Driving wheel mechanism and cleaning robot

Abstract

The utility model relates to a driving wheel mechanism and a cleaning robot. The driving wheel mechanism comprises a shell, a driving device, an auxiliary wheel device and a lifting device. The driving device comprises a power assembly and a traveling wheel, the traveling wheel is arranged on the shell and connected with the power assembly, the auxiliary wheel device comprises a linkage assembly and an auxiliary wheel, the linkage assembly is arranged on the shell, the power assembly is connected with the auxiliary wheel through the linkage assembly, and the auxiliary wheel is arranged on the shell. The lifting device is arranged on the shell and connected with the linkage assembly, and the lifting device is used for driving the auxiliary wheel device to move horizontally so as to adjust the height of the auxiliary wheel device. According to the driving wheel mechanism, the obstacle crossing ability of the cleaning robot can be improved, and the application range of the cleaning robot is wider.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning equipment technical field, specifically, relate to a drive wheel mechanism and cleaning robot. BACKGROUND

[0002] The emergence of cleaning robots and other cleaning equipment provides convenience for ground cleaning and reduces labor intensity. The cleaning robot can automatically travel in the room and simultaneously suck in the surrounding dust or impurities, thereby completing the ground cleaning.

[0003] However, the cleaning robot in the prior art has low adaptability to the ground, and can only clean the flat ground, has poor passability for higher obstacles such as doorsteps and stairs, and has poor obstacle crossing ability. SUMMARY

[0004] The utility model aims at at least in a certain extent solves one of the technical problems in the prior art.

[0005] Therefore, the embodiment of the utility model provides a drive wheel mechanism, which can improve the obstacle crossing ability of the cleaning robot and make the application range of the cleaning robot wider.

[0006] The embodiment of the utility model further provides a cleaning robot.

[0007] The drive wheel mechanism of the embodiment of the utility model comprises: a shell, a drive device, the drive device comprising a power assembly and a traveling wheel, the traveling wheel being arranged on the shell and being connected with the power assembly, an auxiliary wheel device, the auxiliary wheel device comprising a linkage assembly and an auxiliary wheel, the linkage assembly being arranged on the shell, the power assembly being connected with the auxiliary wheel through the linkage assembly, and a lifting device, the lifting device being arranged on the shell and being connected with the linkage assembly, the lifting device being used to drive the auxiliary wheel device to translate horizontally to adjust the height of the auxiliary wheel device.

[0008] The drive wheel mechanism according to the embodiment of the utility model has the advantages that the traveling wheel is connected with the power assembly, the power assembly is connected with the auxiliary wheel through the linkage assembly, the power assembly can provide power to the traveling wheel and the auxiliary wheel at the same time, the lifting device can drive the auxiliary wheel device to descend when the traveling wheel encounters an obstacle, the auxiliary wheel can support the ground and lift the shell, and the traveling wheel can cross the obstacle with the assistance of the auxiliary wheel. Therefore, the drive wheel mechanism of the embodiment of the utility model can improve the obstacle crossing ability of the cleaning robot and make the application range of the cleaning robot wider.

[0009] In some embodiments, the power assembly comprises a driving motor, a first transmission module and a second transmission module, an input end of the first transmission module is connected with the driving motor, an output end of the first transmission module is connected with an input end of the second transmission module and the traveling wheel, and an output end of the second transmission module is connected with the linkage assembly.

[0010] In some embodiments, the linkage assembly comprises a lifting support and a third transmission module, the lifting support is slidingly connected with the shell, the lifting device is connected with the lifting support, an input end of the third transmission module is connected with an output end of the second transmission module, and an output end of the third transmission module is connected with the auxiliary wheel.

[0011] In some embodiments, the lifting device comprises a lifting motor and a screw rod, the lifting motor is arranged on the shell and connected with the screw rod, and the lifting support has a screw sleeve, and the screw rod is arranged in the screw sleeve.

[0012] In some embodiments, the lifting device further comprises a reversing gear module, an axis of the lifting motor, an axis of the screw rod and an axis of the traveling wheel are orthogonal two by two, and the lifting motor is connected with the screw rod through the reversing gear module.

[0013] In some embodiments, the output end of the second transmission module is a worm, an extension direction of the worm is consistent with a lifting direction of the lifting support, the input end of the third transmission module is a worm wheel, and the worm wheel is connected with the worm.

[0014] In some embodiments, the linkage assembly comprises a connecting arm, the connecting arm is arranged at a rear side of an axis of the traveling wheel and extends along an up-down direction of the shell, an upper end of the connecting arm is connected with the lifting support, a lower end of the connecting arm is connected with the auxiliary wheel, and at least part of the third transmission module is arranged in the connecting arm.

[0015] In some embodiments, the upper and lower ends of the connecting arm are respectively pivotably connected with the lifting support and the auxiliary wheel, the linkage assembly further comprises an elastic reset member, the elastic reset member is connected with the lifting support and the connecting arm, the connecting arm is swingable between a first support position and a second support position, the auxiliary wheel in the second support position is closer to a rear side of the traveling wheel than the auxiliary wheel in the first support position, and the elastic reset member has an elastic force for driving the connecting arm to move from the second support position to the first support position.

[0016] In some embodiments, in the first support position, the lower end of the connecting arm is located at a horizontal front side of the upper end of the connecting arm.

[0017] In some embodiments, the third transmission module comprises a worm gear and a plurality of transmission gears, the plurality of transmission gears are arranged in sequence in the connecting arm and are engaged with each other, the transmission gear adjacent to the upper end of the connecting arm is connected with the worm gear, the transmission gear adjacent to the lower end of the connecting arm is connected with the auxiliary wheel, the output end of the second transmission module is a worm, and the worm is connected with the worm gear.

[0018] In some embodiments, the second transmission module further comprises an intermediate gear and a bevel gear, the first transmission module comprises a plurality of reduction gears, the plurality of reduction gears are arranged in sequence in the housing and are engaged with each other, the reduction gear at the transmission end is connected with the intermediate gear and the traveling wheel, the intermediate gear is engaged with the bevel gear, and the bevel gear is connected with the worm.

[0019] The cleaning robot of another embodiment of the utility model comprises the driving wheel mechanism of the embodiment of the utility model.

[0020] According to the cleaning robot of the embodiment of the utility model, since the traveling wheel is connected with the power assembly, the power assembly is connected with the auxiliary wheel through the linkage assembly, therefore, the power assembly can provide power to the traveling wheel and the auxiliary wheel simultaneously, when the traveling wheel encounters an obstacle, the lifting device can drive the auxiliary wheel device to descend, so that the auxiliary wheel supports the ground and lifts the housing, thereby assisting the traveling wheel to cross the obstacle. Therefore, the driving wheel mechanism of the cleaning robot of the embodiment of the utility model can improve the obstacle-crossing capability of the cleaning robot, so that the application range of the cleaning robot is wider. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the schematic view of the driving wheel mechanism of the embodiment of the utility model.

[0022] Figure 2 It is the front view of the driving wheel mechanism of the embodiment of the utility model after removing the cover body.

[0023] Figure 3 It is the shaft side view of the driving wheel mechanism of the embodiment of the utility model after removing the cover body.

[0024] Figure 4 It is the schematic view of the auxiliary wheel device of the driving wheel mechanism of the embodiment of the utility model.

[0025] Figure 5 It is the schematic view of the auxiliary wheel device of the driving wheel mechanism of the embodiment of the utility model from another perspective.

[0026] Figure 6 It is the installation schematic view of the worm gear, the connecting arm (remove the arm cover), the reset elastic piece and the transmission gear of the driving wheel mechanism of the embodiment of the utility model.

[0027] Figure 7 Figure 6 is a schematic view of the guide block of the cleaning robot of the embodiment of the present application when the cleaning robot is about to impact an obstacle.

[0028] Figure 8 Figure 7 is a schematic view of the auxiliary wheel of the cleaning robot of the embodiment of the present application before the auxiliary wheel crosses a low obstacle.

[0029] Figure 9 Figure 8 is a schematic view of the auxiliary wheel of the cleaning robot of the embodiment of the present application after the auxiliary wheel crosses a low obstacle.

[0030] Figure 10 Figure 9 is a schematic view of the auxiliary wheel of the cleaning robot of the embodiment of the present application when the auxiliary wheel is gradually lifted after the auxiliary wheel crosses a low obstacle.

[0031] Figure 11 Figure 10 is a schematic view of the auxiliary wheel of the cleaning robot of the embodiment of the present application before the auxiliary wheel crosses a high obstacle.

[0032] Figure 12 Figure 11 is a schematic view of the auxiliary wheel of the cleaning robot of the embodiment of the present application after the auxiliary wheel crosses a high obstacle.

[0033] Figure 13 Figure 12 is a schematic view of the auxiliary wheel of the cleaning robot of the embodiment of the present application when the auxiliary wheel is gradually lifted after the auxiliary wheel crosses a high obstacle.

[0034] Reference signs:

[0035] 1, shell; 11, main shell; 112, cover body; 113, gear cavity;

[0036] 2, driving device; 21, power assembly; 211, driving motor; 212, first transmission module; 2121, speed reduction gear; 213, second transmission module; 2131, worm; 2132, intermediate gear; 2133, bevel gear; 22, traveling wheel;

[0037] 3, auxiliary wheel device; 31, linkage assembly; 311, lifting support; 3111, screw sleeve; 312, third transmission module; 3121, worm wheel; 3122, transmission gear; 313, connecting arm; 3131, arm shell; 3132, arm cover; 3133, accommodating cavity; 314, elastic reset piece; 32, auxiliary wheel;

[0038] 4, lifting device; 41, lifting motor; 42, screw rod; 43, reversing gear module; 431, first reversing gear; 432, second reversing gear;

[0039] 5, main machine;

[0040] 6, universal wheel; 61, guide block; 611, guide inclined surface; 62, roller;

[0041] 7. Driven wheel. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0043] Please refer to the following Figures 1 to 13 The driving wheel mechanism according to the embodiment of the present invention and the cleaning robot having the same are described.

[0044] like Figures 1 to 3 As shown, the drive wheel mechanism of the present invention embodiment includes: a housing 1, a drive device 2, an auxiliary wheel device 3, and a lifting device 4. The drive device 2 includes a power assembly 21 and a travel wheel 22. The travel wheel 22 is provided on the housing 1 and connected to the power assembly 21. The auxiliary wheel device 3 includes a linkage assembly 31 and an auxiliary wheel 32. The linkage assembly 31 is provided on the housing 1. The power assembly 21 is connected to the auxiliary wheel 32 via the linkage assembly 31. The lifting device 4 is provided on the housing 1 and connected to the linkage assembly 31. The lifting device 4 is used to drive the auxiliary wheel device 3 to move horizontally to adjust the height of the auxiliary wheel device 3.

[0045] According to the driving wheel mechanism of the embodiment of the present invention, since the traveling wheel 22 is connected to the power assembly 21, and the power assembly 21 is connected to the auxiliary wheel 32 through the linkage assembly 31, the power assembly 21 can provide power to the traveling wheel 22 and the auxiliary wheel 32 at the same time. When the traveling wheel 22 encounters an obstacle, the lifting device 4 can drive the auxiliary wheel device 3 to descend so that the auxiliary wheel 32 supports the ground and raises the housing 1, thereby assisting the traveling wheel 22 to cross the obstacle. Among them, the obstacle can be a step, a threshold or other uneven structure. Therefore, the driving wheel mechanism of the embodiment of the present invention can enhance the obstacle-crossing ability of the cleaning robot, making the cleaning robot more applicable.

[0046] Furthermore, the driving wheel mechanism of the present invention utilizes a common power source for both the travel wheel 22 and the auxiliary wheel 32, thereby reducing the number of power sources required and making the driving wheel mechanism more compact. Furthermore, the power assembly 21 and the linkage assembly 31 work in synergy, resulting in a more effective linkage effect within the driving wheel mechanism.

[0047] Wherein, " the lifting device 4 is used for driving the auxiliary wheel device 3 to move horizontally to adjust the height of the auxiliary wheel device 3 " can be understood as the lifting device 4 drives the auxiliary wheel device 3 to lift in a non-rotating form.In other words, when the height of the auxiliary wheel device 3 is adjusted, the movement path thereof is a straight line.For example, the extension direction of the movement path of the auxiliary wheel device 3 is consistent with the height direction of the shell 1.Therefore, compared with the scheme that " the auxiliary wheel device 3 is adjusted in a rotating mode", the driving wheel mechanism of the embodiment of the utility model can reduce the movement amplitude of the auxiliary wheel device 3, avoid interference between the auxiliary wheel device 3 and surrounding parts, and has better reliability when moving.

[0048] When the driving wheel mechanism travels on the ground of the platform, the traveling wheel 22 is in contact with the ground.At this time, the auxiliary wheel 32 can be in contact with the ground or can be spaced apart from the ground by a certain distance.When the traveling wheel 22 of the driving wheel mechanism encounters an obstacle, the lifting device 4 is started to drive the auxiliary wheel 32 to move downward, the auxiliary wheel 32 supports the ground and gives the shell 1 an upward reaction force, thereby the shell 1 and the traveling wheel 22 can be lifted, so that the traveling wheel 22 can pass over the obstacle.When the traveling wheel 22 passes over the obstacle, the lifting device 4 can drive the auxiliary wheel 32 to move upward to reset the auxiliary wheel 32 to the original position.

[0049] The driving wheel mechanism of the embodiment of the utility model passes over the obstacle in the above-mentioned manner, has a simple structure, and has good control precision and efficiency.Furthermore, the driving wheel mechanism of the embodiment of the utility model can pass over (climb to) an obstacle with a height greater than the radius of the traveling wheel 22, and has good obstacle passing performance.

[0050] In some embodiments, as shown in Figs. Figure 1 and Figure 2 The power assembly 21 includes a driving motor 211, a first transmission module 212 and a second transmission module 213, the input end of the first transmission module 212 is connected with the driving motor 211, the output end of the first transmission module 212 is connected with the input end of the second transmission module 213 and the traveling wheel 22, and the output end of the second transmission module 213 is connected with the linkage assembly 31.

[0051] It can be understood that the driving motor 211 can drive the first transmission module 212 to act, the first transmission module 212 can drive the traveling wheel 22 to rotate and drive the second transmission module 213 to act, and the second transmission module 213 can drive the auxiliary wheel 32 to rotate through the linkage assembly 31.

[0052] In other words, the power transmission path of the driving motor 211 is divided into two paths: the first path: driving motor 211→first transmission module 212→traveling wheel 22.The second path: driving motor 211→first transmission module 212→second transmission module 213→linkage assembly 31→auxiliary wheel 32.

[0053] The driving wheel mechanism of the embodiment of the utility model can improve the transmission efficiency of the driving wheel mechanism, and the structure layout is reasonable and facilitates the arrangement of parts.

[0054] Specifically, as shown in the figure, Figures 1 to 3 The linkage assembly 31 includes a lifting support 311 and a third transmission module 312, the lifting support 311 is in sliding connection with the shell 1, the lifting device 4 is connected with the lifting support 311, the input end of the third transmission module 312 is connected with the output end of the second transmission module 213, and the output end of the third transmission module 312 is connected with the auxiliary wheel 32. Therefore, when the lifting device 4 drives the lifting support 311 to lift, the lifting support 311 can slide relative to the shell 1, so as to improve the accuracy of the movement of the lifting support 311.

[0055] In addition, the input end of the third transmission module 312 is connected with the output end of the second transmission module 213, and the output end of the third transmission module 312 is connected with the auxiliary wheel 32. Therefore, the lifting action of the lifting device 4 driving the linkage assembly 31 (the lifting support 311) and the action of the second transmission assembly driving the linkage assembly 31 (the second transmission module 213) do not interfere with each other, in other words, the linkage assembly 31 can meet the requirements of lifting and power transmission, thereby improving the linkage effect of the driving wheel mechanism.

[0056] In an example, as shown in the figure, Figure 2 and Figure 3 The lifting device 4 includes a lifting motor 41 and a screw rod 42, the lifting motor 41 is arranged on the shell 1 and connected with the screw rod 42, the lifting support 311 has a screw sleeve 3111, and the screw rod 42 is arranged in the screw sleeve 3111. It can be understood that the lifting motor 41 can drive the screw rod 42 to rotate, so that the screw rod 42 can rotate relative to the screw sleeve 3111, and therefore the lifting support 311 can slide along the axial direction of the screw rod 42 to realize the up-down movement of the lifting support 311 and the auxiliary wheel 32. The driving wheel mechanism of the embodiment of the utility model can improve the accuracy of the up-down movement of the auxiliary wheel 32 by arranging the lifting device 4 in the above structure, and the structure is simple and the transmission efficiency is high.

[0057] Further, as shown in the figure, Figures 1 to 3 The lifting device 4 further includes a reversing gear module 43, the axis of the lifting motor 41, the axis of the screw rod 42 and the axis of the traveling wheel 22 are orthogonal two by two, and the lifting motor 41 is connected with the screw rod 42 through the reversing gear module 43. Since the axis of the lifting motor 41, the axis of the screw rod 42 and the axis of the traveling wheel 22 are orthogonal two by two, the lifting motor 41 can be arranged in a substantially horizontal direction and consistent with the length direction of the shell 1. Therefore, the structure of the driving wheel mechanism can be compact and occupy less space.

[0058] As shown in Figure 2 and Figure 3 , the reversing gear module 43 includes a first reversing gear 431 and a second reversing gear 432, the first reversing gear 431 is coaxially fixedly connected with the output shaft of the lifting motor 41, the second reversing gear 432 is coaxially fixedly connected with the screw rod 42, the axis of the second reversing gear 432 is perpendicular to the axis of the first reversing gear 431, and the second reversing gear 432 is engaged with the first reversing gear 431.

[0059] In another example, as shown in Figure 1 , the lifting device 4 includes a lifting motor 41 and a gear and rack transmission pair (not shown), which is connected with the lifting motor 41 and the lifting bracket 311. The lifting motor 41 can drive the gear and rack transmission pair to act, so as to drive the lifting bracket 311 to move up and down.

[0060] In some embodiments, as shown in Figure 2 and Figure 3 , the output end of the second transmission module 213 is a worm 2131, the extension direction of the worm 2131 is consistent with the lifting direction of the lifting bracket 311, the input end of the third transmission module 312 is a worm gear 3121, and the worm gear 3121 is connected with the worm 2131. It can be understood that when the worm 2131 rotates, the worm gear 3121 can be driven to rotate synchronously, and when the lifting device 4 drives the linkage assembly 31 to lift, the worm gear 3121 can also move along the axial direction of the worm 2131 to cooperate with the lifting of the auxiliary wheel 32, so that when the lifting device 4 drives the auxiliary wheel 32 to lift, the power of the auxiliary wheel 32 can still be continuously output.

[0061] Optionally, as shown in Figure 2 , the second transmission module 213 further includes an intermediate gear 2132 and a bevel gear 2133, the first transmission module 212 includes a plurality of reduction gears 2121, the plurality of reduction gears 2121 are arranged in the housing 1 in sequence and engaged with each other, the reduction gear 2121 located at the end of the transmission is connected with the intermediate gear 2132 and the traveling wheel 22, the intermediate gear 2132 is engaged with the bevel gear 2133, and the bevel gear 2133 is connected with the worm 2131.

[0062] It can be understood that the plurality of reduction gears 2121 can reduce the speed and increase the torque of the driving motor 211 to improve the power of the traveling wheel 22. Since the reduction gear 2121 located at the end of the transmission is connected with the intermediate gear 2132 and the traveling wheel 22, the reduction gear 2121 can transmit part of the power to the intermediate gear 2132 and another part of the power to the auxiliary wheel 32, so that the power distribution can be realized.

[0063] The intermediate gear 2132 is engaged with the bevel gear 2133, and the bevel gear 2133 is connected with the worm 2131. It can be understood that the axis of the intermediate gear 2132 is parallel to the axis of the speed reducer 2121, the axis of the bevel gear 2133 is perpendicular to the axis of the intermediate gear 2132, and the bevel gear 2133 is coaxially fixedly connected with the worm 3121, so that the power can be output in the reverse direction.

[0064] Specifically, as shown in Figure 1 and Figure 2 , the shell 1 includes a main shell 11 and a cover 112, and the driving motor 211, the lifting motor 41 and the travel wheel 22 are all mounted on the outer side of the main shell 11. The cover 112 is capped on the main shell 11 and encloses a gear cavity 113. The speed reducer 2121, the intermediate gear 2132 and the bevel gear 2133 are all mounted in the gear cavity 113. The cover 112 is detachably connected with the main shell 11, so that the subsequent maintenance work of the driving wheel mechanism can be facilitated.

[0065] Optionally, as shown in Figures 1 to 3 , the linkage assembly 31 includes a connecting arm 313, which is arranged at the rear side of the axis of the travel wheel 22 and extends in the up-down direction of the shell 1. The upper end of the connecting arm 313 is connected with the lifting support 311, and the lower end of the connecting arm 313 is connected with the auxiliary wheel 32. At least part of the third transmission module 312 is arranged in the connecting arm 313. It can be understood that the lifting support 311 is connected with the auxiliary wheel 32 through the connecting arm 313, so that the auxiliary wheel 32 can be closer to the ground to cooperate with the travel wheel 22 to overcome obstacles. Moreover, since at least part of the third transmission module 312 is arranged in the connecting arm 313, the third transmission module 312 can be hidden and shielded, thereby improving the reliability of the transmission of the linkage assembly 31.

[0066] It should be noted that the travel direction of the travel wheel 22 is the front side of the travel wheel 22, and the rear side of the travel wheel 22 is the opposite direction of the travel direction of the travel wheel 22. The auxiliary wheel 32 and the connecting arm 313 are both arranged at the rear side of the axis of the travel wheel 22 to assist the travel wheel 22 to overcome obstacles.

[0067] Specifically, as shown in Figures 4 to 6 , the upper and lower ends of the connecting arm 313 are respectively pivotally connected with the lifting support 311 and the auxiliary wheel 32. The linkage assembly 31 further includes an elastic reset member 314 connected with the lifting support 311 and the connecting arm 313. The connecting arm 313 is swingable between a first support position and a second support position. The auxiliary wheel 32 in the second support position is closer to the rear side of the travel wheel 22 than the auxiliary wheel 32 in the first support position. The elastic reset member 314 has an elastic force to drive the connecting arm 313 to move from the second support position to the first support position.

[0068] It can be understood that when the connecting arm 313 swings from front to back, the connecting arm 313 can swing from the first supporting position to the second supporting position.

[0069] When the connecting arm 313 and the auxiliary wheel 32 are extended and support the ground, the connecting arm 313 can swing from the first supporting position to the second supporting position, so that the traveling wheel 22 is more smooth when it flips over the obstacle, and after the traveling wheel 22 flips over the obstacle, the elastic reset member 314 can drive the connecting arm 313 to swing from the second supporting position to the first supporting position under the elastic action of the elastic reset member 314, so that the connecting arm 313 and the auxiliary wheel 32 are reset, thereby preparing for the next time to cross the obstacle.

[0070] The driving wheel device of the embodiment of the utility model can make the connecting arm 313 and the auxiliary wheel 32 automatically reset, the structure form is simple, and the linkage effect is better. For example, the elastic reset member 314 can be a torsion spring or a coil spring.

[0071] Further, in the first supporting position, the lower end of the connecting arm 313 is located at the horizontal front side of the upper end of the connecting arm 313. In other words, in the horizontal direction of the cleaning robot, the lower end of the connecting arm 313 is more forward than the upper end of the connecting arm 313. It can be understood that the connecting arm 313 extends forward in the direction from top to bottom, and the extension direction of the connecting arm 313 has a certain angle with the up-down direction (gravity center direction) of the shell 1. Thus, when the connecting arm 313 and the auxiliary wheel 32 are extended and support the shell 1, the problem that the connecting arm 313 and the auxiliary wheel 32 are not swung backward (folded) by the ground reverse force can be avoided, so as to improve the obstacle crossing reliability of the auxiliary driving wheel mechanism.

[0072] In a specific example, as shown in Figure 5 and Figure 6 The third transmission module 312 includes a worm wheel 3121 and a plurality of transmission gears 3122, the plurality of transmission gears 3122 are arranged in the connecting arm 313 in sequence and mesh with each other, the transmission gear 3122 adjacent to the upper end of the connecting arm 313 is connected with the worm wheel 3121, the transmission gear 3122 adjacent to the lower end of the connecting arm 313 is connected with the auxiliary wheel 32, the output end of the second transmission module 213 is a worm 2131, and the worm 2131 is connected with the worm wheel 3121. It can be understood that the worm 2131 drives the worm wheel 3121 to rotate, the worm wheel 3121 drives the first transmission gear 3122 to rotate, and since the plurality of transmission gears 3122 are arranged in the connecting arm 313 in sequence and mesh with each other, power can be transmitted to the auxiliary wheel 32, so as to realize the transmission of power.

[0073] The worm wheel 3121 can be one or multiple. In the example of the present application, as shown in Figure 5As shown, there are two worm gears 3121 , which mesh with each other for transmission. One worm gear 3121 meshes with the worm 2131 for transmission, and the other worm gear 3121 is connected to the first transmission gear 3122 via a connecting shaft.

[0074] For example, Figures 4 to 6 As shown, the connecting arm 313 includes an arm shell 3131 and an arm cover 3132 . The arm cover 3132 is detachably sealed on the arm cover 3132 and encloses an accommodating cavity 3133 . A plurality of transmission gears 3122 are sequentially arranged in the accommodating cavity 3133 of the connecting arm 313 .

[0075] like Figure 7 As shown, a cleaning robot according to another embodiment of the present invention includes a main body 5 and a driving wheel mechanism of the present invention.

[0076] For example, there are two driving wheel mechanisms, which are arranged at a distance from each other at the bottom of the main unit 5 .

[0077] The cleaning robot may be a sweeping robot, a mopping robot, or a sweeping and mopping robot, which is not limited in this application.

[0078] According to the cleaning robot of the embodiment of the present utility model, since the traveling wheel 22 is connected to the power assembly 21, and the power assembly 21 is connected to the auxiliary wheel 32 via the linkage assembly 31, the power assembly 21 can simultaneously provide power to the traveling wheel 22 and the auxiliary wheel 32. When the traveling wheel 22 encounters an obstacle, the lifting device 4 can drive the auxiliary wheel device 3 to descend, so that the auxiliary wheel 32 supports the ground and raises the housing 1, thereby assisting the traveling wheel 22 to overcome the obstacle. Therefore, the driving wheel mechanism of the cleaning robot of the embodiment of the present utility model can enhance the obstacle-crossing ability of the cleaning robot, making the cleaning robot more applicable.

[0079] Alternatively, as Figure 7 As shown, in order to prevent the tail of the main unit 5 (i.e., the rear side of the main unit 5) from colliding with the ground when the cleaning robot overcomes obstacles, a driven wheel 7 is provided at the tail of the main unit 5, i.e., the driven wheel 7 is installed at the rear position below the main unit 5 and is rotatable relative to the main unit 5, thereby improving the smoothness of the cleaning robot in overcoming obstacles.

[0080] For example, the outer diameter of the driven wheel 7 is smaller than the gap between the bottom surface of the main body 5 and the cleaning ground. Therefore, when the cleaning robot travels on a flat road, the driven wheel 7 does not contact the ground, thereby reducing friction and reducing the energy consumption of the cleaning robot.

[0081] Specifically, if Figure 7As shown, a universal wheel 6 is provided at the bottom of the main unit 5, positioned adjacent to the front side of the main unit 5. Universal wheel 6 comprises a guide block 61 and a roller 62. Guide block 61 is rotatable relative to the main unit 5, with its axis of rotation parallel to the height of the main unit. Roller 62 is rotatably mounted on the underside of guide block 61. Universal wheel 6 can move up and down relative to the main unit. It will be appreciated that the guide block 61's ability to move up and down relative to the main unit 5 drives roller 62 to move upward and downward.

[0082] The front wall of the guide block 61 has a guide slope 611 , and the guide slope 611 extends obliquely downward from the front to the rear.

[0083] When the cleaning robot is moving in an obstacle-free working condition, the universal wheels 6 can rise and retract to the initial position so that the main body 5 can remain in a horizontal state.

[0084] like Figure 7 As shown, when the cleaning robot approaches an obstacle, the universal wheel 6 can be lowered to raise the guide slope 611 of the guide block 61 to the same height as the obstacle (at this time, the guide slope 611 is flush with the obstacle). Under the inertia of the cleaning robot's movement, the guide block 61 rushes forward toward the obstacle and climbs the front side of the main unit 5 onto the obstacle via the guide slope 611. The drive wheel mechanism then operates to lift the rear side of the main unit 5 and cross the obstacle, thereby completing the cleaning robot's obstacle-crossing action.

[0085] like Figures 8 to 13 As shown, the action process of the driving wheel mechanism of the cleaning robot is as follows.

[0086] (1) When the height of the obstacle encountered by the cleaning robot is lower than the radius of the traveling wheel 22 (i.e., when the height of the obstacle is lower than the axis of the traveling wheel 22);

[0087] The auxiliary wheels 32 do not need to move, that is, the auxiliary wheels 32 do not need to contact the ground. The cleaning robot can complete the obstacle-crossing action through the friction force when the traveling wheels 22 contact the obstacle.

[0088] (2) When the height of the obstacle encountered by the cleaning robot is greater than the radius of the traveling wheel 22 and smaller than the lifting stroke of the auxiliary wheel 32; it should be noted that the lifting stroke of the auxiliary wheel 32 needs to be greater than the radius of the traveling wheel 22, that is, when the auxiliary wheel 32 descends, the traveling wheel 22 can be lifted off the ground.

[0089] like Figure 8 and Figure 9 As shown, the connecting arm 313 extends and enables the auxiliary wheel 32 to support the ground, so as to lift the traveling wheel 22 and just pass over the obstacle, so as to improve the stability of the cleaning robot when crossing the obstacle;

[0090] like Figure 10As shown, when the cleaning robot passes over an obstacle, the lifting device 4 can drive the auxiliary wheel 32 to move upward, and the elastic reset member 314 drives the connecting arm 313 to rotate, so that the backward swing amplitude of the connecting arm 313 gradually decreases until the auxiliary wheel 32 retracts to its original position.

[0091] (3) When the height of the obstacle encountered by the cleaning robot is greater than the lifting stroke of the auxiliary wheel 32 and less than "the lifting stroke of the auxiliary wheel 32 + the radius of the traveling wheel 22";

[0092] like Figure 11 and Figure 12 As shown, the connecting arm 313 extends and enables the auxiliary wheel 32 to support the ground. At this time, the traveling wheel 22 is lifted and contacts the vertical surface of the obstacle. Under the friction force of the traveling wheel 22, the traveling wheel 22 can climb over the obstacle to complete the obstacle crossing operation;

[0093] like Figure 13 As shown, when the cleaning robot passes over an obstacle, the lifting device 4 can drive the auxiliary wheel 32 to move upward, and the elastic reset member 314 drives the connecting arm 313 to rotate, so that the backward swing amplitude of the connecting arm 313 gradually decreases until the auxiliary wheel 32 retracts to its original position.

[0094] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying 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, and therefore should not be understood as a limitation to the present invention.

[0095] 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 specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0096] In the utility model, unless another definite provision and limit, the term " install " " link " " connect " " fixed " and so on term should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electric connection or each other can communicate;Can be direct link, also can pass through intermediate medium indirectly link, can be two element inside's intercommunication or two element's interaction relation, unless another definite limit. For the ordinary skill in the art, can understand the concrete meaning of the above terms in the utility model according to specific circumstances.

[0097] In the utility model, the term " one embodiment " " some embodiments " " example " " specific example " or " some examples " means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0098] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the utility model, and the changes, modifications, replacements and modifications of the above embodiments made by those skilled in the art are within the protection scope of the utility model.

Claims

1. A driving wheel mechanism, characterized in that: include: case; A driving device, the driving device comprising a power assembly and a traveling wheel, the traveling wheel being provided on the housing and connected to the power assembly; A training wheel device, the training wheel device comprising a linkage assembly and a training wheel, the linkage assembly being provided on the housing, the power assembly being connected to the training wheel via the linkage assembly; A lifting device is provided on the housing and connected to the linkage assembly, and is used to drive the auxiliary wheel device to move horizontally to adjust the height of the auxiliary wheel device.

2. The driving wheel mechanism according to claim 1, characterized in that: The power assembly includes a drive motor, a first transmission module and a second transmission module. The input end of the first transmission module is connected to the drive motor, the output end of the first transmission module is connected to the input end of the second transmission module and the traveling wheel, and the output end of the second transmission module is connected to the linkage assembly.

3. The driving wheel mechanism according to claim 2, characterized in that: The linkage assembly includes a lifting bracket and a third transmission module, the lifting bracket is slidably connected to the shell, the lifting device is connected to the lifting bracket, the input end of the third transmission module is connected to the output end of the second transmission module, and the output end of the third transmission module is connected to the auxiliary wheel.

4. The driving wheel mechanism according to claim 3, characterized in that: The lifting device includes a lifting motor and a screw rod. The lifting motor is arranged on the shell and connected to the screw rod. The lifting bracket has a screw sleeve, and the screw rod is passed through the screw sleeve.

5. The driving wheel mechanism according to claim 4, characterized in that: The lifting device further includes a reversing gear module, wherein the axes of the lifting motor, the screw and the travel wheel are orthogonal to each other, and the lifting motor is connected to the screw via the reversing gear module.

6. The driving wheel mechanism according to any one of claims 3 to 5, characterized in that: The output end of the second transmission module is a worm, and the extending direction of the worm is consistent with the lifting direction of the lifting bracket. The input end of the third transmission module is a worm wheel, and the worm wheel is connected to the worm.

7. The driving wheel mechanism according to any one of claims 3 to 5, characterized in that: The linkage assembly includes a connecting arm, which is arranged on the rear side of the axis of the traveling wheel and extends in the up and down directions of the shell. The upper end of the connecting arm is connected to the lifting bracket, and the lower end of the connecting arm is connected to the auxiliary wheel. At least part of the third transmission module is arranged in the connecting arm.

8. The driving wheel mechanism according to claim 7, characterized in that: The upper and lower ends of the connecting arm are pivotally connected to the lifting bracket and the auxiliary wheel respectively. The linkage assembly also includes an elastic reset member, which is connected to the lifting bracket and the connecting arm. The connecting arm can swing between a first supporting position and a second supporting position. The auxiliary wheel at the second supporting position is closer to the rear side of the traveling wheel than the auxiliary wheel at the first supporting position. The elastic reset member has an elastic force that drives the connecting arm to move from the second supporting position to the first supporting position.

9. The driving wheel mechanism according to claim 8, characterized in that: In the first supporting position, the lower end of the connecting arm is located horizontally in front of the upper end of the connecting arm.

10. The driving wheel mechanism according to claim 7, characterized in that: The third transmission module includes a worm gear and multiple transmission gears, which are arranged in sequence in the connecting arm and mesh with each other. The transmission gear adjacent to the upper end of the connecting arm is connected to the worm gear, and the transmission gear adjacent to the lower end of the connecting arm is connected to the auxiliary wheel. The output end of the second transmission module is a worm, which is connected to the worm gear.

11. The driving wheel mechanism according to claim 10, characterized in that: The second transmission module also includes an intermediate gear and a bevel gear. The first transmission module includes multiple reduction gears. The multiple reduction gears are arranged in sequence in the housing and mesh with each other. The reduction gear located at the transmission end is connected to the intermediate gear and the traveling wheel. The intermediate gear meshes with the bevel gear, and the bevel gear is connected to the worm.

12. A cleaning robot, characterized in that: The invention comprises the driving wheel mechanism according to any one of claims 1 to 11.

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