounted to the housing assembly 100; wherein, the first bracket 410 is configured to move downward relative to the housing assembly 100 under the action of air pressure, thereby guiding the downward movement of the caster 420. Accordingly, when the caster 420 moves downward, the distance between the caster 420 and the housing assembly 100 increases, thereby raising the housing assembly 100. As a result, the surface cleaning device of the present disclosure can easily overcome obstacles, thereby improving the obstacle-crossing capability of the surface cleaning device.

[0082] The steering wheel 400 of the present disclosure may further include a guide rod 430, which is arranged vertically in the housing assembly 100. In other words, the guide rod 430 of the present disclosure is arranged substantially vertically. In particular, the guide rod 430 is formed to penetrate the chassis of the housing assembly 100 and is connected to the first bracket 410, and is configured to guide the up and down movement of the first bracket 410. In other words, the guide rod 430 of the present disclosure can not only rotate relative to the housing assembly 100, but also slide in the vertical direction relative to the housing assembly 100, thereby enabling the steering wheel 400 to be formed into a universal wheel that can be raised and lowered.

[0083] In a preferred embodiment, the self-moving surface cleaning robot disclosed herein further includes: a first pneumatic actuating element 440, which is arranged between the first bracket 410 and the shell assembly 100, and the first pneumatic actuating element 440 is driven by the air pressure of the air flow flowing through the first air inlet and outlet 450, so that the first pneumatic actuating element 440 moves up and down relative to the shell assembly 100 under the action of air pressure.

[0084] Specifically, the first pneumatic actuator 440 can be an airbag, which is in fluid communication with the first air inlet and outlet 450. Thus, when high-pressure gas is supplied to the airbag through the first air inlet and outlet 450, the size of the airbag increases, and the lower end of the airbag can move downward, applying a thrust to the first bracket 410, thereby driving the first bracket 410 downward. On the other hand, when the high-pressure gas in the airbag is released into the atmosphere, the lower end of the airbag can move upward, thereby allowing the first bracket 410 to move upward. At this time, under the action of gravity of the surface cleaning device and / or the elastic force of the reset member 460 described below, the first bracket 410 can move upward, so that the housing assembly 100 of the surface cleaning device can be at a predetermined height relative to the surface to be cleaned.

[0085] In a preferred embodiment, the first pneumatic actuating element 440 of the present disclosure is formed to surround the guide rod 430. In other words, the first pneumatic actuating element 440 of the present disclosure is substantially formed into an annular structure, and the guide rod 430 passes through the center of the annular structure.

[0086] On the other hand, since the first pneumatic actuated element 440 of the present invention can control the extension length of the caster 420, under normal circumstances, the lower end of the first pneumatic actuated element 440 can have pressure contact with the first bracket 410. At this time, the first pneumatic actuated element 440 can be configured to absorb the impact of the caster 420 when it moves on the surface to be cleaned.

[0087] The first air inlet and outlet 450 is provided on the housing assembly 100. Specifically, in one embodiment, the first air inlet and outlet 450 can be directly fixedly connected to the housing assembly 100; or the first air inlet and outlet 450 can be formed as a part of the housing assembly 100, that is, the first air inlet and outlet 450 is formed on the housing assembly 100. In this case, the upper end of the first pneumatic actuator 440 is fixedly connected to the first air inlet and outlet 450. When the first bracket 410 rotates relative to the housing assembly 100, the lower end of the first pneumatic actuator 440 can slide in contact with the first air inlet and outlet 450, and the guide rod 430 can also slide relative to the first air inlet and outlet 450.

[0088] In another case, the first air inlet and outlet 450 can be rotatably arranged on the shell assembly 100. In this case, when the first bracket 410 rotates, the first bracket 410, the first pneumatic actuator 440, the first air inlet and outlet 450 and other components will rotate synchronously. In this case, the shell assembly 100 can limit the position of the first air inlet and outlet 450 in the vertical direction.

[0089] In the third case, the first air inlet and outlet 450 can be rotatably disposed on the rotary seal 470. Of course, the first air inlet and outlet 450 can also be fixedly connected to the rotary seal 470. The rotary seal 470 can be rotatably disposed on the housing assembly 100, and the housing assembly 100 can limit the vertical position of the rotary seal 470. In this case, the rotary seal 470 is configured to rotatably maintain the air pressure seal between the first air inlet and outlet 450 and the first pneumatic actuator 440. In other words, the upper end of the first pneumatic actuator 440 can be fixed to the rotary seal 470. In this case, when the first bracket 410 rotates, the first bracket 410, the first pneumatic actuator 440, the rotary seal 470 and other components will rotate synchronously.

[0090] The surface cleaning device of the present disclosure may further include a reset member 460, located between the guide rod 430 and the housing assembly 100 (or the first air inlet and outlet 450). When the first air pressure actuating element 440 allows the first bracket 410 to move upward, the reset member 460 is configured to drive the guide rod 430 upward. In a preferred embodiment, the reset member 460 may be a spring.

[0091] In the present disclosure, the surface cleaning device further includes a first drive assembly for driving the first bracket 410 to pivot about its central axis relative to the housing assembly 100, thereby enabling the surface cleaning device of the present disclosure to actively steer. Of course, the surface cleaning device of the present disclosure may also be provided without the first drive assembly, and the steering wheel 400 may be passively steered by the differential speed of the running wheels 500.

[0092] Figure 6 3 is a schematic structural diagram of a portion of the surface cleaning device according to an embodiment of the present disclosure from another angle. Figure 7 yes Figure 6 A magnified schematic diagram of part A. Figure 8 1 is a schematic structural diagram of a traveling wheel 500 of a surface cleaning device according to an embodiment of the present disclosure.

[0093] like Figures 6 to 8 The running wheel 500 of the present disclosure may include a second bracket 510 and a driving wheel 520, wherein the second bracket 510 has a free end and a pivot end, the driving wheel 520 is rotatably connected to the free end of the second bracket 510, and the pivot end of the second bracket 510 is rotatably connected to the housing assembly 100. Thus, the driving wheel 520 of the present disclosure can approach or move away from the housing assembly 100 through the swinging action of the second bracket 510.

[0094] The second bracket 510 is configured to pivot relative to the housing assembly 100 under the action of air pressure, thereby guiding the downward movement of the drive wheel 520. Accordingly, when the drive wheel 520 moves downward, the distance between the drive wheel 520 and the housing assembly 100 increases, thereby raising the housing assembly 100. As a result, the surface cleaning device of the present disclosure can easily overcome obstacles, thereby improving the obstacle-crossing capability of the surface cleaning device.

[0095] The surface cleaning device of the present disclosure also includes a second pneumatic actuating element 530, which is arranged between the second bracket 510 and the shell assembly 100. The second pneumatic actuating element 530 is driven by the air pressure of the air flow flowing through the second air inlet and outlet 550, so that the second pneumatic actuating element 530 moves up and down relative to the shell assembly 100 under the action of air pressure.

[0096] Specifically, the surface cleaning device of the present disclosure further includes an arm member 540 , which includes a proximal end and a distal end. The proximal end of the arm member 540 is pivotally connected to the housing assembly 100 , and the distal end of the arm member 540 is operably abutted against the free end of the second bracket 510 .

[0097] At this time, the second pneumatic actuator 530 drives the driving wheel 520 to move downward by rotating the driving arm member 540. Figure 8 As shown, the upper end of the second pneumatic actuating element 530 of the present invention can be fixed to the second air inlet and outlet 550 and is fluidically connected to the second air inlet and outlet 550, and the lower end of the second pneumatic actuating element 530 can contact the middle part of the arm part 540, thereby pushing the arm part 540 to rotate and causing the far end of the arm part 540 to move downward, further causing the second bracket 510 to rotate, and causing the drive wheel 520 to descend.

[0098] On the other hand, since the second pneumatic actuating element 530 disclosed in the present invention can control the extension length of the driving wheel 520, under normal circumstances, the lower end of the second pneumatic actuating element 530 can be in pressure contact with the second bracket 510. At this time, the second pneumatic actuating element 530 can be configured to absorb the impact of the driving wheel 520 when it moves on the surface to be cleaned.

[0099] In a specific embodiment, the second pneumatic actuated element 530 includes an airbag, which is operably abutted against the distal end of the arm component 540. The direction of the abutment force of the airbag on the distal end of the arm component 540 is roughly opposite to the direction of the abutment force of the free end of the second bracket 510 on the distal end of the arm component 540, thereby enabling the rotation of the arm component 540 to be achieved through the extension and contraction of the airbag.

[0100] The second air inlet and outlet 550 is formed on the housing assembly 100. In other words, the second air inlet and outlet 550 of the present disclosure can be formed integrally with the housing assembly 100, thereby making the surface cleaning device of the present disclosure have a lower manufacturing cost. Of course, the second air inlet and outlet 550 of the present disclosure can also be formed as a separate component and fixed to the housing assembly 100.

[0101] The surface cleaning device of the present disclosure further includes a tension spring, one end of which is fixed to the pivot end of the second bracket 510, and the other end of which is fixed to the housing assembly 100. When the surface cleaning device is suspended, the tension spring is used to provide tension to the second bracket 510, so that the driving wheel 520 does not have a large distance from the housing assembly 100. When the suspended housing assembly 100 is placed on a surface to be cleaned, the tension of the tension spring and the weight of the surface cleaning device can quickly move the driving wheel 520 to a position at a predetermined distance from the housing assembly 100.

[0102] Figure 9 It is a schematic structural diagram at an angle showing a partial structure of a surface cleaning device according to one embodiment of the present disclosure. Figure 10 3 is a schematic structural diagram of a lever structure 350 of a surface cleaning device according to an embodiment of the present disclosure. Figure 11 1 is a schematic structural diagram of a cleaning assembly 300 of a surface cleaning device according to an embodiment of the present disclosure.

[0103] like Figures 9 to 11 As shown, the cleaning component 300 of the surface cleaning device of the present disclosure is configured to rotate by receiving a driving force; wherein, the cleaning component 300 includes a third bracket 310 and a brush roller 320, the third bracket 310 is configured to accommodate the brush roller 320 therein, and the third bracket 310 is pivotally mounted to the housing assembly 100; the third bracket 310 is configured to be able to pivot relative to the housing assembly 100 under the action of air pressure, thereby guiding the upward movement of the brush roller 320.

[0104] In the present disclosure, the third air inlet and outlet 340 is formed on the housing assembly 100. That is, the third air inlet and outlet 340 of the present disclosure can be formed integrally with the housing assembly 100, thereby making the surface cleaning device of the present disclosure have a lower manufacturing cost. Of course, the third air inlet and outlet 340 of the present disclosure can also be formed as a separate part and installed on the housing assembly 100.

[0105] The surface cleaning device of the present disclosure may also include a third pneumatic actuating element 330, which is arranged between the third bracket 310 and the shell assembly 100. The third pneumatic actuating element 330 is driven by the air pressure of the air flow flowing through the third air inlet and outlet 340, so that the third pneumatic actuating element 330 moves up and down relative to the shell assembly 100 under the action of air pressure.

[0106] In a specific embodiment, the third pneumatic actuating element 330 can be an airbag, which is fluidically connected to the third air inlet and outlet 340. The upper end of the airbag can be fixed to the third air inlet and outlet 340, and the lower end of the airbag can contact the lever structure 350 described below and drive the lever structure 350 to rotate.

[0107] The third bracket 310 has a free end and a pivot end. The brush roller 320 is rotatably connected to the free end of the third bracket 310 . The pivot end of the third bracket 310 is rotatably connected to the housing assembly 100 .

[0108] The lever structure 350 of the present disclosure includes a fulcrum and a first free end and a second free end located on either side of the fulcrum. The first free end is snap-connected to the free end of the third bracket 310, while the second free end is operably abutted against the third pneumatic actuator 330. In other words, the middle portion of the lever structure 350 of the present disclosure is rotatably connected to the housing assembly 100, and one end of the lever structure 350 engages with the third pneumatic actuator 330, while the other end of the lever structure 350 engages with the third bracket 310, thereby driving the third bracket 310 to swing, thereby moving the brush roller 320 away from the surface to be cleaned.

[0109] Specifically, when the airbag is filled with high-pressure gas, the airbag will extend, and at this time, the second free end of the lever structure 350 will move downward, and at this time, the first free end of the lever structure 350 will move upward, causing the brush roller 320 to leave the surface to be cleaned.

[0110] In one specific configuration, the free end of the third bracket 310 includes a buckle 311. The first free end extends into the buckle 311 and, under the action of a lever, can exert an upward abutting force on the buckle 311. At this point, the airbag can operatively abut the second free end of the lever structure 350. The direction of the abutment force exerted by the airbag on the second free end is substantially opposite to the direction of the abutment force exerted by the free end of the third bracket 310 on the first free end.

[0111] In the structure of the present disclosure, the third air pressure actuated element 330 may also be configured to absorb the impact of the brush roller 320 when it moves and rolls on the surface to be cleaned.

[0112] The surface cleaning device of the present disclosure may further include a power assembly that is driven according to a command signal to provide an air flow having a preset pressure. Specifically, the power assembly may be an air pump disposed on the housing assembly 100, the air pump being connected to the first air inlet and outlet 450, the second air inlet and outlet 550, and the third air inlet and outlet 340 through air flow passages, and accordingly being capable of providing high-pressure gas to the first air pressure actuating element, the second air pressure actuating element, and the third air pressure actuating element.

[0113] Moreover, the surface cleaning device of the present disclosure may further include a pressure relief device, which is connected to the air pump through an air flow channel, so that the high-pressure gas in the air pump can be discharged to the atmosphere. In addition, the pressure relief device of the present disclosure may also be connected to the first air inlet and outlet 450, the second air inlet and outlet 550, and the third air inlet and outlet 340, so as to release the high-pressure gas in the first air pressure actuating element, the second air pressure actuating element, and the third air pressure actuating element by controlling the opening and closing of the pressure relief device, and cause the first air pressure actuating element, the second air pressure actuating element, and the third air pressure actuating element to contract.

[0114] Therefore, in the surface cleaning device of the present disclosure, the obstacle avoidance capability thereof can also be improved by lifting the cleaning component 300 .

[0115] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0117] Those skilled in the art will appreciate that the above embodiments are merely intended to clearly illustrate the present disclosure and are not intended to limit the scope of the present disclosure. Other changes or modifications may be made based on the above disclosure, and such changes or modifications are still within the scope of the present disclosure.

Claims

1. A self-propelled surface cleaning robot, characterized in that: include: housing assembly; A running wheel configured to rotate by receiving a driving force; as well as A steering wheel is arranged in front of the walking wheel; the steering wheel includes a first bracket and a caster, the first bracket is constructed to accommodate the caster therein, and the first bracket is mounted to the shell assembly; wherein the first bracket is configured to be able to move downward relative to the shell assembly under the action of air pressure, thereby guiding the downward movement of the caster.

2. The self-propelled surface cleaning robot according to claim 1, wherein: Also includes: A first pneumatic actuating element is arranged between the first bracket and the shell assembly. The first pneumatic actuating element is driven by the air pressure of the air flow flowing through the first air inlet and outlet, so that the first pneumatic actuating element moves up and down relative to the shell assembly under the action of air pressure.

3. The self-propelled surface cleaning robot according to claim 2, wherein: The first pneumatically actuated element is configured to absorb shock when the caster is moved over a surface to be cleaned.

4. The self-propelled surface cleaning robot according to claim 2, wherein: The first air inlet and outlet are arranged on the shell assembly.

5. The self-propelled surface cleaning robot according to claim 2, wherein: The steering wheel further includes a guide rod disposed vertically in the housing assembly, the guide rod being formed to penetrate a bottom plate of the housing assembly and connected to the first bracket, and configured to guide the first bracket to move up and down.

6. The self-propelled surface cleaning robot according to claim 5, characterized in that Also includes: A reset member is located between the guide rod and the housing assembly. When the first pneumatic actuating element allows the first bracket to move upward, the reset member is used to drive the guide rod to move upward.

7. The self-propelled surface cleaning robot according to claim 5, wherein: The first pneumatic actuating element is formed to surround the guide rod.

8. The self-propelled surface cleaning robot according to claim 7, wherein: The first pneumatic actuation element includes an air bag, and the air bag is in fluid communication with the first air inlet and outlet.

9. The self-propelled surface cleaning robot according to claim 2, wherein: It also includes a first bracket driving assembly, which is used to drive the first bracket to pivot around its central axis relative to the shell assembly.

10. The self-propelled surface cleaning robot according to claim 9, wherein: The housing assembly further includes a rotary seal rotatably disposed on the housing assembly, the first air inlet and outlet being located on the rotary seal, and the rotary seal being configured to rotatably maintain a pneumatic seal between the first air inlet and outlet and the first pneumatic actuator.

11. The self-propelled surface cleaning robot according to claim 2, wherein: The invention also includes a power assembly, wherein the power assembly is driven according to a command signal to provide an air flow with a preset pressure.

12. The self-propelled surface cleaning robot according to claim 11, wherein: The power assembly includes an air pump disposed on the housing assembly, and the air pump is connected to the first air inlet and outlet through an air flow channel.

13. The self-propelled surface cleaning robot according to claim 12, wherein: It also includes a pressure relief device, which is connected to the air pump and / or the first air inlet and outlet through an air flow channel.

Images